Plant protection robot based on ultrasonic detection obstacle avoidance and control method

Abstract

The invention relates to the field of plant protection machinery, in particular to a plant protection robot and a control method. The plant protection robot comprises a movable chassis, and the movable chassis is provided with a rack, a pesticide box, a control box, an atomization assembly and a deformation spray rod base; the pesticide box is fixed to the rack and connected with the atomization assembly. A chassis obstacle avoidance module; the deformation spray rod assembly comprises a first deformation spray rod and a second deformation spray rod which are symmetrically installed on a deformation spray rod base, the first deformation spray rod comprises a first large arm and a first small arm which are movably connected through a first push rod, and the first large arm is connected with the deformation spray rod base through a second push rod; the second deformation spraying rod and the first deformation spraying rod are the same in structure, and crop detection ultrasonic sensors are arranged on the large arms and the small arms; the control box collects information of the chassis obstacle avoidance module and the crop detection ultrasonic sensor and sends instructions to the crawler chassis, the atomization assembly and the deformation spray rod assembly. The robot has high reliability and accurate obstacle avoidance performance.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of plant protection machinery, in particular to a plant protection robot based on ultrasonic obstacle detection and a control method. BACKGROUND

[0002] At present, plant protection work needs to rely on pre-installed machinery and manual work. Pre-installed machinery requires large initial investment, fixed planting mode, high cost and low efficiency, and cannot reduce economic cost in a short time. In the process of operation, it is difficult to differentiate the spraying of pesticides for crops of different heights and densities, and it is also difficult to effectively avoid various obstacles in the field, which not only easily causes physical damage to crops, but also causes a large amount of pesticides to drift to non-target areas, pollutes the surrounding ecological environment, and reduces the effective utilization rate of pesticides, resulting in high agricultural production cost.

[0003] Chinese patent application with publication number CN119999660A discloses an intelligent pesticide spraying robot and a control system thereof. The robot comprises a mobile chassis, a pesticide storage box fixedly connected to the top rear side of the mobile chassis, an installation table fixedly connected to the top of the mobile chassis, a conveying and pesticide spraying mechanism arranged on the top of the installation table, an installation rack fixedly connected to the top of the installation table, an adjusting mechanism arranged on the outer side of the installation rack, an installation box fixedly connected to the top front side of the mobile chassis, and the installation table is arranged between the pesticide storage box and the installation box. The system comprises a data acquisition module, a data processing unit, a pesticide spraying control unit, a navigation control unit, a servo motor control unit and an obstacle avoidance control unit. The cooperative operation of the camera, laser radar and ultrasonic sensor in the environmental perception mechanism, together with the data processing unit of the central control system, can accurately identify the crop type, growth state and detect obstacles in all directions. However, the intelligent pesticide spraying robot uses three heterogeneous sensors, the data fusion is complex, and the calculation burden is heavy. Moreover, the camera is easily affected by light, dust and weather; the laser radar may produce noise points in facility agriculture (such as greenhouse) due to transparent roof or dense crops. There may be blind spots in the sensor layout. The spraying coverage range is fixed, and it is difficult to adapt to the scene with large differences in crop height and density in facility agriculture. SUMMARY

[0004] The technical problem to be solved by the present application is to overcome the deficiencies and defects mentioned in the above background technology, and to provide a plant protection robot based on ultrasonic obstacle detection with low cost, high reliability, precise obstacle avoidance and self-adaptive spraying mode. To solve the above technical problems, the technical solution provided by the present application is: A plant protection robot based on ultrasonic obstacle detection, comprising: The mobile chassis is provided with a rack, a medicine box, a control box, an atomization assembly and a transformable spray rod base; the medicine box is fixed on the rack and connected with the atomization assembly; The chassis obstacle avoidance module comprises a plurality of obstacle avoidance ultrasonic sensors arranged in front of the rack. The transformable spray rod assembly comprises a first transformable spray rod and a second transformable spray rod symmetrically arranged on the transformable spray rod base, a water pipe arranged in the first transformable spray rod and the second transformable spray rod, and a spray head arranged on the first transformable spray rod and the second transformable spray rod and communicated with the water pipe; the first transformable spray rod comprises a first large arm and a first small arm movably connected by a first push rod, and the first large arm is connected with the transformable spray rod base by a second push rod; the second transformable spray rod comprises a second large arm and a second small arm movably connected by a third push rod, and the second large arm is connected with the transformable spray rod base by a fourth push rod; the first large arm, the first small arm, the second large arm and the second small arm are respectively provided with a first large arm crop detection ultrasonic sensor, a first small arm crop detection ultrasonic sensor, a second large arm crop detection ultrasonic sensor and a second small arm crop detection ultrasonic sensor; the detection directions of the first large arm crop detection ultrasonic sensor and the second large arm crop detection ultrasonic sensor are perpendicular to the direction of the movement of the chassis and face outward, for detecting crops on both sides; the detection directions of the first small arm crop detection ultrasonic sensor and the second small arm crop detection ultrasonic sensor are perpendicular to the first small arm and the second small arm respectively and face downward, for detecting crops below. The control box collects information of the chassis obstacle avoidance module and the crop detection ultrasonic sensor, and sends instructions to the tracked chassis, the atomization assembly and the transformable spray rod assembly.

