An automatic fertilization robot based on visual recognition navigation scheme

Abstract

The utility model discloses an automatic fertilizing robot with a visual recognition navigation scheme, including a frame body, a first fertilizer tank is arranged at the top center of the frame body, a chassis main control module is arranged on one side of the first fertilizer tank, a spray head is arranged at the bottom of the frame body, a camera is arranged on one side of the PCA steering gear module, a visual main control module is arranged on one side of the camera, a triangular carrier is arranged on both sides of the bottom end of the frame body, a bearing plate is arranged on one side of the triangular carrier, a second fertilizer tank is arranged on the top of the bearing plate, a wheel is arranged at the bottom of the triangular carrier, and an encoding motor is arranged on one side of the wheel. The modular design of the utility model is easy to expand functions, improve system flexibility and adaptability, and the integration of the visual fill light module effectively suppresses external light interference, improves visual recognition accuracy, and ensures stable operation of the system. Through reasonable selection and design, performance and cost are balanced to achieve a low-cost, high-performance automatic fertilizing robot system.

Description

Technical Field

[0001] The utility model relates to an automatic fertilizing robot, in particular to an automatic fertilizing robot with a visual recognition navigation solution. Background Art

[0002] In recent years, with the rapid development of modern agricultural technology, especially in precision agriculture and rooftop agriculture scenarios, automatic fertilization has become an important part of improving production efficiency and reducing costs. In the existing technology, although some automated fertilization robots have tried to adopt visual navigation solutions, there are generally problems such as low recognition accuracy, high cost, and insufficient system stability. Specifically, the existing technology is easily interfered by light in the recognition of visual guide lines, resulting in misrecognition and program crashes, and lacks effective anti-interference measures. In addition, the system design often lacks modularity and scalability, making it difficult to adapt to complex operating scenarios, limiting its wide application. Utility Model Content

[0003] The purpose of the utility model is to provide an automatic fertilizing robot with a visual recognition navigation solution in order to solve the above problems.

[0004] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0005] The utility model discloses an automatic fertilizing robot with a visual recognition navigation scheme, comprising a frame body, a first fertilizer tank is arranged at the top center of the frame body, a chassis main control module is arranged on one side of the first fertilizer tank, an MPU6050 gyroscope attitude detection module is arranged on the other side of the first fertilizer tank, a power supply is arranged on one side of the MPU6050 gyroscope attitude detection module, a diaphragm pump is connected to one end of the first fertilizer tank, a connecting pipe is arranged at one end of the diaphragm pump, a spray head is arranged at the bottom of the frame body, and the spray head is arranged at the bottom of the frame body. The shower head is connected to the connecting pipe through a three-way joint, a visual fill light group is arranged on one side of the top of the frame body, a PCA servo module is arranged on one side of the visual fill light group, a camera is arranged on one side of the PCA servo module, a visual main control module is arranged on one side of the camera, triangular carriers are arranged on both sides of the bottom end of the frame body, a carrying plate is arranged on one side of the triangular carrier, a second fertilizer tank is arranged on the top of the carrying plate, wheels are arranged on the bottom of the triangular carrier, and an encoding motor is arranged on one side of the wheel.

[0006] As a preferred technical solution of the automatic fertilizing robot with a visual recognition navigation solution of the utility model, a square beam is arranged inside the frame body, and a right-angle bracket is arranged at the connection between the square beam and the frame body.

[0007] As a preferred technical solution for an automatic fertilizing robot with a visual recognition navigation solution of the utility model, an STM32F103ZET6 single-chip microcomputer and an LN298 motor drive module are arranged inside the chassis main control module, and the STM32F103ZET6 single-chip microcomputer is electrically connected to the LN298 motor drive module.

[0008] As a preferred technical solution of the automatic fertilizing robot with a visual recognition navigation solution of the utility model, the LN298 motor drive module is electrically connected to the encoder motor, and the encoder motor is transmission-connected to the wheel.

[0009] As a preferred technical solution of the automatic fertilizing robot with a visual recognition navigation solution of the utility model, the diaphragm pump is electrically connected to the LN298 motor drive module.

[0010] As a preferred technical solution of the automatic fertilizing robot with a visual recognition navigation solution of the utility model, the STM32F103ZET6 single chip microcomputer is electrically connected to the PCA servo module.

[0011] As a preferred technical solution of the automatic fertilizing robot with a visual recognition navigation solution of the utility model, the visual main control module is electrically connected to the STM32F103ZET6 single chip microcomputer.

