A multifunctional agricultural robot

Abstract

The present invention provides a multifunctional agricultural robot, which includes a fertilizer and soil mixing mother bin and a driving module, wherein the fertilizer and soil mixing mother bin is installed above the driving module through a quick locking device; the driving module is a wheeled or crawler driven chassis, and the fertilizer and soil mixing mother bin includes: a rotating bucket, a closed soil conveyor belt, a human proximity safety sensor, a laser radar / RFID / visual recognition system, a fertilizer bin module, a liquid foliar fertilizer or pesticide module, a soil bin module, a fertilizer / soil mixing module, a robot control center, a soil feeding and paving device, a weighing module and a mixed fertilizer and soil feeding port. The present invention realizes the one-time completion of the whole process of trenching and soil digging, real-time nutrient detection and analysis, fertilizer distribution, fertilizer mixing, fertilization, and automatic backfilling. It can be operated in different terrains and soils such as orchards, small plots of land, tea gardens, hills, mountains, etc., which are inaccessible to large machinery. It has many advantages such as fast analysis speed, simple operation, no waste, and no pollution.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery, and in particular to a multifunctional agricultural robot. Background Art

[0002] Soil is a very complex substance, with organic and inorganic substances coexisting, solids, liquids and gases intertwined, and plants and microorganisms interdependent. The growth of crops is closely related to nitrogen, phosphorus, potassium, organic matter and other nutrients in the soil. 40% to 80% of the nutrients in the formation of crop yields come from the soil, but the soil cannot be regarded as an inexhaustible "nutrient bank". In order to ensure that the soil has sufficient nutrient supply capacity and intensity and maintain the balance between the carry-out and input of soil nutrients, fertilization must be achieved. Fertilization can "return" the nutrients absorbed by crops to the soil to ensure soil capacity.

[0003] The growth of crops requires water and various nutrients from the soil. The soil itself does not always provide the best nutrition for crops. Farmers must rotate crops regularly to provide the necessary nutrition. In the past, in order to harvest more crops, the application of chemical fertilizers was a common means. However, excessive fertilization will lead to waste of resources and serious environmental pollution. Some chemicals such as nitrogen, phosphorus, and potassium are easily consolidated by the soil, causing various salts to accumulate in the soil, resulting in soil nutrient imbalance, excessive levels of harmful heavy metals and harmful pathogens, deterioration of soil properties, and obstruction of the transformation and synthesis of some substances in crops, which reduces the quality of agricultural products.

[0004] In recent years, with the country's vigorous development of green agriculture and the promotion of organic fertilizer technology to replace chemical fertilizers, the physical and chemical properties of orchard soil have improved to a certain extent. However, orchards in some areas still do not pay attention to the application of organic fertilizers, and the soil has different degrees of salinization and severe compaction. Root growth is restricted, resulting in the inability to guarantee yield and quality, and a significant decline in farmers' income.

[0005] On the one hand, the root system of crops can absorb water, minerals and other nutrients from the soil to meet the needs of crop growth; on the other hand, it can also store nutrients to facilitate the short-term maintenance of plant growth when the root system cannot adapt to the conditions. In addition, the functions of the root system such as secreting organic acids, synthesizing growth hormones, and reproducing new plants also affect the growth of plants. However, the normal performance of these functions of the root system requires appropriate soil temperature, humidity, air permeability, etc., and the application of organic fertilizer can well maintain the appropriate soil temperature and humidity, increase air permeability, and thus facilitate the normal performance of these functions of the root system. The application of organic fertilizer not only affects the yield and quality of plants in the current year, but also improves the physical and chemical properties of the soil, improves the growth potential of plants, creates excellent conditions for the normal growth and development of plants, and thus improves the resistance of plants to harsh environments.

[0006] The prior art CN201820913714.5 is a patent for an agricultural mechanical fertilization device, which uses a four-wheel tractor as traction and is more suitable for mechanized fertilization of large areas of farmland. It cannot operate in hills, mountains, etc., and there is no process of mixing fertilizer and soil. It may cause a large amount of nutrients such as phosphorus and potassium to accumulate in the soil, resulting in soil nutrient imbalance, crop root burn and other adverse consequences.

[0007] Prior art CN201820446062.9 A patent for a remote monitoring system for a pit-digging and fertilizing machine in a closed apple orchard based on image transmission is a system that monitors the on-site working conditions of the pit-digging and fertilizing machine by collecting data information of the pit-digging and fertilizing machine in real time, promptly discovers faults of the pit-digging and fertilizing machine, and remotely monitors and controls the data of the pit-digging and fertilizing machine through wireless transmission. It is also impossible to complete excavation, fertilizer mixing, and soil covering at one time.

