Walking type humanoid intelligent pesticide applying robot and working method thereof

Abstract

The invention discloses a walking type humanoid intelligent pesticide applying robot and a working method thereof, and belongs to the technical field of agriculture. Before operation, a meteorological factor threshold value for starting / pausing / stopping pesticide spraying operation and parameters such as the height and the spraying width of the pesticide spraying operation are set; after the operation is started, according to the real-time monitored meteorological factors, the types and the occurrence amount of target pests in plaques to be applied with pesticides and the crop growth condition, the types and the dosage of applied pesticides are controlled in real time by controlling the flow of electric control valves of different pesticide boxes in real time, and the pesticide application operation is controlled to be started / paused / stopped in real time according to the meteorological factors; and various monitoring and operation data are transmitted back to a background control end in real time in the whole process. The application of the invention greatly improves the technical level of pesticide spraying, greatly reduces the pesticide dosage, and has a very wide application prospect.

Description

Technical Field

[0001] The present invention belongs to the technical field of agriculture, and particularly relates to a walking humanoid intelligent pesticide application robot and its working method. Background Art

[0002] The prevention and control of diseases, insects, and weeds is one of the most cost-consuming links in the production of field crops. Traditional prevention and control of diseases, insects, and weeds in field crops often rely on uniform spraying of pesticides across the whole field, which not only causes a series of risks of pesticide non-point source pollution, but also may cause obvious or hidden pesticide damage to the seedlings of field-growing crops, resulting in reduced yields or a decline in the quality of agricultural products. Precise spraying of corresponding pesticides based on the actual situation of the occurrence patches of diseases, insects, and weeds in the field will greatly improve the utilization rate of pesticides, reduce over-spraying of pesticides, and lay a solid foundation for stable crop yields and high quality.

[0003] Currently, the pesticide spraying methods in current field agriculture production include spraying with a manual backpack sprayer, spraying with a self-propelled plant protection machine, spraying with a stretcher sprayer, and spraying with a plant protection drone. The manual backpack sprayer has flexible operation, relatively uniform pesticide application, and strong adaptability, but has low efficiency and high labor intensity, and is gradually being replaced by other methods. Spraying with a self-propelled plant protection machine has high operation efficiency and uniform pesticide application, but requires a tractor for traction, so the cost is relatively high, and it is not convenient for the tractor to travel in the field when the soil humidity in the field is too high. In addition, it is difficult to use in mountainous and hilly crop fields and plantations. Spraying with a stretcher sprayer is also relatively flexible and portable, but the uniformity of pesticide application is not good, so it is not applicable in many scenarios and relies on manual operation. The plant protection drone has high operation efficiency, strong assault ability, and excellent adaptability to terrain and light conditions, but the liquid medicine droplets have a long residence time in the air and are easily drifted by the wind, resulting in the failure of prevention and control, crop pesticide damage, and various pollution and non-target organism pesticide damage risks.

[0004] Most of the existing ground walking pesticide application devices use traveling methods such as tires, gears, and crawlers, with a large ground contact area. When carrying out pesticide application operations in an environment with a high crop planting density, it is inevitable to press on the crops and compact the ground of the crop field, causing crop damage. In some areas where it is not conducive to traveling methods such as tires, gears, and crawlers and there are sensitive crops or sensitive scenario pesticide application areas nearby, such as close to residential living areas, schools, flower beds, traditional Chinese medicine planting bases, etc., only manual backpack sprayers can be relied on for spraying operations.

[0005] In view of the many limitations of the aforementioned manual spray pesticide application, there is an urgent need to invent a walking humanoid intelligent pesticide application robot applicable to complex terrains and sensitive scenarios. Summary of the Invention

[0006] Object of the Invention: To solve the problems that the existing intelligent spraying operation devices cannot be applied and the accuracy of manual pesticide application is low in complex terrains and sensitive scenarios, the present invention provides a walking humanoid intelligent pesticide application robot and its working method.

