Pesticide spraying robot and method

Abstract

The invention provides a pesticide spraying robot and method, relates to the field of agricultural robots, and aims to solve the problems that at present, only a single laser radar is adopted to scan crown volume information, the moving process of equipment among trees is not considered, the advancing speed and the advancing mode need to be additionally regulated and controlled during operation, and the automation requirement is difficult to meet. Through the arrangement of two different position radars in the identification assembly, the distribution range and position information of trees on the two sides of the chassis can be automatically obtained and transmitted to the controller, additional manual regulation and control operation on the advancing speed, the advancing mode and the like is reduced, the automation degree of the whole pesticide spraying process is enhanced, and the pesticide spraying efficiency is improved. The robot can move and work among trees more autonomously, the spraying head can be more accurately controlled to spray pesticide by utilizing the reasonable structure arrangement of the pesticide spraying assembly and combining with the controller based on radar information processing, for example, pesticide spraying operation can be accurately conducted at a proper position with a proper pesticide amount according to the actual position, the distribution range and other conditions of the trees, and the labor intensity of workers is reduced. The pesticide utilization rate is improved.

Description

Technical Field

[0001] The present invention relates to the field of agricultural robots, and in particular to a pesticide spraying robot and method. Background Art

[0002] Traditional pesticide application adopts the method of excessive spraying to achieve the purpose of preventing pests and diseases, but this method causes a large amount of pesticide waste, which pollutes the environment on the one hand, and causes excessive pesticide residues on the other hand, bringing very serious safety hazards. The quality of spraying is related to the time of application, spraying technology, and the experience of the operator. Different spraying technologies (such as aerial spraying, ground spraying, precision spraying, etc.) can have a significant impact on the quality of spraying. The best time to apply the pesticide (such as morning and evening) will affect the effect of spraying. The professionalism and experience of the spraying operator are also important factors affecting the quality of spraying. Skilled operation can improve the accuracy and effect of spraying, and spraying fertilizers and pesticides will cause some harm to the body of the sprayer.

[0003] A Chinese patent (publication number CN110476941B, publication date 20191122) discloses an automatic target variable spray control system. The position and distance information of the target can be collected through a laser radar. The controller can obtain the amount of pesticide applied based on the crown volume information and the canopy density information, and output the frequency and duty cycle of the corresponding flow rate to achieve precise control of the flow rate of the nozzle group of the spray mechanism; however, it only uses a single laser radar to scan the crown volume information, and does not consider the movement process of the entire equipment between trees during spraying. During operation, additional regulation of the travel speed and travel mode is still required, which is difficult to meet the needs of automation. Summary of the invention

[0004] The purpose of the present invention is to provide a spraying robot and method in view of the defects of the prior art. By setting two radars in different positions in the identification component, the distribution range and position information of trees on both sides of the chassis can be automatically obtained and transmitted to the controller, thereby reducing the additional manual control operations of the travel speed, travel mode, etc., and enhancing the degree of automation of the entire spraying process, so that the robot can move and operate between trees more autonomously. By utilizing the reasonable structural setting of the spraying component and combining the processing of the information obtained by the controller based on the radar, the spraying of the nozzle can be controlled more accurately. For example, according to the actual position and distribution range of the trees, the spraying operation can be accurately carried out at the appropriate position and with the appropriate amount of medicine, thereby improving the utilization rate of pesticides and reducing waste and environmental pollution.

[0005] The first object of the present invention is to provide a spraying robot, which adopts the following scheme:

[0006] The chassis is equipped with a frame and a travel assembly connected to the controller;

[0007] The identification component includes a first radar installed on the frame above the chassis and a second radar installed at the front end of the chassis, the first radar is used to obtain the distribution range information of the trees on both sides of the chassis and send it to the controller, and the second radar is used to obtain the position information of the trees on both sides of the chassis and send it to the controller;

[0008] The spraying assembly includes a fan, a nozzle and a water tank. Multiple fans are installed on both sides of the frame. The nozzle is placed within the air flow range of the fan output. The nozzle is connected to the water tank through a pipeline and a water pump. The water pump and the fan are connected to the controller respectively.

