CN107593200B - A tree plant protection system and method based on visible light-infrared technology - Google Patents

Abstract

The invention relates to a tree plant protection system and method based on visible light-infrared technology. device, image acquisition and processing device and drug delivery device, and provide walking power; the image acquisition and processing device includes a single chip processor, three CCD cameras and an infrared camera for detecting whether there are insects on the leaves, wherein two CCD cameras It is used for binocular recognition and calibration, and the other CCD camera is used for visual tracking; the two CCD cameras used for binocular recognition and calibration are fixed on the upper surface of the lifting device through a pair of binocular camera racks, and the infrared camera is passed through the infrared camera. The frame is fixed on the lifting device in the middle of the pair of binocular camera frames. The present invention can identify tree lesions, and administer medicine according to the type of lesions.

Description

A tree plant protection system and method based on visible light-infrared technology

technical field

The invention belongs to the technical field of tree plant protection, and in particular relates to a tree plant protection system and method based on visible light-infrared technology.

Background technique

Nowadays, people have higher and higher requirements for green plant coverage in cities, and landscaping has become particularly important. Trees may grow slowly in spring due to insufficient nutrients in the soil, while in summer, trees are prone to insects, such as In summer, sycamore trees are prone to grow square-winged nettle bugs, frost hawk moths, etc., which will bring inconvenience to passers-by.

At present, landscaping generally relies on landscaping staff to spray a large amount of pesticides on the trees with the back spray, or use the lifting frame to assist the manual method, which requires a lot of manpower, and it is impossible to accurately administer medicine or nutrient solution in the lesion area. , and a large number of sprayed pesticides will pollute the environment. There are many solutions to the above problems. Here is an example. The Chinese patent application No. 201310463089.0 proposes a plastic hood type tree sprayer. Put it in from the central circular opening at the top of the plastic cover, pull the spray rope to spray, and then pull up the plastic cover to spray the next tree. The product can be evenly administered to trees without polluting the surrounding environment. However, there are still some problems in this patent, for example, the plastic cover is not easy to clean when folded and folded, and it is easy to carry the eggs of the previous diseased tree to the next tree. The Chinese patent with the application number 201620674257.X proposes a garden tree sprayer. The sprayer first stirs the medicinal liquid, and then uses a water pump to lift the medicinal liquid to the medicine storage bin, and the medicinal storage bin is lifted by a hydraulic support To the point where the drug needs to be administered, the drug is finally administered through the high rotating head. The advantage of this patent is that it can be sprayed to high trees, saving production costs. The disadvantage of this patent is that it will pollute the environment to a certain extent, and the lesions cannot be detected and administered in time.

In order to avoid waste of pesticides, not pollute the environment, reduce labor costs, and be able to identify tree lesions and accurately selectively administer them, a more environmentally friendly and smarter tree plant protection device is required.

SUMMARY OF THE INVENTION

The present invention aims to solve the problem of waste of pesticides in the prior art and inability to accurately administer medicines to tree lesions, and proposes a tree plant protection system and method that can identify the lesions and administer medicines according to the type of the lesions.

The technical scheme of the present invention is:

A tree plant protection system based on visible light-infrared technology, characterized in that the system includes a traveling device, a lifting device, a deceleration rotation device, an image acquisition and processing device, and a drug delivery device; the traveling device carries a lifting device, a deceleration rotation device, and an image acquisition and processing device. Devices and drug delivery devices, and provide walking power;

The deceleration rotating device includes a gear box, a bearing cover, a vertical gear shaft, a roller bearing, a horizontal bevel gear, a vertical bevel gear, a horizontal gear shaft, a horizontal spacer, a motor box and a flashing plate;

The gear box and the motor box where it is located are fixed on the upper surface of the lifting device, and a rain shield is fixed on the upper surface of the gear box and the motor box to protect the motor box and the gear box; the horizontal gear shaft and the gear box are installed in the gear box. A vertical gear shaft, a horizontal bevel gear is installed in the middle of the horizontal gear shaft, both ends of the horizontal gear shaft are connected with the front and rear plates of the gear box through roller bearings and bearing cover plates, and one end of the horizontal gear shaft close to the motor box passes through The gear box is connected with the motor output shaft in the motor box; one end of the vertical gear shaft is connected with the vertical bevel gear, and the vertical bevel gear is meshed with the horizontal bevel gear, and the other end of the vertical gear shaft passes through the upper plate of the gear box and flashing plate, and is fixed with the upper plate of the gear box through a roller bearing and bearing cover plate;

