A sub-mother type robot system for automatically spraying pesticide and a method thereof

Abstract

The application discloses a kind of automatic pesticide spraying child-mother type robot system and method thereof, it is related to intelligent agricultural machinery technical field.The transport mother robot is included, multiple pesticide spraying child robots are loaded on the transport mother robot, the pesticide spraying child robot includes vehicle body, drug cartridge is arranged on the vehicle body, spraying nozzle is arranged on the vehicle body, replenishment barrel is arranged on the transport mother robot, replenishment barrel lateral wall is provided with liquid supplement pipe, and liquid outlet of liquid supplement pipe is located above liquid inlet on the top of drug cartridge.Multiple pesticide spraying robots are carried and supplemented with pesticide by transport robot, so that the amount of pesticide in single pesticide spraying robot is moderate, and the efficiency of pesticide spraying is improved.The transport robot and pesticide spraying robot make linear movement and reverse movement, and the control method is simple, which greatly reduces the manufacturing cost.By being provided with spraying nozzle above and below the vehicle body, the crop leaves or plants are killed in all directions.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent agricultural machinery, in particular to a sub-mother type robot system for automatic pesticide spraying and a method thereof. BACKGROUND

[0002] The pesticide spraying robot, as one of the plant protection machinery, is an agricultural production equipment based on agricultural machinery integration. Its main function is to spray pesticides on crops automatically or remotely, which can not only kill insects and bacteria, but also avoid harm to the human body. In the relatively closed greenhouse space, in order to improve efficiency and reduce harm to the human body, the pesticide spraying robot has become a research hotspot. The inverted pesticide spraying robot commonly used in the greenhouse is disclosed in CN108935419A, which arranges the track on the top of the greenhouse and sprays pesticides from top to bottom. The pesticide spraying robot with the laid track has defects such as high construction cost and insufficient flexibility. SUMMARY

[0003] The present application aims to provide a sub-mother type robot system for automatic pesticide spraying and a method thereof, which solves the problem that the existing pesticide spraying cannot be applied on a large scale, and has strong flexibility and adaptability to complex agricultural ground environment.

[0004] To solve the above technical problems, the present application adopts the following technical scheme: a sub-mother type robot system for automatic pesticide spraying, characterized in that it comprises a transport mother robot, a plurality of pesticide spraying sub-robots are loaded on the transport mother robot, the pesticide spraying sub-robot comprises a vehicle body, a medicine cartridge is arranged on the vehicle body, a spraying nozzle is arranged on the vehicle body, a medicine supplement barrel is arranged on the transport mother robot, a liquid supplement pipe is arranged on the side wall of the medicine supplement barrel, and the liquid outlet of the liquid supplement pipe is located above the liquid inlet at the top of the medicine cartridge.

[0005] A further technical scheme is that the transport mother robot comprises a base, a limiting groove is arranged on the base, a clamping groove is arranged on the side wall of the limiting groove, a clasp is arranged on the rear side wall of the vehicle body, the pesticide spraying sub-robot is reversed into the limiting groove, and the pesticide spraying sub-robot stops after the clasp is clamped into the clamping groove.

[0006] A further technical scheme is that the pesticide spraying sub-robot has a spraying nozzle, a support frame is arranged on the vehicle body, and the support frame is provided with the spraying nozzle.

[0007] A further technical scheme is that an automatic control system is arranged in the pesticide spraying sub-robot, a position sensor is arranged on the front and rear side walls of the vehicle body, and the automatic control system controls the vehicle body to move linearly along the furrow.

[0008] Further, the technical scheme is that the liquid outlet of the liquid supplement pipe is outwardly inclined and has a guide surface, the top of the medicine cartridge is rotationally connected with a cartridge cover through a torsion spring, and the cartridge cover is provided with an inclined surface matched with the guide surface.

[0009] Further, the technical scheme is that the liquid supplement pipe is provided with a control valve.

[0010] Further, the technical scheme is that the position sensors are arranged on the two sides of the limiting groove.

[0011] Further, the technical scheme is that the transport robot is provided with an automatic control device and remotely communicates with the pesticide spraying sub-robot.

[0012] The application also protects a spraying method of the sub-mother type robot system for automatically spraying pesticides, and the method comprises the following steps.

[0013] S1. The transport mother robot (1) is started, and walks on the hardened road in the middle of the greenhouse; the transport mother robot (1) confirms the middle position of the first furrow through the side position sensor, the pesticide spraying sub-robot (2) receives the instruction and is started, the pesticide spraying sub-robot (2) confirms that it has left the transport mother robot (1) through the position sensor, the spraying nozzle (205) starts to spray pesticides, and the pesticide spraying sub-robot (2) linearly moves forward on the furrow to perform the sterilization and killing work on the two sides.

