Intelligent crawler-type double-liquid self-adaptive spraying robot

Abstract

The invention discloses an intelligent crawler-type double-liquid self-adaptive spraying robot which comprises a crawler-type self-adaptive chassis, a double-liquid spraying system and a multifunctional spraying device. The crawler-type self-adaptive chassis comprises a crawler driving wheel, a crawler buffer plate, a chassis cylindrical beam, a crawler motor, a crawler framework, a corner connector, a crawler driven wheel and a crawler; the double-liquid spraying system comprises a spraying water pipe network, a first water pipe, a first water tank, a first link rotating support, visual detection equipment, a visual equipment battery box and a visual equipment switch. The multifunctional spraying device comprises a second water tank, a second water pipe, a second linkage rotating support spraying cover and a rear end spraying net. According to the invention, through integration of visual detection and modular design, the operation efficiency and the intelligent level are significantly improved. Through the design of the crawler-type chassis, the defect that a wheeled robot is prone to slipping or overturning in a bad environment is overcome. And through the double-liquid split charging system, different liquids can be sprayed simultaneously or independently.

Description

Technical Field

[0001] This invention belongs to the technical field of agricultural machinery and automation equipment, and particularly relates to an intelligent tracked dual-liquid adaptive spraying robot. It features dual-liquid dispensing, adaptive spraying, and remote control functions. Background Technology

[0002] In agricultural production, warehousing and logistics, and municipal sanitation, spraying operations are crucial for ensuring production safety, environmental cleanliness, and facility maintenance. With the development of automation technology, various spraying robots are gradually replacing traditional manual operations, becoming key equipment for improving operational efficiency and reducing labor costs. In particular, scenarios such as pesticide spraying and orchard irrigation in agriculture, disinfection and epidemic prevention in warehousing, and road cleaning and green belt maintenance in municipal applications are placing increasingly higher demands on the adaptability, functionality, and intelligence of spraying equipment. However, existing spraying robots still face many problems that urgently need to be addressed in practical applications:

[0003] Poor terrain adaptability: Most spraying robots use a wheeled chassis design, which has high requirements for the working environment. In muddy fields and sloping orchards commonly encountered in agricultural production, or gravel roads and waterlogged areas in municipal operations, wheeled structures are prone to slipping, getting stuck, or even overturning, leading to work interruptions or equipment damage. For example, in sloping orchards with a gradient exceeding 15°, the passability of wheeled robots is less than 60%, and there are serious safety hazards.

[0004] Limited Functionality: Existing equipment mostly uses a single-tank design, capable of holding only one type of liquid for spraying. This necessitates multiple loading and unloading operations in scenarios requiring the coordinated application of multiple liquids (such as farmland management where herbicides are sprayed before nutrient solutions, or warehouse maintenance where cleaning is followed by disinfection). This not only increases the complexity of the workflow but also significantly reduces work efficiency. Data shows that the time cost for a single-liquid system to complete a two-liquid operation is 2-3 times that of an ideal system.

[0005] Insufficient intelligence: Traditional spraying robots rely heavily on manual remote control, lacking autonomous environmental perception and decision-making capabilities. During operation, manual judgment of the spraying area, adjustment of spray volume, and obstacle avoidance are required, which not only increases the labor intensity of operators but also makes it difficult to ensure the uniformity and accuracy of spraying. For example, in the control of crop diseases and pests, manually operated spraying robots often have an error of more than 30% in identifying diseased areas, leading to pesticide waste or insufficient spraying.

[0006] Poor maintainability and scalability: Existing equipment has a low degree of integration, with most components rigidly connected. Replacing or upgrading parts requires complete disassembly, making maintenance difficult. Furthermore, the lack of standardized expansion interfaces makes it difficult to add new functions (such as temperature and humidity detection, soil composition analysis, etc.) according to actual needs. The equipment also has a short technological lifespan, requiring complete replacement on average every 3-5 years. Summary of the Invention

[0007] Purpose of the Invention: Addressing the shortcomings of traditional spraying robots, such as poor adaptability to complex terrain, limited functionality, and insufficient intelligence, this invention aims to provide an intelligent tracked dual-liquid adaptive spraying robot. Through an innovatively designed tracked chassis, dual-liquid dispensing system, and intelligent control system, a comprehensive upgrade of traditional spraying robots is achieved, meeting the demands for efficient, precise, and safe operation in various scenarios. By integrating visual inspection and modular design, operational efficiency and intelligence levels are significantly improved.