The drug delivery device includes a guardrail, a medicine tank, a nutrient solution tank, a medicine solution conduit, a nutrient solution pipe, a remote switch valve, a hose, a sleeve, a medicine spray pipe, a spray head and a fixing nut;

The guardrail is welded on the upper surface of the walking device, and the medicine tank and the nutrient solution tank are placed in the guardrail, and the medicine tank and the nutrient solution tank are respectively connected with the two input ends of the remote switch valve through the medicine solution conduit and the nutrient solution pipe; The sleeve is sleeved on the vertical gear shaft located above the gear box, and the upper end of the sleeve is vertically connected to the spray pipe; one end of the spray pipe is connected to the spray head, and the other end is connected to the output end of the remote switch valve through a hose ;The connection between the hose and the spray pipe is fixed by the fixing nut;

The image acquisition and processing device includes a single-chip processor, three CCD cameras and an infrared camera for detecting whether there are insects on the leaves, wherein two CCD cameras are used for binocular identification and calibration, and the other CCD camera is used for visual tracking. ;The two CCD cameras used for binocular recognition and calibration are fixed on the upper surface of the lifting device through a pair of binocular camera frames, and the infrared camera is fixed on the lifting device in the middle of the pair of binocular camera frames through the infrared camera frame The installation heights of the two CCD cameras and infrared cameras used for binocular recognition and calibration are matched with the height of the nozzle; the CCD camera used for visual tracking is welded on the upper surface of the traveling device through the tracking camera frame, and is located in the front part of the traveling device; the single-chip processor is fixed on the lifting device under the rain shield, and the single-chip processor is respectively connected with three CCD cameras, an infrared camera, the power element of the lifting device, the motor of the deceleration rotating device, The remote on-off valve and the power element of the traveling device are electrically connected.

A tree plant protection method based on visible light-infrared technology, the method uses the above-mentioned system, and the specific steps are:

The first step is to set a white line on the ground of the plant area to be administered. The traveling device carries the lifting device, the deceleration rotating device, the image acquisition and processing device and the drug delivery device according to the way of visual tracing. As a guide line, the track information of the white line on the road is collected by the CCD camera used for visual tracking, and the road detection signal is fed back to the single-chip processor. The single-chip processor analyzes the collected signal and controls the driving wheel of the walking device. Rotating speed;

In the second step, when traveling, use two CCD cameras for binocular recognition and calibration to collect the overall image in real time, and when it is judged as a tree image through the contour-based matching algorithm, the traveling device stops moving, which is used for binocular recognition and calibration. The CCD camera collects the tree image again, and the single-chip processor denoises the collected tree image, and then divides the denoised tree image with a color threshold, sets the color threshold, separates the foreground image and the background image, and separates the foreground image from the background image. Carry out RGB numerical analysis to identify and judge whether the plant is normal or lacks necessary elements or is diseased; at the same time, the infrared camera is also working, using thermal imaging technology to analyze the thermal radiation emitted by insects, setting infrared thresholds, and using segmentation algorithms to determine Whether there are insect pests; and then apply the principle of binocular vision to calibrate and locate the areas with lack of nutrients, lesions or insects, and the two CCD cameras used for binocular identification and calibration and the infrared camera used to detect whether there are insects on the leaves. The signal is transmitted to the single-chip processor; the single-chip processor controls the lifting of the lifting device and the rotation of the deceleration rotating device. After judging the drug delivery method, the drug delivery signal is sent to the remote switch valve, which controls the switch of the medicine tank and the nutrient solution tank. state to selectively spray trees.

Compared with the prior art, the beneficial effects of the present invention are:

1. The present invention realizes the deceleration and rotation of the sleeve through the cooperation of the horizontal bevel gear and the vertical bevel gear through a new structural design, which enhances the controllability of the nozzle.

2. The invention is equipped with a tracking camera frame with a built-in CCD camera, the camera can identify road markings, and transmit the signal to the single-chip processor, which drives the motor to control the car to move forward, saving a lot of manpower.

