Intelligently controlled surrounding type fertilization robot

Abstract

The invention discloses an intelligent regulation and control surrounding type fertilization robot, which comprises a mobile platform, a spraying device, an electromagnetic valve, a pressurizing piston, a camera, a control system, a power supply device and the like, and is characterized in that the mobile platform performs cooperative control and accurate regulation on steering related parts through a central control unit, so that the robot realizes accurate translation steering and zero-radius steering. According to the spraying device, the fertilization area is effectively reduced through a connecting sliding ring, a spraying communicating support arm and a pressure atomization spray head, fertilizer is uniformly applied to leaves through surrounding type spraying on crops, waste of the fertilizer is effectively reduced, the utilization rate of the fertilizer is increased, and meanwhile pollution and damage to the environment are reduced. A spraying device is matched with a control system, real-time flow information fed back by an electromagnetic flowmeter is obtained and compared with preset fertilization parameters for analysis, the opening and closing degree of an electromagnetic valve, the pressure of a pressurizing piston or the rotating speed of a conveying pump is dynamically adjusted, the fertilization amount in unit time is precisely controlled, and the purpose of precise fertilization is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural machinery devices, and particularly relates to an intelligent control surround - type fertilization robot. Background Art

[0002] In the process of agricultural modernization, the fertilization link plays a crucial role in the yield and quality of crops. By applying mixed fertilizers with different contents (the main fertilizers are nitrogen, phosphorus, and potassium), the required nutrients are provided for crops, thereby improving the yield and quality of crops. Fertilization robots deeply integrate intelligent technology and agricultural production, bringing new changes to the development of modern agriculture. Compared with traditional fertilization methods, fertilization robots can break through the limitations of human power and, under the guidance of preset programs and advanced navigation systems, continuously carry out fertilization work, significantly shortening the fertilization cycle and possessing high - efficiency operation capabilities. Currently, fertilization robots at home and abroad are widely used in field crops and cash crops, and can not only operate on flat ground but also gradually expand to complex terrains such as hills and mountains.

[0003] In agricultural production, due to different crop types, growth conditions, and growth cycles, the required fertilizer mixing ratios and fertilization amounts are also different. During fertilization operations, due to poor fertilization accuracy, there are often serious problems of fertilizer waste and uneven fertilizer distribution. In some areas, there is too much fertilizer, which may cause seedling burning, while in some areas, there is insufficient fertilizer, thus affecting crop growth. In addition, excessive fertilization amount will also cause soil compaction, damage the soil structure, affect the long - term productivity of the soil, and a large amount of unused fertilizer is washed into surface water or infiltrates into groundwater by rainwater, thus causing environmental pollution problems such as water eutrophication.

[0004] Currently, intelligent agriculture integrates more advanced technologies such as sensing, navigation, recognition, and control on the basis of the continuous improvement of traditional agricultural machinery. However, there are still deficiencies in precise control. Facing crops with different growth conditions, the recognition and judgment accuracy of fertilization robots is relatively low, and they cannot accurately control the fertilizer mixing ratio to achieve the effect of precise fertilization. At the same time, the traditional large - area spraying method leads to low fertilizer utilization rate, resulting in the inability to widely apply intelligent agriculture and being prone to environmental impact and damage. In view of the above - mentioned problems, the present invention proposes an intelligent control surround - type fertilization robot, which solves the problems of low control accuracy and low fertilizer utilization rate during the fertilization operation process. Summary of the Invention

[0005] The object of the present invention is to overcome the deficiencies of the prior art and provide a smart-controlled circumferential fertilization robot, which is provided with a circumferential fertilization device, a visual recognition device, and a smart control device. The circumferential fertilization device can effectively reduce the fertilization area. By circumferentially spraying the crops, the fertilizer is evenly applied to the leaves, effectively reducing the waste of fertilizer, improving the utilization rate of fertilizer, and at the same time reducing the pollution and damage to the environment. The cross-integration application of the visual recognition device and the smart control device can better achieve the precise fertilization of smart agriculture. Through the visual recognition device, the image of the crops is collected, analyzed, and positioned. Based on the analyzed data, the proportions of the three fertilizers of nitrogen, phosphorus, and potassium are reasonably mixed, and at the same time, it is judged whether there are pests and diseases in the crops, so as to carry out the smart control of the fertilization plan and achieve the purpose of precise fertilization.