[0007] Technical solution: The present invention discloses a walking humanoid intelligent pesticide application robot, including:

[0008] A head, equipped with an automatic weather station for collecting information on the operation environment;

[0009] A torso, with a central processor installed inside, communicating with the automatic weather station, and a storage room is also provided on the back of the torso;

[0010] A spray boom, connected to the storage room through a hose, with a number of nozzles provided thereon, and the length of the spray boom is greater than the width between the two robotic arms;

[0011] Two robotic arms, respectively arranged on both sides of the torso, controlled by the central processor, the front end of the robotic arm is connected to the spray boom, and the position of the spray boom is changed through the movement of the robotic arm;

[0012] Two robotic legs, arranged under the torso, controlled by the central processor, supporting the robot to stand or walk.

[0013] Further, the automatic weather station collects real-time information on the operation environment, including air temperature, air humidity, and wind speed.

[0014] Further, a number of medicine boxes for storing liquid medicine are provided in the storage room, a transfer room is also provided inside the storage room, the transfer room is communicated with each medicine box and separated from each medicine box by an electric control valve, and the electric control valve is controlled by the central processor to adjust the proportion of each liquid medicine flowing into the transfer room.

[0015] On the other hand, the present invention also discloses a working method of the walking humanoid intelligent pesticide application robot as described above, and the steps include:

[0016] Before the pesticide application operation, conduct a survey of the crop field for pesticide application and plan the operation path of the robot;

[0017] Set the fixed operation parameters of the robot, including P for the severity level of various pests, C for the tolerance level of field crops to the pesticides to be used, S for the drug sensitivity level of target pests to the pesticides to be used, and establish a calculation model for the dosage of the liquid medicine to be sprayed, Dose;

[0018] Start the robot, obtain the real-time monitored wind speed Rs and air humidity M through the automatic weather station of the robot, combine the preset P, C, S, and obtain the planned dosage according to the calculation model of the dosage of the liquid medicine to be sprayed, Dose;

[0019] The robot walks in the crop field according to the operation path and the planned dosage to perform the pesticide application operation.

[0020] Furthermore, the fixed operation parameters further include: boom operation height, number of nozzles opened, nozzle spacing, temperature threshold, wind speed threshold, and air humidity threshold for starting / suspending / terminating the pesticide application operation, types of target pest organisms to be controlled in different medicine tanks, conventional application dosage of the pesticide to be applied, and upper limit of the safe dosage of the pesticide to be applied in the crop field to be applied.

[0021] Furthermore, the calculation model for the amount of liquid medicine to be sprayed Dose is:

[0022] Dose = V × conventional application dosage of the pesticide to be applied

[0023] V = 1 + Mv + Pv + Cv + Sv + Dv

[0024] Mv = (60% / M) × Wm

[0025] Pv = (P / 2 - 1.5) × Wp

[0026] Sv = (4 / S - 1) × Ws

[0027] Cv = (C / 2 - 1) × Wc

[0028] When 2 ≤ Rs ≤ Rs max : Dv = Rs / 4 × Wd

[0029] When Rs < 2: Dv = 0

[0030] Wherein, Wm, Wp, Ws, Wc, and Wd are pre-set weights, and Rs max is the wind speed for suspending the pesticide application operation.

[0031] Furthermore, the fixed operation parameters of the robot are set by real-time communication with the background entity computer or the cloud computing system platform through wireless signals, the fixed operation parameters are set in real-time, and a forced operation instruction sent by the background entity computer or the cloud computing system platform is received. When the temperature, wind speed, or air humidity monitored by the automatic weather station exceeds the threshold set in the fixed operation parameters, the spraying operation is suspended.

[0032] Furthermore, the severity level P of the occurrence of target pests in the field is divided into different levels according to the percentage of the loss of the planting benefit of the current-season crops that can be caused without control, from low to high.

[0033] Furthermore, the drug sensitivity level S of the target pests in the field to the pesticide to be used is divided into different levels according to the growth period of the target pests monitored in the field, combined with the past years' experience in using pesticides, and estimating the control efficacy of the target pests under the low-dose treatment of the recommended dosage, from low to high.

