CN204719814U - A kind of intelligence of the booth based on suspended chain conveyor spraying machine device people - Google Patents

Abstract

A kind of intelligence of the booth based on suspended chain conveyor spraying machine device people, it is characterized in that, described booth intelligence spraying machine device people comprises: central controller, suspended chain conveyor module, detection identification module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, alarm module, memory module, supply module.Described central controller respectively with suspended chain conveyor module, detect identification module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, alarm module, memory module, supply module be connected.This booth intelligence spraying machine device people intelligence completes the whole spray medicine process to booth fruit-vegetable plant, decreases waste and the medicament residue of medicine, improves work efficiency and utilization ratio of drug, decrease the manual labor of people, make people not by the harm of medicine.

Description

An Intelligent Spraying Robot for Greenhouse Based on Suspension Chain Conveyor

technical field

The invention relates to an intelligent robot, in particular to an intelligent spraying robot for greenhouses based on a suspension chain conveyor.

Background technique

Suspension chain is a conveyor chain specially used for suspension conveyor or suspension conveyor line. Conveyors composed of suspended chains are called suspended chain conveyors. The suspension chain conveyor is mainly composed of rails, rollers, carriages, suspension chains, spreaders, and traction power devices.

At present, the work of spraying chemicals to the greenhouse is mainly done manually. Artificial spraying has the following unfavorable factors: 1. The medicine is harmful to the human body and can cause potential pathological changes in the human body. 2. The spraying efficiency is low. Manual spraying not only consumes energy, but also wastes time. 3. The utilization rate of medicine is low. Manual spraying will cause problems such as uneven spraying and dripping of medicine, which will lead to waste of medicine. There are some mechanical spraying devices used in greenhouse spraying, but these spraying devices have the following disadvantages: 1. Human control is required, and the whole process of spraying cannot be completed independently. 2. The amount of spraying medicine is unreasonable, the waste of medicine is serious, and the utilization rate of medicine is not high enough. 3. The working method does not meet the current construction standards for greenhouses. 4. The operation mode is complicated.

Therefore, there are many disadvantages in the current greenhouse spraying method. The invention of a greenhouse intelligent spraying robot based on a hanging chain conveyor can be used to solve the problem of greenhouse spraying and help greenhouse growers easily complete the spraying of greenhouse fruit and vegetable plants.

Contents of the invention

The present invention aims at the problem that the prior art cannot satisfy the above greenhouse spraying problem, and provides a greenhouse intelligent spraying robot based on a suspension chain conveyor, which can replace human beings to complete intelligent spraying of greenhouse fruit and vegetable plants. The greenhouse intelligent spraying robot moves autonomously according to the greenhouse construction path through the suspension chain conveyor technology, recognizes the fruit and vegetable plants through image processing, reasonably controls the spraying amount according to different fruit and vegetable plants and different growth periods, and intelligently completes the greenhouse fruit and vegetable plants. the entire spraying process.

In order to accomplish the above object, the present invention adopts the following technical solutions.

A greenhouse intelligent spraying robot based on a suspension chain conveyor, characterized in that the greenhouse intelligent spraying robot includes: a central controller, a suspension chain conveyor module, a detection and identification module, an image processing module, a spraying module, and a dispensing module. module, drug detection module, wireless communication module, human-computer interaction module, alarm module, storage module, power supply module. The central controller is respectively connected with the suspension chain conveyor module, the detection and identification module, the image processing module, the spraying module, the dispensing module, the drug detection module, the wireless communication module, the human-computer interaction module, the alarm module, the storage module, and the power supply module The power supply module is connected with the central controller, the suspension chain conveyor module, the detection identification module, the image processing module, the spraying module, the dispensing module, the drug detection module, the wireless communication module, the human-computer interaction module, the alarm module, Storage module connection. Through the unified and coordinated work of the above modules, the functions of each module are realized, and the intelligent spraying work of the greenhouse intelligent spraying robot on the greenhouse fruit and vegetable plants is completed.

The central controller is respectively connected with the suspension chain conveyor module, the detection and identification module, the image processing module, the spraying module, the dispensing module, the drug detection module, the wireless communication module, the human-computer interaction module, the alarm module, the storage module, and the power supply module Connect, receive and process the collected information and data of each module, and quickly control each module to complete specific functions.