[0006] The present invention is realized through the following technical solutions:

[0007] A smart-controlled circumferential fertilization robot, comprising a mobile platform, a spraying device, a solenoid valve, a pressure piston, a camera, a control system, and a power supply device;

[0008] The mobile platform is used to install the spraying device, the control system, and the power supply device, and at the same time is used to drive the operation execution of the whole machine. Through the coordinated control and precise adjustment of the steering-related components, the robot realizes precise translational steering and zero-radius steering;

[0009] The spraying device is used to perform precise fertilization operations, including a fertilizer tank, a mixing tank, a liquid medicine dispensing barrel, a bracket, a precision filter, a conveying pipeline, a smart electromagnetic flowmeter, a slip ring, a pressure atomizing nozzle, a spraying connecting arm, and an electronic control unit;

[0010] The solenoid valve is used to precisely control the start-stop and flow rate of fertilizer release, realizing automatic and refined fertilization and avoiding dripping;

[0011] The pressure piston is used to fully mix the liquid in the mixing tank and pressurize it, so that the mixed liquid is evenly and efficiently transported to the fertilization nozzle, ensuring the conveying power and controlling the fertilizer output flow rate;

[0012] The camera is used to locate the center point of the crops and transmit the growth state images of the crops;

[0013] The control system is used to control navigation and positioning, receive visual recognition data information, and control the spraying plan. Through the positioning center point information transmitted by the camera, it controls the moving offset distance of the whole machine, keeps the center point of the spraying slip ring consistent with the center point of the crops, calculates the content ratio of nitrogen, phosphorus, and potassium by analyzing the image information collected by the camera, and at the same time judges whether it is necessary to apply liquid medicine, and inputs the analyzed control signal into each solenoid valve, so as to control the liquid flow rate;

[0014] The power supply device is used to provide the power source for each execution device of the fertilizing robot.

[0015] In the above technical solution, the mobile platform includes a motor drive unit, a differential, a transmission device, a steering system, a central control unit, a spring shock absorber, an elastic control arm, and a wheel hub. The central control unit, as the core hub, issues commands to the motor drive unit through electrical lines to control its power output. The rotational power generated by the motor drive unit is transmitted to the differential through the transmission device. The differential then transmits the power to the wheel hub through the half shaft, driving the wheels to rotate and enabling the mobile platform to move forward. By coordinating the control and precise adjustment of the steering-related components, the steering motors of each wheel are controlled independently to adjust the steering angles of each wheel, enabling the robot to perform complex actions such as precise translational steering and zero-radius steering.

[0016] In the above technical solution, the spraying device includes three fertilizer tanks, a mixing tank, a liquid medicine dispensing tank, four brackets, four precision filters, six conveying pipelines, an intelligent electromagnetic flowmeter, a slip ring, two pressure atomizing nozzles, two spraying connecting arms, and an electronic control unit. The three fertilizer tanks are connected to the intelligent electromagnetic flowmeter through the conveying pipelines. The output port of the electromagnetic flowmeter is connected to the inlet of the mixing tank. The outlet of the mixing tank is connected to the inlet of the slip ring. Precision filters are installed at the inlet and outlet pipes of the fertilizer solution. The liquid is evenly sprayed on the crops through the connecting arms and the pressure atomizing nozzles.

[0017] In the above technical solution, the number of solenoid valves is 5, which are respectively installed at the liquid conveying outlets of the three fertilizer tanks, a mixing tank, and a liquid medicine dispensing tank.

[0018] In the above technical solution, the number of pressurizing pistons is 1, which is installed above the mixing tank to pressurize the mixing tank, stably convey fertilizers, control the fertilizer output flow rate, and mix the liquids therein simultaneously.