[0034] Further, the tolerance level C of the crop to the pesticide to be used is estimated according to the growth stage and growth potential of the crop monitored in the field, combined with past pesticide application experience, and is divided into different levels from high to low.

[0035] Beneficial effects: Compared with the existing pesticide spraying technology, a walking humanoid intelligent pesticide application robot disclosed by the present invention has outstanding advantages in the following aspects:

[0036] 1) Greatly reduce the amount of pesticides used: The robot can real-time identify the growth stage and growth potential of the crops in the crop patch to be sprayed with pesticides, and the occurrence of target pests, and then adjust the variety and dosage of the pesticides to be sprayed, achieving precise pesticide application while greatly reducing the amount of pesticides used.

[0037] 2) Effectively control various risks caused by pesticide drift: During the pesticide application process of the robot, meteorological conditions such as wind speed and air humidity are monitored in real time, the amount of pesticides applied is adjusted in real time, and the start / suspension / termination of the pesticide application operation is controlled according to the preset meteorological data threshold, effectively controlling the drift of the applied pesticides, and greatly reducing the risks such as the failure of pest control caused by pesticide drift, phytotoxicity of crops and non-target organisms, and environmental pollution.

[0038] 3) Effectively replace manual pesticide application operations: In some sensitive scenarios where it is not conducive to the progress of tractors and aerial pesticide application cannot be used, a walking humanoid intelligent pesticide application robot can efficiently complete the operations and save labor costs.

[0039] 4) Reduce the damage to the crop ecosystem during the pesticide application process: A humanoid intelligent pesticide application robot provided by the present invention controls the movement of the robot in the crop field by controlling the mechanical legs, with a small ground contact area and flexible movement, reducing the damage to the crop ecosystem during the pesticide application process. Description of the Drawings

[0040] Figure 1 Schematic diagram of the overall walking humanoid intelligent pesticide application robot;

[0041] Figure 2 Schematic diagram of the head of the walking humanoid intelligent pesticide application robot;

[0042] Figure 3 Schematic diagram of the storage room of the walking humanoid intelligent pesticide application robot;

[0043] Figure 4 Schematic diagram of the spray boom of the walking humanoid intelligent pesticide application robot;

[0044] Figure 5 Schematic diagram of the flow of the working method of the walking humanoid intelligent pesticide application robot. Detailed Embodiments

[0045] The present invention will be further clarified below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. After reading the present invention, those skilled in the art's various equivalent modifications of the present invention all fall within the scope defined by the appended claims of this application.

[0046] On the one hand, the present invention discloses a walking humanoid intelligent pesticide application robot, as Figure 1 shown in a preferred embodiment of the present invention. The robot in this embodiment is built through a frame structure to have a humanoid head 1, a torso 2, and four limbs 3. The head 1 is installed on the torso 2 and can swing up and down at a certain angle.

[0047] The structure of the head 1 is as Figure 2 shown. A wide-angle vision sensor 11 is installed at the forehead position of the head 1, a high-definition vision sensor 12 is installed at the chin position of the head 1, and an automatic weather station 13 is installed at the rear position of the head 1.

[0048] A central processor 21 is installed in the chest of the torso 2. The central processor 21 is directly connected to the wide-angle vision sensor 11, the high-definition vision sensor 12, and the automatic weather station 13 of the head through data lines.

[0049] A storage room 22 is installed at the back of the torso 2. As Figure 3 shown, the storage room 22 supports the medicine box 4 and is connected through corresponding interfaces. A transfer medicine box 23 is built in the storage room 22. The transfer medicine box 23 is connected to the medicine box 4 through an electric control valve 24 above it. The electric control valve 24 is connected to the central processor 21 through a data line.

[0050] The robot has two robotic arms 5 respectively installed on both sides of the torso 2. The robotic arms 5 have a shoulder joint 51 and an elbow joint 52. The robotic arms 5 are connected to the central processor 21 through data lines, and the movement of the robotic arms 5 can be controlled by controlling the movement of the shoulder joint 51 and the elbow joint 52.