The hanging chain conveyor module adopts hanging chain conveyor technology. The suspension chain conveyor module includes tracks, rollers, carriages, suspension chains, spreaders, and traction power devices; the traction power devices are composed of motors, reducers, belt drives or chain drive mechanisms. The number of traction power devices is determined according to the length of the suspension chain conveyor line required by the actual size of the greenhouse. A traction power device is installed every 500 meters of the conveyor line, and the traction power device provides the transmission power; the detection marker is set at the inflection point of the track and is determined by the detection mark Module detection identifies the inflection points of the track. The track is set up above the open aisle outside the fruit and vegetable planting area inside the greenhouse area, and the suspension chain, rollers and slide frame are set in the track. Move on the open aisle outside the planting area.

The detection and identification module is used to identify the detection marker that the detection robot arrives at the inflection point of the track, and feedback the information of the inflection point of the track to control the robot to start and stop the spraying work; Count the number of objects, and determine the position to distinguish the spraying start position, end position and spraying specific situation. The detection identification module includes an infrared on-tube sensor.

Described image processing module completes identification of fruit and vegetable plants and real-time camera monitoring surrounding conditions, image processing module includes cloud platform high-definition camera, image acquisition card, image processing software; The camera captures images of fruit and vegetable plants, processes the images of fruit and vegetable plants through image acquisition cards and image processing software, extracts important appearance features of fruit and vegetable plants, checks and compares them with the image feature information database of fruit and vegetable plants in the storage module, and then classifies and judges the fruit and vegetable plants The name of the species of fruit and vegetable plants.

The spraying module completes the spraying work of the robot on the fruit and vegetable plants, and simultaneously sprays the top, middle and bottom of the two rows of fruit and vegetable plants through 2 retractable mechanical arms and 6 drug spray heads; the 6 drug spray heads are respectively installed The top, middle and bottom of the two telescopic robotic arms are connected with the spray pipe, and each telescopic robotic arm is equipped with a drug nozzle at the top, middle and bottom, and the height of the drug nozzle can be changed through the telescopic robotic arm The switch of the drug nozzle is controlled by the electric regulating valve, and the drug spraying speed is controlled by controlling the opening of the electric regulating valve; the spraying hydraulic pressure is provided by the agricultural spraying pressure pump installed on the robot; The agricultural spraying pressure pump is connected; the spraying module includes 2 telescopic mechanical arms, 6 drug spray heads, 6 electric regulating valves, 1 agricultural spraying pressure pump, and spraying conduit.

The dispensing module completes the mixing and blending of the medicine. When dispensing the medicine, the medicine is stirred evenly by the built-in agitator to fully dissolve the medicine; during the spraying process, the agitator motor drives the built-in agitator according to the time interval set by the user The agitator stirs the medicine so that the medicine will not precipitate and ensures the uniform fusion of the medicine during the spraying process. The dispensing module includes built-in agitator, agitator motor, drug barrel. The drug barrel is detachable, and can be removed when dispensing the medicine. After the medicine is dispensed, it is installed on the robot body and fixed.

The drug detection module realizes the detection of the remaining amount of the drug and the spraying flow rate. The drug detection module includes a liquid level sensor and a turbine flowmeter, and the remaining amount of the drug and the spraying flow rate are respectively detected by the liquid level sensor and the turbine flowmeter. No drug work and timely detection of drug nozzle blockage. When the spray flow rate is too slow and abnormal, it means that the drug nozzle is clogged or other faults occur.

Described wireless communication module is used for robot and upper computer to carry out wireless communication connection, and wireless communication module comprises WiFi wireless unit and GPRS communication unit, and WiFi wireless unit is used for robot and upper computer to carry out WiFi wireless communication connection mode, and GPRS communication unit is used for The robot connects with the host computer through GPRS wireless communication.

The human-computer interaction module realizes information communication between human and robot. The human-computer interaction module connects and communicates between the robot and the user's hand-held mobile communication device through the wireless communication module. The user can set the functional parameters and real-time control of the robot through the upper computer software of the handheld mobile communication device after communicating with the robot, receive the image information and alarm information collected by the robot, and realize the remote control and monitoring of the robot.