[0005] In an embodiment, the first large arm, the first small arm, the second large arm and the second small arm are respectively provided with a first large arm obstacle avoidance ultrasonic sensor, a first small arm obstacle avoidance ultrasonic sensor, a second large arm obstacle avoidance ultrasonic sensor and a second small arm obstacle avoidance ultrasonic sensor, and the detection directions of the first large arm obstacle avoidance ultrasonic sensor, the first small arm obstacle avoidance ultrasonic sensor, the second large arm obstacle avoidance ultrasonic sensor and the second small arm obstacle avoidance ultrasonic sensor face the direction of the movement of the chassis.

[0006] In an embodiment, the first large arm crop detection ultrasonic sensor is located in the middle of the first large arm and is inclined backward relative to the first large arm, the first small arm crop detection ultrasonic sensor is located in the middle of the first small arm and is inclined forward relative to the first small arm, the second large arm crop detection ultrasonic sensor is located in the middle of the second large arm and is inclined backward relative to the second large arm, and the second small arm crop detection ultrasonic sensor is located in the middle of the second small arm and is inclined forward relative to the second small arm.

[0007] In an embodiment, the angle of inclination is 15°.

[0008] In one embodiment, the plurality of obstacle avoidance ultrasonic sensors include a left waterproof obstacle avoidance ultrasonic sensor and a right waterproof obstacle avoidance ultrasonic sensor symmetrically arranged at the front of the frame, and the mobile chassis is a tracked chassis.

[0009] In one embodiment, the atomizing assembly includes an electric diaphragm pump, which is connected to the medicine tank and the nozzles via a water pipe. The nozzles include a first main arm atomizing nozzle No. 1, a first main arm atomizing nozzle No. 2, a first small arm atomizing nozzle, a second main arm atomizing nozzle No. 1, a second main arm atomizing nozzle No. 2, and a second small arm atomizing nozzles respectively disposed on the first main arm, the first main arm atomizing nozzle No. 1, the first main arm atomizing nozzle No. 2, the first small arm atomizing nozzle, the second main arm atomizing nozzle No. 1, the second main arm atomizing nozzle No. 2, and the second small arm atomizing nozzles respectively equipped with a first main arm solenoid valve No. 1, a first main arm solenoid valve No. 2, a first small arm solenoid valve, a second main arm solenoid valve No. 1, a second main arm solenoid valve No. 2, and a second small arm solenoid valve.

[0010] In one embodiment, the angle between the first upper arm and the first lower arm is adjustable from 90 to 135°, the angle between the second upper arm and the second lower arm is adjustable from 90 to 135°, and the angle between the first upper arm and the deformable spray bar base and the angle between the second upper arm and the deformable spray bar base are adjustable from 60 to 70°.

[0011] Based on the same inventive concept, a control method for an agricultural robot based on ultrasonic detection and obstacle avoidance is also provided, including: include: The controller maneuvers the mobile chassis to move between two rows of crops; The chassis obstacle avoidance module detects the distance to obstacles in front of its corresponding tracked chassis and transmits the data to the control box. The control box controls the forward direction of the tracked chassis or stops the forward movement based on the detection results. The first, second, and third arm crop detection ultrasonic sensors detect the distance to the crops at corresponding locations and transmit the data to the control box. Based on the detection results, the control box controls the first, second, third, and fourth push rods to ensure that the distance between the nozzles of the first, second, third, and fourth arms and the crops is within the preset operating distance, thus initiating the spraying operation.