[0051] As Figure 4 shown, the front end hand 53 of the robotic arm 5 has an interface 54 corresponding to the pesticide spraying boom 6, and the height and position of the spraying boom 6 can be controlled by controlling the robotic arm 5. Assemblable spray nozzles 61 are installed on the spraying boom 6. The spray nozzles 61 are connected to the storage room 22 through a hose 7. The spray nozzles 61 are connected to the central processor 21 and are controlled by it. The length of the spraying boom is greater than the width between the two robotic arms.

[0052] Two robotic legs 8 are installed below the torso 2. The robotic legs 8 are connected to the torso 2 through a hip joint 81. The robotic legs 8 have a knee joint 82 and are connected to a robotic foot sole 84 through an ankle joint 83. The hip joint 81, the knee joint 82, the ankle joint 83, and the robotic foot sole 84 of the robotic legs 8 are all connected to the central processor 21 through data lines, and the balance of the robot is maintained by adjusting the activities of these joints.

[0053] The humanoid pesticide application robot controls the composition ratio of the pesticide mixture for spraying operations and pauses / starts / terminates operations according to real-time monitored wind speed, wind direction, temperature, and air humidity data in the field, thereby achieving intelligent, precise, efficient, and safe pesticide spraying.

[0054] On the other hand, the present invention also discloses a working method of the above-mentioned robot. The operation process involved in the method is as Figure 5 shown, including the following steps:

[0055] Before the pesticide application operation, conduct mapping of the crop field for pesticide application and plan the operation path of the robot;

[0056] Set the fixed operation parameters of the robot, including the operation height of the spray boom, the number of nozzles opened, the nozzle spacing, set the types of target harmful organisms to be controlled in the liquid medicine in different medicine boxes of the robot, the conventional dosage of the pesticide to be applied, and the upper limit of the safe dosage of the medicine to be applied in the crop field to be applied.

[0057] Set the meteorological thresholds for starting / pausing / terminating the pesticide application operation of the robot, including temperature, wind speed, and air humidity thresholds.

[0058] Set the fixed operation parameters of the robot, set the severity level P of various harmful organisms, the tolerance level C of the field crops to the pesticide to be used, the drug sensitivity level S of the target harmful organisms to the pesticide to be used, and establish a calculation model for the dosage Dose of the liquid medicine to be sprayed;

[0059] Start the robot, obtain the real-time monitored wind speed Rs and air humidity M through the robot's automatic weather station. The central processor of the robot combines the preset P, C, and S, and obtains the planned dosage according to the calculation model of the dosage Dose of the liquid medicine to be sprayed;

[0060] The robot walks in the crop field according to the operation path and the planned dosage to perform the pesticide application operation.

[0061] The automatic weather station is used to monitor real-time meteorological data such as temperature, wind speed, and air humidity in the field, providing background environmental information for operation decision-making.

[0062] The central processor communicates with the background physical computer or the cloud computing system platform in real time through wireless signals, synchronizes the operation parameter settings in real time, and receives the forced operation instructions sent by the background physical computer or the cloud computing system platform.

[0063] The fixed operation parameters further include: boom operation height, number of nozzles opened, nozzle spacing, temperature threshold, wind speed threshold, and air humidity threshold for starting / suspending / terminating the pesticide application operation, types of target pests and harmful organisms to be controlled by the liquid medicine in different medicine tanks, conventional application dosage of the pesticide to be applied, and upper limit of the safe dosage of the pesticide to be applied in the crop field to be applied.

[0064] The severity level P of the occurrence of target pests and harmful organisms in the field is divided into different levels from low to high according to the incidence of pests and diseases and the percentage of the coverage of target weeds. The classification criteria for each level are set before the pesticide application operation according to the types of target pests and harmful organisms, growth periods, disaster risk, etc., combined with specific situations such as past years' experience.