3. Two CCD cameras are used in the image acquisition device of the present invention, and the binocular recognition calibration and color threshold segmentation methods can be used to identify the places where the leaves lack nutrients, and the collected leaf images are denoised and G single-channel grayscale. , G channel color threshold segmentation, identify and judge whether the plant is normal or lacks necessary elements or is diseased (such as yellowishness, nitrogen deficiency, potassium, or leaves are brown and dry, verticillium wilt, etc.), if nutrient solution needs to be given, control The nutrient solution is supplied by the remote switch valve, which realizes the fixed-point ration and avoids waste; the infrared camera is used to analyze the thermal radiation emitted by insects and moths through thermal imaging technology, and the appropriate threshold is set. In the area with insects, if there are insect pests, the remote switch valve will be controlled for drug administration, which avoids the waste of pesticides and can effectively protect the environment.

4. A variety of medicine pots can be placed in the guardrail of the present invention, and through the control of the remote switch valve by the single-chip processor, the diversification and automation of the tree medicine can be realized, and the manpower can be effectively saved.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the tree plant protection system based on visible light-infrared technology of the present invention;

Fig. 2 is the three-dimensional structure schematic diagram of the gear box of the tree plant protection system based on the visible light-infrared technology of the present invention;

Fig. 3 is the three-dimensional structure schematic diagram of the drug delivery device of the tree plant protection system based on the visible light-infrared technology of the present invention;

Fig. 4 is the structural schematic diagram of the image acquisition and processing device of the tree plant protection system based on the visible light-infrared technology; Fig. 5 is the working flow chart of the present invention;

In the figure: 10, vehicle plate; 11, power support plate; 12, support rod; 13, DC power supply; 14, motor; 15, driving wheel; 16, driven wheel; 17, axle; 18, wheel fixing frame; 20, Fixed card; 21, support rod; 22, roller; 23, shaft; 24, hydraulic cylinder; 25, lifting platform; 26, battery; 50, guardrail; 511, medicine tank; 512, nutrient solution tank; 52, medicine liquid conduit ;53, nutrient solution pipe; 54, remote switch valve; 55, hose; 56, sleeve; 57, spray pipe; 58, spray head; 59, fixing nut; 40, binocular camera frame; 41, infrared camera Rack; 43, single chip processor; 42, tracking camera rack; 30, gear box; 31, bearing cover; 32, vertical gear shaft; 33, roller bearing; 34, horizontal bevel gear; 35, vertical cone Gear; 36, horizontal gear shaft; 37, horizontal spacer; 38, motor box; 39, rain shield.

Detailed ways

The present invention will be described in further detail below with reference to the embodiments and accompanying drawings, but this is not intended to limit the protection scope of the present application.

The tree plant protection system (referred to as the system, see Figures 1-3) based on the visible light-infrared technology of the present invention includes a traveling device, a lifting device, a deceleration rotating device, an image acquisition and processing device, and a drug delivery device; the traveling device carries a lifting device and a deceleration rotating device. , image acquisition and processing device and drug delivery device;

The traveling device includes a vehicle board 10, a power supply support plate 11, a support rod 12, a DC power supply 13, a motor 14, a driving wheel 15, a driven wheel 16, an axle 17 and a wheel fixing frame 18; The power supply support plate 11 is connected to the power supply support plate 11 through the corresponding support rod 12. The DC power supply 13 is placed on the upper surface of the power supply support plate 11. The lower surface of the power supply support plate 11 is symmetrically installed with wheel fixing frames 18. A wheel is installed, and the two adjacent wheels are connected by an axle 17; a motor 14 is installed on the two wheel fixing frames 18 in front of the vehicle panel 10, the motor 14 is connected with the DC power supply 13, and the motor 14 is connected. The wheel is the driving wheel 15, the motor 14 provides power to the corresponding driving wheel, and the two wheels behind the vehicle board 10 are the driven wheels 16;