[0009] Furthermore, the fan is connected to an angle adjustment mechanism, the angle adjustment mechanism is fixed to the frame, and the angle adjustment structure is connected to a controller for driving the fan to adjust its direction through the angle adjustment mechanism.

[0010] Furthermore, the nozzles are distributed in one-to-one correspondence with the fans, the nozzles are located on the rotation axis of the fans, and adjust their directions along with the fans.

[0011] Furthermore, the multiple fans located on the same side of the frame are spaced apart vertically and are respectively connected to a controller, and the controller is used to control the speed of the fans.

[0012] Furthermore, the water tank and the frame are respectively mounted on the chassis and are distributed in sequence along the traveling direction of the chassis.

[0013] Furthermore, the travel assembly includes a plurality of wheels installed around the chassis, each wheel is equipped with a wheel motor, and the wheel motor is connected to a controller, and the controller is used to control the wheel motor to adjust the speed and direction of the travel assembly.

[0014] Furthermore, the first radar is installed in the middle of the frame, and the second radar is installed right in front of the frame.

[0015] A second object of the present invention is to provide a working method of the spraying robot as described in the first object, comprising:

[0016] The second radar obtains the location information of the trees on both sides of the chassis and sends it to the controller, which analyzes and plans the route of the spraying robot.

[0017] The traveling assembly drives the chassis and the components carried on the chassis to move along the travel route;

[0018] When the spraying robot is walking, the first radar obtains the distribution range information of trees on both sides of the chassis and sends it to the controller. The controller obtains the spraying range information after analysis and outputs the control signal to the spraying component.

[0019] The spraying component adjusts the fan operating parameters and the water pump operating parameters according to the control signal, so that the nozzle outputs the liquid medicine and sprays it onto the leaves of the trees on both sides of the spraying robot through the airflow formed by the fan.

[0020] Furthermore, when the spraying component is working, the posture of the spraying robot is obtained, the direction and speed of the fan are adjusted to adapt to the terrain, and the airflow output by the fan disturbs the swing of the tree leaves so that both the front and back sides of the tree leaves receive the liquid medicine.

[0021] Furthermore, when the spraying robot moves according to the planned route, the spraying robot is kept in a central area between the trees on both sides thereof so that the sprayed liquid covers the trees on both sides.

[0022] Compared with the prior art, the present invention has the following advantages and positive effects:

[0023] (1) Currently, only a single laser radar is used to scan the crown volume information without considering the movement process of the equipment between trees. During operation, the travel speed and travel mode need to be additionally adjusted, which makes it difficult to meet the automation requirements. By setting two radars in different positions in the identification component, the distribution range and position information of the trees on both sides of the chassis can be automatically obtained and transmitted to the controller, reducing the additional manual control of the travel speed and travel mode, enhancing the automation level of the entire spraying process, allowing the robot to move more autonomously between trees. By using the reasonable structural setting of the spraying component and combining the controller with the processing of radar-based information, the spraying of the nozzle can be controlled more accurately. For example, according to the actual position and distribution range of the trees, the spraying operation can be accurately carried out at the appropriate location and with the appropriate amount of pesticide, thereby improving the utilization rate of pesticides and reducing waste and environmental pollution.

[0024] (2) Different trees have different heights, shapes, and different operating scenarios, and their requirements for spraying liquid medicine at different angles are different. By setting up an angle adjustment mechanism, the problem of the fan's fixed direction and inability to flexibly adapt to various tree conditions to achieve the best spraying angle is solved, so that the spraying angle can be adjusted in a targeted manner according to the actual tree conditions, thereby improving the comprehensiveness and accuracy of liquid medicine coverage. With the help of the controller driving the angle adjustment mechanism, the direction of the fan can be changed in real time, thereby changing the spraying direction of the liquid medicine driven by the airflow blown out by the fan. When facing tall trees, the fan angle can be adjusted upward appropriately so that the liquid medicine can better cover the high branches and leaves of the trees; when facing shorter or irregularly shaped trees, the angle can also be flexibly adjusted to ensure that the liquid medicine is evenly and comprehensively attached to the trees, thereby improving the spraying effect and efficiency and reducing liquid medicine waste.