[0012] As a preferred technical solution of the automatic fertilizing robot with a visual recognition navigation solution of the utility model, the LN298 motor drive module is electrically connected to the visual fill light group.

[0013] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0014] 1. System architecture under unified communication protocol, modular design, easy function expansion, and improved system flexibility and adaptability

[0015] 2. The integration of visual fill light module effectively suppresses external light interference, improves visual recognition accuracy, and ensures stable operation of the system.

[0016] 3. Through reasonable selection and design, balance performance and cost to achieve a low-cost, high-performance automatic fertilization robot system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0018] Figure 1 It is a front view of the utility model;

[0019] Figure 2It is a side view of the utility model;

[0020] Figure 3 It is a top view of the utility model;

[0021] Figure 4 It is a module diagram of the utility model;

[0022] In the figure: 1. Frame body; 2. First fertilizer tank; 3. Chassis main control module; 4. MPU6050 gyroscope attitude detection module; 5. Power supply; 6. Diaphragm pump; 7. Connecting pipe; 8. Sprinkler head; 9. Three-way connector; 10. Visual fill light group; 11. PCA servo module; 12. Camera; 13. Visual main control module; 14. Triangular carrier; 15. Loading plate; 16. Second fertilizer tank; 17. Wheel; 18. Encoder motor; 19. Square beam; 20. Right angle code; 21. STM32F103ZET6 single chip microcomputer; 22. LN298 motor driver module. DETAILED DESCRIPTION

[0023] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0024] In the drawings, the same reference numerals all refer to the same components.

[0025] Example 1

[0026] like Figure 1-4 As shown, it includes a frame body 1, a first fertilizer tank 2 is arranged at the top center of the frame body 1, a chassis main control module 3 is arranged on one side of the first fertilizer tank 2, an MPU6050 gyroscope attitude detection module 4 is arranged on the other side of the first fertilizer tank 2, a power supply 5 is arranged on one side of the MPU6050 gyroscope attitude detection module 4, a diaphragm pump 6 is connected to one end of the first fertilizer tank 2, a connecting pipe 7 is arranged at one end of the diaphragm pump 6, a spray head 8 is arranged at the bottom of the frame body 1, and the spray head 8 is connected to the connecting pipe 7 through a three-way joint 9, and the frame A visual fill light group 10 is arranged on one side of the top of the body 1, a PCA servo module 11 is arranged on one side of the visual fill light group 10, a camera 12 is arranged on one side of the PCA servo module 11, a visual main control module 13 is arranged on one side of the camera 12, a triangular carrier 14 is arranged on both sides of the bottom end of the frame body 1, a supporting plate 15 is arranged on one side of the triangular carrier 14, a second fertilizer tank 16 is arranged on the top of the supporting plate 15, a wheel 17 is arranged on the bottom of the triangular carrier 14, and an encoding motor 18 is arranged on one side of the wheel 17.

[0027] Furthermore, a square beam 19 is provided inside the frame body 1 , and a right-angle bracket 20 is provided at the connection between the square beam 19 and the frame body 1 .

[0028] As a preferred technical solution of the automatic fertilizing robot with a visual recognition navigation solution of the utility model, the chassis main control module 3 is internally provided with an STM32F103ZET6 single-chip microcomputer 21 and an LN298 motor drive module 22, and the STM32F103ZET6 single-chip microcomputer 21 is electrically connected to the LN298 motor drive module 22.

[0029] As a preferred technical solution of the automatic fertilizing robot with a visual recognition navigation solution of the utility model, the LN298 motor drive module 22 is electrically connected to the encoder motor 18, and the encoder motor 18 is transmission-connected to the wheel 17.

[0030] As a preferred technical solution of the automatic fertilizing robot with a visual recognition navigation solution of the utility model, the diaphragm pump 6 is electrically connected to the LN298 motor drive module 22.

[0031] As a preferred technical solution of the automatic fertilizing robot with a visual recognition navigation solution of the utility model, the STM32F103ZET6 single chip microcomputer 21 is electrically connected to the PCA steering gear module 11.

[0032] As a preferred technical solution of the automatic fertilizing robot with a visual recognition navigation solution of the utility model, the visual main control module 13 is electrically connected to the STM32F103ZET6 single chip microcomputer 21.

[0033] As a preferred technical solution of the automatic fertilizing robot of a visual recognition navigation solution of the utility model, the LN298 motor drive module 22 is electrically connected to the visual fill light group 10.