[0008] Technical solution: The present invention provides an intelligent tracked dual-liquid adaptive spraying robot, including a tracked adaptive chassis, a base on the tracked adaptive chassis, a dual-liquid spraying system at the front end of the base, and a multi-functional spraying device at the rear end of the base.

[0009] The tracked adaptive chassis includes a track drive wheel, a track buffer plate, a chassis cylindrical beam, a track motor, a track frame, corner brackets, a track driven wheel, and tracks;

[0010] The track frame is fixedly connected to the chassis cylindrical beam via angle brackets to form the main frame; the track drive wheel is driven by a track motor and is linked to the track driven wheel via a chain or gear; the track buffer plate is installed at the bottom of the track frame; the track surrounds the track drive wheel and the track driven wheel, and works with the track frame to support the overall weight of the robot.

[0011] The dual-liquid spray system includes a spray water pipeline network, a No. 1 water pipe, a No. 1 water tank, a No. 1 connecting rotating support, a vision inspection device, a vision device battery box, and a vision device switch.

[0012] The spray water network is installed on the front surface of the base via a No. 1 connecting rotating support and connected to the No. 1 water tank via a No. 1 water pipe; the No. 1 water tank and the vision device battery box are installed inside the front of the base, and the vision detection device is installed on the front support of the base; the vision device battery box is equipped with a vision device switch on its surface.

[0013] The multi-functional spraying device includes a second water tank, a second water pipe, a second connecting rotating support spray cover, and a rear spray net;

[0014] The spray cover is mounted on the rear end surface of the base via a second connecting rotating support and connected to a second water tank via a second water pipe; a rear spray net is installed inside the spray cover, and the second water tank is installed inside the rear end of the base.

[0015] Furthermore, the corner bracket is fastened to the chassis cylindrical beam with bolts, and the surface of the corner bracket is provided with anti-slip texture.

[0016] Furthermore, the visual inspection device includes a camera, an image processor, and a wireless communication module; the camera of the visual inspection device is a wide-angle lens, covering a 120° field of view in front, and has a built-in infrared fill light module to support nighttime operations.

[0017] Furthermore, the spray water pipeline is equipped with adjustable nozzles, which are controlled by solenoid valves to adjust the spray flow rate and atomization degree according to instructions.

[0018] Furthermore, the second water tank is equipped with a liquid level sensor, which triggers an alarm signal when the liquid level is lower than a threshold.

[0019] Furthermore, the algorithm module of the control system includes a path planning unit, which generates obstacle avoidance paths in real time based on visual data and achieves autonomous navigation by adjusting the speed and direction of the track motor.

[0020] Furthermore, waterproof sealing rings are provided at the rotation axis of the first and second link rotating supports.

[0021] Furthermore, the surface of the track is provided with anti-slip protrusions, and the track frame is made of lightweight aluminum alloy.

[0022] Furthermore, the image processor incorporates a deep learning model to identify crop disease areas or obstacle types, and optimizes the spraying strategy accordingly.

[0023] Furthermore, the intelligent tracked dual-liquid adaptive spraying robot supports multiple mode switching, including remote manual control mode, semi-automatic auxiliary mode and fully automatic operation mode, and interacts with mobile terminals or cloud platforms through a wireless communication module.

[0024] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

[0025] Improved terrain adaptability: The tracked chassis design solves the problem of wheeled robots being prone to slipping or overturning in environments such as mud, slopes, and gravel.

[0026] Enables multi-functional operation: The dual-liquid dispensing system supports the simultaneous or independent spraying of different liquids (such as pesticides, cleaning solutions, and disinfectants) to meet the needs of multiple scenarios.

[0027] Enhanced autonomous control capabilities: Integrating visual detection and environmental perception technologies reduces human intervention and enables precise spraying, path planning, and obstacle avoidance.

[0028] Optimized maintenance and scalability: The modular design facilitates component replacement, upgrades, and functional expansion, reducing operating costs.