[0025] (3) When the fan angle is changed through the angle adjustment mechanism, the nozzle can change its direction synchronously, ensuring that the direction of the liquid spray is always consistent with the direction of the fan airflow, so that the liquid can be carried by the airflow and sprayed on the target trees more efficiently and accurately, and can blow the leaf surface so that both sides of the leaf are affected by the liquid, further optimizing the accuracy and uniformity of the spraying, and making the most of the airflow generated by the fan to assist the spraying operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0027] Figure 1 Schematic diagram of the spraying robot in Examples 1 and 2 of the present invention.

[0028] Figure 2 Schematic diagram of the main control box in Examples 1 and 2 of the present invention.

[0029] Figure 3 Schematic diagram of the angle adjustment mechanism in embodiments 1 and 2 of the present invention.

[0030] Figure 4 Schematic diagram of the first radar and the second radar in Examples 1 and 2 of the present invention.

[0031] Figure 5 Schematic diagram of the water pump and water tank of the spraying robot in Examples 1 and 2 of the present invention.

[0032] Figure 6 Schematic diagram of the fan of the spraying robot in Examples 1 and 2 of the present invention.

[0033] Figure 7 Schematic diagram of the working process of the spraying robot in Examples 1 and 2 of the present invention.

[0034] Among them, 1. Frame; 2. Spraying assembly; 3. First radar; 4. Water tank; 5. Second radar; 6. Chassis; 7. Travel assembly; 8. Main control box; 9. Water pump; 10. Sub-control box; 11. Switch; 12. Buzzer; 13. Indicator light; 14. Display; 15. Stepper motor output shaft; 16. CAN communication input and output interface; 17. Control line output interface of each controller; 18. Wheel control box; 19. Wheel motor; 20. Fan; 21. Fan blades; 22. Nozzle. DETAILED DESCRIPTION

[0035] Example 1

[0036] In a typical embodiment of the present invention, Figure 1-Figure 7 As shown, a spraying robot is provided.

[0037] The existing technology only uses a single laser radar to scan the crown volume information, without considering the movement of the equipment between trees. During operation, the speed and mode of travel need to be additionally adjusted, which makes it difficult to meet the automation requirements. Based on this, this embodiment provides a spraying robot, which aims to solve the problem of insufficient automation of the equipment during mobile spraying, so that it can adapt to the working environment between trees more intelligently and automatically. In addition, it can improve the accuracy and adaptability of spraying, and better obtain tree-related information by improving radar configuration and other methods, thereby accurately controlling the spraying operation and improving the adaptability of spraying in different tree distribution scenarios.

[0038] like Figure 1 As shown, the spraying robot includes a chassis 6, an identification component and a spraying component 2. A frame 1 and a walking component 7 are installed on the chassis 6. The walking component 7 is connected to the controller and can drive the chassis 6 and the frame 1 to move. The identification component includes a first radar 3 and a second radar 5. The first radar 3 is used to identify the distribution range information of trees on both sides of the chassis 6, and after sending it to the controller, it is analyzed to obtain the working range that needs to be sprayed; the second radar 5 is used to identify the position information of trees on both sides of the chassis 6, and after sending it to the controller, it is analyzed to obtain the activity range of the spraying robot, and can plan the walking path of the spraying robot. The spraying component 2 includes a fan 20, a nozzle 22 and a water tank 4. The fan 20 is installed on the frame, and the nozzle 22 is connected to the water tank 4 through a water pump 9. The liquid sprayed by the nozzle 22 can be sprayed on the trees under the airflow generated by the fan 20.

[0039] The chassis 6 provides structural support for the entire spraying robot and carries other components, such as the identification component and the spraying component 2, so that the various parts can be firmly combined together to ensure the overall stability of the robot, which is conducive to mobile operations in different terrains and environments. The walking component 7 is connected to the controller, so that the controller can control the walking component 7, such as controlling the walking speed, steering, etc., so that the moving trajectory can be adjusted in real time according to the preset path or according to the acquired tree information, and the robot can flexibly shuttle between trees to achieve automatic movement.

