Intelligent identification pesticide spraying robot

Abstract

The utility model relates to an intelligent identification pesticide spraying robot. The intelligent identification pesticide spraying robot is characterized in that crawler belts and suspension systems are mounted on two sides of a bottom frame, and a bottom plate is mounted at the top of the bottom frame; the charging barrel and the control cabinet are arranged on the bottom plate, the control cabinet is provided with a holder, and the holder is provided with a camera, a multispectral camera and a spray head. According to the scheme, the horizontal rotating mechanism of the holder can be driven by the steering engine B to rotate horizontally, multi-angle rotation of the camera, the multispectral camera and the spray head is achieved, and the steering engine A is matched with the rocker arm transmission rod and the connecting rod to drive the pitching mechanism and the spray head to rotate in the vertical direction; crop image information is collected through the camera and the multispectral camera, so that the robot can accurately recognize the real situation of crops and control the direction of the spray head and the pesticide spraying pump to perform accurate pesticide spraying, the pesticide spraying efficiency and quality are improved, the labor intensity of operators is reduced, and the opportunity that the pesticide spraying operators make contact with pesticides is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, in particular to an intelligent identification pesticide spraying robot. BACKGROUND

[0002] Traditional crop disease and pest control mainly relies on manual pesticide spraying, which is inefficient and time-consuming. Manual pesticide spraying can easily lead to overuse and improper spraying of pesticides, causing environmental pollution and pesticide residue problems, and long-term exposure to pesticides is harmful to human health.

[0003] Currently, the development direction of unmanned pesticide spraying mainly includes pesticide spraying unmanned aerial vehicles and pesticide spraying robots. Among them, pesticide spraying unmanned aerial vehicles can save manpower, but have some drawbacks, such as in extreme weather conditions, the flight and spraying operation of unmanned aerial vehicles will be severely affected, and pesticide spraying unmanned aerial vehicles consume a lot of energy, the frequency of battery replacement is also large, and the use time is limited.

[0004] And the types of pesticide spraying robots are also increasing. The environmental adaptability of mechanical mechanisms and control systems can be improved according to the application object, but the existing pesticide spraying robots can only spray in a fixed direction or 360-degree rotation, and cannot accurately and intelligently control the spraying of plants. With the further development of economy and society, people have higher and higher requirements for intelligent pesticide spraying robots.

[0005] Therefore, it is necessary to design a robot that can intelligently identify plant diseases and pests and accurately spray pesticides to improve the efficiency and quality of pesticide spraying. CONTENT OF THE INVENTION

[0006] To solve or partially solve the problems in the related art, the present application provides an intelligent identification pesticide spraying robot, aiming to solve the problem that the existing pesticide spraying robot can only spray in a fixed direction or 360-degree rotation, and cannot accurately and intelligently control the spraying of plants.

[0007] The present application provides an intelligent identification pesticide spraying robot, comprising:

[0008] a bottom frame, a bottom plate, a track and suspension system, a spray head, a camera, a pesticide loading barrel, a pesticide spraying pipe, a control panel, a power supply, a holder, a control cabinet and a multispectral camera;

[0009] The track and suspension system is installed on both sides of the bottom frame, and the bottom plate is installed on the top of the bottom frame;

[0010] The pesticide loading barrel and the control cabinet are installed on the bottom plate;

[0011] The holder is installed on the control cabinet, and the camera, the multispectral camera and the spray head are installed on the holder and face the same direction;

[0012] The head includes: a steering engine A, a steering engine B, a rocker arm, a transmission rod, a connecting rod, a base, a horizontal rotation mechanism and a pitching mechanism; the base is fixed on a control cabinet, the horizontal rotation mechanism is installed on the base, the steering engine B is connected with the horizontal rotation mechanism and rotates the horizontal rotation mechanism through the steering engine B; the steering engine A is installed on the horizontal rotation mechanism, the rocker arm is installed on an output shaft of the steering engine A, the rocker arm is connected with the connecting rod through the transmission rod, the other end of the connecting rod is installed on the pitching mechanism, the pitching mechanism is installed on the horizontal rotation mechanism, and the nozzle is installed on the pitching mechanism;

[0013] The nozzle is connected with the charging barrel through a spraying pipe, and a spraying pump is arranged on the spraying pipe.

[0014] The control cabinet is internally provided with a control board, a power supply and a WIFI communication module.

[0015] Optionally, in some embodiments, the charging barrel further comprises:

[0016] A partition plate is arranged in the charging barrel, so that the influence of the shaking of the medicated water on the robot during operation can be reduced.

[0017] Optionally, in some embodiments, the spraying pump is a submersible pump installed in the charging barrel, and the outlet of the spraying pump is connected with the nozzle through the spraying pipe.