[0012] In one embodiment, when both the left and right waterproof obstacle avoidance ultrasonic sensors detect an obstacle less than 60cm away, the control box sends a control signal to the tracked chassis, and the tracked chassis stops moving forward. When the left waterproof obstacle avoidance ultrasonic sensor detects an obstacle less than 60cm away and the right waterproof obstacle avoidance ultrasonic sensor detects an obstacle greater than 60cm away, the control box sends a control signal to the tracked chassis, and the tracked chassis turns right until the left waterproof obstacle avoidance ultrasonic sensor detects an obstacle greater than 60cm away. When the right waterproof obstacle avoidance ultrasonic sensor detects an obstacle less than 60cm away and the left waterproof obstacle avoidance ultrasonic sensor detects an obstacle greater than 60cm away, the control box sends a control signal to the tracked chassis, which then turns left until the right waterproof obstacle avoidance ultrasonic sensor detects an obstacle greater than 60cm away.

[0013] In one embodiment, when the crop distance detected by the first or second forearm crop detection ultrasonic sensor is less than 20cm, the control box sends control information to the first or third push rod to raise the first or second forearm to a crop distance of 40-60cm before spraying. When the crop distance detected by the first or second forearm crop detection ultrasonic sensor is greater than 60cm but less than 90cm, the control box sends control information to the first or third push rod to lower the first or second forearm to a crop distance of 40-60cm before spraying. When the crop distance detected by the first or second forearm crop detection ultrasonic sensor is greater than 90cm, the first or second forearm remains stationary. When the crop detection ultrasonic sensor on the first or second arm detects a crop distance of less than 20cm, the control box sends control information to the second or fourth push rod, controlling the first or second arm to raise to a crop distance of 40-60cm before spraying. When the crop detection ultrasonic sensor on the first or second arm detects a crop distance of more than 60cm but less than 90cm, the control box sends control information to the second or fourth push rod, controlling the first or second arm to lower to a crop distance of 40-60cm before spraying. When the crop detection ultrasonic sensor on the first or second arm detects a crop distance of more than 90cm, the first or second arm remains stationary.

[0014] Compared with existing technologies, the beneficial effects of this invention are as follows: The above-mentioned plant protection robot based on ultrasonic detection and obstacle avoidance has the advantages of low cost and high reliability. Compared with the existing technologies that use expensive and environmentally susceptible cameras and lidar, this application uses an all-ultrasonic sensor to construct a perception matrix. Ultrasonic sensors are inexpensive, unaffected by changes in light and water vapor within the facility, and operate stably and reliably, greatly reducing system costs and maintenance difficulty. Through the adjustable spray boom, it can perform independent work on both sides. The two structures, including a large arm and a small arm, are connected by a push rod, allowing for adjustment of angle and height. Crop detection ultrasonic sensors are placed at key positions on the large and small arms of the adjustable spray boom. The robot can perceive the three-dimensional morphology of the crop canopy in real time and dynamically adjust the shape and height of the spray boom, ensuring that the atomizing nozzle always maintains the optimal working distance from the leaves. This achieves true canopy-adaptive precision spraying, significantly improving pesticide utilization. Furthermore, the adjustable spray boom can adapt to the plant protection needs of various crops, from low-growing leafy vegetables to tall fruits and vegetables, solving the pain point that general field machinery cannot operate effectively within facilities. In addition, the dual obstacle avoidance system of "chassis obstacle avoidance + spray boom obstacle avoidance" not only allows the chassis to avoid major obstacles in the field, but the spray boom itself can also sense and actively avoid supports, ropes or other crops in the facility, which greatly improves the safety and continuity of operation in complex facility environments. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of an agricultural robot based on ultrasonic detection and obstacle avoidance in one embodiment. Figure 2 This is a schematic diagram of another side of the structure of an agricultural robot based on ultrasonic detection and obstacle avoidance, according to one implementation method. Figure 3 This is a schematic diagram of another side of the structure of an agricultural robot based on ultrasonic detection and obstacle avoidance, according to one implementation method. Figure 4 This is a schematic diagram of the deformable spray bar assembly structure according to one embodiment; Figure 5 This is a structural schematic diagram of another deformation angle of the deformable spray bar assembly according to one embodiment; Figure 6 This is a schematic diagram of the structure of different ultrasonic sensor installation positions in one embodiment; Figure 7This is a structural schematic diagram from another perspective of a different ultrasonic sensor mounting position in one embodiment. Reference numerals: 1: Mobile chassis; 2: Control box; 3: Left waterproof obstacle avoidance ultrasonic sensor; 4: Right waterproof obstacle avoidance ultrasonic sensor; 5: Frame; 6: Medicine tank; 7: Deformable spray boom base; 8: Second forearm; 9: Fourth push rod; 10: Electric diaphragm pump; 11: Second push rod; 12: First forearm; 13: First forearm atomizing nozzle; 14: First forearm solenoid valve; 15: First forearm obstacle avoidance ultrasonic sensor; 16: First forearm crop detection ultrasonic sensor; 17: Second forearm crop detection ultrasonic sensor; 18: Second forearm obstacle avoidance ultrasonic sensor; 19: Second forearm solenoid valve; 20: Second forearm... 21: Third push rod; 22: Second arm obstacle avoidance ultrasonic sensor; 23: Second arm No. 1 solenoid valve; 24: Second arm No. 1 atomizing nozzle; 25: Second arm crop detection ultrasonic sensor; 26: Second arm No. 2 solenoid valve; 27: Second arm No. 2 atomizing nozzle; 28: Second arm; 29: First arm; 30: First arm No. 1 atomizing nozzle; 31: First arm No. 1 solenoid valve; 32: First arm obstacle avoidance ultrasonic sensor; 33: First arm No. 2 atomizing nozzle; 34: First arm No. 2 solenoid valve; 35: First arm crop detection ultrasonic sensor; 36: First push rod. Detailed Implementation