[0029] Tracked chassis and corner code connection technology: Through lightweight materials and anti-slip design, it balances weight and stability, breaking through the limitations of traditional wheeled structures.

[0030] Dual-liquid dispensing and intelligent switching: solves the problem of single function under multiple scenario requirements and realizes "one machine for multiple uses".

[0031] Deep integration of vision and algorithms: Integrating environmental perception, path planning and spray control into a single system to enhance autonomous decision-making capabilities.

[0032] Modular expansion interface: Reserves space for future functional upgrades and extends the technology life cycle of the equipment. Attached Figure Description

[0033] Figure 1 This is a preview of the overall structure of the present invention.

[0034] Figure 2 This is a front view of the present invention.

[0035] Figure 3 This is a bottom view of the present invention.

[0036] Figure 4 This is an exploded view of the chassis structure of the present invention.

[0037] Figure 5 This is a detailed diagram of the front spray structure of the present invention.

[0038] In the diagram, 1 is the base, 2 is the track drive wheel, 3 is the track buffer plate, 4 is the chassis cylindrical beam, 5 is the track motor, 6 is the track frame, 7 is the corner bracket, 8 is the track driven wheel, 9 is the track, 10 is the spray water pipe network, 11 is the No. 1 water pipe, 12 is the No. 1 water tank, 13 is the No. 1 connecting swivel support, 14 is the vision inspection equipment, 15 is the vision equipment battery box, 16 is the vision equipment switch, 17 is the No. 2 water tank, 18 is the No. 2 water pipe, 19 is the No. 2 connecting swivel support, 20 is the spray cover, and 21 is the rear spray net. Detailed Implementation

[0039] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0040] I. Chassis Assembly and Structural Configuration

[0041] Track skeleton and frame connection:

[0042] The lightweight aluminum alloy track frame is aligned with the chassis cylindrical beam and initially positioned using corner brackets (with anti-slip texture on the surface); high-strength bolts are used to fasten the corner brackets to the cylindrical beam to ensure the overall stability of the frame; rubber buffer plates are installed at the bottom of the frame and fixed with bolts to absorb ground impact.

[0043] Driver system installation:

[0044] The drive wheel of the track is connected to the output shaft of the high-torque track motor, and is linked to the driven wheel by means of chain or gear transmission; the drive wheel and the driven wheel are respectively installed at the front and rear ends of the frame to ensure that the track tension is moderate (which can be finely adjusted by adjusting bolts); the track surface is designed with anti-slip protrusions to enhance the grip on wet or loose ground.

[0045] Electrical wiring layout:

[0046] The motor power cable and sensor cable are routed along the inside of the chassis cylindrical beam and secured with cable ties to avoid interference with moving parts; a control box mounting position is reserved in the middle of the chassis for placing the main control circuit board and communication module.

[0047] II. Installation of the front-end spray system

[0048] Water tank and pipe connection:

[0049] The No. 1 water tank with a capacity of 30L is fixed on the front bracket of the chassis and connected to the spray water network through a high-pressure hose. The spray water network is made of stainless steel and has a fan-shaped adjustable nozzle controlled by a solenoid valve at the end (atomized particle range of 50-200μm). A sealing ring is installed at the water pipe interface to prevent liquid leakage.

[0050] Visual inspection equipment integration:

[0051] A visual inspection device is installed on the top of the bracket, including a 120° wide-angle camera, an infrared fill light, and an image processor; the camera's field of view covers a horizontal range of 120° and a vertical range of 60° in front, and the pitch angle can be adjusted by bolts; the power cord of the visual device is connected to the chassis control box, and the battery box (capacity 5000mAh) provides independent power, supporting continuous operation for 6 hours.

[0052] Rotary support adjustment:

[0053] The spray structure is connected to the chassis via a rotating support, which is equipped with a waterproof sealing ring. The rotating support can be manually or electrically driven to achieve ±90° horizontal rotation, adapting to different spraying direction requirements.