[0008] my country's traditional manual fertilization method is inefficient and shallow, which can easily cause crop roots to float, reduce crop resistance to drought and disease, and seriously affect crop yields and fruit quality. Therefore, there is an urgent need for a machine that can replace manual labor to accurately fertilize each crop, reduce farmers' labor intensity, improve agricultural production efficiency, and save labor and production costs. Summary of the invention

[0009] In order to overcome the defects in the prior art, the present invention provides a multifunctional agricultural robot that integrates fertilizer science, machine learning, the Internet of Things, big data, etc. with the crop growth system, customizes differentiated fertilization plans for different crop types, and completes the entire process of trenching, soil digging, real-time nutrient detection and analysis, fertilizer distribution, fertilizer mixing, fertilization, and automatic backfilling at one time. It can achieve operations in orchards, small plots of land, tea gardens, hills, mountains, and other different terrains and soil types that large machinery cannot enter.

[0010] In order to achieve the above object, the present invention provides the following technical solutions.

[0011] A multifunctional agricultural robot comprises: a fertilizer and soil mixing mother chamber and a driving module, wherein the fertilizer and soil mixing mother chamber is installed above the driving module through a quick locking device;

[0012] The drive module is a wheeled or tracked drive chassis, using a gasoline, diesel engine or battery pack as a power source;

[0013] The fertilizer and soil mixing and stirring mother warehouse includes: a rotating bucket, a closed soil conveyor belt, a human proximity safety sensor, a laser radar / RFID / visual recognition system, a fertilizer warehouse module, a liquid foliar fertilizer or pesticide module, a soil warehouse module, a fertilizer / soil mixing and stirring module, a robot control center, a soil feeding and paving device, a weighing module and a mixed fertilizer and soil feeding port;

[0014] One end of the closed soil upper conveyor belt is connected to the front end of the fertilizer and soil mixing mother bin, and the other end of the closed soil upper conveyor belt is connected to the rotating bucket, which is arranged below the front end of the fertilizer and soil mixing mother bin and is driven to rotate by a motor or a machine;

[0015] The human body proximity safety sensor is arranged at the front end of the fertilizer and soil mixing mother bin, and the laser radar / RFID / visual recognition system is arranged at the front end upper part of the fertilizer and soil mixing mother bin. The human body proximity safety sensor and the laser radar / RFID / visual recognition system jointly realize the determination of obstacles, targets, positions, dimensions, speeds and directions, and transmit relevant data to the robot control center arranged at the rear end of the fertilizer and soil mixing mother bin to plan targets, obstacles and routes;

[0016] The fertilizer bin module is arranged inside the front end of the fertilizer and soil mixing mother bin, and the weighing module is arranged at the lower end thereof, which weighs the different fertilizers released by the fertilizer bin module;

[0017] The liquid foliar fertilizer or pesticide module is arranged in the middle of the fertilizer and soil mixing mother bin, and uses a nozzle to fertilize the leaves or spray pesticides on the leaves;

[0018] The soil bin module is arranged at the rear of the fertilizer and soil mixing mother bin, and the soil feeding and leveling device and the weighing module are arranged at the lower end of the soil bin module, and the weighing module weighs the soil released by the soil bin module;

[0019] The fertilizer / soil mixing and stirring module is arranged at the bottom of the fertilizer and soil mixing and stirring mother bin to mix and stir the fertilizer and soil;

[0020] The robot control center is arranged at the rear end of the fertilizer and soil mixing mother bin, is electrically connected to various components of the multifunctional agricultural robot, and controls the robot;

[0021] The mixed fertilizer-soil discharge port is arranged below the fertilizer-soil mixing and stirring mother bin.

[0022] Preferably, the soil bin module is provided with two independent soil outlets at its lower end; the fertilizer bin module is provided with a plurality of modules, each of which is provided with a fertilizer outlet at its lower end; the weighing module comprises: a soil weighing module and a fertilizer weighing module, the soil weighing module is provided below the soil outlet of the soil bin module, and an outlet is provided at its lower end; the fertilizer weighing module is provided below the fertilizer outlet of the fertilizer bin module, and an outlet is provided at its lower end.

[0023] Preferably, the sealed soil upper transport pipeline is connected to one end of a sealed soil horizontal transport pipeline arranged inside the fertilizer and soil mixing mother bin, and the other end of the sealed soil horizontal transport pipeline extends to the top of the soil bin module; a soil outlet arranged at the lower end of the soil bin module is connected to one end of a covering topsoil transport pipeline, and the other end of the covering topsoil transport pipeline is connected to the soil unloading and paving device.