[0019] In the above technical solution, the number of cameras is 1, which is installed at the central position below the slip ring spraying device.

[0020] In the above technical solution, the control system includes an embedded industrial computer, an STM32 single-chip microcomputer, a control algorithm module, a vision sensor, a metering device, a motion drive system, and a WIFI communication module. The embedded industrial computer serves as the upper computer, responsible for global task scheduling, establishing two-way communication with the STM32 single-chip microcomputer through a USB interface to achieve instruction interaction and data transmission. The STM32 single-chip microcomputer undertakes the underlying control tasks, collecting data in real time and executing control instructions. The vision sensor transmits image and point cloud data to the industrial computer through a USB interface, and the built-in control algorithm module analyzes and processes it to generate decisions such as path planning and obstacle recognition. The metering device is directly connected to the STM32 through an analog or digital interface, and real-time feedbacks information such as fertilization amount. The decision-making instructions are converted into bus instructions by the STM32 single-chip microcomputer to drive the motion drive system, realizing the movement, turning, and fertilization actions of the robot.

[0021] In the above technical solution, the control flow of the control algorithm module is as follows:

[0022] In the control algorithm module, there are a navigation and positioning control unit, a vision recognition control unit, and a spraying device control unit. The navigation and positioning unit receives the crop center point transmitted by the vision module, feeds it back to the control system, and transmits the signal to the control execution unit, thereby driving the coordinated control of the whole machine's movement and operation. The vision recognition control unit receives the image information collected by the camera, further analyzes the image, and transmits the analyzed data to the spraying device control unit, and then controls the opening and closing of the solenoid valve to accurately control the start and stop of fertilizer release. The fertilization robot accurately calculates the required fertilizer types and dosages through intelligent algorithms to achieve precise variable fertilization, ensuring that each crop can obtain just the right nutrient supply and enabling the fertilization device to achieve precise variable fertilization control.

[0023] The advantages and beneficial effects of the present invention are:

[0024] The intelligent and adjustable circumferential fertilization robot of the present invention is provided with an electromagnetic flowmeter and a solenoid valve in the spraying device. Using multi-channel parallel control technology, it supports independent metering and dynamic mixing of multiple fertilizers at the same time, automatically calculates the optimal ratio scheme through an algorithm model, and meets the diversified nutritional needs of crops. During the operation of the fertilization robot, it receives control signals, autonomously adjusts the opening and closing of the electromagnetic valve, and controls the fertilizer solution through the electromagnetic flowmeter, thereby achieving the purpose of precise fertilization.

[0025] The intelligent control circumferential fertilization robot of the present invention designs a slip ring as the fertilizer spraying outlet and cooperates with the spraying connecting arm to achieve the purpose of circumferential spraying. It can not only accurately control the fertilizer landing point, make the fertilizer evenly cover the crops, improve the utilization rate and absorption efficiency of the fertilizer, but also effectively prevent soil nutrient imbalance, reduce the risks of soil compaction and salinization by accurately controlling the fertilization amount and distribution area, providing an innovative solution for building a green and sustainable modern agricultural fertilization mode.

[0026] The intelligent control circumferential fertilization robot of the present invention is provided with a control algorithm module, which accurately controls the positioning and navigation, identification and classification during the operation of the fertilization robot, and the real-time adjustment of the spraying scheme. The signal data is collected by the STM32 single-chip microcomputer control module and then uploaded to the user through the WIFI communication module. Through the data analysis and transmission of the control system, it can not only provide accurate fertilization mixing ratio schemes for farmers, but also provide an adequate database for smart agriculture, promoting the development of smart agriculture. Brief Description of the Drawings

[0027] Figure 1 It is a schematic three-dimensional structure diagram of the intelligent control circumferential fertilization robot of the present invention.

[0028] Figure 2 It is an enlarged schematic diagram of the mobile platform in the present invention.