[0017] To facilitate understanding of the present invention, the present invention will be described more fully and in detail below with reference to the accompanying drawings and preferred embodiments, but the scope of protection of the present invention is not limited to the following specific embodiments.

[0018] Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by those skilled in the art. The technical terms used herein are for the purpose of describing particular embodiments only and are not intended to limit the scope of the invention.

[0019] Unless otherwise specified, all raw materials, reagents, instruments and equipment used in this invention can be purchased from the market or prepared by existing methods.

[0020] Please see Figures 1-7 This invention provides an agricultural robot based on ultrasonic detection and obstacle avoidance, comprising a mobile chassis 1. The mobile chassis 1 is equipped with a frame 5, a chassis obstacle avoidance module, a deformable spray boom assembly, a medicine tank 6, a control box 2, an atomizing assembly, and a deformable spray boom base 7. The medicine tank 6 is fixed to the frame 5. The chassis obstacle avoidance module includes multiple obstacle avoidance ultrasonic sensors positioned in front of the frame 5. Specifically, in one embodiment, the multiple obstacle avoidance ultrasonic sensors are a left waterproof obstacle avoidance ultrasonic sensor 3 and a right waterproof obstacle avoidance ultrasonic sensor 4 symmetrically arranged in front of the frame 5.

[0021] Specifically, in one embodiment, the deformable spray bar assembly includes a first deformable spray bar and a second deformable spray bar symmetrically mounted on a deformable spray bar base 7. Water pipes are installed inside the first and second deformable spray bars, and nozzles communicating with the water pipes are provided on both. By internally arranging the water pipes, space can be effectively utilized while reducing the restriction on the movement range of the deformable spray bars by the water pipes. Preferably, the water pipes inside the deformable spray bar assembly are silicone flexible hoses connected to each solenoid valve.