[0024] Preferably, the liquid foliar fertilizer or pesticide module comprises: a nozzle guide rail, a liquid delivery hose and a nozzle, the nozzle guide rail and the liquid delivery hose are passed through the upper surface of the fertilizer and soil mixing mother bin, the nozzle can be moved along the XYZ axis under the guidance of the nozzle guide rail, one end of the liquid delivery hose is connected to the liquid foliar fertilizer or pesticide module, and the other end is connected to the nozzle.

[0025] Preferably, an infrared spectrum sensor and a light source are arranged on the top of the soil bin module, the light source irradiates the soil inside the soil bin module, the infrared spectrum sensor collects diffuse light reflected by the soil, and transmits the collected soil spectrum data to the robot control center.

[0026] Preferably, the robot control center is provided with communication equipment, which can communicate wirelessly with the cloud expert database via 4G and 5G.

[0027] Preferably, a method for operating the multifunctional agricultural robot is as follows:

[0028] 1) selecting a driving module for the multifunctional agricultural robot according to the needs of the on-site operation, adding corresponding fertilizers to the fertilizer storage modules of the multifunctional agricultural robot, adding liquid fertilizer or pesticide to the liquid foliar fertilizer or pesticide module, and starting the multifunctional agricultural robot;

[0029] 2) The rotating bucket digs a strip ditch when the multifunctional agricultural robot moves forward, and the excavated soil is sent to the soil bin module through the sealed soil upper soil transport pipeline and the sealed soil horizontal transport pipeline;

[0030] 3) The light source in the soil bin module irradiates the soil, the infrared spectrum sensor collects diffuse light reflected by the soil, and transmits the collected soil spectrum data to the robot control center, and performs edge computing locally, combining 4G or 5G with cloud expert database data communication technology, according to the actual conditions of different types of soil, combined with the crop identification RFID tag read by the multifunctional agricultural robot during movement, interprets the crop fertilization history, plans the excavation depth and formulates different fertilization strategies; opens a soil outlet of the soil bin module, and drops part of the soil into the soil weighing module for weighing, and after weighing, opens the outlet and drops the soil to the fertilizer and soil mixing module; opens the fertilizer outlet of the corresponding fertilizer bin module according to the fertilization strategy, drops the fertilizer into the fertilizer weighing module, and after weighing, opens the outlet and drops the fertilizer into the fertilizer and soil mixing module;

[0031] 4) Using a binocular vision sensor mounted on a low-cost multi-axis stabilizer, collect images of crop growth status for analysis, and combine it with a fertilization strategy to turn on the liquid foliar fertilizer or pesticide module and adjust the position and angle of the nozzle to spray the foliar fertilizer required by the crops while moving, or precisely spray pesticides on the back of the leaves;

[0032] 5) Mix the soil and various fertilizers evenly in the fertilizer and soil mixing module;

[0033] 6) After the mixing is completed, the mixed fertilizer soil discharge port is opened to drop the mixed fertilizer soil into the excavated strip ditch, and finally another outlet of the soil bin module is opened to transport the remaining soil to the soil discharge and paving device through the covering topsoil conveying pipeline to cover the surface of the fertilized strip ditch.

[0034] The beneficial effects of the present invention are:

[0035] 1. Integrate fertilizer science, machine learning, the Internet of Things, big data, etc. with the crop growth system, customize fertilization plans according to the type of crops, and complete the entire process of trenching, real-time nutrient detection and analysis, fertilizer allocation, mixing, fertilization, and automatic backfilling in one go.

[0036] 2. It can realize operations in orchards, small plots of land, tea gardens, hills, mountains and other different terrains and soil types that large machinery cannot enter.

[0037] 3. Interpret the fertilization history of crops, plan the excavation depth, etc., and use infrared spectrum sensors to detect soil nutrients to analyze what fertilizers crops need to supplement and the required quantity, provide the most suitable amount of fertilizers for crops, and deliver mixed fertilizers to the roots of crops according to the different needs of crop growth, thereby improving the crop's ability to absorb nutrients and the utilization rate of fertilizers.

[0038] 4. Using robot image recognition technology to accurately spray pesticides on crops not only reduces the waste of pesticides, but also eliminates the disadvantage of drone spraying that is poorly effective in killing pests on the back of leaves.

[0039] 5. It ensures the uniform distribution of fertilizer at the roots of crops in the soil, avoiding the disadvantage of root burning due to uneven fertilizer distribution; it eliminates the hidden danger of traditional fertilization methods causing crop roots to float, resulting in reduced drought and disease resistance of crops.

[0040] 6. The robot of the present invention has many advantages such as fast analysis speed, simple operation, no waste, no pollution, etc., coupled with the original fertilizer-soil mixed application technology, it has huge advantages and development potential in smart agriculture and other aspects, and its application prospects are very broad. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the multifunctional agricultural robot of the present invention.