[0018] Optionally, in some embodiments, the charging barrel further comprises:

[0019] A cover and a medicine inlet are arranged on the charging barrel.

[0020] Optionally, in some embodiments, the steering engine B connected with the horizontal rotation mechanism comprises:

[0021] A gear B is arranged on the output shaft of the steering engine B, and the lower end of the horizontal rotation mechanism penetrates through the base and is connected with a gear A; the gear B and the gear A are engaged with each other, the gear B is driven to rotate by the steering engine B, and the gear B drives the gear A and the horizontal rotation mechanism to rotate.

[0022] Optionally, in some embodiments, a display is arranged on the side of the control cabinet, and the display is used for displaying the working state of the robot and displaying the collected environmental information in real time.

[0023] The technical scheme provided in the application can have the following beneficial effects:

[0024] The horizontal rotation mechanism of the holder is driven by the steering engine B to rotate horizontally, realizing multi-angle rotation of the camera, the multi-spectrum camera and the spray head. The pitching mechanism and the spray head are driven to rotate vertically by the steering engine A, the rocker transmission rod and the connecting rod. The camera and the multi-spectrum camera collect crop image information, so that the robot can accurately identify the real situation of the crops, control the direction of the spray head and the pesticide spraying pump to spray the pesticide accurately, improve the efficiency and quality of pesticide spraying, reduce the labor intensity of the operation personnel and reduce the opportunity of the pesticide spraying operation personnel to contact the pesticide.

[0025] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory and are not restrictive of the application. BRIEF DESCRIPTION OF DRAWINGS

[0026] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout and in which:

[0027] Figure 1 is a structural schematic diagram of the intelligent identification pesticide spraying robot shown in the embodiments of the present application;

[0028] Figure 2 is a right view schematic diagram of the intelligent identification pesticide spraying robot shown in the embodiments of the present application;

[0029] Figure 3 is a front view schematic diagram of the intelligent identification pesticide spraying robot shown in the embodiments of the present application;

[0030] Figure 4 is a pesticide loading barrel structure schematic diagram of the intelligent identification pesticide spraying robot shown in the embodiments of the present application;

[0031] Figure 5 is a holder structure schematic diagram of the intelligent identification pesticide spraying robot shown in the embodiments of the present application.

[0032] Reference signs: 1 - bottom frame, 2 - bottom plate, 3 - track and suspension system, 4 - spray head, 5A - steering engine A, 5B - steering engine B, 6 - camera, 7 - display, 8 - pesticide loading barrel, 9 - partition plate, 10 - pesticide spraying pipe, 11 - pesticide inlet, 12A - gear A, 12B - gear B, 13 - control board, 14 - power supply, 15 - rocker, 16 - transmission rod, 17 - wheel and wheel motor, 18 - cover, 19 - holder, 19A - base, 19B - horizontal rotation mechanism, 19C - pitching mechanism, 20 - control cabinet, 21 - connecting rod, 22 - multi-spectrum camera. DETAILED DESCRIPTION

[0033] Embodiments of the present application will be described in more detail with reference to the drawings. Although the embodiments of the present application are shown in the drawings, it is understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0034] It should be understood that, although the terms "first", "second", "third", etc. can be used in this application to describe various information, these information should not be limited by these terms. These terms are only used to distinguish the same type of information from each other. For example, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information without departing from the scope of the present application. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0035] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0036] Unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0037] At present, the development direction of unmanned pesticide spraying mainly includes two types of pesticide spraying unmanned aerial vehicles and pesticide spraying robots. Among them, the pesticide spraying unmanned aerial vehicle can save manpower, but has some drawbacks, such as in extreme weather conditions, the flight and spraying operation of the unmanned aerial vehicle will be seriously affected, and the pesticide spraying unmanned aerial vehicle needs to consume more energy, the battery replacement frequency is also larger, and the use time is limited. The types of pesticide spraying robots are also increasing, and the environmental adaptability of mechanical mechanisms and control systems can be improved according to application objects, but the existing pesticide spraying robots can only spray in a fixed direction or 360-degree rotation, and cannot accurately and intelligently spray plants. With the further development of economy and society, people have higher and higher requirements for intelligent pesticide spraying robots.

[0038] To solve the above problems, the embodiment of the present application provides an intelligent identification pesticide spraying robot, which can drive the horizontal rotation mechanism of the gimbal through the rudder B to rotate horizontally, realize the multi-angle rotation of the camera, the multispectral camera and the spray head, drive the pitch mechanism and the spray head to rotate vertically through the rudder A, the rocker arm transmission rod and the connecting rod; crop image information is collected through the camera and the multispectral camera, so that the robot can accurately identify the real situation of the crops, control the direction of the spray head and the pesticide pump to accurately spray, improve the efficiency and quality of spraying, reduce the labor intensity of the operation personnel, and reduce the opportunity of the pesticide spraying operation personnel to contact pesticides.