[0022] Specifically, in one embodiment, the first deformable spray bar includes a first upper arm 29 and a first lower arm 12 movably connected by a first push rod 36. The first upper arm 29 is connected to the deformable spray bar base 7 via a second push rod 11. The second deformable spray bar includes a second upper arm 28 and a second lower arm 8 movably connected by a fourth push rod 9. The second upper arm 28 is connected to the deformable spray bar base 7 via the fourth push rod. The extension and retraction of each push rod can change the included angles between the first upper arm 29 and the first lower arm 12, between the second upper arm 28 and the second lower arm 8, between the first upper arm 29 and the deformable spray bar base 7, and between the second upper arm 28 and the deformable spray bar base 7, thereby realizing the deformation of the spray bar. Preferably, each push rod is an electric push rod. The included angle between the first upper arm 29 and the first lower arm 12 is adjustable from 90-135°, and the included angles between the first upper arm 29 and the deformable spray bar base 7 and between the second upper arm 28 and the deformable spray bar base 7 are adjustable from 60-70°. The first upper arm 29, the first lower arm 12, the second upper arm 28, and the second lower arm 8 are square rods. The ultrasonic sensors for obstacle avoidance and crop detection are located on different surfaces, and their detection ranges are also different. The first upper arm 29, the first lower arm 12, the second upper arm 28, and the second lower arm 8 are respectively equipped with a first upper arm obstacle avoidance ultrasonic sensor 32, a first lower arm obstacle avoidance ultrasonic sensor 15, a second upper arm obstacle avoidance ultrasonic sensor 22, and a second lower arm obstacle avoidance ultrasonic sensor 18. The detection direction of the first upper arm obstacle avoidance ultrasonic sensor 32, the first lower arm obstacle avoidance ultrasonic sensor 15, the second upper arm obstacle avoidance ultrasonic sensor 22, and the second lower arm obstacle avoidance ultrasonic sensor 18 faces the direction of forward movement of the mobile chassis 1. When encountering obstacles, the angles between the first upper arm 29 and the first lower arm 12, the second upper arm 28 and the second lower arm 8, the first upper arm 29 and the deformable spray boom base 7, and the second upper arm 28 and the deformable spray boom base 7 can be adjusted so that the lateral extension of the first and second deformable spray booms does not exceed the width of the movable chassis 1, as long as the movable chassis 1 can avoid obstacles. The first lower arm 12 has two lugs, one end of which is connected to the first push rod 36 and the other end to the first upper arm 29, both connected by pins. The first upper arm 29 has two lugs, one end of which is connected to the second push rod 11 and the other end to the deformable spray boom base 7, both connected by pins. Similarly, the second lower arm 8 and the second upper arm 28 have similar structures, which will not be described in detail. Among them, the first upper arm obstacle avoidance ultrasonic sensor 32 and the first lower arm obstacle avoidance ultrasonic sensor 15 belong to one group, and the second upper arm obstacle avoidance ultrasonic sensor 22 and the second lower arm obstacle avoidance ultrasonic sensor 18 belong to another group. Using a set of obstacle avoidance ultrasonic waves in combination, and determining the presence of obstacles based on the detection results of the two obstacle avoidance ultrasonic waves, can improve the recognition accuracy and reduce the likelihood of false judgments.

[0023] The first upper arm 29, the first lower arm 12, the second upper arm 28, and the second lower arm 8 are respectively equipped with a first upper arm crop detection ultrasonic sensor 35, a first lower arm crop detection ultrasonic sensor 16, a second upper arm crop detection ultrasonic sensor 25, and a second lower arm crop detection ultrasonic sensor 17; the detection direction of the first upper arm crop detection ultrasonic sensor 35 and the second upper arm crop detection ultrasonic sensor 25 is perpendicular to the forward direction of the moving chassis 1 and faces outward, for detecting crops on both sides; the detection directions of the first lower arm crop detection ultrasonic sensor 16 and the second lower arm crop detection ultrasonic sensor 17 are respectively perpendicular to the forward direction of the moving chassis 1 and face outward, for detecting crops on both sides; the detection directions of the first lower arm crop detection ultrasonic sensor 16 and the second lower arm crop detection ultrasonic sensor 17 are respectively perpendicular to the forward direction of the moving chassis 1 and face outward, for detecting crops on both sides. Forearm 12 and the second forearm 8 are perpendicular and downward-facing, used to detect crops below. Preferably, in one embodiment, the first upper arm crop detection ultrasonic sensor 35 is located in the middle of the first upper arm 29 and tilted backward relative to the first upper arm 29; the first forearm crop detection ultrasonic sensor 16 is located in the middle of the first forearm 12 and tilted forward relative to the first forearm 12; the second upper arm crop detection ultrasonic sensor 25 is located in the middle of the second upper arm 28 and tilted backward relative to the second upper arm 28; and the second forearm crop detection ultrasonic sensor 17 is located in the middle of the second forearm 8 and tilted forward relative to the second forearm 8. Preferably, the tilt angle of the above-mentioned crop detection ultrasonic sensors relative to the arm structure they are located is 15°. The crop detection ultrasonic sensors of the forearm and upper arm cooperate with each other, with the forward-tilted crop detection ultrasonic sensor focusing on "prediction" and the lagging detection focusing on "verification". This hierarchical sensing strategy enables the system to better adapt to dynamically changing farmland environments, such as uneven crop growth and wind effects. At the same time, it reduces false positives and false negatives. By detecting crops from different angles and directions, the system can cross-validate data, reducing the risk of false positives or false negatives caused by a single sensor viewpoint. For example, tilting forward may detect crop stems, while tilting backward may detect fruits or leaves, providing more comprehensive crop information.