[0054] III. Back-end Spraying System Configuration

[0055] Water tank No. 2 and spraying mechanism:

[0056] The 20L No. 2 water tank is fixed to the rear end of the chassis and connected to the spray cover through an independent pipeline. The spray cover is made of ABS material and has a fan-shaped opening (opening angle of 60°) that matches the nylon mesh of the rear spray net to ensure uniform liquid diffusion. A one-way valve is installed between the spray cover and the pipeline to prevent liquid backflow.

[0057] Vertical angle adjustment:

[0058] The rear spraying structure is connected to the chassis via a rotating support, supporting vertical adjustment of ±45°; the angle is controlled by a handwheel or electric push rod, adapting to low-lying crops or high-altitude spraying scenarios.

[0059] Liquid level monitoring and alarm:

[0060] A float-type liquid level sensor is installed inside the water tank. When the liquid level is below 10%, an audible and visual alarm is triggered and a notification is sent to the control system. The alarm signal is also transmitted to a remote operation terminal (such as a mobile APP).

[0061] IV. Control System Debugging and Operation Procedures

[0062] Hardware initialization:

[0063] After power is connected, the system performs a self-check of the status of the track motor, water pump, camera, and sensors; parameters (such as spray flow rate, liquid type, and operation mode) can be set via the control box touch screen or wireless terminal.

[0064] Vision system calibration:

[0065] After the camera is started, it automatically captures environmental images and generates an initial map; a calibration board is used to correct the camera's focus and distortion to ensure image recognition accuracy.

[0066] Path planning and obstacle avoidance:

[0067] In "fully automatic mode", the vision system constructs a real-time environment map through the SLAM algorithm; the path planning unit generates the optimal path based on the target area and dynamically adjusts it to avoid obstacles (such as rocks and ditches).

[0068] Spraying mode selection:

[0069] Agricultural spraying mode: The first water tank is filled with pesticides. After the system identifies the crop rows, it automatically adjusts the nozzle direction and flow rate (0.5-3L / min).

[0070] Cleaning and disinfection mode: The second water tank is filled with cleaning solution, and the robot sprays a wide area along a preset route, with the spray cover angle fixed at a horizontal direction;

[0071] Dual-liquid mixing mode: Mix two liquids (such as 5% disinfectant + 95% water) according to a preset ratio and distribute them to the front and rear ends through independent pipelines.

[0072] V. Maintenance and Function Expansion

[0073] Routine maintenance:

[0074] Clean the nozzles and spray nets regularly to prevent clogging; check the track tension and wear of the buffer plates, and replace parts if necessary.

[0075] Modular upgrade:

[0076] By removing the rotating support bolts, a larger capacity water tank or a high-precision sensor can be quickly replaced; through the reserved RS485 or CAN interface, peripherals such as temperature and humidity sensors and gas detectors can be expanded.

[0077] Software update:

[0078] Download firmware update packages via wireless network to improve path planning algorithms or add new spraying modes (such as cyclic spraying or fixed-point quantitative spraying).

[0079] VI. Operation Example

[0080] Scene 1: Pesticide spraying in the orchard

[0081] Load 30L of pesticide into water tank number one and select "agricultural spraying mode"; the robot autonomously navigates to the orchard, and after the vision system identifies the distribution of fruit trees, it automatically adjusts the nozzle to atomize particles to 150μm; when encountering low branches, the rear spraying structure is vertically adjusted upward by 30° to avoid collision.

[0082] Scenario 2: Warehouse disinfection operation

[0083] The second water tank is filled with 20L of disinfectant, and the "cleaning and disinfection mode" is selected. The warehouse map is set on the remote terminal, and the robot sprays the disinfectant along the base of the wall. When the liquid level is below 10%, the robot automatically returns to the charging station and sends a reminder for "replenishment".

