Autonomous navigation spraying robot for orchard work and working method thereof

Abstract

The invention relates to an autonomous navigation spraying robot for orchard work and a working method thereof, and belongs to the field of agricultural intelligent equipment. The robot comprises a robot body and accessory equipment, wherein the robot body comprises a mobile type chassis, an air feed spraying device, an inertial navigation device, a satellite positioning device, a control system,a remote communication device and an energy power system; radar obstacle avoidance devices are arranged at the front and rear ends of the robot body; the accessory equipment comprises a remote controller and a communication base station; the air feed spraying device, the inertial navigation device, the satellite positioning device, the energy power system and the radar obstacle avoidance devices are all connected with the control system; the control system is connected with the remote communication device; the remote communication device is connected with the Internet through the communicationbase station; and the remote communication device is further wirelessly connected with the remote controller. The autonomous navigation spraying robot disclosed by the invention can obviously reducethe number and the intensity of labors for orchard spraying work and has important significance for improving the quality and the efficiency of the modern fruit industry and converting new and old kinetic energy.

Description

technical field [0001] The invention relates to an autonomous navigation spraying robot for orchard operations and a working method thereof, belonging to the technical field of agricultural intelligent equipment. Background technique [0002] Orchard management is a labor-intensive industry, and the labor cost accounts for a relatively high proportion of the total cost, and the problem of labor shortage has become increasingly prominent. The daily management of the orchard mainly includes spraying, pruning, weeding, watering, fertilizing and other activities, among which spraying is one of the essential operations. For a long time, the majority of fruit farmers have mainly relied on simple machinery such as sprayers and sprayers to assist in spraying pesticides, which has low operating efficiency and high labor intensity, and often causes harm to human health due to inhalation of pesticide mist. In recent years, with the continuous innovation and development of artificial i...

AI Technical Summary

Problems solved by technology

[0004] Chinese patent application publication number is CN107639640A a kind of multi-nozzle intelligent spraying robot, realizes spraying by arranging sprinklers on the top of multiple upright and variable-height electric push rods, with GPS receiver to receive position information, but its deficiency The reason is that it is difficult to guarantee the spraying distance, degree of atomization, and the effect of penetrating the canopy by relying on pressure spraying alone without the participation of an air delivery mechanism; in addition, information such as whether the robot is unmanned or how to navigate is not given.

The Chinese patent application publication number is CN108098779A, a control system for a spraying robot. The spray head is set on the up and down adjustment mechanism and controlled by the main control module. It is only suitable for teaching experiments and has no practical significance.

The Chinese patent application publication number is CN104186451B, a machine vision-based pest control and herbicide spraying robot, which uses machine vision to identify field weeds and insect pests. It is mainly used in field environments and cannot be used for orchard spraying.

Chinese Patent Publication No. is the spraying robot of CN206963767U, its spraying mechanism is a mist machine, and there is no navigation function

The Chinese patent publication number is CN206651269U, a remote-controlled intelligent spraying robot, which uses a mechanical arm to drive a high-pressure spray gun and an atomization adjustment mechanism for spraying. The coverage of the spray is small and the spraying efficiency is low; it is controlled by a remote control and has no navigation function.

Chinese patent application publication number is CN106708036A, a kind of path navigation device based on embedded spraying robot and its implementation method, which uses image processing technology to extract path fitting points and carry out navigation control; its disadvantage is that it is not aimed at the orchard environment, It also does not consider the complexity of the orchard path, the occlusion of fruit tree branches and leaves, the strong light during the day or the operation under low light at night, and does not give the spraying plan and effect, so it is not practical

The Chinese patent publication number is CN103891697B, a variable spraying method of an indoor autonomous mobile spraying robot, which uses a camera and an ultrasonic sensor to realize variable spraying and autonomous movement in the greenhouse. It is not applicable to the open-air orchard environment and is incomparable.

The Chinese Patent Publication No. is CN104820425B, a farmland intelligent spraying robot based on electromagnetic detection and the automatic execution system and automatic execution method of the orchard spraying robot whose publication number is CN107544511A. Both of them set prerequisites for the autonomous travel of the robot. The former needs to lay wires on the path, and the latter needs to set baffles on the edge of the path, which are not operable in actual production

A kind of intelligent spraying robot whose Chinese patent application publication number is CN106719544A is only suitable for field spraying and has no navigation function

Chinese patent application publication number is CN108391649A a kind of orchard automatic spraying device, needs to lay track in the field in advance, and the first, it is comparatively loaded down with trivial details to implement, and investment is bigger;

Images