[0065] The drug sensitivity level S of the target pests and harmful organisms in the field to the pesticide to be used is divided into different levels from low to high according to the growth period of the target pests and harmful organisms monitored in the field, combined with past years' pesticide application experience, and estimating the control effect on the target pests and harmful organisms under the low-dose treatment of the recommended dosage. The classification criteria for each level are set according to the specific situation before the pesticide application operation.

[0066] The tolerance level C of the crop to the pesticide to be used is estimated based on the ratio of the dose tolerable by the crop to the low dose of the recommended dosage according to the growth period, plant height, canopy closure degree, etc. of the crop monitored in the field, combined with past years' pesticide application experience, and the tolerance level of the crop to the pesticide to be used is divided into different levels from high to low. The classification criteria for each level are set according to the specific situation before the pesticide application operation.

[0067] The instructions issued by the central processing unit in real time control the opening / closing and opening degree of the electronically controlled valve on the transfer medicine tank in real time, thereby controlling the dosage of the liquid medicine output from different medicine tanks. In addition, the central processing unit also controls the robot to move / stop, and controls the walking posture of the robot to maintain balance and avoid obstacles, and controls the movement of the robot.

[0068] Before starting the pesticide application operation in the field, complete the mapping work of the crop field to be sprayed and plan the operation path. According to the activity and physical and chemical properties of the liquid medicine to be sprayed, set fixed operation parameters such as the height, number of nozzles, and spacing (controlling the spray width) of the spraying operation on the background physical computer or cloud computing system platform. By setting the width of a single spraying operation (2 - 5 m), set the area of a single spraying operation patch, set the temperature threshold, wind speed threshold, and air humidity threshold for starting / suspending / terminating the pesticide application operation, and set the types of target pests and harmful organisms to be controlled by the liquid medicine in different medicine tanks. Determine the percentage range of each classification of the severity level P of the occurrence of target pests and harmful organisms in the field, the percentage range of each classification of the drug sensitivity level S of the target pests and harmful organisms in the field to the pesticide to be used, and the percentage range of each classification of the tolerance level C of the crop to the pesticide to be used.

[0069] After the spraying operation is started, the robot calls the real-time monitoring data of the air temperature (T), wind speed (Rs), and air humidity (M). It calculates the dosage (Dose) of the pesticide to be sprayed in real time. The central processing unit controls the opening / closing combination of the electronic control valve according to the dosage (Dose) of the pesticide to be sprayed on the patch to be treated, until all the liquid medicine used to prevent and control the patch of this spraying operation is input into the transfer medicine box. After the liquid medicine in the medicine box flows into the transfer medicine box, it is evenly mixed in real time by the agitator in the medicine box and then input into the spray boom through the electronic control valve and pipeline.

[0070] After the operation is started, the automatic weather station monitors the meteorological data in real time. When the monitoring data such as air temperature, wind speed, and air humidity are within the suitable range for spraying, the central processing unit controls the nozzle flow rate and the robot's traveling speed to control the spraying operation. When the monitoring data such as air temperature, wind speed, and air humidity exceed the set threshold for suspending spraying, the nozzle is closed in real time, the robot pauses, and the nozzle is restarted for spraying until the spraying of this operation patch is completed after the meteorological factors return to the suitable spraying conditions; if the meteorological factors continue to exceed the threshold for the preset duration threshold, or after all the spraying operation tasks are completed, the robot is controlled to report the suspension of the spraying operation to the background entity computer or the cloud computing system platform.

[0071] A computer program is set in the central processing unit of the robot to automatically calculate and adjust the dosage (Dose) of the pesticide to be sprayed on the field patch to be treated in real time. In this embodiment, the 8 key parameters related to the dosage (Dose) of the pesticide to be sprayed and the assignment method are shown in Table 1, and the calculation method of the dosage (Dose) of the pesticide to be sprayed is shown in Table 2.

