Fruit tree canopy radial dynamic profiling target spraying robot and its profiling target method

Abstract

The invention belongs to the technical field of agricultural machinery and equipment, and discloses a fruit tree canopy radial dynamic profiling target spraying robot and its profiling target target method, including a crawler-type power platform, and the power platform is fixedly connected with an organic frame, the frame is fixedly connected with a medicine box, a controller and a target spraying mechanism, the target spraying mechanism includes a spray head, and a pressure pump is arranged in the medicine box, and the pressure pump communicates with the spray head, Beidou navigation system and laser radar are installed on the power platform, a runoff fan is fixedly connected to the frame in front of the power platform, and the target spraying mechanism is installed on the frame in front of the power platform. The invention adopts a follow-up two-degree-of-freedom profiling target targeting mechanism, which is flexible in movement, and can spray the radial profiling target spraying of tree crowns of any size under the precise fixed spraying distance.

Description

technical field [0001] The invention relates to the technical field of agricultural machinery and equipment, in particular to a fruit tree canopy radial dynamic profiling target spraying robot and a profiling target target method. Background technique [0002] Pesticide spraying technology is a comprehensive technology. The level of pesticide spraying technology depends not only on the development of pesticide varieties and formulations and people's understanding of the occurrence rules and ecological habits of pests and diseases, but also on the performance of pesticide application equipment. and manufacturing levels. At present, the control of diseases and insect pests mainly depends on chemical pesticides. However, the excessive use of pesticides will lead to pesticide residues, which will seriously pollute the ecological environment and threaten the safety of agricultural products. The large amount of pesticide deposition outside the target caused by non-target spraying ...

AI Technical Summary

Problems solved by technology

[0004] The target profiling spraying device designed by the above-mentioned patent for touching the tree trunk detects the tree body and improves the detection accuracy. It has the advantages of large coverage area and good spraying effect, but the patented solution still has the following problems : This patent only realizes the rotation around the tree through one degree of freedom of rotation, and the nozzle is fixedly connected with the crescent-shaped disc, so this kind of fixed structure target spraying mechanism cannot adapt to fruit trees with different canopy sizes, and the applicability is poor; and the crescent-shaped The disc must be aligned with the tree trunk to ensure that the contactor touches the tree trunk to detect the position of the tree. The detection method of the tree trunk has strict requirements on the movement route of the sprayer, otherwise it will cause mechanical interference between the spraying device and the tree, and even damage the tree or the device.

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