The alarm module realizes that when the remaining amount of the drug is insufficient, the drug nozzle is blocked, and the battery pack is insufficient, the alarm voice is played through the voice player, and the upper computer of the user's handheld mobile communication device is alarmed through wireless communication, so that the user can find out in time. The alarm module includes a voice player and an alarm prompt on the upper computer of the user's handheld mobile communication device.

The storage module realizes the recording and storage of image acquisition data, fruit and vegetable image feature information database and other module data, and the storage module includes a memory.

The power supply module completes power supply, voltage conversion, and remaining power detection for the entire robot system, ensuring safe and efficient power supply for the robot. The power supply module includes a high-efficiency battery pack, a voltage converter, and a fuel gauge.

The beneficial effects of the present invention are: a greenhouse intelligent spraying robot based on a suspended chain conveyor of the present invention moves automatically according to the track path erected by the suspended chain conveyor, realizes the automatic movement of the robot to identify the construction path of the greenhouse area, and recognizes fruit and vegetable plants through image processing According to different fruit and vegetable plants and different growth periods, the spraying amount is reasonably controlled, and the spraying of the top, middle and bottom of the two rows of fruit and vegetable plants is completed at the same time, and the entire spraying process of the fruit and vegetable plants in the greenhouse is completed intelligently. The greenhouse intelligent spraying robot reduces the waste of medicines and medicine residues, greatly improves work efficiency and medicine utilization, reduces human physical labor, and protects people from the harm of medicines.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a schematic diagram of the working method of the robot of the present invention.

Fig. 3 is a schematic diagram of the main operation interface of the host computer software of the present invention.

Fig. 4 is an external structure diagram of the robot of the present invention.

In the figure 1. Central controller, 2. Suspension chain conveyor module, 3. Detection and identification module, 4. Image processing module, 5. Spraying module, 6. Medicine dispensing module, 7. Drug detection module, 8. Wireless communication module , 9. Human-computer interaction module, 10. Alarm module, 11. Storage module, 12. Power supply module, 20. Greenhouse area, 21. Track, 22. Detection marker, 23. The starting point and end point of robot work, 24. Fruit and vegetable plants Planting area, 30, wireless antenna, 31, robot chassis, 32, top drug nozzle, 33, middle drug nozzle, 34, sliding frame, 35, infrared tube sensor, 36, pan-tilt HD camera, 37, retractable mechanical arm , 38, the bottom drug nozzle, 39, the drug bucket.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments, so as to specifically illustrate the technical solution of the present invention.

As shown in Figure 1, a kind of greenhouse intelligent spraying robot central controller 1 based on the hanging chain conveyor of the present invention selects DSP processor and hanging chain conveyor module 2, detection identification module 3, image processing module 4, spraying medicine module 5. The dispensing module 6, the drug detection module 7, the wireless communication module 8, the human-computer interaction module 9, the alarm module 10, the storage module 11, and the power supply module 12 are connected, and the power supply module 12 is connected with the central controller 1 and the suspension chain respectively. Conveyor module 2, detection and identification module 3, image processing module 4, spraying module 5, dispensing module 6, drug detection module 7, wireless communication module 8, human-computer interaction module 9, alarm module 10, and storage module 11 are connected to ensure The greenhouse intelligent spraying robot collects and processes information efficiently, and accurately controls each module to complete related functions.

As shown in Figure 2, a greenhouse intelligent spraying robot suspension chain conveyor conveying robot method based on the suspension chain conveyor is realized as follows: determine the number of traction power devices according to the length of the suspension chain conveyor line required by the actual greenhouse size, and convey A traction power device is provided every 500 meters of the line, and a detection mark 22 is provided at the inflection point of the track 21, and the detection mark module 3 detects and identifies the inflection point of the track 21. Set up track 21 above the open space aisle outside fruit and vegetable planting area 24 inside greenhouse area 20, set suspension chain, roller and slide frame in track 21, spreader is hinged below the slide frame, and robot is installed on the spreader, realizes robot The track 21 above the open space aisle outside the fruit and vegetable planting area 24 inside the greenhouse area moves, and the robot arrives at the inflection point of the track 21, and the infrared pair sensor of the detection identification module 3 recognizes and detects the detection marker 22 at the inflection point of the track 21. Enter the planting section of fruit and vegetable plants to start the spraying work, and stop spraying just after leaving the planting section of fruit and vegetable plants; the central controller 1 counts the number of detection markers 22 at the inflection point of the track 21 detected by the detection identification module 3 , to determine the position to distinguish the spraying start position, the end position and the specific situation of the spraying.

