CN104834313B - A kind of greenhouse intelligence spray robot and method based on RFID - Google Patents

Abstract

An RFID-based greenhouse intelligent spraying robot and method, characterized in that the greenhouse intelligent spraying robot includes: a central controller, an RFID path identification module, an image processing module, a spraying module, a dispensing module, a drug detection module, Wireless communication module, human-computer interaction module, self-state detection module, driving module, power supply module, alarm module, storage module. The central controller is respectively connected with the RFID path 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 self-state detection module, the driving module, the power supply module, and the alarm module , Storage module connection. The invention intelligently completes the whole spraying process of the fruit and vegetable plants in the greenhouse, reduces the waste of medicines and medicine residues, greatly improves the work efficiency and the utilization rate of medicines, reduces human physical labor, and protects people from the harm of medicines.

Description

An RFID-based greenhouse intelligent spraying robot and method

technical field

The invention relates to an intelligent robot, in particular to an RFID-based greenhouse intelligent spraying robot and method.

Background technique

RFID (Radio Frequency Identification) is a non-contact automatic identification technology. Its principle is to use radio frequency to conduct non-contact two-way communication, and use radio frequency signals to automatically identify target objects and obtain relevant data. RFID technology has the advantages of non-contact, fast reading speed, not affected by the environment, large reading distance, tag data can be encrypted, large storage data capacity, stored information can be changed, can process multiple tags at the same time, and identification work does not require manual intervention.

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 an RFID-based greenhouse intelligent spraying robot and method 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, and provides an RFID-based greenhouse intelligent spraying robot and method, which can replace human beings to complete intelligent spraying of greenhouse fruit and vegetable plants. The greenhouse intelligent spraying robot intelligently recognizes the greenhouse construction path through RFID position marking and positioning technology to move autonomously, recognizes fruit and vegetable plants through image processing, and reasonably controls the spraying amount according to different fruit and vegetable plants and different growth periods, and intelligently completes the greenhouse. The entire spraying process of plants.

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

An RFID-based intelligent spraying robot for greenhouses, characterized in that the intelligent spraying robot for greenhouses includes: a central controller, an RFID path identification module, an image processing module, a spraying module, a dispensing module, a drug detection module, and a wireless communication module. module, human-computer interaction module, self-state detection module, driving module, power supply module, alarm module, and storage module. The central controller is respectively connected with the RFID path 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 self-state detection module, the driving module, the power supply module, and the alarm module , the storage module, and the power supply module is respectively connected with the central controller, RFID path identification module, image processing module, spraying module, dispensing module, drug detection module, wireless communication module, human-computer interaction module, self-state detection module, The driving module, the alarm module and the storage module are connected. Through the unified and coordinated work of the above modules, the functions of each module are realized, and the spraying work of the greenhouse intelligent spraying robot to the greenhouse fruit and vegetable plants is completed.

The central controller is respectively connected with the RFID path 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 self-state detection module, the driving module, the power supply module, and the alarm module , Storage module connection, receive and process the collected information and data of each module, and quickly control each module to complete specific functions.

The RFID path identification module adopts the RFID position marker positioning technology. The position of the robot RFID electronic tag installed on the robot is monitored by erecting the installation position mark RFID electronic tag at a fixed position evenly spaced above the interior of the greenhouse area, and the location information is provided to the robot RFID electronic tag through the position mark RFID electronic tag, and the RFID reader is sent to the robot. RFID electronic tags and position marking RFID electronic tags send positioning command information, the robot RFID electronic tag exchanges information with the nearest position marking RFID electronic tag to obtain the current location, and the RFID reader reads the robot RFID electronic tag information and its current position information. After obtaining the current position many times in this way, the specific position of the robot in the greenhouse area is calculated by the central controller. According to the actual size of the greenhouse area, the position marking RFID electronic tag and the specific position distribution of each row of fruit and vegetable plants in the greenhouse area, the greenhouse RFID electronic tag map is modeled for the greenhouse area, and the greenhouse RFID electronic tag map model is imported into the robot storage module Read by the central controller, the real-time RFID path identification module is compared and corrected with the pre-stored greenhouse RFID electronic tag map model, and the position of each column of fruit and vegetable plants is judged. The open space and the greenhouse area are moved to complete the work of spraying fruit and vegetable plants. The RFID path identification module includes a position marking RFID electronic tag, a robot RFID electronic tag, and an RFID reader; the robot RFID electronic tag and the RFID reader are installed on the robot.

