Intelligent pesticide spraying robot and control system thereof

Abstract

The invention relates to the technical field of agricultural intelligent equipment, and discloses an intelligent pesticide spraying robot and a control system thereof.The robot comprises a movable chassis, a pesticide storage box is fixedly connected to the rear side of the top of the movable chassis, a mounting table is fixedly connected to the top of the movable chassis, and a conveying pesticide spraying mechanism is arranged at the top of the mounting table; a mounting frame is fixedly connected to the top of the mounting table, an adjusting mechanism is arranged on the outer side of the mounting frame, a mounting box is fixedly connected to the front side of the top of the movable chassis, and the mounting table is arranged between the pesticide storage box and the mounting box; the system comprises a data acquisition module, a data processing unit, a pesticide spraying control unit, a navigation control unit, a servo motor control unit and an obstacle avoidance control unit. Cooperative operation of a camera, a laser radar and an ultrasonic sensor in the environment sensing mechanism is matched with a data processing unit of the central control system, so that crop types and growth states can be accurately recognized, and obstacles can be comprehensively detected.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural intelligent equipment, and in particular to an intelligent pesticide spraying robot and a control system thereof. Background Art

[0002] In the process of modern agricultural development, the technical bottleneck of traditional agricultural plant protection operations has become increasingly prominent. With the large-scale and intensive development of agriculture, the traditional method of spraying pesticides by manual backpack sprayers or tractor machinery is no longer in line with the needs of current agricultural production.

[0003] Traditional manual spraying methods are limited by human physical fitness and operating precision, making it difficult to achieve large-scale, high-efficiency, and uniform spraying of pesticides. Farmers need to be exposed to pesticides for a long time, which is not only labor-intensive, but also very likely to cause damage to their health due to inhalation of pesticides. In addition, manual spraying is highly arbitrary, making it difficult to accurately apply pesticides based on the actual growth conditions of crops and the distribution of pests and diseases, resulting in serious waste of pesticides. In addition, insufficient application of pesticides in some areas may affect the effectiveness of pest and disease control.

[0004] Although traditional mechanized spraying equipment has improved operating efficiency to a certain extent, its intelligence level is relatively low. Due to the lack of accurate environmental perception and intelligent decision-making systems, it is difficult to perceive the type of crops, growth status and surrounding obstacles in real time. During the operation, it is difficult to carry out differentiated spraying for crops of different heights and densities, and it is also difficult to effectively avoid various obstacles in the field. It is not only easy to cause physical damage to crops, but also causes a large amount of pesticides to drift to non-target areas, which not only pollutes the surrounding ecological environment, but also reduces the effective utilization rate of pesticides, making agricultural production costs high.

[0005] Therefore, the present invention proposes an intelligent spraying robot and a control system thereof to solve the deficiencies of the prior art. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides an intelligent spraying robot and a control system thereof, which solve the problems of the existing pesticide spraying method, such as low operating efficiency, serious pesticide waste, and difficulty in accurately sensing the environment.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: an intelligent spraying robot comprises a mobile chassis, the top rear side of the mobile chassis is fixedly connected to a medicine storage box, the top of the mobile chassis is fixedly connected to a mounting platform, a conveying spraying mechanism is arranged on the top of the mounting platform, a mounting frame is fixedly connected to the top of the mounting platform, an adjustment mechanism is arranged on the outside of the mounting frame, a mounting box is fixedly connected to the top front side of the mobile chassis, the mounting platform is arranged between the medicine storage box and the mounting box, and an environment sensing mechanism is arranged on the outside of the mounting box;

[0008] The environmental sensing mechanism includes a camera, a laser radar and an ultrasonic sensor. The camera is rotatably connected to a fixed seat on one side close to the mounting platform, and the bottom of the fixed seat is fixedly connected to the top of the mounting box. The laser radar is installed on the front side of the camera, and the ultrasonic sensor is installed on the front side of the camera. The camera, the laser radar and the ultrasonic sensor transmit the collected data to the central control system.

[0009] Preferably, a micro motor is installed on the outer side of the fixing seat, and the output end of the micro motor is fixedly connected to the outer side of the camera.

[0010] Preferably, the drug delivery spraying mechanism includes a delivery pump, which is installed in the top groove of the mounting table, the input end of the delivery pump is connected to the medicine storage box through an input pipe, and the output end of the delivery pump is connected to four hoses through an output pipe, and the four hoses are connected to a shunt pipe at one end away from the output pipe, and the shunt pipe is connected to a gooseneck pipe at one side away from the hose, and the gooseneck pipe is connected to an atomizing nozzle at one end away from the shunt pipe.

[0011] Preferably, four sliding holes are opened on the outer side of the mounting frame, and the sliding holes are slidably connected to the hose.