[0014] S2. The pesticide spraying sub-robot (2) walks to the end of the furrow, and after the position sensor detects the obstacle, the pesticide spraying sub-robot (2) reverses.

[0015] S3. The pesticide spraying sub-robot (2) reverses to the side of the transport mother robot (1), the pesticide spraying sub-robot (2) enters the parking position on the transport mother robot (1) and is fixed relative to the transport mother robot (1), and then the pesticide spraying sub-robot (2) is parked, and the liquid supplement pipe (102) of the liquid supplement barrel (101) supplements the pesticides for the medicine cartridge (202); in the process that the transport mother robot (1) advances, the pesticide spraying sub-robot (2) continuously starts the new pesticide spraying and killing work in the furrow.

[0016] S4. When the liquid level in the liquid supplement barrel (101) is insufficient, the transport mother robot (1) sends an instruction to collect all the pesticide spraying sub-robots (2) and returns to the position for supplementing the pesticides; after the supplementing is completed, the subsequent spraying and killing work is continued.

[0017] Further, the technical scheme is that the transport mother robot (1) and the pesticide spraying sub-robot (2) linearly move horizontally and vertically in the greenhouse.

[0018] Compared with the prior art, the present application has the following advantages:

[0019] The plurality of pesticide spraying sub-robots are carried and supplemented with pesticide by the transport mother robot, so that the pesticide amount in a single pesticide spraying sub-robot is reduced, the overall weight of the pesticide spraying sub-robot walking on the uneven path is effectively reduced, the robot is prevented from sinking in the uneven path of the flower greenhouse, the efficiency of pesticide spraying is improved, and the overall energy consumption of pesticide spraying is reduced.

[0020] The transport mother robot and the pesticide spraying sub-robot perform linear advancing and reversing movements, the control method is simple, there is no complex turning navigation or complex motion control, and the robot is more suitable for automatic control, so that the manufacturing cost is greatly reduced, and the robot is convenient for market promotion and application.

[0021] The automatic pesticide spraying sub-mother robot is matched with the specified pesticide supplement position, and can perform pesticide spraying and killing work for tens of mu to hundreds of mu at a time before the power is consumed, so that the work amount is large, and the robot is convenient and suitable for large-scale promotion and application. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a structural schematic view of the present application.

[0023] Figure 2 is a structural schematic view of the pesticide spraying sub-robot in the present application.

[0024] Figure 3 is a structural schematic view of the transport mother robot in the present application.

[0025] Figure 4 is a structural schematic view of the liquid supplement pipe in the present application.

[0026] Figure 5 is a use state schematic view of the present application.

[0027] In the figure, 1 is a transport mother robot, 101 is a pesticide supplement barrel, 102 is a liquid supplement pipe, 103 is a base, 104 is a limiting groove, 105 is a guide surface, 2 is a pesticide spraying sub-robot, 201 is a vehicle body, 202 is a pesticide cartridge, 203 is a support frame, 204 is a cartridge cover, and 205 is a spraying nozzle. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and advantages of the present application more clear and explicit, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0029] Figure 1A mother-daughter robot system for automatically spraying pesticides is shown, including a mother robot 1 and multiple pesticide spraying daughter robots 2 mounted on the mother robot 1.

[0030] like Figure 2 As shown, the pesticide spraying robot 2 includes a vehicle body 201, which is battery-powered. The width of the vehicle body 201 increases sequentially from front to back. Wheels or tracks are installed on both sides of the bottom of the vehicle body 201. A pesticide container 202 is installed on the top of the vehicle body 201. The vehicle body 201 is equipped with a support frame 203, on which four spray nozzles 205 are installed, which can be added or removed as needed. Each of the spray nozzles 205 can be equipped with a control valve, which can be opened and closed automatically or manually. An automatic control system is installed inside the vehicle body 201. Position sensors, which can be infrared proximity switches, are installed on the front and rear side walls of the vehicle body 201. When the vehicle body 201 approaches the greenhouse at the end of the irrigation channel, the vehicle body 201 stops moving forward and reverses in a straight line. Position sensors are installed on the left and right side walls of the vehicle body 201. The automatic control system controls the vehicle body 201 to move in a straight line along the irrigation channel.