The lifting device includes a fixed card 20, a support rod 21, a roller 22, a rotating shaft 23, a hydraulic cylinder 24, a lifting platform 25 and a battery 26; a plurality of support rods 21 are cross-connected and fixed with each other, and two support rods 21 on the same height pass through. The rotating shaft 23 is connected, and the support rod 21 can rotate freely relative to the rotating shaft 23. The upper end of the two support rods 21 at the bottom is fixed on the vehicle board 10 through the fixing card 20, and the other end is in sliding contact with the vehicle board 10 through the roller 22; The structure on the two support rods 21 on the bottom layer is the same as the structure on the two support rods 21 on the bottom layer, one end is fixed on the lower surface of the lifting platform 25 through the corresponding fixing card 20, and the other end is connected to the lifting platform 25 through the corresponding rollers 22. The lower surface is in sliding contact; the hydraulic rod 24 is fixed on the vehicle board 10, and the cylinder rod of the hydraulic cylinder 24 is fixed between the bottommost rotating shaft 23 and the opposite uppermost rotating shaft 23, and the battery 26 is fixed on the vehicle board 10, supply power to the hydraulic cylinder 24; during the lifting and lowering process of the lifting device, the roller 22 in sliding contact with the car board 10 is rolled on the car board 10 by the traction of the support rod 21, and the roller 22 in sliding contact with the lifting platform 25 is rolled by the corresponding The traction of the support rod 21 rolls on the lower surface of the lifting platform 25; the expansion and contraction of the hydraulic cylinder 24 pushes the lifting and lowering of the entire lifting device;

The deceleration rotating device includes a gear box 30, a bearing cover 31, a vertical gear shaft 32, a roller bearing 33, a horizontal bevel gear 34, a vertical bevel gear 35, a horizontal gear shaft 36, a horizontal spacer 37, a motor box 38 and a shield. rain plate 39;

The gear box 30 and the motor box 38 are both fixed on the upper surface of the lifting platform 25, and a rain shield 39 is fixed on the upper surface of the gear box 30 and the motor box 38 to protect the motor box 38 and the gear box 30; A horizontal gear shaft 36 and a vertical gear shaft 32 are installed in the box 30, a horizontal bevel gear 34 is installed in the middle of the horizontal gear shaft 36, and both ends of the horizontal gear shaft 36 are connected to each other through a roller bearing 33 and a bearing cover 31. The front and rear plates of the gear box 30 are connected, and one end of the horizontal gear shaft 36 close to the motor box 38 passes through the gear box 30 and is connected with the motor output shaft in the motor box 38; one end of the vertical gear shaft 32 is connected to the vertical bevel gear 35, And the vertical bevel gear 35 meshes with the horizontal bevel gear 34, the other end of the vertical gear shaft 32 passes through the upper plate of the gear box 30 and the rain shield 39, and passes through a roller bearing 33 and 31 and the upper plate of the gear box 30. fixed;

The motor in the motor box 38 drives the horizontal gear shaft 36 to rotate. Roller bearings 33 are sleeved on both the front and rear sides of the horizontal gear shaft 36. There are rollers in the roller bearings 33, and the inner ring of the roller bearings 33 can follow The roller rotates and rotates, the horizontal bevel gear 34 is sleeved on the horizontal gear shaft 36, the horizontal rotation of the horizontal gear shaft 36 can drive the horizontal bevel gear 34 to rotate in the vertical direction, the horizontal bevel gear 34 meshes with the vertical bevel gear 35, and the vertical bevel gear 34 is meshed with the vertical bevel gear 35. The gear 35 can drive the vertical gear shaft 32 to rotate.

The drug delivery device (see FIG. 3 ) includes a guardrail 50 , a drug tank 511 , a nutrient solution tank 512 , a drug solution conduit 52 , a nutrient solution pipe 53 , a remote switch valve 54 , a hose 55 , a sleeve 56 , and a drug spray pipe 57 , spray head 58 and fixing nut 59;

The guardrail 50 is welded on the vehicle board 10, and the medicine tank 511 and the nutrient solution tank 512 are placed in the guardrail 50. The medicine tank 511 and the nutrient solution tank 512 are connected to the remote switch valve through the medicine liquid conduit 52 and the nutrient solution pipe 53 respectively. The two input ends of 54 are connected; the sleeve 56 is sleeved on the vertical gear shaft 32 located above the gear box 30, and the upper end of the sleeve 56 is vertically connected to the spray pipe 57; one end of the spray pipe 57 is connected to the spray head 58, the other end is connected to the output end of the remote on-off valve 54 through a hose 55; the connection between the hose 55 and the spray pipe 57 is fixed by a fixing nut 59.

The sleeve 56 is sleeved on the vertical gear shaft 32 of the deceleration rotating device, and can rotate following the rotation of the vertical gear shaft 32, thereby driving the spray head 58 to rotate.