The user uses the handheld mobile communication device to select the WiFi wireless communication connection mode or the GPRS wireless communication connection mode to connect and communicate with the robot through the WiFi wireless unit or the GPRS communication unit in the wireless communication module 8, and the user performs functions on the robot through the upper computer software of the handheld mobile communication device. Parameter setting and real-time control, receive image information, power information and alarm information collected by the robot, and realize remote control and monitoring of the robot.

The working principle of the automatic mode of the greenhouse intelligent spraying robot is as follows: first, the user prepares medicine and water in proportion in the medicine barrel 39, and then installs the medicine barrel 39 on the robot to block and fix it. After connecting the gear of the built-in agitator to the robot agitator motor, use the user's hand-held mobile communication device host computer software to control and start the robot, control the agitator motor to work, and make the medicine go through the agitator to stir evenly, then set to enter the automatic mode. The medicine 39 in the medicine barrel is connected with the agricultural medicine spraying pressure pump through the medicine spraying conduit, for the agricultural medicine spraying pressure pump to extract medicine. The medicine pump motor starts to run, and the agricultural spraying pressure pump is ready to work.

The image processing module 4 starts to work and collects the fruit and vegetable plant planting area 24 and the surrounding environment image information, shoots the image of the fruit and vegetable plant through the cloud platform high-definition camera 36, processes the image of the fruit and vegetable plant through the image acquisition card and image processing software, and extracts the important information of the fruit and vegetable plant. The appearance features are checked and compared with the fruit and vegetable plant image feature information database information in the storage module 11 to classify the fruit and vegetable plants and determine the type name of the fruit and vegetable plants.

As shown in Figure 2, the robot starts to move along the erected track 21 from the starting point and the end point 23 of the robot work in the direction of the solid line arrow shown in the figure, and the robot detection and identification module 3 detects the detection marker 22 on the track 21 to determine the first The spraying starts, and the robot is about to enter the fruit and vegetable planting area 24. The robot central controller 1 controls the spraying module 5 to extend the mechanical arm, and the central controller 1 controls the electric control valve of the drug nozzle on the side of the fruit and vegetable planting area 24 to open to the fruit and vegetable planting area 24. The top, middle and bottom of the plant are sprayed, and the central controller 1 reasonably controls and adjusts the opening degree of the electric control valve according to the type name of the fruit and vegetable plant judged by the image processing module 4 and the growth period of the fruit and vegetable plant in the artificial setting function parameters. Control spray dosage.

When the robot completes the spraying of the first column of fruit and vegetable planting area 24, the robot detection identification module 3 detects the detection marker 22 on the track 21, and determines that the spraying of the first column of fruit and vegetable plants is completed, and the robot will leave the fruit and vegetable plants In the planting area 24, the robot central controller 1 controls to close the electric control valve to stop the spraying, the robot continues to move in the direction of the solid arrow and turns to enter between the two columns of fruit and vegetable planting areas 24, and the robot detection and identification module 3 detects the Detect the marker 22, the robot will enter between the fruit and vegetable planting areas 24 again, the robot central controller 1 controls the electric regulating valves of the drug nozzles on both sides of the robot to open the top, middle and bottom of the two rows of fruit and vegetable plants, the robot central control Device 1 reasonably controls and adjusts the opening degree of the electric regulating valve according to the type name of the fruit and vegetable plants judged by the image processing module 4 and the growth period of the fruit and vegetable plants in the artificially set function parameters, and controls the spraying dosage.

During the spraying process, the agitator stirs the medicine according to the time interval set in advance to ensure that the medicine is always uniform.

The robot continues to complete the spraying of fruit and vegetable plants according to the above method. When the robot reaches outside the last row of fruit and vegetable plant planting area 24, the robot central controller 1 only controls the electric control valve of the drug spray nozzle on the side of the fruit and vegetable plant planting area 24 to open the spraying of fruit and vegetable plants. The top, middle and bottom of the plants are sprayed, and the robot central controller 1 rationally controls and adjusts the opening of the electric regulating valve according to the type name of the fruit and vegetable plants judged by the image processing module 4 and the growth period of the fruit and vegetable plants in the manually set function parameters. , to control the amount of spraying.