[0012] Preferably, the adjustment mechanism includes two servo motors, and the two servo motors are installed on the inner side of the mounting frame, and the output ends of the two servo motors are arranged facing each other, and the output ends of the two servo motors are fixedly connected to a rotating disk, and the two rotating disks are fixedly connected to a fixing rod at one end away from each other, and a square block is slidably connected to the outer side of the fixing rod, and the upper and lower sides of the square block are fixedly connected to guide rods, and the end of the guide rod away from the rotating disk is fixedly connected to the shunt pipe.

[0013] Preferably, four guide cylinders are fixedly connected to the outer side of the mounting frame, and the guide cylinders are slidably connected to the guide rods.

[0014] Preferably, a plurality of limit rods are fixedly connected to one side of the rotating disk close to the mounting frame, and limit slots are provided on both sides of the outside of the mounting frame, and the limit rods are slidably connected to the limit slots.

[0015] Preferably, the central control system includes:

[0016] The data processing unit is used to receive and process environmental data collected by cameras, lidar and ultrasonic sensors to perform crop identification and obstacle detection;

[0017] The obstacle avoidance control unit makes real-time corrections to the driving trajectory of the mobile chassis based on environmental data to avoid collisions with static or dynamic obstacles;

[0018] The spray control unit controls the output flow of the delivery pump based on environmental data;

[0019] The servo motor control unit controls the rotation of the servo motor based on environmental data to adjust the position of the atomizing nozzle.

[0020] The present invention also provides an intelligent spraying robot control system, comprising:

[0021] Data acquisition module, used to collect environmental data obtained by cameras, lidar and ultrasonic sensors in real time, including crop images, obstacle distance information and environmental sound wave information;

[0022] Data processing module, used to process and analyze the collected data, identify the crop type and height, determine the location of obstacles, and generate driving paths and spraying strategies;

[0023] A navigation control unit is used to calculate the optimal driving path based on the processed environmental data and adjust the driving direction of the robot to avoid obstacles and ensure the smoothness of the path;

[0024] The obstacle avoidance control unit is used to dynamically adjust the robot's driving trajectory based on environmental data and correct the robot's direction in real time to avoid collisions with obstacles;

[0025] The spray control unit adjusts the spray flow and spray angle of the spray system according to the environmental perception information, and dynamically controls the atomization effect of the nozzle to ensure that the pesticide is sprayed on the crops accurately and effectively;

[0026] The servo motor control unit controls the rotation of the servo motor based on environmental data and adjusts the angle and height of the atomizing nozzle to meet the spraying needs of different crops.

[0027] The present invention provides an intelligent spraying robot and a control system thereof, which have the following beneficial effects:

[0028] 1. The present invention can accurately identify crop types, growth status and detect obstacles in all directions through the coordinated operation of cameras, lidars and ultrasonic sensors in the environmental perception mechanism, combined with the data processing unit of the central control system. This not only plans the optimal driving path for the robot, avoids collision with obstacles, and ensures operational safety, but also can formulate precise spraying strategies based on the actual conditions of the crops, greatly improving the efficiency of pesticide use and reducing waste.

[0029] 2. The present invention uses a servo motor to drive the rotating disk, drive the fixed rod, square block, and guide rod to work together, and accurately adjust the position of the diverter pipe and the atomizing nozzle. At the same time, the cooperation between the limit rod and the limit groove, and the guide rod and the guide cylinder ensures the smoothness and accuracy of the adjustment process. This enables the robot to flexibly adapt to different crop heights and distributions, achieve accurate spraying, and significantly improve the pertinence and quality of the spraying operation.

[0030] 3. The flow output of the delivery pump is dynamically adjusted through the spray control unit, and combined with the angle of the atomizing nozzle, the pesticide is sprayed on the crops accurately and evenly, ensuring that the pesticide can fully cover the target crops, while reducing the impact of excessive spraying on the environment, improving the utilization rate of pesticides, and reducing agricultural production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A perspective view of the present invention;

[0032] Figure 2 is a side view of the present invention;

[0033] Figure 3 It is a front view of the present invention;

[0034] Figure 4 is a cross-sectional view of the mounting platform of the present invention;

[0035] Figure 5 It is a schematic diagram of the structure of the regulating mechanism of the present invention;

[0036] Figure 6 It is a schematic diagram of the shunt pipe structure of the present invention;

[0037] Figure 7 It is a schematic diagram of the limit rod structure of the present invention;

[0038] Figure 8 It is a schematic diagram of the camera structure of the present invention;

[0039] Fig. 9 It is a schematic diagram of the central control system architecture of the present invention;

[0040] Fig.10 It is a schematic diagram of the present invention.