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 retractable 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 bucket. 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, detection information and alarm information collected by the robot, and realize the remote control and monitoring of the robot.

The self-state detection module realizes that the robot detects obstacles and its own state. The self-state detection module includes a gyroscope, an odometer, an acceleration sensor, and an ultrasonic sensor. state.

The traveling module uses crawlers to move. The mechanical structure of the driving module adopts 2 synchronous crawlers, 1 main shaft, 1 spur gear, 1 bevel gear, 2 driving wheels and 2 driven wheels. The power structure adopts 2 DC servo motors, 2 reducers, 2 rotary encoders, 2 H-bridge motor PWM drive circuits, and motor overcurrent protection devices. The reducer is connected to the power wheel; the DC servo motor is connected to the reducer, the rotary encoder, and the H-bridge motor PWM drive circuit to form a driving power device. The H-bridge motor PWM drive circuit controls the forward and reverse rotation of the motor, controls the forward and reverse rotation of the driving wheel, and drives the synchronous crawler to move to complete the forward, backward and steering of the robot in the greenhouse.

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 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 greenhouse map model data, image acquisition data, detection information, fruit and vegetable plant image feature information database and other module data, and the storage module includes a memory.

An RFID-based greenhouse intelligent spraying method is characterized in that the RFID-based greenhouse intelligent spraying method includes the following steps: erecting and installing position marking RFID electronic tags at fixed positions evenly spaced above the inside of the greenhouse area, each position marking RFID The distance between the electronic tags is equally spaced. According to the actual size of the greenhouse area, the position marking RFID electronic tags and the specific position distribution of each column of fruit and vegetable plants in the greenhouse area, the greenhouse RFID electronic tag map is modeled for the greenhouse area, and the The greenhouse RFID electronic tag map model is imported into the robot storage module and read by the central controller, and the position information is provided to the robot RFID electronic tag through the position marking RFID electronic tag, and the RFID reader sends the positioning to the robot RFID electronic tag and the position marking RFID electronic tag Command information, the robot RFID electronic tag exchanges information with the nearest position marker RFID electronic tag to obtain the current location, and the RFID reader reads the robot RFID electronic tag information and its current location information. After obtaining the current position many times in this way, the specific position of the robot in the greenhouse area is calculated by the central controller; the real-time RFID path identification module is compared and corrected with the pre-stored greenhouse RFID electronic tag map model, and each row is judged The location of the fruit and vegetable plants, and the accurate identification path enable the robot to move in the open space and greenhouse area outside the fruit and vegetable plant planting area.

The working principle of the automatic mode of the greenhouse intelligent spraying robot is as follows: First, the user mixes the medicine and water in the medicine bucket in proportion, and then installs the medicine bucket on the robot, clamps and fixes it. After connecting the gear of the built-in agitator to the robot agitator motor, use the user's hand-held mobile communication device upper 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 in the medicine barrel is connected with the agricultural medicine spraying pressure pump through the medicine spraying conduit, and the medicine is extracted by the agricultural medicine spraying pressure pump. The medicine pump motor starts to run, and the agricultural spraying pressure pump is ready to work.

The image processing module starts to work to collect the image information of the fruit and vegetable planting area and the surrounding environment, capture the images of the fruit and vegetable plants through the PTZ HD camera, process the images of the fruit and vegetable plants through the image acquisition card and image processing software, and extract the important appearance characteristics and characteristics of the fruit and vegetable plants. The fruit and vegetable plant image feature information database information in the storage module is checked and compared to classify the fruit and vegetable plants and determine the type name of the fruit and vegetable plants.

After the robot is positioned, it starts to move from the starting point and the end point of the robot's work. The central controller controls the spraying module to extend the mechanical arm, and the central controller controls the electric regulating valve of the drug nozzle on the side of the fruit and vegetable planting area to open to the top, middle and bottom of the fruit and vegetable plants. For spraying, the central controller rationally controls and adjusts the opening of the electric regulating valve to control the amount of spraying according to the type name of the fruit and vegetable plant judged by the image processing module and the growth period of the fruit and vegetable plant in the manually set function parameters.

When the robot completes the spraying on one side of the planting area of the first row of fruit and vegetable plants, the central controller controls to close the electric regulating valve to stop the spraying, and the robot continues to move and turn to enter between the two rows of fruit and vegetable planting areas. The electric regulating valve of the drug sprayer on the side opens to spray the top, middle and bottom of the two rows of fruit and vegetable plants, and the central controller judges the species name of the fruit and vegetable plants according to the image processing module and the growth period of the fruit and vegetable plants in the manual setting function parameters Reasonably control and adjust the opening of the electric regulating valve to control the amount of spraying medicine.

