CN207322133U - A kind of trees plant protection system based on visible ray-infrared technique - Google Patents

Abstract

It the utility model is related to a kind of trees plant protection system based on visible ray infrared technique, it is characterised in that the system includes moving device, lifting gear, the device that is rotated in deceleration, image acquisition and processing device and drug delivery device；Moving device carrying lifting gear, the device that is rotated in deceleration, image acquisition and processing device and drug delivery device, and walking power is provided；Described image acquisition processing device is used to detect the infrared camera for whether having worm on blade including processor of single chip computer, three CCD cameras and one, and two of which CCD camera is used for binocular identification calibration, another CCD camera tracks for vision；Two CCD cameras for binocular identification calibration are fixed on lifting gear upper surface by a pair of of binocular camera rack, and infrared camera is fixed on the lifting gear among the pair of binocular camera rack by infrared camera rack.The utility model can identify trees lesion, and pinpointed and be administered according to lesion type.

Description

A Tree Plant Protection System Based on Visible Light-Infrared Technology

technical field

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

Background technique

Nowadays, people have higher and higher requirements on the green coverage area of the city, and landscaping has become extremely important. Trees may grow slowly due to insufficient nutrients in the soil in spring, while in summer, trees are prone to insects, such as In summer, sycamore trees are easy to grow square-winged net bugs and frost moths, which will cause inconvenience to passers-by.

At present, landscaping generally relies on landscaping staff to spray pesticides on trees with back spray, or use lifting frame to assist manual spraying of pesticides on trees. This requires a lot of manpower, and it is impossible to accurately administer medicine or nutrient solution to the lesion area. , and a large number of sprayed pesticides will pollute the environment. For the problems referred to above, there are multiple solutions, now for example as follows: the Chinese patent application number 201310463089.0 proposes a plastic cover type tree spraying machine, this spraying machine is to cover the trees with a plastic cover earlier, and then the spray nozzle Put it in from the center circular opening at the top of the plastic cover, pull the spray rope to spray, pull up the plastic cover after the end, and then spray the next tree. The product can evenly medicate the trees without polluting the surrounding environment. However, there are still some problems in this patent, for example, the plastic cover is folded and is not easy to clean, and it is easy to bring the worm eggs of the previous diseased tree to the next tree. The Chinese patent with the application number 201620674257.X proposes a sprayer for garden trees. The sprayer first stirs the liquid medicine, and then uses a water pump to lift the liquid medicine to the storage bin, which is lifted by a hydraulic support. To the place 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 cost. The disadvantage of this patent is that it will pollute the environment to a certain extent, and the lesion cannot be found and administered in time.

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

Utility model content

The utility model aims to solve the problem of pesticide waste in the prior art and the inability to accurately administer medicines to tree lesions, and proposes a tree plant protection system and method that can identify lesions and administer medication at fixed points according to the type of lesions.

The technical scheme of the utility model 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 and rotation device, an image acquisition and processing device, and a drug delivery device; the travel device carries a lifting device, a deceleration and rotation device, an image acquisition and processing device Device and drug delivery device, and provide walking power;

The decelerating rotation device includes a gear box, a bearing cover plate, 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 rain shield;

The gear box and the motor box are all fixed on the upper surface of the lifting device, and the 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. Vertical gear shaft, 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 the end of the horizontal gear shaft close to the motor box passes through The gear box is connected to the motor output shaft in the motor box; one end of the vertical gear shaft is connected to the vertical bevel gear, and the vertical bevel gear meshes with the horizontal bevel gear, and the other end of the vertical gear shaft passes through the upper plate of the gear box And the rain shield, and fixed by a roller bearing and the bearing cover plate and the upper plate of the gear box;

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 to the two input ends of the remote switch valve through the medicine liquid conduit and the nutrient solution pipe; The sleeve is sleeved on the vertical gear shaft 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 a 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 recognition and calibration, and the other CCD camera is used for visual tracking ; Two CCD cameras used for binocular recognition and calibration are fixed on the upper surface of the lifting device by 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 by the infrared camera frame Above; the installation heights of the two CCD cameras and the infrared camera used for binocular recognition calibration match the height of the nozzle; the CCD camera used for visual tracking is welded on the upper surface of the walking device through the tracking camera frame, And be positioned at the front portion of walking gear; Described single-chip processor is fixed on the hoisting device below the rain shield, and single-chip processor is respectively connected with three CCD cameras, an infrared camera, the power element of hoisting device, the motor of deceleration rotating device, The remote switch valve is electrically connected with the power element of the traveling device.