[0024] The control box 2 collects information from the chassis obstacle avoidance module, obstacle avoidance ultrasonic sensor, and crop detection ultrasonic sensor, and sends commands to the tracked chassis, atomization assembly, and deformable spray boom assembly.

[0025] In one embodiment, the control box 2 uses a microcontroller as its core controller and integrates a wireless transceiver module for receiving remote control commands. The control box 2 is connected to all ultrasonic sensors, electric actuators, solenoid valves, electric diaphragm pumps 10, and the drive unit of the mobile chassis 1 via cables. Each component transmits level signals to the control box 2, and the control box 2 issues commands after completing data acquisition.

[0026] The atomizing assembly includes an electric diaphragm pump 10, which is connected to the medicine tank 6 and the nozzles via a water pipe. The nozzles include a first main arm atomizing nozzle 30, a first main arm atomizing nozzle 33, a first lower arm atomizing nozzle 13, a second main arm atomizing nozzle 24, and a second lower arm atomizing nozzle 24, respectively mounted on the first main arm 29, the first lower arm 12, the second main arm 28, and the second lower arm 8. The main boom has a second atomizing nozzle 27 and a second auxiliary boom atomizing nozzle 20. The main boom atomizing nozzles 1-1 (30), 2-2 (33), 1-3 (13), 1-4 (24), 2-2 (27), and 2-20 are respectively equipped with a first-boom solenoid valve 31, a first-boom solenoid valve 34, a first-boom solenoid valve 14, a second-boom solenoid valve 23, a second-boom solenoid valve 26, and a second-boom solenoid valve 19. In other words, the main boom 29 and the main boom 28 have multiple atomizing nozzles, each controlled by an independent solenoid valve. This expands the spraying area and improves spraying efficiency.

[0027] The working principle of the above-mentioned plant protection robot based on ultrasonic detection and obstacle avoidance mainly includes: In the global adaptive operation mode, the operator starts the robot via remote control. Control box 2 controls the moving chassis to move forward. The chassis obstacle avoidance module continuously detects obstacles in front. If obstacles are detected within a set distance on both the left and right sides, the chassis is controlled to stop; if there is an obstacle on only one side, the chassis is controlled to turn until the distance of the obstacle on that side is greater than the set value.

[0028] Meanwhile, each crop detection ultrasonic sensor continuously and periodically detects the distance to the crop. The control logic is as follows: If the crop detection sensor on the first forearm 12 or the second forearm 8 detects that the distance is too close, it indicates that the crop is too close to the first forearm 12 or the second forearm 8. The control box 2 instructs the corresponding push rod to extend, raising the first forearm 12 or the second forearm 8 until the distance is adjusted to the ideal range. If the sensor detects that the distance is slightly far, it indicates that the crop is too short or the spray boom is too high. The control box 2 instructs the corresponding push rod to retract, lowering the forearm to the ideal range. The operation for the first main arm 29 and the second main arm 28 is similar.

[0029] Based on the same inventive concept, this invention also provides a control method for an agricultural robot based on ultrasonic obstacle avoidance detection, comprising: S10, The controller controls the mobile chassis 1 to move forward between the two rows of crops; Specifically, in one embodiment, the tracked chassis receives control commands from the control box 2 and moves forward in a straight line at a speed of 0.5 m / s.