[0040] The first radar 3 is installed on the frame 1 above the chassis 6, and its function is to obtain the tree distribution range information on both sides of the chassis 6 and send this information to the controller. The controller provides basic data for subsequent reasonable planning of the spraying range and control of the spraying component 2 based on the obtained surrounding tree distribution area, judges the areas with dense tree distribution and the areas with sparse tree distribution, and performs spraying operation to avoid blind spraying and improve spraying accuracy.

[0041] The second radar 5 is installed at the front end of the chassis 6, and is responsible for obtaining the position information of the trees on both sides of the chassis 6 and transmitting it to the controller, so that the controller can more accurately grasp the specific position of each tree, so as to start and control the moving direction and speed of the walking component 7 in a timely manner according to the specific tree position during the robot's movement.

[0042] By setting up two radars at different positions in the identification component, the distribution range and position information of the trees on both sides of the chassis 6 can be automatically obtained and transmitted to the controller, reducing the additional manual control operations of the travel speed, travel mode, etc., enhancing the degree of automation of the entire spraying process, and allowing the robot to move between trees more autonomously.

[0043] like Figure 5 and Figure 6 As shown, a plurality of fans 20 are respectively installed on both sides of the frame 1. The fans 20 can generate airflow. On the one hand, they can disperse the liquid medicine sprayed from the nozzle 22 to make it more evenly spread on the trees and expand the coverage of the liquid medicine; on the other hand, the airflow can also help promote the liquid medicine to better penetrate into the branches and leaves of the trees and improve the spraying effect.

[0044] The nozzle 22 is placed within the airflow output range of the fan 20, ensuring that the liquid medicine sprayed from the nozzle 22 can be effectively diffused and accurately delivered to the target tree position with the help of the airflow generated by the fan 20, thereby achieving a more reasonable liquid medicine distribution.

[0045] The water tank 4 and the water pump 9 are connected to the pipeline, and the water pump 9 is connected to the controller. The water tank 4 is used to store the liquid medicine. The water pump 9 transports the liquid medicine in the water tank 4 to the nozzle 22 through the pipeline, and the water pump 9 is connected to the controller. The controller can accurately control the flow rate, pressure and other working states of the water pump 9 according to the tree information obtained by the identification component and the preset spraying parameters, so as to accurately control the amount of liquid medicine sprayed by the nozzle 22 to achieve precise spraying. At the same time, the fan 20 is also connected to the controller, and the controller can control the start and stop, speed, etc. of the fan 20 according to the actual situation, and cooperate to complete the spraying operation.

[0046] like Figure 1 , Figure 2 and Figure 3 As shown, the controller in this embodiment includes a main control part and a sub-control part. The main control part includes a Raspberry Pi and a single-chip main controller, which are installed on a main control box 8; the sub-control part includes a single-chip sub-controller, which is located in a sub-control box 10. The single-chip main controller can be a STM32f103ZET6 model, and the single-chip sub-controller can be a STM32f103C8T6 model.

[0047] Among them, the fan 20 is equipped with an angle adjustment mechanism, and the mechanism is fixed to the frame 1 and connected to the stepper motor drive system of the single-chip microcomputer sub-controller. Different trees have different heights, shapes and different operating scenarios, and the angle requirements for spraying the liquid medicine are different. By setting the angle adjustment mechanism, the problem that the fan 20 has a fixed direction and cannot flexibly adapt to various tree conditions to achieve the best spraying angle is solved, so that the spraying can be adjusted in a targeted angle according to the actual tree conditions, and the comprehensiveness and accuracy of the liquid medicine coverage are improved. With the help of the controller driving the angle adjustment mechanism, the direction of the fan 20 can be changed in real time, thereby changing the spraying direction of the liquid medicine driven by the airflow blown out by the fan 20. When facing tall trees, the angle of the fan 20 can be adjusted upward appropriately so that the liquid medicine can better cover the branches and leaves at the top of the tree; when facing shorter or irregularly shaped trees, the angle can also be flexibly adjusted to ensure that the liquid medicine is evenly and comprehensively attached to the tree, improve the spraying effect and efficiency, and reduce liquid medicine waste.