The image acquisition and processing device (see FIG. 4 ) includes a single-chip processor 43, three CCD cameras and an infrared camera for detecting whether there are insects on the leaves, two of which are used for binocular identification and calibration, and the other is used for binocular identification and calibration. The camera is used for visual tracking; the two CCD cameras used for binocular recognition and calibration are fixed on the lifting platform 25 through a pair of binocular camera racks 40 , and the infrared camera is fixed on the pair of binocular cameras through an infrared camera rack 41 On the lifting platform 25 in the middle of the camera rack 40; the installation heights of the two CCD cameras and the infrared cameras used for binocular recognition and calibration are matched with the height of the nozzle 58; the CCD camera used for visual tracking passes through the tracking camera machine The frame 42 is welded on the vehicle panel 10 and is located at the front of the vehicle panel 10 for collecting road information; the single-chip processor 43 is fixed on the lifting platform 25 under the rain shield 39, and the single-chip processor 43 is connected to the Three CCD cameras, an infrared camera, the hydraulic cylinder of the lifting device, the motor of the deceleration rotating device, the remote switch valve and the motor of the traveling device are electrically connected.

The present invention is based on the tree plant protection method of visible light-infrared technology, the method uses the above-mentioned system, and the concrete steps are:

The first step is to set a white line on the ground of the plant area to be administered. The traveling device carries the lifting device, the deceleration rotating device, the image acquisition and processing device and the drug delivery device according to the way of visual tracing. Make a guide line, collect the track information of the white line on the road through the CCD camera used for visual tracking, and feed back the road detection signal to the single-chip processor, which analyzes the collected signal and controls the speed of the two driving wheels ;

In the second step, when traveling, use two CCD cameras for binocular recognition and calibration to collect the overall image in real time, and when it is judged as a tree image by the contour-based matching algorithm, the traveling device stops moving, which is used for binocular recognition and calibration. The CCD camera collects the tree image again, the single-chip processor denoises the collected tree image, and then performs color threshold segmentation on the denoised tree image, takes a color threshold, separates the foreground image and the background image, and separates the foreground image from the background image. Perform RGB numerical analysis to identify and judge whether the plant is normal or lacks essential elements or is diseased (such as yellowishness, nitrogen deficiency, potassium deficiency, or brown and dry leaves, verticillium wilt, etc.); at the same time, the infrared camera is also working, Thermal imaging technology is used to analyze the thermal radiation emitted by insects, moths, etc., and the infrared threshold is set, and the segmentation algorithm is used to determine whether there is insect damage; The signals detected by the two CCD cameras used for binocular identification and calibration and the infrared camera used to detect whether there are insects on the leaves are transmitted to the single-chip processor; After the dosing method, the dosing signal is sent to the remote switch valve, and the remote switch valve controls the switch state of the medicine tank and the nutrient solution tank, so as to selectively spray the trees.

The work flow of the system of the invention is as follows: turn on the system switch, the visual tracking guides the traveling device to move forward, the CCD camera used for binocular recognition and calibration collects the image during the traveling, the CCD camera transmits the image back to the single-chip processor, and the contour-based image is collected by the CCD camera. When the matching algorithm determines whether it is a tree image, if a tree image is detected, the traveling device stops moving; if no tree image is detected, the traveling device continues to move under the guidance of visual tracking.

When the traveling device stops moving, the CCD camera used for binocular recognition and calibration collects the tree image again, and the single-chip processor denoises the collected tree image, and then performs color threshold segmentation on the denoised tree image, and takes a color Threshold, separates the foreground image from the background image, and performs RGB numerical analysis on the foreground image to identify and judge whether the plant is normal or lacks necessary elements or is diseased; at the same time, the infrared camera is also working, using thermal imaging technology to analyze insects, fly The thermal radiation emitted by moths, etc., sets the infrared threshold, and judges whether there is pest infestation through the segmentation algorithm. If the plant only lacks nutrients but has no insects, the CCD camera used for binocular identification and calibration calibrates the three-dimensional coordinates according to the principle of binocular vision, the dosing nozzle rotates to the corresponding position, and the remote switch valve is controlled to open the valve of the nutrient solution tank; if the plant lacks nutrients and If there are insects, the CCD camera used for binocular identification and calibration calibrates the three-dimensional coordinates according to the principle of binocular vision, the dosing nozzle rotates to the corresponding position, and the remote switch valve is controlled to open the valve of the nutrient solution tank and the valve of the medicine tank; if the plant has only insects but not lack Nutrition, the CCD camera used for binocular identification and calibration calibrates the three-dimensional coordinates according to the principle of binocular vision, the dosing nozzle is rotated to the corresponding position, and the remote switch valve is controlled to open the valve of the medicine tank; if the plant is neither lacking in nutrients nor insects, then the The device moves on.