[0034] Specifically, the visual main control module 13 uses the OPENMV visual single board system as the main control, and sends a control code to control the STM32F103ZET6 single chip microcomputer 21;

[0035] The low-power OPENMV serves as the visual master control unit, using its rich visual recognition API to quickly process images and achieve autonomous navigation;

[0036] The STM32F103ZET6 microcontroller 21 is used as the attitude control master to ensure precise motion control;

[0037] MPU6050 gyroscope attitude detection module 4, real-time acquisition of robot angle information to ensure stability when performing actions;

[0038] LN298 motor driver module 22 provides precise PWM control for four DC motors to ensure power output;

[0039] The encoder motor 18 is combined with the diaphragm pump 6 to adjust the flow rate of the diaphragm pump 6 to achieve precise spraying and application amount control of the fertilizer. Through the PWM signal, it is ensured that the fertilizer application amount matches the crop demand, without excessive or wasteful fertilizer.

[0040] The PCA steering gear module 11 is installed in the hardware system of the intelligent fertilizer robot. Its specific function is to control the output PWM signal through the IIC bus, and control the visual fill light group 10 and the diaphragm pump 6 through precise PWM output to achieve the visual fill light brightness and fertilizer application, providing the robot with the necessary assistance and automatic control mechanism for precise operation;

[0041] The fertilizer liquid is extracted by the diaphragm pump 6, passes through the connecting pipe 7 and then connected to the sprinkler head through a three-way joint 9 for spraying operation. The overall function realizes accurate autonomous navigation and fertilization operation;

[0042] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic fertilizing robot with a visual recognition navigation solution, comprising a frame body (1), characterized in that: A first fertilizer tank (2) is arranged at the center of the top of the vehicle frame body (1); a chassis main control module (3) is arranged on one side of the first fertilizer tank (2); an MPU6050 gyroscope attitude detection module (4) is arranged on the other side of the first fertilizer tank (2); a power supply (5) is arranged on one side of the MPU6050 gyroscope attitude detection module (4); a diaphragm pump (6) is connected to one end of the first fertilizer tank (2); a connecting pipe (7) is arranged at one end of the diaphragm pump (6); a spray head (8) is arranged at the bottom of the vehicle frame body (1); the spray head (8) is connected to the connecting pipe (7) via a three-way joint (9); and the vehicle frame body (1) A visual fill light group (10) is arranged on one side of the top of the vehicle body (1), a PCA steering gear module (11) is arranged on one side of the visual fill light group (10), a camera (12) is arranged on one side of the PCA steering gear module (11), a visual main control module (13) is arranged on one side of the camera (12), a triangular carrier (14) is arranged on both sides of the bottom end of the vehicle body (1), a supporting plate (15) is arranged on one side of the triangular carrier (14), a second fertilizer tank (16) is arranged on the top of the supporting plate (15), a wheel (17) is arranged on the bottom of the triangular carrier (14), and an encoding motor (18) is arranged on one side of the wheel (17).

2. The automatic fertilizing robot with a visual recognition navigation solution according to claim 1 is characterized in that: A square beam (19) is arranged inside the frame body (1), and a right-angle bracket (20) is arranged at the connection between the square beam (19) and the frame body (1).

3. The automatic fertilizing robot with a visual recognition navigation solution according to claim 1 is characterized in that: The chassis main control module (3) is internally provided with an STM32F103ZET6 single-chip microcomputer (21) and an LN298 motor drive module (22), and the STM32F103ZET6 single-chip microcomputer (21) is electrically connected to the LN298 motor drive module (22).

4. The automatic fertilizing robot with a visual recognition navigation solution according to claim 3 is characterized in that: The LN298 motor drive module (22) is electrically connected to the encoder motor (18), and the encoder motor (18) is drivingly connected to the wheel (17).

5. The automatic fertilizing robot with a visual recognition navigation solution according to claim 4 is characterized in that: The diaphragm pump (6) is electrically connected to the LN298 motor drive module (22).

6. The automatic fertilizing robot with a visual recognition navigation solution according to claim 5, characterized in that: The STM32F103ZET6 single chip microcomputer (21) is electrically connected to the PCA steering gear module (11).

7. The automatic fertilizing robot with a visual recognition navigation solution according to claim 6 is characterized in that: The visual main control module (13) is electrically connected to the STM32F103ZET6 single chip computer (21).

8. The automatic fertilizing robot with a visual recognition navigation solution according to claim 7, characterized in that: The LN298 motor drive module (22) is electrically connected to the visual fill light group (10).

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