[0029] Figure 3 It is an enlarged schematic diagram of the spraying device in the present invention.

[0030] As shown in the figure: 1 is the mobile platform, 2 is the precision filter, 3 is the intelligent electromagnetic flowmeter, 4 is the bracket, 5 is the mixing tank, 6 is the fertilizer barrel, 7 is the pressure piston, 8 is the conveying pipeline, 9 is the power supply device, 10 is the liquid medicine dispensing barrel, 11 is the solenoid valve, 12 is the control system device, 13 is the spraying device, 14 is the motor drive unit, 15 is the differential, 16 is the steering system, 17 is the spring shock absorber, 18 is the elastic control arm, 19 is the wheel hub, 20 is the load-carrying plate, 21 is the liquid inlet pipe orifice, 22 is the liquid outlet pipe orifice, 23 is the liquid medicine atomizing nozzle, 24 is the fertilizer atomizing nozzle, 25 is the camera, 26 is the spraying connecting arm, 27 is the rotating part, 28 is the fixed housing. Detailed Embodiments

[0031] In order to enable those skilled in the art of the present technology to better understand the solution of the present invention, the technical solution of the present invention will be further described below in conjunction with specific embodiments.

[0032] An intelligent control circumferential fertilization robot includes a mobile platform 1, a spraying device 13, a solenoid valve 11, a pressure piston 7, a camera 25, a control system 12, and a power supply device 9.

[0033] The mobile platform 1 includes a motor drive unit 14, a load-carrying plate 20, a differential 15, a transmission device, a steering system 16, a central control unit, a spring shock absorber 17, an elastic control arm 18, and a wheel hub 19. It is used to install the spraying device 13, the control system 12, and the power supply device 9, and at the same time is used to drive the operation execution of the whole machine. Through the coordinated control and precise adjustment of the steering-related components, the robot can achieve precise translational steering and zero-radius steering.

[0034] The spraying device 13 includes three fertilizer tanks 6, a mixing tank 5, a liquid medicine dispensing barrel 10, four brackets 4, four precision filters 2, a conveying pipeline 8, an intelligent electromagnetic flowmeter 3, a slip ring, a pressure atomizing nozzle, a spraying connecting support arm 26, and an electric control unit. The spraying device 13 is used to perform precise fertilization operations and is a key technical component for realizing smart agriculture.

[0035] The slip ring consists of a liquid inlet pipe orifice 21, a liquid outlet pipe orifice 22, a fixed outer shell 28, and a rotating component 27. The pressure atomizing nozzle includes a liquid medicine atomizing nozzle 23 and a fertilizer atomizing nozzle 24. The pressure atomizing nozzle is connected to the slip ring through the spraying connecting support arm 26. The overall slip ring structure is connected to the conveying pipeline 8 through the liquid inlet pipe orifice 21. A camera 25 is installed directly below the slip ring for identifying and positioning the center point of the crop and transmitting the image information of the crop.

[0036] The intelligent electromagnetic flowmeter 3 is connected to the three fertilizer tanks 6 and a mixing tank 5 through the conveying pipeline 8. Precision filters 2 and solenoid valves 11 are installed at each liquid outlet. The three fertilizer tanks 6 and a mixing tank 5 are all supported by brackets 4.

[0037] The pressure piston 7 is installed above the mixing tank 5, used to pressurize the mixing tank, stably convey the fertilizer, control the fertilizer output flow rate, and mix the liquid therein.