[0039] The technical solutions of the embodiments of the present application are described in detail below with reference to the drawings.

[0040] Figure 1 is a structural schematic diagram of the intelligent identification pesticide spraying robot shown in the embodiment of the present application.

[0041] Referring to Figure 1 , an intelligent identification pesticide spraying robot comprises:

[0042] The bottom frame 1, the bottom plate 2, the track and suspension system 3, the spray head 4, the rudder A 5A, the rudder B 5B, the camera 6, the display 7, the pesticide loading barrel 8, the partition plate 9, the pesticide spraying pipe 10, the pesticide inlet 11, the gear A 12A, the gear B 12B, the control panel 13, the power supply 14, the rocker arm 15, the transmission rod 16, the wheel and wheel motor 17, the cover 18, the gimbal 19, the control cabinet 20, the connecting rod 21, and the multispectral camera 22.

[0043] The track and suspension system 3 is symmetrically installed on both sides of the bottom frame 1, the wheel and wheel motor 17 is installed on the track and suspension system 3, the gear motor drives the gear, and then drives the track to rotate. The bottom plate 2 is fixedly installed above the bottom frame 1, the pesticide loading barrel 8 and the control cabinet 20 are fixedly installed above the bottom plate 2.

[0044] The medicine container 8 has an internal partition plate 9. The partition plate 9 is not connected to the bottom of the medicine container 8, ensuring that the bottom space of the medicine container 8 is interconnected. The partition plate 9 can reduce the shaking of the medicine during the robot's movement and avoid the impact of the medicine shaking on the robot's operation. The medicine container 8 is equipped with a lid 18, and the lid 18 has a medicine inlet 11.

[0045] The control cabinet 20 is equipped with a pan-tilt unit 19, such as... Figure 5 As shown, the gimbal 19 includes servo motor A5A, servo motor B5B, rocker arm 15, transmission rod 16, connecting rod 21, base 19A, horizontal rotation mechanism 19B, and pitch mechanism 19C. Base 19A is fixedly mounted on control cabinet 20. Horizontal rotation mechanism 19B is rotatably mounted on base 19A. The lower end of horizontal rotation mechanism 19B passes through base 19A. Gear A12A is mounted on the bottom of horizontal rotation mechanism 19B. Servo motor B5B is mounted on control cabinet 20 on one side of the base. The output shaft of servo motor B5B passes through the surface of control cabinet 20 and connects to gear B12B. Gear B12B meshes with gear A12A. Servo motor B5B drives gear B12B to rotate, which in turn drives gear A12A. Gear A12A drives horizontal rotation mechanism 19B to rotate horizontally. Servo motor A5A is mounted on the side of the horizontal rotation mechanism 19B. The output shaft of servo motor A5A extends into the horizontal rotation mechanism 19B and connects to rocker arm 15. The other end of rocker arm 15 is connected to connecting rod 21 via transmission rod 16. The other end of connecting rod 21 is fixed to one side of pitch mechanism 19C. Pitch mechanism 19C is rotatably mounted on top of horizontal rotation mechanism 19B. Nozzle 4 is fixed to the upper end of pitch mechanism. Nozzle 4 is controlled to pitch and rotate via servo motor 5A. Specifically, servo motor 5A rotates forward and backward to drive rocker arm 15 to move up and down. Rocker arm 15 pulls or pushes connecting rod 21 up and down via transmission rod 16, thereby driving pitch mechanism 19C and nozzle 4 to pitch and rotate.

[0046] A camera 6 and a multispectral camera 22 are fixedly mounted on the horizontal rotation mechanism of the gimbal 19. The camera 6, multispectral camera 22, and nozzle 4 face the same direction. The camera 6, multispectral camera 22, and nozzle 4 rotate horizontally along with the horizontal rotation mechanism via a servo motor 5B.

[0047] The nozzle 4 is connected to the liquid space of the medicine tank 8 via the spray pipe 10. A spray pump, which can be a submersible pump, is installed inside the medicine tank 8. The outlet of the spray pump is connected to the nozzle 4 via the spray pipe 10. Alternatively, the spray pump can be installed inside the nozzle 4, with its inlet connected to the corresponding liquid outlet of the medicine preparation tank via the spray pipe 10, and its outlet directly connected to the nozzle via the relevant pipes of the nozzle.

[0048] The display 7 is connected to the control panel 13 on the upper side of the control cabinet 20, which is used to display the working state of the robot and real-time collected environmental information. The control panel 13, power supply 14 and WIFI communication module are installed in the control cabinet 20. The input end of the control panel 13 is connected to the WIFI communication module to receive the instructions sent by the host computer. The output end of the control panel 13 is connected to the wheel motor, steering engine A, steering engine B and pesticide spraying pump. The control panel 13 controls the wheel motor, steering engine A, steering engine B and pesticide spraying pump to perform corresponding actions through the received instructions.