Example 1

The tree plant protection system based on the visible light-infrared technology in this embodiment includes a traveling device, a lifting device, a decelerating rotation device, an image acquisition and processing device, and a drug delivery device; the traveling device carries a lifting device, a deceleration rotation device, an image acquisition and processing device, and a drug delivery device. ;

The traveling device includes a vehicle board 10 , a power supply support plate 11 , a support rod 12 , a DC power supply 13 , a motor 14 , a driving wheel 15 , a driven wheel 16 , an axle 17 , and a wheel fixing frame 18 . The above-mentioned DC power supply 13 is placed on the power supply support plate 11, and is connected to the lower side of the vehicle board 10 through four support rods 12 for powering the motors that drive the two driving wheels 15; the rotating shafts of the two motors 14 are respectively welded on the power supply support. The wheel holder 18 on the lower side of the plate 11 drives the two driving wheels 15 to rotate respectively, and the two driven wheels 16 are fixed and connected to the axle 17 through the wheel holder 18 under the rear power support plate 11 .

The lifting device includes a fixed card 20 , a support rod 21 , a roller 22 , a rotating shaft 23 , a hydraulic cylinder 24 , a lifting platform 25 , and a battery 26 . The above-mentioned support rods 21 are connected by a rotating shaft 23, and each support rod 21 can be freely rotated through the rotating shaft 23. One side of the bottom of the lifting device is fixed on the vehicle board 10 through a pair of fixing clips 20, and the other side is equipped with a roller 22. During the lifting and lowering process of the lifting device, the roller 22 is pulled by the support rod 21 to roll on the car board 10. One side of the top of the lifting device is fixed under the lifting platform 25 by a pair of fixing clips 20, and the other side is installed with the roller 22. The support rod 21 is supported by the support rod. During the lifting process of the lifting device, the roller 22 is rolled under the lifting platform 25 by the traction of the support rod 21 . One side of the above-mentioned hydraulic cylinder 24 is connected to the rotating shaft 23 close to the lifting platform 25, and the other side is connected to the rotating shaft 23 fixed to the vehicle deck 10. The expansion and contraction of the hydraulic cylinder 24 pushes the lifting and lowering of the entire lifting device, and the battery 26 provides the lifting device. electrical energy.

The deceleration rotating device includes a gear box 30, a bearing cover 31, a vertical gear shaft 32, a roller bearing 33, a horizontal bevel gear 34, a vertical bevel gear 35, a horizontal gear shaft 36, a horizontal spacer 37, a motor box 38, a shield Rainboard 39. The above-mentioned gear box 30 is welded on the lifting platform 25, the middle boss of the vertical gear shaft 32 makes the roller bearing 33 fit with the bearing cover plate 31, and is fixed with the upper plate of the gear box 30, the roller bearing 33 has rollers, The inner ring of the roller bearing 33 can rotate following the rotation of the roller, the end of the vertical gear shaft 32 is sleeved with the vertical bevel gear 35, the vertical bevel gear 35 can drive the vertical gear shaft 32 to rotate, the horizontal bevel gear 34 and the vertical bevel gear 35 Meshing, the horizontal bevel gear 34 is sleeved on the horizontal gear shaft 36, the roller bearings 33 are sleeved on the front and rear sides of the horizontal gear shaft 36, and are fixed on the front and rear plates of the gear box 30 by the bearing cover plate 31. The horizontal gear One side of the shaft 36 protrudes outward and is fixed with the rotating shaft of the motor box 38 . The motor box 38 provides power supply.

The motor in the motor box 38 drives the horizontal gear shaft 36 to rotate. Roller bearings 33 are sleeved on the front and rear sides of the horizontal gear shaft 36. The inner ring of the roller bearing 33 can rotate with the rotation of the rollers. The horizontal rotation can drive the horizontal bevel gear 34 to rotate in the vertical direction, and the horizontal bevel gear 34 meshes with the vertical bevel gear 35 to make the vertical bevel gear 35 rotate in the horizontal direction, thereby driving the vertical gear shaft 32 to rotate in the vertical direction.