A kind of tree plant protection method based on visible light-infrared technology, this method uses above-mentioned system, 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 and rotation device, the image acquisition and processing device, and the drug delivery device. As a guide line, the CCD camera used for visual tracking collects the track information of the white line on the road surface, and feeds back the road surface detection signal to the single-chip processor. The single-chip processor analyzes the collected signal and controls the movement of the driving wheel of the walking device. Rotating speed;

The second step is to use two CCD cameras for binocular recognition and calibration to collect the overall image in real time during travel, and when it is judged to be a tree image through a contour-based matching algorithm, the traveling device stops moving and is used for binocular recognition and calibration. The CCD camera collects tree images again, and the single-chip processor performs denoising processing on the collected tree images, and then performs color threshold segmentation on the denoised tree images, sets the color threshold, separates the foreground image from the background image, and separates the foreground image Perform 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 the infrared threshold, and judging through the segmentation algorithm Whether there are pests; then apply the principle of binocular vision to calibrate and locate the lack of nutrients, lesions or infestation areas, which will be detected by the two CCD cameras used for binocular recognition 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 administration method, the administration signal is sent to the remote switch valve, and the remote switch valve controls the switch of the medicine tank and the nutrient solution tank state, thereby selectively spraying trees.

Compared with the prior art, the utility model has the beneficial effects of:

1. The utility model adopts a brand-new structural design, and realizes the deceleration and rotation of the sleeve through the cooperation of the horizontal bevel gear and the vertical bevel gear, which enhances the controllability of the nozzle.

2. The utility model is equipped with a tracking camera frame and a built-in CCD camera. The camera can identify road markings and transmit the signal to the single-chip processor. The single-chip processor 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 utility model, and binocular recognition calibration and color threshold segmentation methods can be used to identify the places where the leaves are deficient in nutrition, and the collected leaf images are denoised and G single-channel grayscale Chlorization, G channel color threshold segmentation, identify and judge whether the plant is normal or lacks essential elements or is diseased (such as yellowish, nitrogen, potassium, or leaves are brown and dry, Verticillium wilt, etc.), if it is necessary to give nutrient solution, then Control the remote switch valve to give nutrient solution, realize fixed-point supply, and avoid waste; use infrared camera to analyze the heat radiation emitted by insects and moths through thermal imaging technology, set an appropriate threshold, and use segmentation algorithm to judge whether there is pest damage. Identify areas with insects, and if there are insects, control the remote switch valve for drug delivery, avoiding the waste of pesticides and effectively protecting the environment.

4. A variety of medicine tanks can be placed in the guardrail of the utility model. Through the control of the remote switch valve by the single-chip processor, the diversification and automation of tree medicine can be realized, and 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 utility model;

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 utility model;

Fig. 4 is the structural representation of the image acquisition and processing device of the tree plant protection system based on the visible light-infrared technology of the present invention;

Fig. 5 is the work flowchart of the present utility model;

Among the figure: 10, car 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, rotating shaft; 24, hydraulic cylinder; 25, lifting platform; 26, battery; 50, guardrail; 511, medicine tank; 512, nutrient solution tank; ;53, nutrient solution tube; 54, remote switch valve; 55, hose; 56, sleeve; 57, spray tube; 58, nozzle; 59, fixed nut; 40, binocular camera frame; 41, infrared camera Frame; 43, single-chip processor; 42, tracking camera frame; 30, gear box; 31, bearing cover plate; 32, vertical gear shaft; 33, roller bearing; 34, horizontal bevel gear; 35, vertical conical Gear; 36, horizontal gear shaft; 37, horizontal spacer; 38, motor box; 39, rain shield.

Detailed ways

The utility model will be further described in detail below in conjunction with the embodiments and drawings, but it is not used as a limitation to the protection scope of the application.

The utility model based on the visible light-infrared technology tree plant protection system (referred to as the system, see Figure 1-3) 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, a deceleration rotating device device, image acquisition and processing device and drug delivery device;

The traveling device comprises a vehicle board 10, a power 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 holder 18; All are connected with power supply support plate 11 by corresponding support bar 12, and the upper surface of power supply support plate 11 places DC power supply 13, and the lower surface of power supply support plate 11 is left and right symmetrically equipped with wheel holder 18, and each wheel holder 18 has A wheel is installed, and is connected by axle 17 between adjacent two wheels; Motor 14 is all installed on two wheel holders 18 positioned at the front of car plate 10, and motor 14 is connected with DC power supply 13, and motor 14 is connected The wheels are driving wheels 15, the motor 14 provides power to the corresponding driving wheels, and the two wheels positioned at the rear of the vehicle plate 10 are driven wheels 16;