[0048] In this embodiment, the angle adjustment mechanism can use a stepper motor, and the stepper motor output shaft 15 is connected to the fan 20 and drives the fan 20 to swing and adjust the position to adjust the pitch angle of the fan 20. The stepper motor is connected to the single-chip microcomputer sub-controller, such as Figure 3 As shown, the stepper motor is installed on the sub-control box 10, and the sub-control box 10 is provided with a CAN communication input and output interface 16 and a control line output interface 17 of each controller, which are used to realize the transmission of control signals so that the control signals can be transmitted to the fan 20 and the stepper motor. The sub-controller is also connected to the pressure controller of the water pump 9.

[0049] The nozzle 22 and the fan 20 are arranged in a one-to-one correspondence, and the nozzle 22 is located on the rotation axis of the fan 20 so that it can follow the fan 20 to adjust its direction. The single-chip microcomputer sub-controller corresponding to the rotation control of the fan 20 is the fan speed controller, which is connected to the main vacant part. Figure 6 As shown, the blades 21 of the fan 20 are distributed around the nozzle 22, so that the generated airflow can blow the liquid medicine output by the nozzle 22. The traditional spraying device may have the problem that the nozzle 22 and the air supply device do not cooperate well, resulting in the problem that the liquid medicine cannot accurately reach the target position along the direction of the airflow. In this embodiment, the correspondence and follow-up adjustment between the nozzle 22 and the fan 20 solves the problem that the nozzle 22 and the fan 20 are not coordinated enough, and it is difficult to ensure that the liquid medicine can always be accurately sprayed on various parts of the trees with the help of the airflow of the fan 20. When the angle of the fan 20 is changed by the angle adjustment mechanism, the nozzle 22 can change its direction synchronously, ensuring that the direction of the liquid medicine spraying is always consistent with the direction of the airflow blown out by the fan 20, so that the liquid medicine can be carried by the airflow more efficiently and accurately and sprayed on the target trees, further optimizing the accuracy and uniformity of the spraying, and making the most of the airflow generated by the fan 20 to assist the spraying operation.

[0050] The main control box 8 is also provided with an indicator light 13, a buzzer 12, a display screen 14 and a switch 11, and the single-chip main controller of the main control part is the core control board. The indicator light 13 and the buzzer 12 are used as alarm devices. At the same time, a water level sensor is provided in the water tank 4 as a water tank detection device, which can detect the liquid level of the liquid in the water tank 4, so that the working time can be calculated according to the spraying amount during work, and the water level, working time and other information can be displayed on the display screen 14.

[0051] The branches and leaves of trees are distributed at different levels in the vertical direction. It is difficult for a single fan 20 to fully cover branches and leaves of different heights. Moreover, branches and leaves of different heights may have different requirements for the amount of liquid medicine and the spraying intensity. In this regard, in this embodiment, multiple fans 20 are distributed at intervals in the vertical direction on the same side of the frame 1, and each fan 20 is connected to a controller, and the speed of the fan 20 is controlled by the controller. This solves the problem that the layout of the fan 20 is unreasonable and it is impossible to perform differentiated spraying on branches and leaves of trees at different levels in the vertical direction.

[0052] The controller can independently control the speed of each fan 20. For branches and leaves at different positions such as high, middle, and low, the speed of the fans 20 at the corresponding positions can be adjusted accordingly, thereby adjusting the spraying intensity and coverage of the corresponding positions. At the same time, the leaves can be disturbed so that both sides of the leaves can receive the liquid medicine. For the top of the tree where the branches and leaves are dense, the speed of the fans 20 at the top can be increased to increase the amount of liquid medicine sprayed there, so that branches and leaves at different heights can receive the appropriate amount of spray medicine, thereby improving the overall spraying quality.