[0041] Among them, 1. Mobile chassis; 2. Medicine storage box; 3. Mounting table; 4. Delivery spraying mechanism; 401. Delivery pump; 402. Input pipe; 403. Output pipe; 404. Hose; 405. Diverter pipe; 406. Gooseneck pipe; 407. Atomizing nozzle; 408. Slide hole; 5. Adjustment mechanism; 501. Servo motor; 502. Rotating disk; 503. Fixed rod; 504. Square block; 505. Guide rod; 506. Guide cylinder; 507. Limit rod; 508. Limit groove; 6. Mounting box; 7. Environmental sensing mechanism; 701. Camera; 702. Fixed seat; 703. Micro motor; 704. LiDAR; 705. Ultrasonic sensor; 8. Mounting frame. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] See also Figure 1-Figure 8 An embodiment of the present invention provides an intelligent spraying robot, including a mobile chassis 1, a medicine storage box 2 is fixedly connected to the top rear side of the mobile chassis 1, a mounting platform 3 is fixedly connected to the top of the mobile chassis 1, a spraying conveying mechanism 4 is arranged on the top of the mounting platform 3, a mounting frame 8 is fixedly connected to the top of the mounting platform 3, an adjustment mechanism 5 is arranged on the outer side of the mounting frame 8, a mounting box 6 is fixedly connected to the top front side of the mobile chassis 1, the mounting platform 3 is arranged between the medicine storage box 2 and the mounting box 6, and an environment sensing mechanism 7 is arranged on the outer side of the mounting box 6.

[0044] Specifically, by cooperating with the medicine storage box 2, the mobile chassis 1 carries the medicine storage box 2 and drives it to move to the operation area, thereby realizing a convenient mobile operation function; by cooperating with the mobile chassis 1 and the mounting platform 3, the mobile chassis 1 supports the mounting platform 3, so that the mounting platform 3 can stably place the delivery spraying mechanism 4 and the mounting frame 8; by cooperating with the mounting platform 3 and the delivery spraying mechanism 4, the mounting platform 3 provides an installation position for the delivery pump 401, and the delivery pump 401 operates to extract the pesticide in the medicine storage box 2 and deliver it to the atomizing nozzle 407, thereby realizing the function of pesticide delivery in the spraying operation; by cooperating with the mobile chassis 1 and the mounting box 6, the mobile chassis 1 carries the mounting box 6, so that the environment sensing mechanism 7 can be in a suitable position to collect data, thereby realizing the effect of providing installation support for the environment sensing mechanism 7;

[0045] See also Figure 1 , Figure 2 , Figure 3 and Figure 8 The environment sensing mechanism 7 includes a camera 701, a laser radar 704 and an ultrasonic sensor 705. The camera 701 is rotatably connected to a fixed seat 702 on one side close to the mounting platform 3. The bottom of the fixed seat 702 is fixedly connected to the top of the mounting box 6. The laser radar 704 is installed on the front side of the camera 701. The ultrasonic sensor 705 is installed on the front side of the camera 701. The camera 701, the laser radar 704 and the ultrasonic sensor 705 transmit the collected data to the central control system. A micro motor 703 is installed on the outside of the fixed seat 702. The output end of the micro motor 703 is fixedly connected to the outside of the camera 701.

[0046] Specifically, by cooperating with the camera 701 and the micro motor 703, the micro motor 703 drives the camera 701 to rotate, and the camera 701 collects image data of the working area in all directions, thereby achieving the effect of obtaining environmental visual information from multiple angles, which is helpful for more comprehensive identification of crops and surrounding conditions; by cooperating with the camera 701 and the laser radar 704, the camera 701 provides environmental visual images, and the laser radar 704 measures the distance of surrounding objects. The data of the two complement each other, thereby achieving the effect of accurately perceiving the position and shape of objects in the environment, and providing a reliable basis for the robot to avoid obstacles and plan the spraying path; by cooperating with the camera 701 and the ultrasonic sensor 705, the camera 701 captures the visual image, and the ultrasonic sensor 705 detects the sound waves reflected by close-range obstacles, and the joint operation achieves close-range complex objects in the environment. The robot can accurately perceive complex conditions in a complex environment and avoid potential dangers in a timely manner. The laser radar 704 cooperates with the ultrasonic sensor 705. The laser radar 704 performs long-distance precise distance measurement, and the ultrasonic sensor 705 focuses on short-distance detection. The collaborative work realizes comprehensive perception of obstacles in different distance ranges, so that the robot can meet the obstacle avoidance needs in various complex environments. The camera 701, the laser radar 704, the ultrasonic sensor 705 and the central control system cooperate, and the environmental data collected by the three are transmitted to the central control system. The central control system integrates and analyzes the data to provide the robot with comprehensive environmental information, so as to accurately control the driving of the mobile chassis 1, the spraying of the spraying mechanism 4 and the adjustment of the adjustment mechanism 5, so as to ensure that the robot completes the spraying operation efficiently and safely.