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 the last row of fruit and vegetable planting areas, the central controller only controls the electric regulating valve of the drug nozzle on the side of the fruit and vegetable planting area to open the top and middle of the fruit and vegetable plants. And bottom spraying, the central controller reasonably 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 and the growth period of the fruit and vegetable plants in the manual setting function parameters, and controls the spraying dosage.

When the robot finishes spraying all the fruit and vegetable plants, the central controller closes the electric regulating valve to stop spraying, controls the spraying module to shrink the mechanical arm, and controls the robot to move to the starting point and end point of the robot's work and 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. The user enters the manual mode control software sub-interface through the main operation interface of the upper computer software on the handheld mobile communication device to control the robot's driving, mechanical arm telescopic, electric regulating valve switch, drug pump switch, and agitator switch. Observe the situation around the robot through the video window, and slide the window left and right up and down to realize the left and right movement of the high-definition camera of the pan/tilt to change the monitoring angle of view.

The beneficial effects of the present invention are: an RFID-based greenhouse intelligent spraying robot and method of the present invention realizes the intelligent identification of the robot for the independent movement of the construction path of the greenhouse area, and recognizes the fruit and vegetable plants through image processing, and according to the different growth of different fruit and vegetable plants and their locations During the period, 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 process of spraying the fruit and vegetable plants in the greenhouse is intelligently completed. 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 RFID path identification method of the present invention.

Fig. 3 is a schematic diagram of the working method of the robot of the present invention.

Fig. 4 is a schematic diagram of the main operation interface of the host computer software of the present invention.

Fig. 5 is a schematic diagram of the external structure of the robot of the present invention.

In the figure 1. Central controller, 2. RFID path 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. Self-state detection module, 10. Driving module, 11. Power supply module, 12. Alarm module, 13. Storage module, 20. Greenhouse area, 21. Position marking RFID electronic tag, 22. Robot RFID electronic tag, 23. RFID reader, 24. Robot, 30. Fruit and vegetable planting area, 31. The starting point and end point of robot work, 33. Drug barrel, 34. Wireless antenna, 35. Robot chassis, 36. Agricultural spraying pressure pump motor gear, 37 , retractable mechanical arm, 38, drug nozzle, 39, pan-tilt high-definition camera, 40, crawler tracks, 41, driving motor gear.

detailed description

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 RFID-based greenhouse intelligent medicine spraying robot central controller 1 of the present invention selects DSP processor and RFID path recognition module 2, image processing module 3, medicine spraying module 4, dispensing module 5, medicine detection module 6. Wireless communication module 7, human-computer interaction module 8, self-state detection module 9, driving module 10, power supply module 11, alarm module 12, storage module 13 are connected, and described power supply module 11 is connected with central controller 1, RFID respectively Path recognition module 2, image processing module 3, medicine spraying module 4, medicine dispensing module 5, medicine detection module 6, wireless communication module 7, human-computer interaction module 8, self-state detection module 9, driving module 10, alarm module 12, storage The modules 13 are connected to ensure the efficiency of collecting and processing information by the greenhouse intelligent spraying robot, and accurately control each module to complete related functions.

As shown in FIG. 2 , an RFID-based intelligent spraying robot RFID path identification method for greenhouses is implemented as follows: set up and install position marking RFID electronic tags 21 at fixed positions evenly spaced above the interior of the greenhouse area 20, and each position marks the RFID electronic tag The distance between 21 is equidistant, according to the actual size of the greenhouse area 20, the location marker RFID electronic tag 21 and the specific position distribution of each row of fruit and vegetable plants in the greenhouse area 20, the construction of the greenhouse RFID electronic tag map is carried out for the greenhouse area 20 import the map model of the greenhouse RFID electronic tag into the robot storage module 13 to be read by the central controller 1, and provide position information to the robot RFID electronic tag 22 through the position marker RFID electronic tag 21, and the RFID reader 23 to the robot RFID electronic tag 22 and the position mark RFID electronic tag 21 send positioning command information, the robot RFID electronic tag 22 exchanges information with the nearest position mark RFID electronic tag 21 to obtain the current location, and the RFID reader 23 reads the robot RFID electronic tag 22 information and its current location information. After obtaining the current position multiple times in this way, the specific position of the robot in the greenhouse area 20 is calculated by the central controller 1; the real-time RFID path identification module 2 is compared and corrected with the pre-stored greenhouse RFID electronic tag map model, and the Find out the position of each row of fruit and vegetable plants, and accurately identify the path to make the robot move in the open space outside the fruit and vegetable plant planting area 30 and the greenhouse area 20.