The drug delivery device includes a guardrail 50, a medicine tank 511, a nutrient solution tank 512, a medicine solution conduit 52, a nutrient solution tube 53, a remote switch valve 54, a hose 55, a sleeve 56, a medicine spray tube 57, a spray head 58, a fixed Nut 59. The guardrail 50 is welded on the vehicle board 10, the medicine tank 511 and the nutrient solution tank 512 are placed in the guardrail 50, the medicine liquid conduit 52 is connected to the medicine tank 511 and an input end of the remote switch valve 54, and the nutrient solution pipe 53 is connected to the nutrient solution. The other input end of the tank 512 and the remote switch valve 54, the sleeve 56 is sleeved on the vertical gear shaft 32 of the deceleration rotating device, and can rotate with the rotation of the vertical gear shaft 32. The top of the sleeve 56 has a hole, and the spray pipe 57 is connected to the spray head 58 through the top of the sleeve 56 , the spray pipe 57 and the output end of the remote switch valve 54 are connected by a hose 55 and fixed with a pair of fixing nuts 59 .

The above-mentioned embodiments are only preferred examples of the present invention, and are not intended to limit the embodiments of the present invention. For those of ordinary skill in the art, other changes or changes in different forms can also be made on the basis of the above-mentioned descriptions. , it is unnecessary and impossible to enumerate all the embodiments here, and any modifications, equivalent replacements and improvements made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

The contour-based matching algorithm, the principle of binocular vision, the color threshold segmentation, and the segmentation algorithm described in the present invention are all in the prior art.

What is not described in the present invention applies to the prior art.

Claims (4)