[0042] Figure 2 It is a schematic diagram of the internal structure of the fertilizer and soil mixing mother bin of the present invention.

[0043] Figure 3 It is a schematic diagram of the soil bin module of the present invention.

[0044] Figure 4 It is a schematic diagram of soil spectrum data collection of the present invention.

[0045] Figure 5 It is a schematic diagram of the liquid foliar fertilizer or pesticide module of the present invention.

[0046] Figure 6 It is a flow chart of extracting soil spectral characteristic data of the present invention.

[0047] Figure 7 It is a flow chart of scientific fertilization control of the present invention.

[0048] Figure 8 It is a schematic diagram of the edge computing process of the present invention.

[0049] Fig. 9 This is the multi-source sensor fusion obstacle avoidance and route planning flow chart of the present invention DETAILED DESCRIPTION

[0050] In order to make the purpose, technical scheme and advantages of the implementation of the present invention clearer, the technical scheme in the embodiment of the present invention will be described in more detail below in conjunction with the drawings in the embodiment of the present invention. In the drawings, the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The described embodiments are part of the embodiments of the present invention, not all of the embodiments. The embodiments and directional terms described below with reference to the drawings are exemplary and are intended to be used to explain the present invention, and cannot be understood as limitations on the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The embodiments of the present invention are described in detail below in conjunction with the drawings.

[0051] Combined with Figure 1-5 The present invention is further described.

[0052] A multifunctional agricultural robot, comprising: a fertilizer and soil mixing mother chamber 1 and a driving module, wherein the fertilizer and soil mixing mother chamber 1 is installed above the driving module through a quick locking device;

[0053] The drive module is a wheeled or tracked drive chassis 2, using a gasoline, diesel engine or battery pack as a power source;

[0054] The fertilizer and soil mixing mother warehouse 1 includes: a rotating bucket 3, a closed soil conveyor belt 4, a human proximity safety sensor 5, a laser radar / RFID / visual recognition system 6, a fertilizer warehouse module 7, a liquid foliar fertilizer or pesticide module 8, a soil warehouse module 9, a fertilizer / soil mixing module 21, a robot control center 10, a soil feeding and paving device 11, a weighing module 12 and a mixed fertilizer and soil feeding port 13;

[0055] One end of the closed soil upper conveyor belt 4 is connected to the front end of the fertilizer and soil mixing mother bin 1, and the other end of the closed soil upper conveyor belt 4 is connected to the rotating bucket 3. The rotating bucket 3 is arranged below the front end of the fertilizer and soil mixing mother bin 1, and the rotating bucket 3 is driven to rotate by a motor or a machine;

[0056] The human body proximity safety sensor 5 is arranged at the front end of the fertilizer and soil mixing mother bin 1, and the laser radar / RFID / visual recognition system 6 is arranged at the front end upper part of the fertilizer and soil mixing mother bin 1. The human body proximity safety sensor 5 and the laser radar / RFID / visual recognition system 6 jointly realize the determination of obstacles, targets, positions, dimensions, speeds and directions, and transmit relevant data to the robot control center 10 arranged at the rear end of the fertilizer and soil mixing mother bin 1 to plan targets, obstacles and routes;

[0057] The fertilizer bin module 7 is arranged inside the front end of the fertilizer and soil mixing mother bin 1, and the weighing module 12 is arranged at the lower end thereof, which weighs the different fertilizers released by the fertilizer bin module 7;

[0058] The liquid foliar fertilizer or pesticide module 8 is arranged in the middle of the fertilizer and soil mixing mother chamber 1, and uses a nozzle 15 to fertilize the leaves or spray pesticides on the leaves;

[0059] The soil bin module 9 is arranged at the rear of the fertilizer and soil mixing mother bin 1, and the soil feeding and leveling device 11 and the weighing module 12 are arranged at the lower end of the soil bin module 9, and the weighing module 12 weighs the soil released by the soil bin module 9;

[0060] The fertilizer / soil mixing module 21 is arranged at the bottom of the fertilizer and soil mixing mother bin 1 to mix and stir the fertilizer and soil;

[0061] The robot control center 10 is arranged at the rear end of the fertilizer and soil mixing mother chamber 1, is electrically connected to various components of the multifunctional agricultural robot, and controls the robot;

[0062] The mixed fertilizer-soil discharge port 13 is arranged below the fertilizer-soil mixing and stirring mother bin 1 .

[0063] The soil bin module 9 is provided with two independent soil outlets 16 and 17 at the lower end; the fertilizer bin module 7 is provided with multiple, and each fertilizer bin module 7 is provided with a fertilizer outlet 24 at the lower end; the weighing module 12 comprises: a soil weighing module 12-1 and a fertilizer weighing module 12-2, the soil weighing module 12-1 is arranged below the soil outlets 16 and 17 of the soil bin module 9, and the lower end of the soil weighing module 12-1 is provided with an outlet 23, and the fertilizer weighing module 12-2 is arranged below the fertilizer outlet of the fertilizer bin module 7, and the lower end of the fertilizer weighing module 12-2 is provided with an outlet 22.