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. Set up and real-time control, receive image information, detection 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 mixes the medicine and water in proportion in the medicine bucket 33, and installs the medicine bucket 33 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 upper 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 in the medicine barrel 33 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 3 starts to work and collects the image information of the fruit and vegetable planting area and the surrounding environment, shoots the image of the fruit and vegetable plant through the high-definition camera 39 of the cloud platform, processes the image of the fruit and vegetable plant through the image acquisition card and image processing software, and extracts the important appearance of the fruit and vegetable plant After checking and comparing the features with the image feature information database of the fruit and vegetable plants in the storage module, the fruit and vegetable plants are classified and the type names of the fruit and vegetable plants are judged.

As shown in Figure 3, after the robot is positioned, it starts to move from the starting point and end point 31 of the robot in the direction of the solid line arrow in the figure. The central controller 1 controls the spraying module 4 to extend the mechanical arm, and the central controller 1 controls the fruit and vegetable planting area 30. The electric regulating valve of the medicine nozzle on one side is opened to spray medicine on the top, middle and bottom of the fruit and vegetable plants. Reasonably control and adjust the opening of the electric control valve during the period to control the amount of spraying.

When the robot completes the spraying of the first row of fruit and vegetable planting areas 30, the central controller 1 controls to close the electric control valve to stop the spraying, and the robot continues to move in the direction of the solid arrow and turns to enter between the two rows of fruit and vegetable planting areas 30. During this period, the central controller 1 controls the electric regulating valves of the drug spray nozzles on both sides of the robot to open to spray the top, middle and bottom of the two rows of fruit and vegetable plants. The growth period of the fruit and vegetable plants in the functional parameters is reasonably controlled and adjusted to adjust the opening of the electric regulating valve to control the amount of spraying.

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 work on the fruit and vegetable plants according to the above method. When the robot reaches the last row of fruit and vegetable plant planting areas 30, the central controller 1 only controls the electric regulating valve of the drug nozzle on one side of the fruit and vegetable plant planting areas 30 to open the spraying of the fruit and vegetable plants. Top, middle and bottom spraying, central controller 1 rationally 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 3 and the growth period of the fruit and vegetable plant in the artificially set function parameters, and controls the opening of the spraying valve. Medicinal dosage.

After the robot finishes spraying all the fruit and vegetable plants, the central controller 1 controls to close the electric regulating valve to stop the spraying, controls the spraying module 4 to shrink the mechanical arm, and controls the robot to move to the starting point and the end point of the robot's work in the direction of the dotted arrow in Figure 3 31 Waiting for the next specific operation by the user.

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 4, 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 driving, mechanical arm telescopic, electric regulating valve switch, drug pump switch, and agitator switch . Observe the situation around the robot through the video window, and sliding the window up and down left and right can realize the movement of the high-definition camera 39 of the cloud platform 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 6, 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 for display. , to detect and avoid non-drug work and drug nozzle blockage in time.

The robot detects obstacles and its own state in real time through the gyroscope, odometer, acceleration sensor, and ultrasonic sensor in the self state detection module 9 .

The robot adopts crawler type movement through the driving module 10 . The DSP processor controls the H-bridge motor PWM drive circuit to control the forward rotation and reverse rotation of the motor, and controls the forward and reverse rotation of the drive wheel to drive the synchronous crawler belt to move forward, backward and turn the robot in the greenhouse area 20 .

The robot uses a high-efficiency lithium-ion battery pack to store electric energy through the power supply module 11, the voltage converter provides appropriate voltage and current for each module of the robot, and the power detector detects the remaining power of the battery pack.

The robot realizes through the alarm module 12 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 7 can send a voice alarm to the user's hand-held mobile communication device and a voice player, so that the user can find and process in time.

The robot storage module 13 uses a memory to record and store the greenhouse map model data, image acquisition data, detection information, fruit and vegetable plant image feature information database and other module data.