After the number of the detection markers 22 at the inflection point of the detection track 21 inflection point of the infrared pair tube sensor of the robot detection identification module 3 reaches the number of the detection markers 22 after the spraying work of all fruit and vegetable plants is completed, the central controller 1 Control to close the electric regulating valve to stop spraying, control the spraying module 5 to shrink the mechanical arm, and control the robot to continue moving along the track 21 to the starting point and end point 23 of the robot to wait for the user's next specific operation.

The working principle of the manual mode of the robot is as follows: the user controls the robot through the host computer software on the handheld mobile communication device. As shown in Figure 3, the user enters the manual mode control software sub-interface through the main operation interface of the host computer software on the handheld mobile communication device to control the robot's mechanical arm expansion, electric regulating valve switch, drug pump switch, and agitator switch. Observe the situation around the robot through the video window, and slide the window up and down left and right to realize the movement of the high-definition camera of the pan/tilt up and down to change the monitoring angle of view.

The robot detects the remaining amount of medicine and spraying flow rate data through the liquid level sensor and turbine flowmeter in the medicine detection module 7, and transmits the data to the central controller 1, and transmits the data to the host computer of the handheld mobile communication device through the wireless communication module 8 Display, in order to timely detect and avoid non-drug work and drug nozzle blockage.

The robot realizes through the alarm module 10 that when the remaining amount of medicine is insufficient, the medicine nozzle is blocked, and the battery pack is low in power, the wireless communication module 8 is used to alarm the user's handheld mobile communication device and play a voice alarm on the voice player, so that the user can find and process in time.

The robot storage module 11 uses memory to realize the recording and storage of image acquisition data, fruit and vegetable plant image feature information database and other module data.

The robot uses a high-efficiency lithium-ion battery pack to store electric energy through the power supply module 12, the voltage converter provides suitable voltage and current for each module of the robot, and the power detector detects the remaining power of the battery pack.

Users can set the working mode of the robot according to their own needs, and can set the robot to work in automatic mode or manual mode. In the automatic mode, the robot autonomously and intelligently realizes the entire spraying process. The manual mode relies on manpower to control the work of the robot through the upper computer software of the user's hand-held mobile communication device.

Claims (2)

1. the intelligence of the booth based on a suspended chain conveyor spraying machine device people, it is characterized in that, described booth intelligence spraying machine device people comprises: central controller, suspended chain conveyor module, detection identification module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, alarm module, memory module, supply module; Described central controller respectively with suspended chain conveyor module, detect identification module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, alarm module, memory module, supply module be connected, described supply module respectively with central controller, suspended chain conveyor module, detect identification module, image processing module, spray medicine module, dispensing module, drug test module, wireless communication module, human-computer interaction module, alarm module, memory module be connected.

2. booth intelligence spraying machine device people according to claim 1, it is characterized in that, described suspended chain conveyor module adopts suspended chain conveyor technology; Suspended chain conveyor module comprises track, roller, balladeur train, suspended chain, suspender, hauling power device; Hauling power device is made up of motor, speed reduction unit, belt gear or chain-drive mechanism; The number of the suspended chain pipeline length determination hauling power device required for actual booth size, pipeline arranges a hauling power device every 500 meters of length, and hauling power device provides transmitting power; Track flex point place is arranged detects marker by the flex point detecting identification module detection identification track; Track is set up above passageway, vacant lot outside the inner fruit-vegetable plant growing area in booth district, suspended chain, roller and balladeur train are set in orbit, suspender is hinged on below balladeur train, and robot is arranged on suspender, realizes the vacant lot passageway of robot outside the inner fruit-vegetable plant growing area in booth district is moved;

Described detection identification module is used for the detection marker that recognition detection robot arrives track flex point place, and feedback track flex point information control carries out start and stop spray pharmaceutical worker and does; Central controller carries out number statistics to the detection marker detecting the track flex point place that identification module detects, determines the position distinguishing spray medicine reference position, end position and spray medicine concrete condition; Detect identification module and comprise infrared tube sensor.