[0064] The sealed soil upper transport pipeline 4 is connected to one end of a sealed soil horizontal transport pipeline 19 arranged inside the fertilizer and soil mixing mother bin 1, and the other end of the sealed soil horizontal transport pipeline 19 extends to the top of the soil bin module 9; a soil outlet 16 arranged at the lower end of the soil bin module 9 is connected to one end of a covering topsoil transport pipeline 20, and the other end of the covering topsoil transport pipeline 20 is connected to the soil unloading and paving device 11.

[0065] The liquid foliar fertilizer or pesticide module 8 includes: a nozzle guide rail 25, a liquid delivery hose 26 and a nozzle 15. The nozzle guide rail 25 and the liquid delivery hose 26 are passed through the upper surface of the fertilizer and soil mixing and stirring mother bin 1. The nozzle 15 can move along the XYZ axis under the guidance of the nozzle guide rail 25. One end of the liquid delivery hose 26 is connected to the liquid foliar fertilizer or pesticide module 8, and the other end is connected to the nozzle 15.

[0066] An infrared spectrum sensor 14 and a light source 18 are provided at the top of the soil bin module 9 . The light source 18 irradiates the soil inside the soil bin module 9 . The infrared spectrum sensor 14 collects diffuse light reflected by the soil and transmits the collected soil spectrum data to the robot control center 10 .

[0067] The robot control center 10 is provided with communication equipment, and can communicate wirelessly with the cloud expert database via 4G and 5G.

[0068] The working process of the present invention is described according to Figures 1-8.

[0069] A method for operating the multifunctional agricultural robot:

[0070] 1) Selecting a driving module for the multifunctional agricultural robot according to the needs of the on-site operation, adding corresponding fertilizers to each fertilizer bin module 7 of the multifunctional agricultural robot, adding liquid fertilizer or pesticide to the liquid foliar fertilizer or pesticide module 8, and starting the multifunctional agricultural robot;

[0071] 2) The rotating bucket 3 digs a strip ditch when the multifunctional agricultural robot moves forward, and the excavated soil is sent to the soil bin module 9 through the sealed soil upper soil transport pipe 4 and the sealed soil horizontal transport pipe 19;

[0072] 3) The light source 18 in the soil bin module 9 irradiates the soil, the infrared spectrum sensor 14 collects diffuse light reflected by the soil, and transmits the collected soil spectrum data to the robot control center 10, through local edge computing, 4G or 5G and cloud expert database data communication technology, according to the actual conditions of different types of soil, combined with the crop identification RFID tag read by the multifunctional agricultural robot during movement, the crop fertilization history is interpreted, the excavation depth is planned to formulate different fertilization strategies; open a soil outlet 17 of the soil bin module 9, and let part of the soil fall into the soil weighing module 12-1 for weighing. After weighing, open the outlet 23 and let it fall into the soil to fertilizer and soil mixing module 21; open the fertilizer outlet 24 of the corresponding fertilizer bin module 7 according to the fertilization strategy, let the fertilizer fall into the fertilizer weighing module 12-2, and after weighing, open the outlet 22 and let it fall into the fertilizer and soil mixing module 21;

[0073] 4) Through the binocular vision sensor installed on the low-cost multi-axis stabilizer, collect image analysis of crop growth status, combine with fertilization strategy, open the liquid foliar fertilizer or pesticide module 8 and adjust the position and angle of the nozzle 15, spray the foliar fertilizer required by the crops while moving, or accurately spray pesticides on the back of the leaves;

[0074] 5) The soil and various fertilizers are stirred and mixed evenly in the fertilizer and soil mixing module 21;

[0075] 6) After the mixing is completed, the mixed fertilizer soil discharge port 13 is opened to drop the mixed fertilizer soil into the excavated strip ditch. Finally, another outlet 16 of the soil bin module 9 is opened to transport the remaining soil to the soil discharge and paving device 11 through the covering topsoil conveying pipeline 20 to cover the surface of the fertilized strip ditch.

[0076] The calculation process of the present invention is introduced according to Figures 1-8

[0077] A rotating bucket 3 is installed at the front end of the robot to dig strip ditches. The excavated soil is transported to the soil bin module 9 through the closed soil conveyor belt 4. The lower part of the soil bin module 9 has two automatically openable and closable soil outlets 16 and 17, which can execute the instructions issued by the robot control center 10 to open and close the soil outlets respectively.