[0084] VII. Key Parameters and Performance Indicators

[0085] Components parameter Performance indicators Tracked chassis Material: Aluminum alloy; Motor power: 200W Maximum slope 30°, obstacle clearance height 15cm Water tank No. 1 Capacity: 30L; Pressure resistance: 0.5MPa Spray flow rate: 0.5-5 L / min Visual inspection equipment Camera resolution: 1080P; viewing angle: 120° Obstacle detection distance: 0.5-5m control system Processor: ARM Cortex-A53; Communication: 4G Path planning response time ≤ 0.3s

Claims

1. An intelligent tracked dual-liquid adaptive spraying robot, characterized in that, It includes a tracked adaptive chassis, on which a base (1) is provided. A dual-liquid spray system is configured at the front end of the base (1), and a multi-functional spraying device is configured at the rear end of the base (1). A control system is integrated inside the base (1). The tracked adaptive chassis includes a track drive wheel (2), a track buffer plate (3), a chassis cylindrical beam (4), a track motor (5), a track frame (6), an angle bracket (7), a track driven wheel (8), and a track (9); The track frame (6) is fixedly connected to the chassis cylindrical beam (4) by the corner bracket (7) to form the main frame; the track drive wheel (2) is driven by the track motor (5) and is linked with the track driven wheel (8) through the chain or gear; the track buffer plate (3) is installed at the bottom of the track frame (6); the track (9) is arranged around the track drive wheel (2) and the track driven wheel (8) and cooperates with the track frame (6) to support the overall weight of the robot. The dual-liquid spray system includes a spray water network (10), a first water pipe (11), a first water tank (12), a first connecting rotating support (13), a vision inspection device (14), a vision device battery box (15), and a vision device switch (16). The spray water network (10) is installed on the front surface of the base (1) via a first connecting rotating support (13) and connected to the first water tank (12) via a first water pipe (11); the first water tank (12) and the vision device battery box (15) are installed inside the front of the base (1), and the vision inspection device (14) is installed on the front support of the base (1); the vision device battery box (15) is provided with a vision device switch (16) on its surface; The multi-functional spraying device includes a second water tank (17), a second water pipe (18), a second connecting rotating support (19), a spray cover (20), and a rear spray net (21); The spray cover (20) is installed on the rear end surface of the base (1) via the second link rotating support (19) and connected to the second water tank (17) via the second water pipe (18); a rear spray net (21) is installed inside the spray cover (20), and the second water tank (17) is installed inside the rear end of the base (1).

2. The intelligent tracked dual-liquid adaptive spraying robot according to claim 1, characterized in that, The corner bracket (7) is fastened to the chassis cylindrical beam (4) by bolts, and the surface of the corner bracket (7) is provided with anti-slip texture.

3. The intelligent tracked dual-liquid adaptive spraying robot according to claim 1, characterized in that, The visual inspection device (14) includes a camera, an image processor and a wireless communication module; the camera of the visual inspection device (14) is a wide-angle lens that covers a 120° field of view in front, and has a built-in infrared fill light module to support nighttime operation.

4. The intelligent tracked dual-liquid adaptive spraying robot according to claim 1, characterized in that, The spray water network (10) is equipped with adjustable nozzles, which are controlled by solenoid valves to adjust the spray flow rate and atomization degree according to the instructions.

5. The intelligent tracked dual-liquid adaptive spraying robot according to claim 1, characterized in that, The second water tank (17) is equipped with a liquid level sensor, which triggers an alarm signal when the liquid level is lower than the threshold.

6. The intelligent tracked dual-liquid adaptive spraying robot according to claim 3, characterized in that, The algorithm module of the control system includes a path planning unit, which generates obstacle avoidance paths in real time based on visual data and achieves autonomous navigation by adjusting the speed and direction of the track motors.

7. The intelligent tracked dual-liquid adaptive spraying robot according to claim 1, characterized in that, Waterproof sealing rings are provided at the rotation axis of the first link rotating support (13) and the second link rotating support (19).

8. The intelligent tracked dual-liquid adaptive spraying robot according to claim 1, characterized in that, The surface of the track (9) is provided with anti-slip protrusions, and the track frame (6) is made of lightweight aluminum alloy.

9. The intelligent tracked dual-liquid adaptive spraying robot according to claim 3, characterized in that, The image processor has a built-in deep learning model to identify crop disease areas or obstacle types, and optimize the spraying strategy accordingly.

10. The intelligent tracked dual-liquid adaptive spraying robot according to claim 1, characterized in that, The intelligent tracked dual-liquid adaptive spraying robot supports multiple mode switching, including remote manual control mode, semi-automatic auxiliary mode and fully automatic operation mode, and interacts with mobile terminals or cloud platforms through a wireless communication module.

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