[0047] See also Figure 1 , Figure 4 , Figure 5 and Figure 6 The medicine delivery spraying mechanism 4 includes a delivery pump 401, which is installed in the top groove of the mounting platform 3. The input end of the delivery pump 401 is connected to the medicine storage box 2 through an input pipe 402, and the output end of the delivery pump 401 is connected to four hoses 404 through an output pipe 403. The four hoses 404 are connected to a shunt pipe 405 at one end away from the output pipe 403. The shunt pipe 405 is connected to a gooseneck pipe 406 at one side away from the hose 404. The gooseneck pipe 406 is connected to an atomizing nozzle 407 at one end away from the shunt pipe 405. Four sliding holes 408 are opened on the outer side of the mounting frame 8, and the sliding holes 408 are slidably connected to the hose 404.

[0048] Specifically, by cooperating with the medicine storage box 2, the delivery pump 401 extracts pesticides from the medicine storage box 2, and pressurizes and delivers the pesticides to the output pipe 403, thereby achieving the effect of stably and efficiently transferring the pesticides in the medicine storage box 2 to the subsequent delivery link, and providing power support for spraying; by cooperating with the output pipe 403 and the hose 404, the delivery pump 401 pumps the pesticides into the output pipe 403, and the output pipe 403 distributes the pesticides to the four hoses 404, thereby achieving the effect of evenly diverting the pesticides to multiple spraying branch lines, thereby ensuring the spraying needs of different areas; by cooperating with the diversion pipe 405 through the hose 404, the hose 404 delivers the pesticides to the diversion pipe 405, and the diversion pipe 405 further evenly distributes the pesticides to each gooseneck 406, thereby achieving secondary diversion of the pesticides, so that the pesticides can be more accurately delivered to each atomizing nozzle 407, thereby improving the uniformity of spraying; The gooseneck tube 406 cooperates with the shunt tube 405 to guide the pesticide into the gooseneck tube 406. The gooseneck tube 406 adjusts the angle before spraying, and accurately guides the pesticide to the target area, so that the spraying direction can be flexibly adjusted according to different operation scenes, so that the spraying coverage is more comprehensive; the gooseneck tube 406 cooperates with the atomizing nozzle 407, and the gooseneck tube 406 transports the pesticide to the atomizing nozzle 407, and the atomizing nozzle 407 sprays the pesticide after atomizing, so that the pesticide is converted into fine droplets, the contact area between the pesticide and the crop is increased, and the spraying effect is improved, so that the pesticide can act on the crop more effectively; through the hose 404, the hose 404 cooperates with the sliding hole 408 on the mounting frame 8, and the hose 404 slides in the sliding hole 408. When the adjustment mechanism 5 operates to drive the shunt tube 405 to move, the hose 404 can move smoothly, so that when the position of the atomizing nozzle 407 is adjusted, the pesticide delivery line is not affected, and the continuity of the spraying operation is maintained.

[0049] See also Figure 1 , Figure 2 , Figure 3 and Figure 7 The adjusting mechanism 5 includes two servo motors 501, which are both mounted on the inner side of the mounting frame 8. The output ends of the two servo motors 501 are arranged facing each other. The output ends of the two servo motors 501 are fixedly connected with a rotating disk 502. The ends of the two rotating disks 502 that are away from each other are fixedly connected with a fixed rod 503. The outer side of the fixed rod 503 is slidably connected with a square block 504. The upper and lower sides of the square block 504 are fixedly connected with a guide rod 505. The end of the guide rod 505 away from the rotating disk 502 is fixedly connected to the shunt pipe 405. Four guide cylinders 506 are fixedly connected to the outer side of the mounting frame 8. The guide cylinder 506 is slidably connected to the guide rod 505. A plurality of limit rods 507 are fixedly connected to the side of the rotating disk 502 close to the mounting frame 8. Limiting grooves 508 are provided on both sides of the outside of the mounting frame 8, and the limit rods 507 are slidably connected to the limit grooves 508.