[0072] Table 1 8 key parameters related to the dosage (Dose) of the pesticide to be sprayed and the assignment method

[0073]

[0074]

[0075] Table 2 Calculation model of the dosage (Dose) of the pesticide to be sprayed in this embodiment

[0076]

[0077]

[0078] Note: The calculation method of the relative weight assignment is the ratio between the weight value of each parameter and the total sum of the weight assignments of each parameter.

[0079] To verify the spraying performance of the intelligent spraying robot of the present invention, and to compare the differences in the control efficacy of target weeds and the safety of crops between the walking humanoid intelligent spraying robot of the present invention and the conventional unmanned aerial vehicle spraying operation and the self-propelled boom sprayer (tractor traction) in applying herbicides, a series of field experiments were carried out in the wheat field of the experimental base.

[0080] Basic information of the experiment: The wheat (Triticum aestivum) variety is Yangmai 24, sown by machine in rows, and the seeding rate is 25 catties per mu. When applying pesticides, the wheat is in the tillering stage and has not jointed. The main gramineous weeds in the field are Alopecurus japonicus, and the main broad-leaved weeds are Stellaria aquatica. Alopecurus japonicus is in the tillering stage, and Stellaria aquatica is in the branching stage. Weather during the experiment: sunny, east wind 0-2 levels, maximum temperature 15 °C, minimum temperature 8 °C. A meteorological instrument was used to monitor the wind speed and air humidity in real time.

[0081] Test agents: 20% diflufenican·fluroxypyr water dispersible granules with a conventional dosage of 6 g per mu for controlling Stellaria aquatica, and 5% pinoxaden emulsifiable concentrate with a conventional dosage of 80 ml per mu for controlling Alopecurus japonicus. The safety level of the diflufenican·fluroxypyr used for wheat in the experimental field is grade 4, and the drug sensitivity level of Stellaria aquatica to it is grade 4. The safety level of the pinoxaden used for wheat in the experimental field is grade 3. A total of 4 large plots were set for each test treatment, with 3 replicates. The treatment methods for each experimental large plot are shown in Table 3.

[0082] Table 3 Treatment methods of field experiments on spraying operations of walking humanoid intelligent spraying robots and conventional spraying operations

[0083]

[0084] One person holds a boom and walks to carry out spraying operations. 4 flat fan nozzles are installed on the boom, and the boom spray width is 2 m; the patch area for one-time spraying treatment is 10 ㎡ (2 m spray width × 5 m walking distance); the total treatment area is 1 mu (660 ㎡); the medicine box is transported synchronously by others. The experimental field was pre-divided into 66 patches in sequence, and the herbicide solution was pre-prepared according to the weed occurrence in each patch, and sprayed on each patch one by one. During the experiment, the air humidity value fluctuated little, so the air humidity value before spraying operation was taken as the air humidity value for spraying experiments. The wind speed was monitored in real time during the experiment, and spraying was carried out when the wind speed < 2 m / s.

[0085] After each test, the actual spraying area is counted, that is, the area number of spraying operations per unit time. At 7, 15, 30, and 45 days after application, the herbicide phytotoxicity index to wheat under each treatment is counted by visual inspection method, that is, the inhibition degree of the plant height and growth potential of the wheat population in the treated area compared with the blank control treatment of the T0 group, expressed as a percentage. At 45 days after application, 20 0.25㎡ quadrats are evenly set along the diagonal in each test area, the plant height and above-ground fresh weight of all weeds in each quadrat are measured, and the control effect of plant number and fresh weight is calculated.

[0086] Control effect of plant number = (Number of weeds in the control area - Number of weeds in the treated area) ÷ Number of weeds in the control area × 100%

[0087] Control effect of fresh weight = (Fresh weight of weeds in the control area - Fresh weight of weeds in the treated area) ÷ Fresh weight of weeds in the control area × 100%

[0088] In order to determine the effect of the test treatment on wheat yield, 45 days after the application treatment, 100㎡ strip areas are reserved in the T0, T1, T2, and T3 treatment areas respectively, and no additional weeding measures are taken until harvest for yield measurement. The Duncan's new multiple range (DMRT) method is used to statistically analyze the test data to compare the differences between different spraying operation methods. Table 4 shows the comparison of the total drug consumption, the control effect on wheat field weeds 45 days after treatment, and the wheat yield at harvest under different spraying operation methods. T1 is sprayed by a self-propelled boom sprayer, T2 is sprayed by a conventional unmanned aerial vehicle, and T3 is sprayed by a simulated walking humanoid intelligent spraying robot. Different letters (a, b, c) in the same row of Table 4 indicate significant differences between the corresponding treatment methods in different columns.