1. a tree plant protection system based on visible light-infrared technology, it is characterized in that this system comprises traveling device, lifting device, deceleration rotating device, image acquisition and processing device and drug delivery device; Collection and processing device and drug delivery device, and provide walking power; The deceleration rotating device includes a gear box, a bearing cover, a vertical gear shaft, a roller bearing, a horizontal bevel gear, a vertical bevel gear, a horizontal gear shaft, a horizontal spacer, a motor box and a flashing plate; The gear box and the motor box where it is located are fixed on the upper surface of the lifting device, and a rain shield is fixed on the upper surface of the gear box and the motor box to protect the motor box and the gear box; the horizontal gear shaft and the gear box are installed in the gear box. A vertical gear shaft, a horizontal bevel gear is installed in the middle of the horizontal gear shaft, both ends of the horizontal gear shaft are connected with the front and rear plates of the gear box through roller bearings and bearing cover plates, and one end of the horizontal gear shaft close to the motor box passes through The gear box is connected with the motor output shaft in the motor box; one end of the vertical gear shaft is connected with the vertical bevel gear, and the vertical bevel gear is meshed with the horizontal bevel gear, and the other end of the vertical gear shaft passes through the upper plate of the gear box and flashing plate, and is fixed with the upper plate of the gear box through a roller bearing and bearing cover plate; The drug delivery device includes a guardrail, a medicine tank, a nutrient solution tank, a medicine solution conduit, a nutrient solution pipe, a remote switch valve, a hose, a sleeve, a medicine spray pipe, a spray head and a fixing nut; The guardrail is welded on the upper surface of the walking device, and the medicine tank and the nutrient solution tank are placed in the guardrail, and the medicine tank and the nutrient solution tank are respectively connected with the two input ends of the remote switch valve through the medicine solution conduit and the nutrient solution pipe; The sleeve is sleeved on the vertical gear shaft located above the gear box, and the upper end of the sleeve is vertically connected to the spray pipe; one end of the spray pipe is connected to the spray head, and the other end is connected to the output end of the remote switch valve through a hose ;The connection between the hose and the spray pipe is fixed by the fixing nut; The image acquisition and processing device includes a single-chip processor, three CCD cameras and an infrared camera for detecting whether there are insects on the leaves, wherein two CCD cameras are used for binocular identification and calibration, and the other CCD camera is used for visual tracking. ;The two CCD cameras used for binocular recognition and calibration are fixed on the upper surface of the lifting device through a pair of binocular camera frames, and the infrared camera is fixed on the lifting device in the middle of the pair of binocular camera frames through the infrared camera frame The installation heights of the two CCD cameras and infrared cameras used for binocular recognition and calibration are matched with the height of the nozzle; the CCD camera used for visual tracking is welded on the upper surface of the traveling device through the tracking camera frame, and is located in the front part of the traveling device; the single-chip processor is fixed on the lifting device under the rain shield, and the single-chip processor is respectively connected with three CCD cameras, an infrared camera, the power element of the lifting device, the motor of the deceleration rotating device, The remote on-off valve and the power element of the traveling device are electrically connected. 2. The tree plant protection system based on visible light-infrared technology according to claim 1, wherein the traveling device comprises a vehicle board, a power support board, a support rod, a DC power supply, a motor, a driving wheel, a driven wheel, an axle and A wheel fixing frame; the lower surface of the vehicle board is connected with a power supply support plate at the front and rear through corresponding support rods, a DC power supply is placed on the upper surface of the power supply support plate, and a wheel fixing frame is installed symmetrically on the lower surface of the power supply support plate. A wheel is installed on the wheel fixing frame, and the two adjacent wheels are connected by an axle; a motor is installed on the two wheel fixing frames in front of the vehicle board, the motor is connected with the DC power supply, and the wheel connected to the motor is The driving wheel, the motor provides power to the corresponding driving wheel, and the two wheels behind the car board are driven wheels; the upper surface of the car board carries the lifting device, the image acquisition and processing device and the drug delivery device. 3. The tree plant protection system based on visible light-infrared technology according to claim 1, wherein the lifting device comprises a fixed card, a support rod, a roller, a rotating shaft, a hydraulic cylinder, a lifting platform and a battery; Cross-connected and fixed, two support rods at the same height are connected by a rotating shaft, and the support rod can rotate freely relative to the rotating shaft. One end of the two support rods at the bottom is fixed on the upper surface of the walking device by a fixed card, and the other end is fixed on the upper surface of the walking device by a roller. It is in sliding contact with the upper surface of the traveling device; the structure on the two support rods on the highest floor is the same as the structure on the two support rods on the bottommost floor, one end is fixed on the lower surface of the lifting platform by the corresponding fixing card, and the other end is The corresponding roller is in sliding contact with the lower surface of the lifting platform; the hydraulic rod is fixed on the upper surface of the traveling device, and the cylinder rod of the hydraulic cylinder is fixed between the bottommost rotating shaft and the opposite uppermost rotating shaft, and the battery is a hydraulic cylinder Power supply; the deceleration rotating device is installed on the lifting platform. 4. a tree plant protection method based on visible light-infrared technology, the method uses the arbitrary described system of claim 1-3, and concrete steps are: The first step is to set a white line on the ground of the plant area to be administered. The traveling device carries the lifting device, the deceleration rotating device, the image acquisition and processing device and the drug delivery device according to the way of visual tracing. As a guide line, the track information of the white line on the road is collected by the CCD camera used for visual tracking, and the road detection signal is fed back to the single-chip processor. The single-chip processor analyzes the collected signal and controls the driving wheel of the walking device. Rotating speed; In the second step, when traveling, use two CCD cameras for binocular recognition and calibration to collect the overall image in real time, and when it is judged as a tree image through the contour-based matching algorithm, the traveling device stops moving, which is used for binocular recognition and calibration. The CCD camera collects the tree image again, and the single-chip processor denoises the collected tree image, and then divides the denoised tree image with a color threshold, sets the color threshold, separates the foreground image and the background image, and separates the foreground image from the background image. Carry out RGB numerical analysis to identify and judge whether the plant is normal or diseased; at the same time, the infrared camera is also working, using thermal imaging technology to analyze the thermal radiation emitted by the insects, setting the infrared threshold, and using the segmentation algorithm to determine whether there is insect damage; Then, the principle of binocular vision is applied to calibrate and locate the lesion or insect area, and the signals detected by the two CCD cameras used for binocular identification and calibration and the infrared camera used to detect whether there are insects on the leaves are transmitted to the single-chip processor; The single-chip processor controls the lifting of the lifting device and the rotation of the deceleration rotating device. After judging the drug delivery method, the drug delivery signal is sent to the remote switch valve, and the remote switch valve controls the switch state of the medicine tank and the nutrient solution tank, so as to select the trees. Sexual spraying.

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