[0078] The real-time soil nutrient detection and analysis system is implemented using infrared spectroscopy detection technology. As a fast, cost-effective, environmentally friendly and non-destructive analysis technology, infrared spectroscopy is originally used in a multifunctional fertilization robot. Soil infrared spectroscopy analysis is based on the following principles: molecular vibrations and electronic transitions associated with soil components absorb light while interacting with radiation. Since the spectral characteristics respond to minerals and organic components in the soil, many soil properties can be directly calibrated into near-infrared (NIR) and mid-infrared spectra (MIR).

[0079] By reading the crop identification RFID tag during the movement, interpreting the crop's fertilization history, planning the excavation depth, etc., and using infrared spectrum sensors to detect soil nutrients, it is possible to analyze what fertilizers the crops need and the required quantity, provide the crops with the most suitable amount of fertilizer, and deliver mixed fertilizers to the roots of crops according to the different growth needs of crops, thereby improving the crop's ability to absorb nutrients and the utilization rate of fertilizers.

[0080] The soil bin module 9 is designed as a light-proof darkroom, which is equipped with an LED or other light source. During detection, light is projected onto the soil sample. The infrared spectrum sensor 14 receives the diffuse reflected light irradiated on the soil, collects the spectral data of the soil, and then compares it with the soil spectral data stored in the robot to determine the fertility of the soil.

[0081] We will capture the soil reflectance spectrum and input it into the robot control center 10 for edge computing, use artificial intelligence technologies such as deep learning to analyze and process crop growth and soil nutrients in real time, and then compare and analyze it with the cloud expert database through 4G or 5G wireless communication networks.

[0082] Through the local edge computing through real-time infrared spectroscopy analysis of soil and crop image recognition technology, and the combination of 4G or 5G and cloud expert database data communication technologies, different fertilization strategies can be formulated according to the actual conditions of different types of soil;

[0083] The robot has multiple fertilizer bin modules 7 (such as nitrogen, phosphorus, potassium, organic fertilizer, etc.). After the robot obtains the most appropriate fertilizer formula based on the analysis of soil nutrients, it opens the corresponding fertilizer bin modules 7 to weigh the fertilizer, drops the fertilizer into the mixing bin and mixes it with the soil, mixes it evenly, and supplements the nutrients required by the crops in a targeted manner. The crops are supplemented with the elements they lack, and the amount they need is supplemented as much as needed to achieve a balanced supply of various nutrients to meet the needs of the crops, solving the problem of increasing crop yields by increasing the application of chemical fertilizers in large quantities. Solve the contradiction between the nutrient demand of crops during the growth period and the nutrient supply of the soil. In this way, there will be almost no waste of fertilizers, which greatly reduces agricultural costs. In addition, robots that are proficient in fertilizer science also know how to fertilize to minimize the impact on the environment, which can fundamentally change the current situation of extensive agriculture in my country.

[0084] The original fertilizer-soil mixing and application technology transports the soil generated during the trench excavation process to the soil bin. According to the fertilization plan formulated by the robot, the soil and fertilizer are mixed in the mixing bin. After the mixture is evenly mixed, it is placed into the trench through the discharge port 13 of the mixing bin. Finally, the trench is filled and leveled through the soil discharge and leveling device 11 at the rear of the robot.

[0085] 1. Digging trenches

[0086] When the rotating bucket 3 moves forward, the excavated soil is sent to the soil bin module 9 through the sealed upper soil delivery pipe 4 and the sealed horizontal soil delivery pipe 19;

[0087] 2. Weighing of soil and fertilizer

[0088] According to the real-time soil and fertilizer formula, the soil outlet 17 of the soil bin module 9 is opened, and the required soil is dropped into the soil weighing module 12-1 for weighing. After weighing, the outlet 23 is opened to drop the soil into the fertilizer and soil mixing module 21;

[0089] The fertilizer outlet 24 of the fertilizer bin module 7 is opened, and the fertilizer falls into the fertilizer weighing module 12-2. After weighing, the outlet 22 is opened and falls into the fertilizer and soil mixing module 21;

[0090] 3. Mixing fertilizer

[0091] The soil and various fertilizers are stirred and mixed evenly in the fertilizer and soil mixing module 21;

[0092] 4. Fertilization and surface covering

[0093] After the mixing is completed, the mixed fertilizer soil discharge port 13 is opened to drop the mixed fertilizer soil into the excavated ditch, and finally the outlet 16 of the soil bin module 9 is opened to cover the soil on the surface of the fertilized ditch through the covering topsoil conveying pipeline 20.