[0089] Table 4 Comparison of field test results between the walking humanoid intelligent spraying robot and the conventional spraying operation

[0090] Index T1 T2 T3 Dosage of diflufenican + mefenpyr-diethyl (g / mu) 6±0a 6±0a 2.8±1.2b Dosage of pinoxaden (ml / mu) 80±0a 80±0a 62±8.5b Control efficacy on number of Alopecurus japonicus (%) 94.1±0.4a 61.1±2.5b 97.4±0.9a Control efficacy on fresh weight of Alopecurus japonicus (%) 94.7±0.5a 63.4±2.8b 98.0±0.6a Control efficacy on number of Malachium aquaticum (%) 100a 70.6±0.8b 100a Control efficacy on fresh weight of Malachium aquaticum (%) 100a 73.1±0.6b 100a Wheat yield (kg / mu) 530.7±9.8b 337.6±20.4c 588.0±13.7a

[0091] Under the conditions of artificial auxiliary medicine preparation and water addition, the T1 group took an average of 6.6 minutes to complete 660㎡ of operation; the T2 group of conventional unmanned aerial vehicle spraying took an average of 1.6 minutes (including the takeoff and landing of the unmanned aerial vehicle) to complete 660㎡; in the spraying operation process of the T3 group of simulated walking humanoid intelligent spraying robot, 6 times, 3 times, and 5 times of natural wind speed exceeded the threshold of 4m / s and paused respectively, and the spraying was restarted after the wind speed decreased. The actual spraying operation times were 26 minutes, 18 minutes, and 23 minutes respectively, with an average of 22.3 minutes.

[0092] In terms of the total herbicide dosage, the conventional application methods (T1 and T2) were both set dosages. The dosage of florasulam + diflufenican was 6 g / mu for both, and the dosage of pinoxaden was 80 ml / mu for both. For the simulated walking humanoid intelligent spraying robot, the 660㎡ wheat field was divided into 66 patches for drug preparation and spraying one by one. The average total dosage of florasulam + diflufenican was 2.8 g / mu, and that of pinoxaden was 62 ml / mu. The herbicide dosages decreased by 53.3% and 22.5% respectively. No wheat phytotoxicity was observed in each treatment.

[0093] Table 4 shows that the spraying treatment with the simulated walking humanoid intelligent spraying robot in the T3 group had the best weed control effect and the highest wheat yield. The spraying treatment with the self-propelled boom sprayer in the T1 group had no phytotoxicity to wheat, good weed control effect and high wheat yield. However, the mechanical damage to wheat caused by the tractor moving in the field and the large dosage of pesticides resulted in a lower wheat yield than that in the T3 group. Although the T2 group started the spraying operation when the wind stopped, during the spraying of herbicides by the unmanned aerial vehicle, the liquid drift caused by the natural wind led to an unsatisfactory weed control effect, especially a poor control effect on Alopecurus japonicus, resulting in a significant reduction in wheat yield. Compared with the T3 group, the wheat yield decreased by 42.6%.

[0094] The T3 treatment effectively ensured the control effect on target pests and the safety of wheat, thus ensuring a high wheat yield. Therefore, it can be concluded that a simulated walking humanoid intelligent spraying robot and its control method provided by the present invention can significantly reduce the pesticide dosage on the premise of ensuring a high control effect on target pests and the safety of crops; furthermore, it can effectively replace manual spraying in some scenarios where it is not convenient to use aerial spraying, and has great application potential.