[0049] The WIFI communication module is also connected to the camera 6 and the multispectral camera 22. After the camera 6 collects plant leaf data, it is transmitted to the computer through the WIFI module. The computer uses the neural network model obtained by openCV and deep learning training to process the photographed pictures and identify crops and weeds. The growth status of crops is obtained through the multispectral camera 22, and the obtained information is sent to the computer. The computer carries a crop disease and pest detection neural network model to make a prediction. The prediction result of the disease and pests is processed and judged. The generated instructions are fed back to the control panel 13 through the WIFI module. The control panel 13 controls the wheel motor, steering engine A, steering engine B and pesticide spraying pump to perform corresponding actions through the received instructions, so as to realize precise and efficient pesticide spraying of the pesticide spraying robot.

[0050] The above has described the embodiments of the present application. The above description is exemplary and is not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles, practical application or improvement of technology in the market of the embodiments, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. An intelligent identification pesticide spraying robot, comprising a bottom frame (1), a bottom plate (2) and a track and suspension system (3), the track and suspension system (3) is installed on both sides of the bottom frame (1), and the bottom plate (2) is installed on the top of the bottom frame (1), characterized in that, The intelligent identification pesticide spraying robot further comprises: a spray head (4), a camera (6), a pesticide loading barrel (8), a pesticide spraying pipe (10), a control panel (13), a power supply (14), a holder (19), a control cabinet (20), and a multi-spectrum camera (22); The pesticide loading barrel (8) and the control cabinet (20) are installed on the bottom plate (2); The control cabinet (20) is provided with the holder (19), and the camera (6), the multi-spectrum camera (22), and the spray head (4) are installed on the holder (19) and face the same direction; The holder (19) comprises a steering engine A (5A), a steering engine B (5B), a rocker arm (15), a transmission rod (16), a connecting rod (21), a base (19A), a horizontal rotation mechanism (19B), and a pitching mechanism (19C); the base (19A) is fixed on the control cabinet (20), the horizontal rotation mechanism (19B) is rotatably installed on the base (19A), the steering engine B (5B) is connected to the horizontal rotation mechanism (19B), and the horizontal rotation mechanism (19B) is controlled to rotate by the steering engine B (5B); the steering engine A (5A) is installed on the horizontal rotation mechanism (19B), a rocker arm (15) is installed on an output shaft of the steering engine A (5A), one end of the rocker arm (15) is connected to the connecting rod (21) through the transmission rod (16), and the other end of the connecting rod (21) is installed on the pitching mechanism (19C); the pitching mechanism (19C) is rotatably installed on the horizontal rotation mechanism (19B), and the spray head (4) is installed on the pitching mechanism (19C); The spray head (4) is connected to the pesticide loading barrel (8) through the pesticide spraying pipe (10), and the pesticide spraying pipe (10) is provided with a pesticide spraying pump; The control cabinet (20) is provided with the control panel (13), the power supply (14), and a WIFI communication module.

2. The intelligent identification pesticide spraying robot according to claim 1, characterized in that, The pesticide loading barrel (8) further comprises: a partition plate (9); The partition plate (9) is arranged in the pesticide loading barrel (8), so that the influence of the shaking of the pesticide on the operation of the robot can be reduced.

3. The intelligent identification pesticide spraying robot according to claim 1, wherein: the pesticide spraying pump is a submersible pump installed in the pesticide loading barrel (8), and the outlet of the pesticide spraying pump is connected to the spray head (4) through the pesticide spraying pipe (10).

4. The intelligent identification pesticide spraying robot according to claim 1 or 2, characterized in that, The pesticide loading barrel (8) further comprises: a cover (18) and a pesticide inlet (11); The cover (18) is installed on the pesticide loading barrel (8), and the pesticide inlet (11) is arranged on the cover (18).

5. The intelligent identification pesticide spraying robot according to claim 1, characterized in that, The steering engine B (5B) is connected to the horizontal rotation mechanism (19B) and comprises: a gear B (12B) is installed on an output shaft of the steering engine B (5B), and the lower end of the horizontal rotation mechanism (19B) penetrates through the base (19A) and is connected to a gear A (12A); the gear B (12B) and the gear A (12A) are meshed with each other, the gear B (12B) is driven to rotate by the steering engine B (5B), and the gear A (12A) and the horizontal rotation mechanism (19B) are driven to rotate by the gear B (12B).

6. The intelligent identification pesticide spraying robot according to claim 1, wherein: The control cabinet (20) is provided with a display (7) on the side, which is used for displaying the working state of the robot and real-time displaying the collected environmental information.

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