[0031] The transport robot 1 includes a base 103, with inwardly recessed sidewalls forming limiting grooves 104. The base 103 has wheels at its front and rear ends and an internal automatic control device that communicates remotely with the pesticide spraying robot 2. The transport robot 1 sends operation and retrieval signals to the pesticide spraying robot 2, causing the pesticide spraying robot 2 to either leave or return to the transport robot 1. Position sensors or vision sensors are installed on the front and rear sidewalls of the base 103 to collect the position information of the transport robot 1. The automatic control device controls the transport robot 1 to move linearly on the hardened ground between greenhouses. Position sensors are installed on both sides of the limiting groove 104. When the pesticide spraying robot 2 needs to be replenished with pesticide or retrieved onto the transport robot 1, the position sensors detect the position of the pesticide spraying robot 2. A slot is provided on the inner side wall of the limiting groove 104, and a buckle is provided on the rear side wall of the vehicle body 201. The pesticide spraying robot 2 reverses into the limiting groove 104 until the buckle engages with the slot, at which point the pesticide spraying robot 2 stops. A guide plate is installed at the bottom of the entrance and exit of the limiting groove 104 via a torsion spring. The torsion spring lifts the robot laterally to maintain distance from the ground for obstacle avoidance. When the spraying robot approaches, the guide plate is pressed against the ground to support the pesticide spraying robot 2 as it moves onto the transport robot 1 via the inclined plane.

[0032] For the convenience of pesticide supplement, the outlet of the liquid supplement pipe 102 is outwardly inclined with a guide surface 105, and the top of the cartridge 202 is connected with a cartridge cover 204 through a torsion spring, and the cartridge cover 204 is provided with an inclined surface matched with the guide surface 105. When the pesticide spraying sub-robot 2 is reversed and stopped in the limiting groove 104, the guide surface 105 moves relative to the inclined surface of the cartridge cover 204, and the cartridge cover 204 is opened, and when the pesticide spraying sub-robot 2 drives away, the cartridge cover 204 is closed on the cartridge 202 under the action of the torsion spring. The liquid level sensor is arranged in the pesticide supplement barrel 101 and the cartridge 202, the pump is arranged in the pesticide supplement barrel 101, and the control valve is arranged on the liquid supplement pipe 102. When it is detected that the liquid level of the cartridge 202 is too low, the control valve on the liquid supplement pipe 102 is opened, and the pesticide in the pesticide supplement barrel 101 enters the cartridge 202 under the action of the pump.

[0033] As shown in Figure 5 The spraying method of the automatic pesticide spraying sub-robot system includes the following steps:

[0034] S1. Start the transport mother robot 1, and the transport mother robot 1 walks on the hardened road in the middle of the greenhouse. The transport mother robot 1 confirms the first middle position of the path through the side position sensor, the pesticide spraying sub-robot 2 starts to receive the instruction, the pesticide spraying sub-robot 2 confirms that it leaves the transport mother robot 1 through the position sensor, the spraying nozzle 205 starts to spray pesticide, and the pesticide spraying sub-robot 2 travels straight on the path to perform the disinfection work on both sides;

[0035] S2. The pesticide spraying sub-robot 2 walks to the end of the path, and after the position sensor detects the obstacle, the pesticide spraying sub-robot 2 walks backward;

[0036] S3. The pesticide spraying sub-robot 2 walks backward to the side of the transport mother robot 1, the pesticide spraying sub-robot 2 enters the parking position on the transport mother robot 1 through the position sensor, and after the pesticide spraying sub-robot 2 is relatively fixed with the transport mother robot 1, the pesticide spraying sub-robot 2 stops, and the liquid supplement pipe 102 on the pesticide supplement barrel 101 supplements the pesticide for the cartridge 202; during the forward movement of the transport mother robot 1, the pesticide spraying sub-robot 2 continuously starts the new pesticide spraying and disinfection work between the paths;

[0037] S4. When the liquid level in the pesticide supplement barrel 101 is insufficient, the transport mother robot 1 sends an instruction to collect all the pesticide spraying sub-robots 2, and then returns to the position for supplementing pesticide to supplement the liquid; after the supplement is completed, the subsequent spraying and disinfection work is continued.

[0038] The pesticide spraying operation for the crops in the greenhouse is realized by the above method. When the liquid level in the pesticide supplementing barrel 101 is insufficient, the transport mother robot 1 recovers the pesticide spraying child robot 2 and returns to the designated pesticide supplementing position to supplement the pesticide. For the convenience of control, the transport mother robot 1 and the pesticide spraying child robot 2 make straight line movements in the greenhouse.

[0039] The position for supplementing the pesticide can be a pesticide dispensing room. The pesticide dispensing room is arranged at the middle of the entrance of the greenhouse and on one side of the hardened road. The pesticide dispensing room is provided with a long liquid supplementing pipe 102, and the top of the pesticide supplementing barrel 101 is also provided with a cylinder cover 204 with the same structure. The liquid supplementing pipe 102 can be made into an automatic telescopic type. When the pesticide needs to be supplemented, the liquid supplementing pipe 102 is elongated to open the cylinder cover at the top of the pesticide supplementing barrel 101, and the pesticide supplementing barrel 101 is supplemented.