Claims

1. A walking humanoid intelligent pesticide dispensing robot, characterized in that: include: The head is equipped with an automatic weather instrument for collecting information about the working environment; A trunk, which has a central processor installed inside and communicates with the automatic weather instrument, and a storage room is also provided on the back of the trunk; A spray bar connected to the storage chamber via a hose, on which a plurality of spray heads are arranged, and the length of the spray bar is greater than the width between the two mechanical arms; Two mechanical arms are respectively arranged on both sides of the trunk and controlled by the central processor. The front ends of the mechanical arms are connected to the spray rods, and the positions of the spray rods are changed by the movement of the mechanical arms. Two mechanical legs are arranged under the torso and are controlled by the central processor to support the robot to stand or walk.

2. The pesticide dispensing robot according to claim 1, characterized in that: The automatic weather instrument collects working environment information in real time, including air temperature, air humidity, and wind speed.

3. The pesticide dispensing robot according to claim 1, characterized in that: Several medicine boxes for storing liquid medicine are arranged in the storage chamber, and a transfer chamber is also arranged inside the storage chamber. The transfer chamber is connected with each medicine box and is separated from each medicine box by an electric control valve. The electric control valve is controlled by the central processor to adjust the proportion of each liquid medicine flowing into the transfer chamber.

4. A working method of the walking humanoid intelligent pesticide dispensing robot according to any one of claims 1 to 3, characterized in that the steps include: Before applying pesticides, the crop fields to be applied are mapped and the robot’s operation path is planned; Set fixed operating parameters of the robot, including the severity level P of various types of pests, the tolerance level C of field crops to the proposed pesticides, and the drug sensitivity level S of target pests to the proposed pesticides, and establish a calculation model for the proposed spraying liquid dosage Dose; The robot is started, and the real-time monitored wind speed Rs and air humidity M are obtained through the robot's automatic meteorological instrument, and the planned application amount is obtained according to the calculation model of the intended spraying liquid dosage Dose in combination with the preset P, C, and S; The robot walks in the crop field and performs pesticide application according to the operation path and the planned application amount.

5. The working method according to claim 4, characterized in that: The fixed operating parameters also include: spray boom operating height, number of open nozzles, nozzle spacing, temperature threshold, wind speed threshold, air humidity threshold for starting / pausing spraying operations, types of target pests for control of liquid medicines in different medicine boxes, conventional dosage of pesticides to be applied, and upper limit of safe dosage of the pesticides to be applied in the crop fields to be applied.

6. The working method according to claim 5, characterized in that: The calculation model of the proposed spraying liquid dosage Dose is: Dose = V × the conventional dosage of the pesticide to be applied V=1+Mv+Pv+Cv+Sv+Dv Mv=(60% / M)×Wm Pv=(P / 2-1.5)×Wp Sv=(4 / S-1)×Ws Cv=(C / 2-1)×Wc When 2≦Rs≦Rs max When: Dv = Rs / 4 × Wd When Rs<2: Dv=0 Among them, Wm, Wp, Ws, Wc and Wd are pre-set weights, Rs max It is the wind speed at which the spraying operation is suspended.

7. The working method according to claim 6, characterized in that: When the temperature, wind speed and air humidity monitored in real time by the automatic meteorological instrument exceed the threshold values ​​set in the fixed operation parameters, the spraying operation is suspended.

8. The working method according to claim 7, characterized in that: The severity level P of the target field pests is divided into different levels from low to high according to the percentage of loss in the benefits of crop planting in the current season that may be expected if no prevention and control is taken.

9. The working method according to claim 8, characterized in that: The sensitivity level S of the target pests in the field to the proposed pesticide is divided into different levels from low to high according to the growth period of the target pests monitored in the field and the experience of pesticide use in previous years. The control effect on the target pests under the recommended low dose treatment is estimated.

10. The working method according to claim 9, characterized in that: The tolerance level C of the crop to the proposed pesticide is estimated based on the crop growth period and growth potential monitored in the field, combined with the experience of pesticide use in previous years, and is divided into different levels from high to low.

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