[0094] By adopting the robot's fertilizer-soil mixing application method, the upper surface soil does not contain fertilizer, ensuring that the fertilizer at the roots of the crops is evenly distributed in the soil, avoiding the disadvantages of root burn caused by uneven fertilizer distribution; and eliminating the hidden danger of traditional fertilization methods causing crop roots to float, resulting in reduced crop drought and disease resistance.

[0095] Fruit trees have large crowns and dense layers of leaves, so it is not easy for pesticide mist to penetrate. It is impossible to ensure that every fruit tree is sprayed from top to bottom. Many pests move on the back of the leaves, so pesticides cannot be sprayed on the back of the leaves. Due to the above reasons, the currently popular drones for spraying pesticides cannot penetrate at all, resulting in results that are not as good as those done manually, and the pests on the back of crop leaves cannot be killed.

[0096] The robot can be equipped with a pesticide tank on a universal chassis and use the robot's image recognition technology to accurately spray pesticides on crops. This not only reduces the waste of pesticides, but also eliminates the disadvantage of drone spraying that is poorly effective in killing pests on the back of leaves.

[0097] The binocular vision sensor installed on a low-cost multi-axis stabilizer collects images of crop growth status and sprays foliar fertilizers on the crops while moving. The height of the foliar fertilizer nozzle can be moved vertically to adapt to the height of different crops.

[0098] Adjust the vertical position of the robot's visual recognition system to a level where the back of the leaves can be seen. Through pest recognition and edge computing analysis, control the nozzle 15 installed on the pesticide module to move up and down on the nozzle guide rail 25 (vertical direction). Control the nozzle 15 to be lowered to a position below the back of the leaf. Adjust the nozzle 15 that can spray in the XYZ three-axis direction to accurately spray the pest site.

[0099] During the crop harvest season, we replace the mother warehouse with a weighing function, which can count the yield of each crop, upload it to the cloud for summary, and establish a marketing plan in advance.

[0100] Safety measures: A human proximity sensor is installed at the front end of the robot. When someone approaches the robot's working area, the robot's movement and trenching work will be automatically cut off to protect the human body from harm.

[0101] The robot uses Beidou navigation, binocular recognition, laser radar and other multi-source sensor fusion to plan routes and avoid obstacles. The technology used by the laser radar is time of flight (TOF), which calculates the relative distance between the target and itself based on the return time after the laser encounters an obstacle. The laser beam can accurately measure the relative distance between the edge of the object contour in the field of view and the robot. These contour information constitute the so-called point cloud and draw a 3D environmental map. Through comprehensive processing of feasible area data analysis of the orchard, tree spacing information, tree coordinates, tree contour size, robot forward speed information, etc., the target parameter category, time, dimension, speed, position and other information are output.

[0102] The robot adopts a modular drive chassis. According to different needs, it is powered by gasoline, diesel engines or batteries, and uses crawler or wheeled travel modes according to the use environment.

[0103] The robot that uses infrared spectroscopy for soil detection has many advantages such as fast analysis speed, simple operation, no waste, and no pollution. Combined with the original fertilizer-soil mixed application technology, it has huge advantages and development potential in smart agriculture and other aspects, and its application prospects are very broad.