[0040] Although the present application has been described with reference to the explanatory embodiments thereof, it is to be understood that the application is not limited to the embodiments disclosed and that numerous other modifications and embodiments will be apparent to those skilled in the art. More particularly, many variations and modifications will be possible in the components and layout of the subject combination arrangement, within the scope and spirit of the disclosure. In addition to those variations and modifications of the components and layout, other uses will be apparent to those skilled in the art.

Claims

1. A mother-daughter robot system for automatically spraying pesticides, characterized in that: The system includes a transport mother robot (1), which is equipped with multiple pesticide spraying sub-robots (2). Each pesticide spraying sub-robot (2) includes a vehicle body (201), a pesticide cartridge (202) on the vehicle body (201), a spray nozzle (205) on the vehicle body (201), a pesticide replenishment tank (101) on the transport mother robot (1), and a liquid replenishment pipe (102) on the pesticide replenishment tank (101). The liquid outlet of the liquid replenishment pipe (102) is located above the liquid inlet on the top of the pesticide cartridge (202). The transport robot (1) includes a base (103), a limiting groove (104) is provided on the base (103), a slot is provided on the side wall of the limiting groove (104), and a buckle is provided on the rear side wall of the vehicle body (201). The pesticide spraying robot (2) reverses into the limiting groove (104) until the buckle is engaged with the slot, and then the pesticide spraying robot (2) stops. An automatic control system is installed inside the vehicle body (201), and position sensors I are installed on the front and rear side walls of the vehicle body (201). The automatic control system controls the vehicle body (201) to move in a straight line along the embankment. The outlet of the replenishment tube (102) has an outwardly inclined guide surface (105), and the top of the cartridge (202) is connected to the cap (204) by a torsion spring. The cap (204) has an inclined surface that matches the guide surface (105).

2. The automatic pesticide spraying mother-daughter robot system according to claim 1, characterized in that: The pesticide spraying sub-robot (2) is equipped with a support frame (203), and a spray nozzle (205) is installed on the support frame (203).

3. The automatic pesticide spraying mother-daughter robot system according to claim 1, characterized in that: Both the medicine tank (101) and the medicine cylinder (202) are equipped with liquid level sensors. The medicine tank (101) is equipped with a pump, and the replenishment pipe (102) is equipped with a control valve.

4. The automatic pesticide spraying mother-daughter robot system according to claim 1, characterized in that: Position sensors II are arranged opposite each other on both sides of the limiting groove (104).

5. The automatic pesticide spraying mother-daughter robot system according to claim 1, characterized in that: The transport robot (1) is equipped with an automatic control device, and the transport robot (1) communicates remotely with the pesticide spraying robot (2).

6. The automatic pesticide spraying mother-daughter robot system according to claim 4, characterized in that: The spraying method of the automated pesticide spraying mother-daughter robot system includes the following steps: S1. Start the transport robot (1). The transport robot (1) walks on the hardened road in the middle of the greenhouse. The transport robot (1) confirms the middle position of the first moisture channel through the side position sensor II. The pesticide spraying sub-robot (2) receives the instruction and starts. The pesticide spraying sub-robot (2) confirms that it has left the transport robot (1) through the position sensor I. The spray nozzle (205) starts spraying pesticides and moves forward in a straight line to carry out disinfection work on both sides of the moisture channel. S2. When the pesticide spraying sub-robot (2) walks to the end of the irrigation channel, the position sensor I detects the obstacle and the pesticide spraying sub-robot (2) walks backward. S3. The pesticide spraying sub-robot (2) reverses back to the transport mother robot (1). The pesticide spraying sub-robot (2) senses the transport mother robot (1) through position sensor I. The pesticide spraying sub-robot (2) enters the stopping position on the transport mother robot (1) and is fixed relative to the transport mother robot (1). The pesticide spraying sub-robot (2) stops, and the replenishment pipe (102) on the replenishment tank (101) replenishes the pesticide in the tank (202). During the forward movement of the transport mother robot (1), the pesticide spraying sub-robot (2) continuously starts new pesticide spraying and disinfection work between the irrigation channels. S4. When the liquid level in the pesticide replenishment tank (101) is insufficient, the transport mother robot (1) issues an instruction to retrieve all pesticide spraying sub-robots (2), and then returns to the designated pesticide replenishment position to replenish the liquid; after replenishment, the subsequent spraying and disinfection work continues.

7. The automatic pesticide spraying mother-daughter robot system according to claim 6, characterized in that: The transport robot (1) and the pesticide spraying robot (2) make their own horizontal and vertical linear movements inside the greenhouse.

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