Described lifting device comprises fixed card 20, support rod 21, roller 22, rotating shaft 23, hydraulic cylinder 24, lifting platform 25 and storage battery 26; The rotating shaft 23 is connected, and the support rod 21 can rotate freely relative to the rotating shaft 23. One end of the two support rods 21 located at the bottom is fixed on the vehicle board 10 through the fixed 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 of the first floor is the same as the structure on the two support rods 21 located at the bottom, one end is fixed on the lower surface of the lifting platform 25 by the corresponding fixing card 20, and the other end is connected to the lifting platform 25 by the corresponding roller 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, supplying power to the hydraulic cylinder 24; during the lifting process of the lifting device, the roller 22 that is in sliding contact with the vehicle panel 10 rolls on the vehicle panel 10 under the traction of the support rod 21, and the roller 22 that is in sliding contact with the lifting platform 25 is driven 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 promotes the lifting of the entire lifting device;

Described reduction rotation device comprises gear box 30, bearing cover plate 31, vertical gear shaft 32, roller bearing 33, horizontal bevel gear 34, vertical bevel gear 35, horizontal gear shaft 36, horizontal spacer sleeve 37, motor box 38 and cover rain plate 39;

The gear box 30 and the motor box 38 are all fixed on the upper surface of the lifting platform 25, and the rain shield 39 is fixed on the upper surface of the gear box 30 and the motor box 38, which is used to protect the motor box 38 and the gear box 30; Horizontal gear shaft 36 and vertical gear shaft 32 are installed in the box 30, the middle part of described horizontal gear shaft 36 is equipped with horizontal bevel gear 34, and the two ends of horizontal gear shaft 36 all pass a roller bearing 33 and bearing cover plate 31 and The front and rear plates of the gear box 30 are connected, and the horizontal gear shaft 36 passes through the gear box 30 near one end of the motor box 38, and is connected with the motor output shaft in the motor box 38; one end of the vertical gear shaft 32 is connected with the vertical bevel gear 35, And the vertical bevel gear 35 meshes with the horizontal bevel gear 34, and the other end of the vertical gear shaft 32 passes through the upper plate and the rain shield 39 of the gear box 30, 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 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 The gear 35 can drive the vertical gear shaft 32 to rotate.

Described drug delivery device (referring to Fig. 3) comprises guardrail 50, medicine tank 511, nutrient solution tank 512, medicine solution conduit 52, nutrient solution pipe 53, remote switching valve 54, flexible pipe 55, sleeve 56, medicine spray pipe 57 , nozzle 58 and fixing nut 59;

The guardrail 50 is welded on the car plate 10, and the medicine tank 511 and the nutrient solution tank 512 are placed in the guardrail 50, and 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 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 with the output end of the remote on-off valve 54 by flexible pipe 55;

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

Described image acquisition processing device (referring to Fig. 4) comprises single-chip processor 43, three CCD cameras and an infrared camera for detecting whether there are insects on the blade, wherein two CCD cameras are used for binocular recognition calibration, and another CCD The camera is used for visual tracking; two CCD cameras for binocular recognition and calibration are fixed on the lifting platform 25 by a pair of binocular camera frames 40, and the infrared camera is fixed on the pair of binocular cameras by an infrared camera frame 41. On the lifting platform 25 in the middle of the camera frame 40; the installation heights of the two CCD cameras and the infrared cameras used for binocular recognition calibration all match the height of the shower head 58; Frame 42 is welded on car plate 10, and is positioned at the front portion of car plate 10, is used for collecting road surface information; Described single-chip processor 43 is fixed on the lifting platform 25 below rain shield 39, and single-chip processor 43 and Three CCD cameras, one infrared camera, the hydraulic cylinder of the lifting device, the motor of the deceleration rotating device, the remote switching valve and the electrical connection of the motor of the traveling device.