[0050] Specifically, by cooperating with the two servo motors 501 and the rotating disk 502, the servo motor 501 drives the rotating disk 502 to rotate, and the rotation angle and speed can be accurately controlled; by cooperating with the rotating disk 502 and the fixed rod 503, the rotating disk 502 rotates to drive the fixed rod 503 to perform circular motion, and the fixed rod 503 changes position as the rotating disk 502 rotates, thereby realizing the effect of converting the rotational motion of the servo motor 501 into the circular swing of the fixed rod 503, providing a power basis for the movement of the square block 504; by cooperating with the fixed rod 503 and the square block 504 cooperates with the fixing rod 503, and when the fixing rod 503 rotates, the square block 504 slides in the axial direction on its outer side. According to the rotation angle of the fixing rod 503, the square block 504 can stay at different positions, realizing the effect of converting the circular motion of the fixing rod 503 into the linear reciprocating motion of the square block 504, thereby adjusting the position of the shunt pipe 405; by the cooperation of the square block 504 and the guide rod 505, the square block 504 drives the guide rod 505 to move synchronously when moving, and the guide rod 505 is closely connected with the square block 504 to ensure the consistency of movement, thereby realizing the square The movement of the block 504 is accurately transmitted to the shunt pipe 405, ensuring the effect of stable movement of the shunt pipe 405; the guide rod 505 cooperates with the shunt pipe 405, the guide rod 505 drives the shunt pipe 405 to move, and the shunt pipe 405 changes its position following the displacement of the guide rod 505, thereby achieving accurate adjustment of the position of the shunt pipe 405, and then accurately controlling the position of the atomizing nozzle 407, so that the spraying effect is more targeted; the guide rod 505 cooperates with the guide cylinder 506, the guide rod 505 slides in the guide cylinder 506, and the guide cylinder 506 is a guide The movement of the rod 505 provides a stable guiding effect and limits its movement direction, thereby ensuring that the guide rod 505 moves smoothly and in a straight line, avoiding deviation during movement, and improving the position adjustment accuracy of the atomizing nozzle 407. The limit rod 507 cooperates with the limit slot 508. When the servo motor 501 drives the rotating disk 502 to rotate, the limit rod 507 slides along a specific trajectory in the limit slot 508. The limit slot 508 constrains the movement of the limit rod 507, making the rotation of the rotating disk 502 more stable and avoiding shaking or deviation.

[0051] See also Fig. 9 , the central control system includes:

[0052] A data processing unit, used to receive and process environmental data collected by the camera 701, the laser radar 704 and the ultrasonic sensor 705, and perform crop recognition and obstacle detection;

[0053] The obstacle avoidance control unit corrects the driving trajectory of the mobile chassis 1 in real time based on the environmental data to avoid collision with static or dynamic obstacles;

[0054] The spray control unit controls the output flow of the delivery pump 401 based on the environmental data;

[0055] The servo motor control unit controls the rotation of the servo motor 501 based on the environmental data to adjust the position of the atomizing nozzle 407 .

[0056] Specifically, the data processing unit has the main function of receiving environmental data collected from the camera 701, the laser radar 704 and the ultrasonic sensor 705, and performing comprehensive processing on these data.

[0057] Crop identification: The data processing unit identifies the crop type, density and height by analyzing the crop image data sent back by the camera 701. The growth condition and position of the crop can be accurately determined through image processing algorithms (such as image segmentation, pattern recognition and other technologies).

[0058] Obstacle detection: LiDAR 704 and ultrasonic sensor 705 provide real-time distance data to help the system identify static and dynamic obstacles. Based on the environmental data, the system can identify the type, size and location of obstacles.

[0059] Path planning and decision-making: The data processing unit combines crop information and obstacle data to plan the best driving path for the mobile chassis 1 and generate a spraying strategy to ensure accurate and safe operations.

[0060] The obstacle avoidance control unit is responsible for correcting the driving trajectory of the mobile chassis 1 in real time according to the environmental information provided by the data processing unit to avoid collision with static or dynamic obstacles.

[0061] Obstacle detection and warning: Using the real-time data from the laser radar 704 and the ultrasonic sensor 705, the obstacle avoidance control unit determines the obstacles in front of the robot, and classifies and measures the distance of the obstacles.

[0062] Dynamic obstacle avoidance: During the movement, the obstacle avoidance control unit dynamically adjusts the path of the mobile chassis 1 according to the real-time collected environmental data, including changing the driving speed, steering angle, and selecting a detour path. For dynamic obstacles, such as pedestrians or vehicles, the system can automatically respond quickly to avoid collisions.

[0063] Emergency stop and detour strategy: When encountering an obstacle that cannot be detoured, the obstacle avoidance control unit will instruct the mobile chassis 1 to stop and replan the path.

[0064] The spray control unit dynamically adjusts the working status of the spray system based on environmental data to ensure accurate spraying of pesticides.

[0065] Flow control: According to the density, health status and type of crops, the spray control unit can adjust the flow of the delivery pump 401 in real time to ensure that each crop can get the appropriate dose of pesticide.

[0066] Optimization of atomization effect: The spray control unit adjusts the spray volume and spray angle of the atomizing nozzle 407 according to the environmental conditions of the spraying area, such as wind speed and humidity, to ensure uniform distribution of pesticides and minimize waste of liquid pesticides.

[0067] Precise positioning and control: The spray control unit also accurately controls the position of the atomizing nozzle 407 according to the position of the crop and the travel path, ensuring that the liquid is sprayed only on the area that needs to be sprayed.

[0068] The servo motor control unit, the servo motor 501 control unit adjusts the position and angle of the atomizing nozzle 407 by controlling the rotation of the servo motor 501 to meet the spraying requirements of different crops.

[0069] Precise control: The servo motor control unit receives feedback from the data processing unit and accurately adjusts the angle and height of the atomizing nozzle 407 based on information such as the height and position of the crop, ensuring that the pesticide can be sprayed evenly and accurately on the crop.