[0053] The water tank 4 and the frame 1 are respectively installed on the chassis 6 and are distributed in sequence along the traveling direction of the chassis 6. The water tank 4 is installed above the front of the chassis 6, and the water pump 9 is installed above the controller layer just below the frame 1. The water pump 9 is connected to a voltage stabilizer and a flow divider. The water pump 9 is also connected to a water pump pressure controller, which is connected to the single-chip main controller and then connected to the top of the nozzle 22. Two fans 20 and nozzles 22 are respectively provided on both sides of the frame 1 to spray more evenly, and each fan 20 and nozzle 22 can operate independently. The water tank 4 has a capacity of 25L and has a water level detection element inside to detect the remaining water volume. The attitude meter equipped in the middle of the vehicle body can automatically adjust the spraying angle of the fan 20 according to the terrain.

[0054] Reasonable layout helps to optimize the center of gravity distribution and space utilization of the entire robot. It solves the problem that improper layout of components may cause the robot's center of gravity to be unstable, affect the walking stability, and insufficient space utilization, which is not conducive to subsequent maintenance, adding liquid medicine and other operations. The robot can maintain good center of gravity stability during walking, and is not prone to tipping over due to center of gravity shift, thereby ensuring operational safety. At the same time, when performing maintenance operations such as replenishing liquid medicine, it is more convenient to approach the water tank 4, and other components on the frame 1 also have a relatively reasonable spatial layout, which is convenient for maintenance, debugging and other work.

[0055] The walking component 7 is composed of a plurality of wheels installed on the circumference of the chassis 6, each wheel is equipped with a wheel motor 19, and the wheel motor 19 is connected to the controller. In this embodiment, the sub-control part is provided with a single-chip microcomputer sub-controller as a chassis tire controller to control the operation of the wheel, which solves the problem that the robot's walking state cannot be accurately controlled and the mobile path cannot be flexibly adjusted according to the actual tree distribution and operation requirements. The controller can accurately adjust the speed and steering of each wheel by controlling the wheel motor 19, realize the stepless adjustment of the speed of the walking component 7 and the precise change of the direction, so that the robot can flexibly travel, turn, and stop between trees, better adapt to the complex work site environment, and cooperate with the tree information obtained by the identification component to realize the automatic and intelligent mobile spraying operation.

[0056] like Figure 4 and Figure 6 As shown, the first radar 3 is installed in the middle of the frame 1, and the second radar 5 is installed in front of the frame 1. Among them, the first radar 3 is located in the middle of the frame 1, which can obtain the distribution range information of the trees on both sides of the chassis 6 in a relatively balanced and comprehensive manner, and has a better grasp of the overall coverage of the surrounding trees; the second radar 5 is installed in the front, which can accurately detect the position of the trees in front of the robot's moving direction at the first time, provide data to the controller in advance, and facilitate timely adjustment of the working status of the walking component 7 and the spraying component 2, ensuring that the robot can accurately and efficiently spray the trees in front and on both sides during the movement.

[0057] At work, if Figure 7 As shown, the second radar 5 continuously scans the positions of the surrounding trees to calculate a route for the spraying robot and sends it to the single-chip microcomputer main controller through the serial port; the first radar 3 continuously scans the volume and height of the trees passed by, and sends the data to the single-chip microcomputer main controller after the scanning is completed. The single-chip microcomputer main controller integrates and calculates the above data and drives the spraying robot to the specified position, and sends the information of spraying at various angles and wind speed control to the single-chip microcomputer sub-controller through CAN communication.