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 (1)

1. An RFID-based greenhouse intelligent spraying robot is characterized in that, the greenhouse intelligent spraying robot comprises: a central controller, an RFID path recognition module, an image processing module, a medicine spraying module, a dispensing module, a drug detection module, Wireless communication module, human-computer interaction module, self-state detection module, driving module, power supply module, alarm module, storage module; the central controller is respectively connected with RFID path identification module, image processing module, spraying module, dispensing module, The drug detection module, wireless communication module, human-computer interaction module, self-state detection module, driving module, power supply module, alarm module, and storage module are connected, and the power supply module is connected with the central controller, RFID path identification module, and image processing module respectively. , spraying module, dispensing module, drug detection module, wireless communication module, human-computer interaction module, self-state detection module, driving module, alarm module, storage module connection; The RFID path identification module adopts the RFID position marking positioning technology; adopts the installation position marking RFID electronic tag to monitor the position of the robot RFID electronic tag installed on the robot at a fixed position evenly spaced above the interior of the greenhouse area, and passes the position marking RFID electronic tag to The robot RFID electronic tag provides location information, and the RFID reader sends positioning command information to the robot RFID electronic tag and the location tag RFID electronic tag. The robot RFID electronic tag exchanges information with the nearest location tag RFID electronic tag to obtain the current location. RFID The reader reads the robot RFID electronic tag information and its current location information; after obtaining the current location multiple times in this way, the specific location of the robot in the greenhouse area is calculated by the central controller; the RFID is marked according to the actual size and position of the greenhouse area The electronic tags and the specific position distribution of each row of fruit and vegetable plants in the greenhouse area are modeled for the greenhouse RFID electronic tag map, and the greenhouse RFID electronic tag map model is imported into the robot storage module to be read by the central controller, real-time The RFID path identification module is compared and corrected with the pre-stored greenhouse RFID electronic tag map model to determine the position of each row of fruit and vegetable plants. The accurate identification path enables the robot to move in the open space outside the fruit and vegetable planting area and the greenhouse area to complete the fruit and vegetable planting area. The work of plant spraying; the RFID path identification module includes a position marking RFID electronic tag, a robot RFID electronic tag, and an RFID reader; the robot RFID electronic tag and the RFID reader are installed on the robot; 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 Names of 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; Agricultural spraying pressure pump connection; spraying module includes: 2 retractable mechanical arms, 6 drug spray heads, 6 electric control valves, 1 agricultural spraying pressure pump, 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 does not precipitate and ensures the uniform fusion of the medicine during the spraying process; the dispensing module includes: a built-in agitator, agitator motor, and a medicine barrel; the medicine barrel is detachable and can be removed during dispensing , after dispensing the medicine, install it on the robot body and fix it; 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 indicates that the drug nozzle is blocked or other failures; 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 GPRS wireless communication connection between the robot and the host computer; The human-computer interaction module realizes the information communication between the human and the robot; the human-computer interaction module connects and communicates the robot with the user's handheld mobile communication device through the wireless communication module; the user can communicate with the robot through the handheld mobile communication device The upper computer software sets the function parameters and real-time control of the robot, receives the image information, detection information and alarm information collected by the robot, and realizes the remote control and monitoring of the robot; The self-state detection module realizes that the robot detects obstacles and its own state. The self-state detection module includes a gyroscope, an odometer, an acceleration sensor, and an ultrasonic sensor. state; The driving module uses crawlers to move; the mechanical structure of the driving module adopts 2 synchronous crawlers, 1 main shaft, 1 spur gear, 1 conical gear, 2 driving wheels, and 2 driven wheels; the power structure adopts 2 DC servo motor, 2 reducers, 2 rotary encoders, 2 H bridge motor PWM drive circuits, motor overcurrent protection device; reducer and power wheel connection; DC servo motor and reducer, rotary encoder, H bridge The motor PWM drive circuit is connected to form a driving power device; the H-bridge motor PWM drive circuit controls the forward and reverse rotation of the motor, controls the forward and reverse rotation of the driving wheel, and drives the synchronous crawler to move to complete the forward, backward and steering of the robot in the greenhouse; The power supply module completes the power supply, voltage conversion, and remaining power detection of the entire robot system to ensure safe and efficient power supply for the robot; the power supply module includes a high-energy-efficiency battery pack, a voltage converter, and a power detector; 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 greenhouse map model data, image acquisition data, detection information, and fruit and vegetable plant image feature information database data, and the storage module includes