[0070] Flexible adjustment: The servo motor 501 can adjust the up and down position and left and right angle of the nozzle, so that the robot can flexibly spray different types of crops, thereby improving the spraying efficiency.

[0071] Coordinate with the environment: The control unit can also make timely adjustments according to different terrain and environmental conditions (such as slope, crop arrangement, etc.), so that the spraying operation can adapt to the changing environment.

[0072] See also Fig.10 The present invention also provides an intelligent spraying robot control system, including:

[0073] A data acquisition module, used to collect environmental data acquired by the camera 701, the laser radar 704 and the ultrasonic sensor 705 in real time, including crop images, obstacle distance information and environmental sound wave information;

[0074] Data processing module, used to process and analyze the collected data, identify the crop type and height, determine the location of obstacles, and generate driving paths and spraying strategies;

[0075] A navigation control unit is used to calculate the optimal driving path based on the processed environmental data and adjust the driving direction of the robot to avoid obstacles and ensure the smoothness of the path;

[0076] The obstacle avoidance control unit is used to dynamically adjust the robot's driving trajectory based on environmental data and correct the robot's direction in real time to avoid collisions with obstacles;

[0077] The spray control unit adjusts the spray flow rate and spray angle of the spray system according to the environmental sensing information, and dynamically controls the atomization effect of the atomizing nozzle 407 to ensure that the pesticide is sprayed onto the crops accurately and effectively;

[0078] The servo motor control unit controls the rotation of the servo motor 501 based on the environmental data, and adjusts the angle and height of the atomizing nozzle 407 to meet the spraying requirements of different crops.

[0079] Specifically, the data acquisition module is responsible for collecting the environmental data around the robot in real time, which is mainly achieved through the camera 701, the laser radar 704 and the ultrasonic sensor 705.

[0080] Camera 701: used to obtain image data of crops and capture information on crop growth, distribution and species. Through image recognition algorithms, camera 701 can identify different types and health conditions of crops, helping the system determine the suitability of spraying.

[0081] LiDAR 704: LiDAR 704 obtains high-precision distance data by scanning the surrounding environment. This data helps the system understand the surrounding three-dimensional environment, including the spatial position of crops and obstacles, thus providing a basis for path planning.

[0082] Ultrasonic sensor 705: Ultrasonic sensor 705 is mainly used to detect obstacles in front of the robot. Complementary with laser radar 704, it can detect obstacles of different sizes and shapes, especially in low visibility environments, ultrasonic sensor 705 can provide stable distance data.

[0083] Data fusion: This module fuses data from different sensors to update the environmental perception information in real time, ensuring that the control system has a comprehensive understanding of the environment.

[0084] The data processing module receives the raw data from the data acquisition module and makes intelligent decisions through data analysis and processing technology.

[0085] Crop identification and classification: Through image processing technology, the system can identify the type and growth status of crops. Crop identification not only helps determine the need for spraying, but also adjusts the spraying strategy based on the height and health of the crops.

[0086] Obstacle detection and positioning: The data processing module analyzes the data from the LiDAR 704 and the ultrasonic sensor 705 to detect and locate obstacles in real time. The system can identify static obstacles (such as trees and buildings) and dynamic obstacles (such as pedestrians and animals), providing key support for path planning and obstacle avoidance.

[0087] Path planning and spraying strategy generation: The system will generate the driving path of the mobile base based on environmental data to ensure that the mobile base moves along the best path and avoids collisions with obstacles. At the same time, the system will automatically adjust the spraying strategy, such as spraying flow rate and spraying angle, based on information such as crop density and health status.

[0088] Navigation control unit This unit is responsible for calculating and controlling the driving path of the mobile base to ensure that the robot moves stably according to the planned path.

[0089] Path calculation: Based on the environmental data generated by the data processing module, the navigation control unit calculates the optimal driving path. This not only includes an adaptive path to the current environment, but also takes into account the distribution of crop rows to avoid collisions with crops or obstacles during the movement of the mobile base.

[0090] Direction adjustment and stability control: In order to ensure the stability and accuracy of the mobile base's travel, the navigation control unit continuously adjusts the mobile base's travel direction, controls the speed and turning angle, keeps the robot moving smoothly, and avoids severe vibrations that affect spraying accuracy.

[0091] The obstacle avoidance control unit dynamically adjusts the driving trajectory of the mobile base based on the real-time collected environmental data to ensure that the robot avoids static and dynamic obstacles.

[0092] Dynamic obstacle avoidance: For dynamic obstacles (such as pedestrians, animals, vehicles, etc.), the obstacle avoidance control unit can respond quickly based on the data provided by the sensors and adjust the route of the mobile base to avoid collision with obstacles.

[0093] Static obstacle detour: For static obstacles, the system will plan a detour route in advance to ensure that the mobile base will not be obstructed and reduce the possibility of stopping or changing direction.

