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Orchard automatic target spraying robot and spraying method

A technology of robots and orchards, applied in the field of robots, can solve problems such as working methods that do not meet the gardening standards, time delays, waste of medicines, etc., and achieve the effect of avoiding the impact on personnel health and high efficiency

Active Publication Date: 2021-01-29
HENAN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Artificial spraying has the following unfavorable factors: 1. The medicine is harmful to the human body and will cause potential pathological changes in the human body.
2. The spraying efficiency is low. Manual spraying not only consumes physical strength, but also delays time
3. The utilization rate of the drug is low. Manual spraying will cause problems such as uneven spraying and drug dripping, which will lead to waste of drugs
Some mechanical spraying devices are used in orchard spraying, but these spraying devices have the following disadvantages: 1. Human control is required, and the whole process of spraying cannot be realized independently
2. The spraying method is single and the efficiency is not high enough
3. The working method does not meet the current orchard construction standards
4. The operation method is complicated

Method used

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  • Orchard automatic target spraying robot and spraying method
  • Orchard automatic target spraying robot and spraying method
  • Orchard automatic target spraying robot and spraying method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0048] Embodiment 1, based on the spraying method of the automatic target spraying robot in the orchard, is applicable to a rectangular orchard 16 and the number of furrows 17 in the orchard 16 is odd, and the specific steps are as follows.

[0049] Step 1. Set up fences on the edge of the rectangular orchard 16, leave a distance between the fences and the ditch 17, and open an entrance for the robot to enter and exit at a corner of the fence. If it is vertical, the robot selects the walking mode one, and if the direction of the entrance and exit is parallel to the extension direction of the ditch 17, then the walking mode two is selected;

[0050] Step 2, the robot sprays the fruit trees 18 during walking.

[0051] Such as Figure 4 and 5 As shown, the specific steps of walking mode 1 are:

[0052] S1. The robot enters the orchard 16 from the entrance and exit. At the same time, the distance sensing system detects the distance between the robot and the obstacle from the fr...

Embodiment 2

[0075] Embodiment 2, the spraying method based on the automatic target spraying robot in the orchard, is applicable to the situation that the orchard is rectangular and the number of furrows in the orchard is an even number.

[0076] Such as Figure 8 As shown, the robot first enters the orchard 16 from the entrance and exit, and continuously detects the distance between the robot and the obstacle from the front, left and right sides during the movement, and transmits the detection value to the controller 11; when the left side Or when one of the distance detection values ​​on the right side has a sudden change, the robot turns 90° to this side, and then goes straight between the ditch 17 and the fence; when one of the distance detection values ​​on the left or right side has a sudden change for the second time, the robot Turn 180° to this side, and then go straight between the two furrows 17; when the distance detection values ​​on the left side and the right side suddenly ch...

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Abstract

Orchard automatic target spraying robot, including the body, steering wheel, driving wheel and steering steering gear: the robot also includes a distance sensing system, a spraying system and a controller; the distance sensing system is electrically connected to the controller, and the distance sensing system includes a fixed setting The front side distance sensor at the front of the body, the left sensing device arranged on the left side of the body and the right sensing device arranged on the right side of the body, wherein the left sensing device includes a left distance sensor and a left photoelectric sensor, and the right side The sensing device includes a distance sensor on the right side and a photoelectric sensor on the right side; the spraying system includes a medicine barrel fixedly arranged in the middle of the machine body, the top of the medicine barrel is provided with a left spray head and a right spray head, and each of the left spray head and the right spray head communicates with the medicine through a solenoid valve. The barrels are connected, and the two solenoid valves are electrically connected to the controller. The invention can automatically complete the actions of moving, turning, spraying and exiting the orchard in the orchard, with higher efficiency and avoiding the influence of pesticides on the health of personnel.

Description

technical field [0001] The invention relates to the field of robots, in particular to an orchard automatic target spraying robot and a spraying method. Background technique [0002] With the improvement of people's requirements for quality of life, people are more aware of the importance of the nutritional value of fruits, and the demand for fruits is increasing. Fruit farmers are planting more and more fruit trees, and the work of spraying fruit trees has become more arduous. [0003] At present, the work of spraying pesticides to fruit trees 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 lea...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A01M7/00
CPCA01M7/0082A01M7/0089
Inventor 张伏王亚飞许子和陈新辉郭儒雅
Owner HENAN UNIV OF SCI & TECH