The utility model is based on the tree plant protection method of visible light-infrared technology, and this method uses above-mentioned system, 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 and rotation device, the image acquisition and processing device, and the drug delivery device. As a guide line, the CCD camera used for visual tracking collects the track information of the white line on the road surface, and feeds back the road surface detection signal to the single-chip processor. The single-chip processor analyzes the collected signal and controls the speed of the two driving wheels. ;

The second step is to use two CCD cameras for binocular recognition and calibration to collect the overall image in real time during travel, and when it is judged to be a tree image through a contour-based matching algorithm, the traveling device stops moving and is used for binocular recognition and calibration. The CCD camera collects tree images again, and the single-chip processor performs denoising processing on the collected tree images, and then performs color threshold segmentation on the denoised tree images, takes a color threshold, separates the foreground image from the background image, and separates the foreground image Perform RGB numerical analysis to identify whether the plant is normal or lacks essential elements or is diseased (such as yellowish, nitrogen, potassium, or brown and dry leaves, verticillium wilt, etc.); at the same time, the infrared camera is also working, Using thermal imaging technology to analyze the thermal radiation emitted by insects, moths, etc., set the infrared threshold, and use the segmentation algorithm to judge whether there are insects; The signals detected by the two CCD cameras used for binocular recognition 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, send the dosing signal 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 working process of the utility model system is: open the system switch, visual tracking guides the traveling device to move forward, and the CCD camera used for binocular recognition and calibration collects images during the traveling, and the CCD camera transmits the images back to the single-chip processor, and through the contour-based When the matching algorithm judges 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 forward under the guidance of visual tracking.

When the traveling device stops moving, the CCD camera used for binocular recognition and calibration collects tree images again, and the single-chip processor performs denoising processing on the collected tree images, and then performs color threshold segmentation on the denoised tree images, and takes a color Threshold, separate the foreground image from the background image, perform RGB numerical analysis on the foreground image, and identify 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, flying The thermal radiation emitted by moths, etc., set the infrared threshold, and use the segmentation algorithm to judge whether there is pest damage. If the plant only lacks nutrients but has no insects, the CCD camera used for binocular recognition and calibration will calibrate the three-dimensional coordinates according to the principle of binocular vision, and the drug delivery nozzle will be rotated to the corresponding position, and the remote switch valve will be controlled to open the valve of the nutrient solution tank; If there are insects, the CCD camera used for binocular recognition and calibration will calibrate the three-dimensional coordinates according to the principle of binocular vision. Nutrition, the CCD camera used for binocular recognition and calibration calibrates the three-dimensional coordinates according to the principle of binocular vision, the drug delivery 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 neither lacks nutrients nor insects, then proceed The device moves on.

Example 1

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

The traveling device comprises a car plate 10, a power 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, connected to the lower side of the vehicle plate 10 through four support rods 12, and used to supply power to the motors driving the two driving wheels 15; the rotating shafts of the two motors 14 are respectively welded to the power supply support. The wheel mount 18 on the lower side of the plate 11 drives two driving wheels 15 to rotate respectively, and the two driven wheels 16 are fixed and connected to the axle 17 by the wheel mount 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 storage battery 26. Above-mentioned support bar 21 is connected by rotating shaft 23, and each support bar 21 all can rotate freely by rotating shaft 23, and described elevating device bottom side is fixed on the car plate 10 by a pair of fixing clips 20, and roller 22 is installed on the other side, During the lifting process of the lifting device, the rollers 22 are rolled on the vehicle board 10 by the traction of the support rod 21. One side of the top of the lifting device is fixed under the lifting platform 25 by a pair of fixing cards 20, and the other side is fixed by a roller 22. The support bar 21 of the support bar, in the process of lifting device lifting, the roller 22 is rolled under the lifting platform 25 by the traction of the support bar 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 on the vehicle plate 10. The expansion and contraction of the hydraulic cylinder 24 promotes the lifting of the whole lifting device, and the battery 26 provides for the lifting device. electrical energy.

Described decelerating rotation device comprises gear box 30, bearing cover plate 31, vertical gear shaft 32, roller bearing 33, horizontal bevel gear 34, vertical bevel gear 35, horizontal gear shaft 36, horizontal spacer sleeve 37, motor box 38, cover Rain plate39. The above-mentioned gear box 30 is welded on the lifting platform 25, and 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. There are rollers in the roller bearing 33, The inner ring of the roller bearing 33 can rotate following the rotation of the rollers. The end section of the vertical gear shaft 32 is sleeved with a 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, and the front and rear sides of the horizontal gear shaft 36 are respectively sleeved with roller bearings 33, and are fixed on the front and rear plates of the gear box 30 by the bearing cover plate 31, and the horizontal gear Axle 36 one side stretches out outwards, is fixed with 38 rotating shafts of motor box, provides power supply in the motor box 38, and rain shield 39 is welded on the lifting platform 25, is used to protect motor box 38 and gear box 30.