[0038] Usage process of the present invention: During fertilization operation, the central position of the crop is located by the camera 25, and the signal is transmitted to the control system 12. After analysis by the control system 12, an instruction is output to drive the mobile platform 1 to perform relevant operations. At the same time, the camera 25 transmits the image information of the crop to the visual recognition module, analyzes the image, combines it with the spraying device control unit, intelligently adjusts a reasonable fertilization plan, and then transmits the output signal to the spraying device 13. The opening and closing of each solenoid valve 11 are controlled by the control signal to accurately control the start / stop and flow rate of fertilizer release. It is transported to the intelligent electromagnetic flowmeter 3 through the conveying pipeline 8, and then through the conveying pipeline 8, it is mixed into the mixing tank 5. The pressurizing piston 7 pressurizes and mixes the inside of the tank, and transports the mixed liquid to the slip ring part in the spraying device 13. The control system 12 controls the rotation of the slip ring, and cooperates with the spraying connecting arm 26 and the fertilizer atomizing nozzle 24 to accurately apply the mixed fertilizer solution to the crop. At the same time, the control system 12 determines whether it is necessary to apply liquid medicine, and then precisely controls the liquid medicine atomizing nozzle 23. The fertilization robot accurately calculates the required fertilizer type and dosage through an intelligent algorithm to achieve precise variable fertilization and ensure that each crop can obtain just the right nutrient supply.

[0039] For ease of explanation, spatial relative terms such as "upper", "lower", "left", "right", etc. are used in the above embodiment descriptions to describe the positional relationship of a certain element in the figure relative to other elements. It should be understood that in addition to the orientations shown in the figure, the spatial terms are intended to include different orientations during the use or operation of the device. For example, if the device in the figure is inverted, the positional relationship originally described as being "above" or "below" other elements will be changed to "below" or "above". The device can be rotated in other ways.

[0040] It should be noted that: The above-described embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Those of ordinary skill in the art can modify the technical solutions in the foregoing embodiments without departing from the core of the present invention, and can make other different forms of changes based on the above description. However, it should be noted that any modifications, equivalent replacements, and improvements made do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and all should be included within the protection scope of the claims of the present invention.

Claims

1. An intelligent control-based surrounding fertilization robot, characterized in that: It includes a mobile platform, a spraying device, a solenoid valve, a pressurizing piston, a camera, a control system, and a power supply device; The mobile platform includes a motor drive unit, a differential, a steering system, a central control unit, a spring shock absorber, an elastic control arm, and a wheel hub; The spraying device includes a fertilizer barrel, a mixing tank, a liquid medicine dispensing barrel, a bracket, a precision filter, a conveying pipeline, an intelligent electromagnetic flowmeter, a slip ring, a pressure atomizing nozzle, a spraying connecting arm, and an electronic control unit; The solenoid valve is used to accurately control the start and stop of fertilizer release and the flow rate, so as to achieve automatic and refined fertilization and avoid dripping; The pressurizing piston is used to stably transport the fertilizer and control the output flow rate of the fertilizer; The camera is used to transmit and locate the center point of the crop and identify and determine the growth status of the crop; The control system includes an embedded industrial computer, an STM32 single-chip microcomputer, a control algorithm module, a visual sensor, a metering device, a motion drive system, and a WIFI communication module; The power supply device is used to provide a power source for each execution device of the fertilization robot.

2. The intelligent control surround-type fertilizing robot according to claim 1, wherein: The mobile platform includes a motor drive unit, a differential, a steering system, a central control unit, a spring shock absorber, an elastic control arm, and a wheel hub. The motor drive unit, the differential, the transmission device, the steering system, the spring shock absorber, the elastic control arm and the wheel hub constitute the entire mobile device platform. The central control unit is used to receive signals and transmit instructions to each actuator, and to coordinate and accurately adjust the steering-related components. During the operation of the fertilizer robot, the steering angle of each wheel is adjusted by controlling the steering motor of each wheel to independently move, so that the robot can achieve precise translational steering and zero-radius steering.

3. The intelligent regulation surround type fertilizing robot according to claim 1, wherein: The spraying device includes a fertilizer barrel, a mixing tank, a liquid medicine dispensing barrel, a bracket, a precision filter, a conveying pipeline, an intelligent electromagnetic flowmeter, a slip ring, a pressure atomizing nozzle, a spray connecting arm, and an electronic control unit. The fertilizer barrel is used for dispensing three different nutrient solutions of nitrogen, phosphorus, and potassium. The mixing tank is used for collecting the nutrient solutions and mixing them thoroughly. The liquid medicine dispensing barrel is used for loading agents for treating common diseases and insect pests. The bracket is used for supporting the fertilizer barrel and the mixing tank.