[0104] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multifunctional agricultural robot, characterized in that include: A fertilizer and soil mixing and stirring mother chamber and a driving module. The fertilizer and soil mixing and stirring mother chamber is installed above the driving module through a quick locking device; The driving module is a wheeled or tracked driving chassis, using an oil extraction machine or an electric motor as a power source; The fertilizer and soil mixing and stirring mother warehouse includes: a rotating bucket, a closed soil conveyor belt, a human proximity safety sensor, a laser radar / RFID / visual recognition system, a fertilizer warehouse module, a liquid foliar fertilizer or pesticide module, a soil warehouse module, a fertilizer / soil mixing and stirring module, a robot control center, a soil feeding and paving device, a weighing module and a mixed fertilizer and soil feeding port; One end of the closed soil upper conveyor belt is connected to the front end of the fertilizer and soil mixing mother bin, and the other end of the closed soil upper conveyor belt is connected to the rotating bucket, which is arranged below the front end of the fertilizer and soil mixing mother bin and driven to rotate by a motor; The human body proximity safety sensor is arranged at the front end of the fertilizer and soil mixing mother bin, and the laser radar / RFID / visual recognition system is arranged at the front end upper part of the fertilizer and soil mixing mother bin. The human body proximity safety sensor and the laser radar / RFID / visual recognition system jointly realize the determination of obstacles, targets, positions, dimensions, speeds and directions, and transmit relevant data to the robot control center arranged at the rear end of the fertilizer and soil mixing mother bin to plan targets, obstacles and routes; the weighing module includes: a soil weighing module and a fertilizer weighing module; The fertilizer bin module is arranged inside the front end of the fertilizer and soil mixing mother bin, and a plurality of fertilizer bin modules are provided, and a fertilizer outlet is provided at the lower end of each fertilizer bin module, and the fertilizer weighing module is arranged below the fertilizer outlet of the fertilizer bin module, and an outlet is provided at the lower end of the fertilizer weighing module; The liquid foliar fertilizer or pesticide module is arranged in the middle of the fertilizer and soil mixing mother bin, and uses a nozzle to fertilize the leaves or spray pesticides on the leaves; The soil bin module is arranged at the rear of the fertilizer and soil mixing mother bin, and two independent soil outlets are arranged at the lower end of the soil bin module; the soil feeding and leveling device is arranged at the lower end of the soil bin module, and the soil weighing module is arranged below the soil outlet of the soil bin module, and the lower end of the soil weighing module is provided with an outlet; An infrared spectrum sensor and a light source are arranged on the top of the soil bin module. The light source irradiates the soil sample inside the soil bin module. The infrared spectrum sensor collects diffuse light reflected by the soil sample and transmits the collected soil spectrum data to the robot control center. The fertilizer / soil mixing and stirring module is arranged at the bottom of the fertilizer and soil mixing and stirring mother bin to mix and stir the fertilizer and soil; The robot control center is arranged at the rear end of the fertilizer and soil mixing mother bin, is electrically connected to various components of the multifunctional agricultural robot, and controls the robot; The sealed soil upper conveying pipeline is connected to one end of the sealed soil horizontal conveying pipeline arranged inside the fertilizer and soil mixing mother bin, and the other end of the sealed soil horizontal conveying pipeline extends above the soil bin module; a soil outlet arranged at the lower end of the soil bin module is connected to one end of the covering topsoil conveying pipeline, and the other end of the covering topsoil conveying pipeline is connected to the soil material discharging and paving device; The mixed fertilizer and soil discharge port is arranged below the fertilizer and soil mixing mother bin; The agricultural robot comprises the following operating steps: 1) selecting a driving module for the multifunctional agricultural robot according to the needs of the on-site operation, adding corresponding fertilizers to the fertilizer storage modules of the multifunctional agricultural robot, adding liquid fertilizer or pesticides to the liquid foliar fertilization or pesticide module, and starting the multifunctional agricultural robot; 2) The rotating bucket digs a strip ditch when the multifunctional agricultural robot moves forward, and the excavated soil samples are sent to the soil bin module through the sealed soil upper transport pipeline and the sealed soil horizontal transport pipeline; 3) The light source in the soil bin module irradiates the soil sample, the infrared spectrum sensor collects the diffuse reflected light reflected by the soil sample, and transmits the collected soil spectrum data to the robot control center, and performs edge computing locally, combining 4G or 5G with cloud expert database data communication technology, according to the actual situation of different types of soil samples, combined with the crop identification RFID tag read by the multifunctional agricultural robot during movement, interprets the crop fertilization history, plans the excavation depth and formulates different fertilization strategies; opens a soil outlet of the soil bin module, drops part of the soil sample into the soil weighing module for weighing, opens the outlet after weighing and drops it into the soil fertilizer and soil mixing module; opens the fertilizer outlet of the corresponding fertilizer bin module according to the fertilization strategy, drops the fertilizer into the fertilizer weighing module, opens the outlet after weighing and drops it into the fertilizer and soil mixing module; 4) Using a binocular vision sensor mounted on a low-cost multi-axis stabilizer, collect images of crop growth status for analysis, and combine it with a fertilization strategy to turn on the liquid foliar fertilizer or pesticide module and adjust the position and angle of the nozzle to spray the foliar fertilizer required by the crops while moving, or precisely spray pesticides on the back of the leaves; 5) Mix the soil and various fertilizers evenly in the fertilizer and soil mixing module; 6) After the mixing is completed, the mixed fertilizer soil discharge port is opened to drop the mixed fertilizer soil into the excavated strip ditch, and finally another outlet of the soil bin module is opened to transport the remaining soil sample to the soil discharge and paving device through the covering topsoil conveying pipeline to cover the surface of the fertilized strip ditch.

2. The multifunctional agricultural robot according to claim 1, characterized in that: The liquid foliar fertilizer or pesticide module includes: a nozzle guide rail, a liquid delivery hose and a nozzle. The nozzle guide rail and the liquid delivery hose are passed through the upper surface of the fertilizer and soil mixing mother bin. The nozzle can move along the XYZ axis under the guidance of the nozzle guide rail. One end of the liquid delivery hose is connected to the liquid foliar fertilizer or pesticide module, and the other end is connected to the nozzle.

3. The multifunctional agricultural robot according to claim 1, characterized in that: The robot control center is equipped with communication equipment, which can communicate wirelessly with the cloud expert database via 4G and 5G.

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