[0030] S20. The chassis obstacle avoidance module detects the distance to obstacles in front of its corresponding tracked chassis and transmits the data to the control box 2. The control box 2 controls the forward direction of the tracked chassis or stops the forward movement based on the detection results. Specifically, S20 includes: When both the left waterproof obstacle avoidance ultrasonic sensor 3 and the right waterproof obstacle avoidance ultrasonic sensor 4 detect obstacles ahead that are less than 60cm, the control box 2 sends a control signal to the tracked chassis, and the tracked chassis stops moving forward. When the left waterproof obstacle avoidance ultrasonic sensor 3 detects an obstacle less than 60cm away and the right waterproof obstacle avoidance ultrasonic sensor 4 detects an obstacle greater than 60cm away, the control box 2 sends a control signal to the tracked chassis, and the tracked chassis performs a right turn until the left waterproof obstacle avoidance ultrasonic sensor 3 detects an obstacle greater than 60cm away. When the right waterproof obstacle avoidance ultrasonic sensor 4 detects an obstacle less than 60cm away and the left waterproof obstacle avoidance ultrasonic sensor 3 detects an obstacle more than 60cm away, the control box 2 sends a control signal to the tracked chassis, and the tracked chassis turns left until the right waterproof obstacle avoidance ultrasonic sensor 4 detects an obstacle more than 60cm away.

[0031] S30, the first upper arm crop detection ultrasonic sensor 35, the first lower arm crop detection ultrasonic sensor 16, the second upper arm crop detection ultrasonic sensor 25, and the second lower arm crop detection ultrasonic sensor 17 detect the distance to the crop at the corresponding position and transmit the data information to the control box 2. The control box 2 controls the first push rod 36, the second push rod 11, the fourth push rod 9, and the fourth push rod to move according to the detection results, so that the distance between the nozzles of the first upper arm 29, the first lower arm 12, the second upper arm 28, and the second lower arm 8 and the crop is within the preset working distance, and the spraying operation is started.

[0032] Specifically, S30 includes: When the crop distance detected by the ultrasonic sensor 16 or the ultrasonic sensor 17 of the first forearm crop detection is less than 20cm, the control box 2 sends control information to the first push rod 36 or the fourth push rod 9 to control the first forearm 12 or the second forearm 8 to rise to a crop distance of 40-60cm before spraying. When the crop distance detected by the ultrasonic sensor 16 or the ultrasonic sensor 17 of the first forearm crop detection is greater than 60cm and less than 90cm, the control box 2 sends control information to the first push rod 36 or the fourth push rod 9 to control the first forearm 12 or the second forearm 8 to descend to a crop distance of 40-60cm before spraying. When the crop distance detected by the ultrasonic sensor 16 or the ultrasonic sensor 17 of the first forearm crop detection is greater than 90cm, the first forearm 12 or the second forearm 8 remains stationary. When the crop distance detected by the ultrasonic sensor 35 on the first or second arm is less than 20cm, the control box 2 sends control information to the second push rod 11 or the fourth push rod to raise the first arm 29 or the second arm 28 to a crop distance of 40-60cm before spraying. When the crop distance detected by the ultrasonic sensor 35 on the first or second arm is greater than 60cm but less than 90cm, the control box 2 sends control information to the second push rod 11 or the fourth push rod to lower the first arm 29 or the second arm 28 to a crop distance of 40-60cm before spraying. When the crop distance detected by the ultrasonic sensor 35 on the first or second arm is greater than 90cm, the first arm 12 or the second arm 8 remains stationary.

[0033] Specifically, the first forearm crop detection ultrasonic sensor 16, the second forearm crop detection ultrasonic sensor 17, the first upper arm crop detection ultrasonic sensor 35, and the second upper arm crop detection ultrasonic sensor 25 detect the distance information from the crop every 55ms and transmit the detected crop distance information to the control box 2.