4. The intelligent regulation surround-type fertilization robot according to claim 3, characterized in that: The pressure atomizing nozzle includes a fertilizer atomizing nozzle and a liquid medicine atomizing nozzle. The fertilizer atomizing nozzle is used to spray the fertilizer mixture on the crop leaves in a circumferential manner, and the liquid medicine atomizing nozzle is used to spray the liquid medicine for treating common pests and diseases in layers accurately on the target leaf positions.

5. The intelligent control circumferential fertilization robot according to claim 3, wherein: The slip ring includes a fertilizer liquid inlet and outlet pipe, a rotating component, and a fixed shell. The liquid outlet pipe of the slip ring is connected to the pressure atomizing nozzle through a spray connecting arm, and the liquid inlet pipe is connected to a conveying pipeline. When fertilizing, the fertilizer liquid is conveyed to the pressure atomizing nozzle through the liquid inlet pipe, and cooperates with the rotating component of the slip ring to drive the spray connecting arm to rotate, so that the fertilizer liquid can be evenly applied to various parts of the crop.

6. The intelligent control circumferential fertilization robot according to claim 1, wherein: The solenoid valve is installed at the fertilizer liquid discharge port, and quickly responds to the control system command through electrical signals to accurately control the start and stop of fertilizer release. The solenoid valve drives the valve core with electromagnetic force, has strong sealing, and can effectively avoid the dripping problem caused by wear of traditional mechanical valves. Cooperating with the control system's regulation scheme, precise variable fertilization can be achieved.

7. The intelligent regulation circumferential fertilization robot according to claim 1, wherein: The pressurizing piston is installed above the mixing tank. By applying pressure, it can overcome the flow resistance of the fertilizer in the conveying pipeline, ensure the smooth outflow of the fertilizer from the outlet of the mixing tank, avoid blockage or interruption of the flow, and the pressure provided by the piston can enhance the conveying power of the fertilizer, enabling the fertilizer to accurately reach the designated position. By adjusting the pressure of the piston, the output flow rate of the fertilizer can be controlled, and cooperating with the solenoid valve to achieve more precise variable fertilization.

8. The intelligent regulation circumferential fertilization robot according to claim 3, wherein: The electromagnetic flowmeter is connected to the fertilizer tank and the mixing tank through the conveying pipeline, and is used to monitor the conveying flow rate of the fertilizer in real time and accurately, so as to realize scientific and efficient fertilization operations. The central control system compares and analyzes the real-time flow information fed back by the electromagnetic flowmeter with the preset fertilization parameters, and dynamically adjusts the opening degree of the solenoid valve, the pressure of the pressurizing piston or the rotation speed of the conveying pump to accurately control the fertilization amount per unit time and avoid problems such as insufficient or excessive fertilization.

9. The intelligent regulation circumferential fertilization robot according to claim 1, wherein: The control system includes an embedded industrial computer, an STM32 single-chip microcomputer, a control algorithm module, a vision sensor, a metering device, a motion drive system, and a WIFI communication module. The embedded industrial computer and the STM32 single-chip microcomputer are used for the control module to collect sensor data. The vision sensor is used to receive image information and perform image recognition and classification. The metering device and the motion drive system are responsible for regulating the execution device. The WIFI communication module is used to upload data to the user's intelligent device.

10. The intelligent regulation surround-type fertilization robot according to claim 9, characterized in that: The control algorithm module includes a navigation and positioning control unit, a vision recognition control unit, and a spraying device control unit. The navigation and positioning control unit is used for path recognition and planning. The vision recognition control unit is used to identify and locate the center point of the target crop, and to detect whether there are pests and diseases on the target crop in real time and adjust the spraying plan. The spraying device control unit is used to adjust the spraying outlet and the circumferential spraying rotation angle in real time.

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