[0094] Real-time correction and feedback: The obstacle avoidance control unit can continuously correct the driving trajectory of the mobile base based on the obstacle data collected in real time to avoid any collision.

[0095] The spraying control unit receives environmental perception data and intelligently controls the spraying system to ensure accurate spraying of pesticides.

[0096] Spraying flow control: According to the type and growth status of the crop, the spraying control unit adjusts the output flow of the delivery pump 401. For dense or tall crops, the system will increase the spraying amount of the liquid medicine, and for sparse or healthy crops, it will reduce the spraying amount of the liquid medicine.

[0097] Spraying angle adjustment: The spraying control unit controls the spraying angle of the atomizing nozzle 407 to ensure that the spraying can cover every crop and avoid over-spraying or omission.

[0098] Atomization effect adjustment: By dynamically adjusting the atomization effect of the atomizing nozzle 407, the spraying control unit ensures that the liquid medicine evenly covers the crop surface, reduces the waste of liquid medicine and improves the spraying effect.

[0099] The servo motor control unit is responsible for adjusting the angle and height of the atomizing nozzle 407 according to environmental data and spraying requirements.

[0100] Angle and height adjustment: By adjusting the servo motor 501, the atomizing nozzle 407 can be flexibly adjusted according to the height and density of the crop. The servo motor 501 control unit can automatically adjust the angle and height of the nozzle according to real-time environmental data to ensure the accuracy and coverage of the spray.

[0101] Adapting to different crops: The system controls the angle and height of the atomizing nozzle 407 through the servo motor 501 to adapt to the needs of different types of crops and ensure efficient spraying operations at different growth stages.

[0102] Working principle: Before carrying out the spraying operation, it is necessary to add sufficient and suitable pesticides to the medicine storage box 2. After preparation, the intelligent spraying robot starts to move in the working area with the help of the mobile chassis 1. At this time, the camera 701 rotates under the drive of the micro motor 703 to collect image information of the surrounding environment in all directions. The laser radar 704 and ultrasonic sensor 705 installed on the front side of the camera 701 also work synchronously to collect relevant data such as distance and environmental sound waves. Then the camera 701, the laser radar 704 and the ultrasonic sensor 705 will transmit the environmental data collected by each of them to the data processing unit of the central control system.

[0103] The data processing unit efficiently and deeply analyzes the received environmental data, identifies the crop type and height, and determines the specific location of obstacles. The obstacle avoidance control unit makes real-time corrections to the driving trajectory of the mobile chassis 1 based on the processing results output by the data processing unit. By continuously adjusting the robot's direction of travel, it ensures that it can cleverly avoid various static or dynamic obstacles during movement, thereby ensuring the safety and continuity of operations.

[0104] When the robot moves smoothly to the spraying area, the delivery pump 401 starts to operate, and its input end quickly draws the pesticide in the medicine storage box 2 into the pump body through the input pipe 402, and then the output end of the delivery pump 401 injects the pesticide into four hoses 404, and the pesticide flows along the hoses 404 to reach the diversion pipe 405. Then the diversion pipe 405 guides the pesticide to the atomizing nozzle 407 through the gooseneck pipe 406, and finally sprays it from the atomizing nozzle 407, realizing uniform and efficient spraying operation. In this process, the spraying control unit intelligently adjusts the output flow of the delivery pump 401 based on environmental data (key information on the distribution density of crops), so as to ensure that the spraying effect reaches the best state, without excessive waste of pesticides, and ensuring that the crops are fully treated with the medicine.

[0105] In order to further improve the accuracy and pertinence of the spraying, after the servo motor 501 is started, the output shaft of the servo motor 501 drives the rotating disk 502 to rotate synchronously. When the rotating disk 502 rotates, the limiting rod 507 is driven to slide in the limiting groove 508. The rotating disk 502 drives the fixed rod 503 to rotate. As the fixed rod 503 rotates, the square block 504 slidably connected to the outer side thereof moves up and down under its influence. The guide rods 505 connected to the upper and lower sides of the square block 504 are displaced due to the movement of the square block 504. The movement of the guide rods 505 further drives the position change of the diverter pipe 405 fixedly connected thereto. Finally, the movement of the diverter pipe 405 causes the position of the atomizing nozzle 407 to be adjusted, so that the spraying can accurately cover crops in different areas and at different heights, greatly improving the accuracy of the spraying operation.