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 rollers. 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, which can make the vertical bevel gear 35 rotate in the horizontal direction, and then drive 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 pipe 53, a remote switch valve 54, a hose 55, a sleeve 56, a medicine spraying pipe 57, a nozzle 58, a fixed Nut 59. The guardrail 50 is welded on the car plate 10, the medicine tank 511 and the nutrient solution tank 512 are placed in the guardrail 50, the medicine solution 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 decelerating rotation device, and can rotate following the rotation of the vertical gear shaft 32. The sleeve 56 has a hole at the top, and the spray tube 57 passes through sleeve 56 top and connects shower head 58, adopts flexible pipe 55 to connect between the output end of medicine spray pipe 57 and remote switch valve 54, and is fixed with a pair of fixing nuts 59.

The above-mentioned embodiments are only preferred examples of the utility model, and are not intended to limit the implementation of the utility model. For those of ordinary skill in the art, other changes in different forms can be made on the basis of the above description Or changes, it is not necessary and impossible to exhaustively enumerate all implementations here, and any modifications, equivalent replacements and improvements made within the spirit and principles of the present utility model shall be included within the scope of protection of the present utility model .

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

The unmentioned part of the utility model is applicable to the prior art.

Claims (3)

1. A tree and plant protection system based on visible light-infrared technology is characterized in that the system includes a traveling device, a lifting device, a deceleration rotating device, an image acquisition processing device and a drug delivery device; the traveling device carries a lifting device, a decelerating rotating device, an image Collection and processing devices and drug delivery devices; The decelerating rotation device includes a gear box, a bearing cover plate, 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 rain shield; The gear box and the motor box are all fixed on the upper surface of the lifting device, and the 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. Vertical gear shaft, 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 the end of the horizontal gear shaft close to the motor box passes through The gear box is connected to the motor output shaft in the motor box; one end of the vertical gear shaft is connected to the vertical bevel gear, and the vertical bevel gear meshes with the horizontal bevel gear, and the other end of the vertical gear shaft passes through the upper plate of the gear box And the rain shield, and fixed by a roller bearing and the bearing cover plate and the upper plate of the gear box; 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 to the two input ends of the remote switch valve through the medicine liquid conduit and the nutrient solution pipe; The sleeve is sleeved on the vertical gear shaft 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 a 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 recognition and calibration, and the other CCD camera is used for visual tracking ; Two CCD cameras used for binocular recognition and calibration are fixed on the upper surface of the lifting device by 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 by the infrared camera frame Above; the installation heights of the two CCD cameras and the infrared camera used for binocular recognition calibration match the height of the nozzle; the CCD camera used for visual tracking is welded on the upper surface of the walking device through the tracking camera frame, And be positioned at the front portion of walking gear; Described single-chip processor is fixed on the hoisting device below the rain shield, and single-chip processor is respectively connected with three CCD cameras, an infrared camera, the power element of hoisting device, the motor of deceleration rotating device, The remote switch valve is electrically connected with the power element of the traveling device. 2. The tree and plant protection system based on visible light-infrared technology according to claim 1, characterized in that the traveling device comprises a car board, a power supply support plate, a support rod, a DC power supply, a motor, a driving wheel, a driven wheel, an axle and Wheel fixing frame; the lower surface of the car plate is connected with a power supply support plate through corresponding support rods front and rear, a DC power supply is placed on the upper surface of the power supply support plate, and wheel fixing frames are installed symmetrically on the left and right sides of 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 through the axle; motors are installed on the two wheel fixing frames located in front of the vehicle plate, and the motor is connected to the DC power supply. The wheels connected to the motor are For the driving wheel, the motor provides power to the corresponding driving wheel, and the two wheels at the rear of the vehicle plate are driven wheels; the upper surface of the vehicle plate carries the lifting device, the image acquisition and processing device and the drug delivery device. 3. The tree and plant protection system based on visible light-infrared technology according to claim 1, wherein the lifting device includes a fixed card, a support rod, a roller, a rotating shaft, a hydraulic cylinder, a lifting platform and a storage battery; The cross connection is fixed. The two support rods at the same height are connected by the rotating shaft. The support rods can rotate freely relative to the rotating shaft. It is in sliding contact with the upper surface of the walking device; the structure on the two support rods at the highest level is the same as that on the two support rods at the bottom, one end is fixed on the lower surface of the lifting platform through the corresponding fixing card, and the other end is The corresponding rollers are 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 bottom rotating shaft and the opposite uppermost rotating shaft, and the battery is a hydraulic cylinder Power supply; the decelerating rotation device is installed on the lifting platform.