[0058] After the single-chip microcomputer sub-controller obtains the data, it controls the angle of the stepper motor to control the angle of the fan 20 of the spray component 2 for uniform spraying, and controls the pressure of the nozzle 22 by controlling the water pump 9 to control the amount of medicine sprayed by the nozzle 22, and then controls the speed of the fan 20 to spray it onto the leaf surface, and then controls different wind speeds to ensure that the leaves can be turned over for spraying, to ensure that the front and back sides of the tree leaves are evenly sprayed. After the spraying is completed, the single-chip microcomputer sub-controller uploads it to the single-chip microcomputer main controller through CAN communication. After receiving the command, the single-chip microcomputer main controller will continue to drive, and then reciprocate. The remaining amount of medicine will be displayed on the display screen 14 of the main control box 8. When the remaining amount of medicine is less than a certain set value, an alarm will be triggered, and the indicator light 13 and the buzzer 12 will emit sound and light alarm information to prompt the operator to change or add medicine, thereby realizing the entire spraying process.

[0059] For the control part, Raspberry Pi and MCU are used as the main controller to calculate and simulate the driving route, detect the height and volume of trees, and transmit information. The MCU is used as a sub-controller to control whether the water pump 9 is sprayed evenly. The first radar 3 and the second radar 5 use two-dimensional radars. After scanning, the two-dimensional radar can be used to calculate the driving route through SLAM map modeling, and it is more convenient to apply it to the crown volume and height detection. The CH340 module is used for the serial port of Raspberry Pi and the MCU, and the TJA1050 CAN communication module is used for CAN communication. CAN supports a variety of transmission rates and configuration options, which is convenient for system expansion and adjustment according to application requirements. The CAN network allows multiple devices to communicate independently on the same bus, which simplifies the system design and improves flexibility. CAN communication provides a powerful error detection and processing mechanism, which can ensure the accuracy of data transmission in a noisy and interference environment. The simplified wiring and hardware costs required for CAN communication are low, which reduces the economic investment of the overall system.

[0060] Example 2

[0061] In another typical embodiment of the present invention, Figure 1-Figure 7 As shown, a working method of a spraying robot is provided, using the spraying robot as in Example 1.

[0062] like Figure 1 As shown, the working method of the spraying robot includes:

[0063] The traveling assembly 7 drives the chassis 6 and the components carried on the chassis 6 to move along the travel route;

[0064] When the spraying robot is walking, the first radar 3 obtains the distribution range information of trees on both sides of the chassis 6 and sends it to the controller. The controller obtains the spraying range information after analysis and outputs a control signal to the spraying component 2.

[0065] The spraying component 2 adjusts the operating parameters of the fan 20 and the water pump 9 according to the control signal, so that the spray head 22 outputs the liquid medicine and the airflow formed by the fan 20 is sprayed onto the leaves of the trees on both sides of the spraying robot.

[0066] When the spraying component 2 is working, the posture of the spraying robot is obtained, and the direction and speed of the fan 20 are adjusted to adapt to the terrain. The fan 20 outputs airflow to disturb the tree leaves to swing, so that both the front and back sides of the tree leaves receive the liquid medicine.

[0067] When the spraying robot moves according to the planned route, it keeps the spraying robot in the center area between the trees on both sides so that the sprayed liquid covers the trees on both sides.

[0068] In this embodiment, combined with Figure 1-Figure 7 The specific working process of the spraying robot is as follows:

[0069] When the system starts running, first, the second radar 5 scans the surroundings. The radar scanning distance is determined according to the parameters of the radar. Map modeling is performed according to the positions of trees to determine a driving route for itself. Then, according to the position of each tree, it drives to the designated position. The second radar 5 scans the height and volume of the trees to provide data for the spraying robot. Then, the data is sent to the microcontroller main controller through the serial port. After the microcontroller main controller receives the data, it controls the walking component 7 of the robot chassis 6 to run, driving the spraying robot to move to the designated position.

[0070] The water volume in the water tank 4 is detected in real time and displayed on the display screen 14, and the spraying data is calculated and forwarded to the single-chip microcomputer sub-controller. The single-chip microcomputer sub-controller determines the spraying angle based on the data analysis (after the spraying angle is determined, the spraying angle will be swung within plus or minus 3-5° to ensure that the back of the leaf surface can be sprayed). The fan 20 is driven by the stepper motor to move. In order to ensure that the angle is not lost, torque and angle closed-loop control is added. Then, the pressure of the nozzle 22 and the speed of the fan 20 are determined according to the distance and position of the tree to ensure that the spraying is not only uniform, but also that the medicine is not wasted.