a memory; The RFID-based greenhouse intelligent spraying robot erects and installs position marking RFID electronic tags at evenly spaced fixed positions above the interior of the greenhouse area. The distance between each position marking RFID electronic tag is equally spaced, according to the actual size of the greenhouse area , position marking RFID electronic tags and the specific position distribution of each row of fruit and vegetable plants in the greenhouse area, modeling the greenhouse RFID electronic tag map for the greenhouse area, importing the greenhouse RFID electronic tag map model into the robot storage module and read by the central controller Take, provide position information to the robot RFID electronic tag through the position marking RFID electronic tag, the RFID reader sends positioning command information to the robot RFID electronic tag and the position marking RFID electronic tag, and the robot RFID electronic tag communicates with the nearest position marking RFID electronic tag After the information is obtained, the current location is obtained, and the RFID reader reads the robot RFID electronic tag information and its current location information; after obtaining the current location multiple times in this way, the specific location of the robot in the greenhouse area is calculated by the central controller; The real-time RFID path identification module is compared and corrected with the pre-stored greenhouse RFID electronic tag map model to determine the position of each row of fruit and vegetable plants, and the accurate identification path enables the robot to move in the open space outside the fruit and vegetable planting area and in the greenhouse area; The working principle of the automatic mode of the intelligent spraying robot based on RFID is as follows: first, the user mixes the medicine and water in proportion in the medicine barrel, and then installs the medicine barrel on the robot and fixes it; the gear of the built-in agitator and the After the robot mixer motor is connected, use the user's hand-held mobile communication device upper computer software to control and start the robot, control the mixer motor to work, and make the medicine go through the mixer evenly, then set to enter the automatic mode; the medicine in the medicine barrel passes through the spraying catheter and The agricultural spraying pressure pump is connected to pump the medicine for the agricultural spraying pressure pump; the medicine pump motor starts to run, and the agricultural spraying pressure pump is ready to work; The image processing module starts to work to collect the image information of the fruit and vegetable planting area and the surrounding environment, capture the images of the fruit and vegetable plants through the PTZ HD camera, process the images of the fruit and vegetable plants through the image acquisition card and image processing software, and extract the important appearance characteristics and characteristics of the fruit and vegetable plants. After checking and comparing the fruit and vegetable plant image feature information database information in the storage module, the fruit and vegetable plants are classified and the type names of the fruit and vegetable plants are judged; After the robot is positioned, it starts to move from the starting point and the end point of the robot's work. The central controller controls the spraying module to extend the mechanical arm, and the central controller controls the electric regulating valve of the drug nozzle on the side of the fruit and vegetable planting area to open to the top, middle and bottom of the fruit and vegetable plants. For spraying, the central controller reasonably controls and adjusts the opening of the electric regulating valve according to the type name of the fruit and vegetable plant judged by the image processing module and the growth period of the fruit and vegetable plant in the manually set function parameters, and controls the spraying dosage; When the robot completes the spraying on one side of the planting area of the first row of fruit and vegetable plants, the central controller controls to close the electric regulating valve to stop the spraying, and the robot continues to move and turn to enter between the two rows of fruit and vegetable planting areas. The electric regulating valve of the drug sprayer on the side opens to spray the top, middle and bottom of the two rows of fruit and vegetable plants, and the central controller judges the species name of the fruit and vegetable plants according to the image processing module and the growth period of the fruit and vegetable plants in the manual setting function parameters Reasonably control and adjust the opening of the electric regulating valve to control the amount of spraying; 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 work on the fruit and vegetable plants. When the robot reaches the last row of fruit and vegetable plant planting areas, the central controller only controls the electric regulating valve of the drug nozzle on the side of the fruit and vegetable plant planting area to open to spray the top, middle and bottom of the fruit and vegetable plants. Medicine, the central controller reasonably controls and adjusts the opening of the electric regulating valve according to the type name of the fruit and vegetable plant judged by the image processing module and the growth period of the fruit and vegetable plant in the manually set function parameters, and controls the amount of spraying medicine; When the robot finishes spraying all the fruit and vegetable plants, the central controller controls to close the electric control valve to stop spraying, controls the spraying module to shrink the mechanical arm, and controls the robot to move to the starting point and end point of the robot's work and 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; The telescoping of the mechanical arm, the switch of the electric regulating valve, the switch of the drug pump, and the switch of the agitator; through the video window to observe the situation around the robot, sliding the window up and down left and right can realize the left and right movement of the high-definition camera of the pan/tilt to change the monitoring angle of view.