[0106] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent spraying robot, comprising a mobile chassis (1), characterized in that: The top rear side of the mobile chassis (1) is fixedly connected to a medicine storage box (2), the top of the mobile chassis (1) is fixedly connected to a mounting platform (3), the top of the mounting platform (3) is provided with a medicine delivery spraying mechanism (4), the top of the mounting platform (3) is fixedly connected to a mounting frame (8), the outer side of the mounting frame (8) is provided with an adjustment mechanism (5), the top front side of the mobile chassis (1) is fixedly connected to a mounting box (6), the mounting platform (3) is provided between the medicine storage box (2) and the mounting box (6), and the outer side of the mounting box (6) is provided with an environment sensing mechanism (7); The environment sensing mechanism (7) comprises a camera (701), a laser radar (704) and an ultrasonic sensor (705); the camera (701) is rotatably connected to a fixing seat (702) on one side close to the mounting platform (3); the bottom of the fixing seat (702) is fixedly connected to the top of the mounting box (6); the laser radar (704) is installed on the front side of the camera (701); and the ultrasonic sensor (705) is installed on the front side of the camera (701); the camera (701), the laser radar (704) and the ultrasonic sensor (705) transmit the collected data to a central control system.

2. The intelligent spraying robot according to claim 1, characterized in that: A micro motor (703) is installed on the outer side of the fixing seat (702), and the output end of the micro motor (703) is fixedly connected to the outer side of the camera (701).

3. The intelligent spraying robot according to claim 1, characterized in that: The medicine delivery spraying mechanism (4) comprises a delivery pump (401), which is installed at the top groove of the mounting platform (3). The input end of the delivery pump (401) is connected to the medicine storage box (2) through an input pipe (402), and the output end of the delivery pump (401) is connected to four hoses (404) through an output pipe (403). The ends of the four hoses (404) away from the output pipe (403) are all connected to a shunt pipe (405). The side of the shunt pipe (405) away from the hose (404) is connected to a gooseneck pipe (406), and the end of the gooseneck pipe (406) away from the shunt pipe (405) is connected to an atomizing nozzle (407).

4. The intelligent spraying robot according to claim 3, characterized in that: Four sliding holes (408) are provided on the outer side of the mounting frame (8), and the sliding holes (408) are slidably connected to the hose (404).

5. The intelligent spraying robot according to claim 1, characterized in that: The regulating mechanism (5) comprises two servo motors (501), the two servo motors (501) are both mounted on the inner side of the mounting frame (8), the output ends of the two servo motors (501) are arranged facing each other, the output ends of the two servo motors (501) are both fixedly connected to a rotating disk (502), the two rotating disks (502) are fixedly connected to a fixing rod (503) at one end away from each other, a square block (504) is slidably connected to the outer side of the fixing rod (503), the upper and lower sides of the square block (504) are both fixedly connected to a guide rod (505), and the end of the guide rod (505) away from the rotating disk (502) is fixedly connected to the shunt pipe (405).

6. The intelligent spraying robot according to claim 5, characterized in that: Four guide cylinders (506) are fixedly connected to the outer side of the mounting frame (8), and the guide cylinders (506) are slidably connected to the guide rods (505).

7. The intelligent spraying robot according to claim 5, characterized in that: A plurality of limiting rods (507) are fixedly connected to one side of the rotating disk (502) close to the mounting frame (8), and limiting grooves (508) are provided on both sides of the outside of the mounting frame (8), and the limiting rods (507) are slidably connected to the limiting grooves (508).

8. The intelligent spraying robot according to claim 1, characterized in that: The central control system comprises: A data processing unit, used to receive and process environmental data collected by the camera (701), the laser radar (704) and the ultrasonic sensor (705), and perform crop recognition and obstacle detection; An obstacle avoidance control unit, based on environmental data, corrects the driving trajectory of the mobile chassis (1) in real time to avoid collision with static or dynamic obstacles; A spray control unit controls the output flow of a delivery pump (401) based on environmental data; The servo motor control unit controls the rotation of the servo motor (501) based on the environmental data, so as to adjust the position of the atomizing nozzle (407).

9. An intelligent spraying robot control system, applied to the intelligent spraying robot as claimed in any one of claims 1 to 8, characterized in that: include: A data acquisition module, used for real-time acquisition of environmental data acquired by a camera (701), a laser radar (704) and an ultrasonic sensor (705), including crop images, obstacle distance information and environmental sound wave information; Data processing module, used to process and analyze the collected data, identify the crop type and height, determine the location of obstacles, and generate driving paths and spraying strategies; A navigation control unit is used to calculate the optimal driving path based on the processed environmental data and adjust the driving direction of the robot to avoid obstacles and ensure the smoothness of the path; The obstacle avoidance control unit is used to dynamically adjust the robot's driving trajectory based on environmental data and correct the robot's direction in real time to avoid collisions with obstacles; A spray control unit adjusts the spray flow rate and spray angle of the spray system according to the environmental sensing information, and dynamically controls the atomization effect of the spray head (407) to ensure that the pesticide is sprayed onto the crops accurately and effectively; The servo motor control unit controls the rotation of the servo motor (501) based on the environmental data, and adjusts the angle and height of the atomizing nozzle (407) to meet the spraying requirements of different crops.

Images