[0071] Then the data such as the angle of the fan 20, the pressure of the nozzle 22, the speed of the fan 20, etc. are sent to the single-chip microcomputer main controller and displayed on the display screen 14. The remaining amount of the water tank 4 will be detected once every second, and the remaining available water volume and the running time will be calculated according to the flow rate of the water sprayed by the current nozzle 22 pressure. When the remaining amount of the water tank 4 is less than a certain amount, or the remaining running time is less than the set time, the system will alarm to remind the operator to add water in time and return to the designated position. The working area of ​​each fan 20 and nozzle 22 can also be equipped with multiple sensors for detection to obtain its corresponding working parameters, and the independent operation of the fan 20 and nozzle 22 helps to improve the working efficiency of the entire system.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A spraying robot, characterized in that: include: The chassis is equipped with a frame and a travel assembly connected to the controller; The identification component includes a first radar installed on the frame above the chassis and a second radar installed at the front end of the chassis, the first radar is used to obtain the distribution range information of the trees on both sides of the chassis and send it to the controller, and the second radar is used to obtain the position information of the trees on both sides of the chassis and send it to the controller; The spraying assembly includes a fan, a nozzle and a water tank. Multiple fans are installed on both sides of the frame. The nozzle is placed within the air flow range of the fan output. The nozzle is connected to the water tank through a pipeline and a water pump. The water pump and the fan are connected to the controller respectively.

2. The spraying robot according to claim 1, characterized in that: The fan is connected to an angle adjustment mechanism, which is fixed to the vehicle frame. The angle adjustment structure is connected to a controller for driving the fan to adjust its direction through the angle adjustment mechanism.

3. The spraying robot according to claim 2, characterized in that: The nozzles are distributed in one-to-one correspondence with the fans. The nozzles are located on the rotation axis of the fans and adjust their directions along with the fans.

4. The spraying robot according to claim 1, 2 or 3, characterized in that: The multiple fans located on the same side of the frame are spaced apart vertically and are respectively connected to a controller, and the controller is used to control the speed of the fans.

5. The spraying robot according to claim 1, characterized in that: The water tank and the frame are respectively mounted on the chassis and are distributed in sequence along the traveling direction of the chassis.

6. The drug spraying robot according to claim 1 or 5, characterized in that: The traveling assembly includes a plurality of wheels installed around the chassis, each wheel is equipped with a wheel motor, and the wheel motor is connected to a controller, and the controller is used to control the wheel motor to adjust the speed and direction of the traveling assembly.

7. The drug spraying robot according to claim 1, characterized in that: The first radar is installed in the middle of the frame, and the second radar is installed right in front of the frame.

8. A working method of a spraying robot, comprising: constructing a spraying robot as claimed in any one of claims 1 to 7, characterized in that: include: The second radar obtains the location information of the trees on both sides of the chassis and sends it to the controller. After analysis, the controller plans the route of the spraying robot. The walking component drives the chassis and the components carried on the chassis to move along the route. When the spraying robot is walking, the first radar obtains the distribution range information of trees on both sides of the chassis and sends it to the controller. The controller obtains the spraying range information after analysis and outputs the control signal to the spraying component. The spraying component adjusts the fan operating parameters and the water pump operating parameters according to the control signal, so that the nozzle outputs the liquid medicine and sprays it onto the leaves of the trees on both sides of the spraying robot through the airflow formed by the fan.

9. The working method of the spraying robot according to claim 8, characterized in that: When the spraying component is working, the posture of the spraying robot is obtained, and the direction and speed of the fan are adjusted to adapt to the terrain. The fan outputs airflow to disturb the swing of tree leaves, so that both the front and back sides of the tree leaves receive the liquid medicine.

10. The working method of the spraying robot according to claim 9, characterized in that: When the spraying robot moves according to the planned route, it keeps the spraying robot in the center area between the trees on both sides so that the sprayed liquid covers the trees on both sides.

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