[0034] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A plant protection robot based on ultrasonic detection and obstacle avoidance, characterized in that, include: A mobile chassis, on which a frame, medicine tank, control box, atomizing assembly and deformable spray bar base are mounted; The medicine box is fixed on the frame and connected to the atomizing assembly; The chassis obstacle avoidance module includes multiple obstacle avoidance ultrasonic sensors placed at the front of the frame; A deformable spray bar assembly includes a first deformable spray bar and a second deformable spray bar symmetrically mounted on a deformable spray bar base. Water pipes are installed inside the first and second deformable spray bars, and nozzles communicating with the water pipes are provided on both. The first deformable spray bar includes a first upper arm and a first lower arm movably connected by a first push rod. The first upper arm is connected to the deformable spray bar base via a second push rod. The second deformable spray bar includes a second upper arm and a second lower arm movably connected by a third push rod. The second upper arm is connected to the deformable spray bar base via a fourth push rod. The first upper arm, first lower arm, second upper arm, and second lower arm are respectively equipped with a first upper arm crop detection ultrasonic sensor, a first lower arm crop detection ultrasonic sensor, a second upper arm crop detection ultrasonic sensor, and a second lower arm crop detection ultrasonic sensor. The detection directions of the first and second upper arm crop detection ultrasonic sensors are perpendicular to the forward direction of the moving chassis and face outwards, used to detect crops on both sides. The detection directions of the first and second lower arm crop detection ultrasonic sensors are perpendicular to the first and second lower arms and face downwards, respectively, used to detect crops below. The control box collects information from the chassis obstacle avoidance module and the crop detection ultrasonic sensor, and sends commands to the tracked chassis, atomizing assembly, and deformable spray boom assembly.

2. The plant protection robot based on ultrasonic detection and obstacle avoidance according to claim 1, characterized in that, The first upper arm, the first lower arm, the second upper arm, and the second lower arm are respectively equipped with a first upper arm obstacle avoidance ultrasonic sensor, a first lower arm obstacle avoidance ultrasonic sensor, a second upper arm obstacle avoidance ultrasonic sensor, and a second lower arm obstacle avoidance ultrasonic sensor, and the detection direction of the first upper arm obstacle avoidance ultrasonic sensor, the first lower arm obstacle avoidance ultrasonic sensor, the second upper arm obstacle avoidance ultrasonic sensor, and the second lower arm obstacle avoidance ultrasonic sensor faces the direction of the mobile chassis moving forward.

3. The plant protection robot based on ultrasonic detection and obstacle avoidance according to claim 1, characterized in that, The first upper arm crop detection ultrasonic sensor is located in the middle of the first upper arm and tilted backward relative to the first upper arm. The first lower arm crop detection ultrasonic sensor is located in the middle of the first lower arm and tilted forward relative to the first lower arm. The second upper arm crop detection ultrasonic sensor is located in the middle of the second upper arm and tilted backward relative to the second upper arm. The second lower arm crop detection ultrasonic sensor is located in the middle of the second lower arm and tilted forward relative to the second lower arm.

4. The plant protection robot based on ultrasonic detection and obstacle avoidance according to claim 3, characterized in that, The tilt angle is 15°.

5. The plant protection robot based on ultrasonic detection and obstacle avoidance according to claim 1, characterized in that, The multiple obstacle avoidance ultrasonic sensors include a left waterproof obstacle avoidance ultrasonic sensor and a right waterproof obstacle avoidance ultrasonic sensor symmetrically arranged at the front of the frame, and the mobile chassis is a tracked chassis.

6. The plant protection robot based on ultrasonic detection and obstacle avoidance according to claim 1, characterized in that, The atomizing assembly includes an electric diaphragm pump, which is connected to the medicine tank and the nozzles via a water pipe. The nozzles include a first main arm atomizing nozzle No. 1, a first main arm atomizing nozzle No. 2, a first small arm atomizing nozzle, a second main arm atomizing nozzle No. 1, a second main arm atomizing nozzle No. 2, and a second small arm atomizing nozzle respectively installed on the first main arm, the first main arm atomizing nozzle No. 1, the first main arm atomizing nozzle No. 2, the first small arm atomizing nozzle, the second main arm atomizing nozzle No. 1, the second main arm atomizing nozzle No. 2, and the second small arm atomizing nozzle respectively equipped with a first main arm solenoid valve No. 1, a first main arm solenoid valve No. 2, a first small arm solenoid valve, a second main arm solenoid valve No. 1, a second main arm solenoid valve No. 2, and a second small arm solenoid valve respectively.

7. The plant protection robot based on ultrasonic detection and obstacle avoidance according to claim 1, characterized in that, The angle between the first upper arm and the first lower arm is adjustable from 90 to 135°, the angle between the second upper arm and the second lower arm is adjustable from 90 to 135°, and the angle between the first upper arm and the deformable spray boom base and the angle between the second upper arm and the deformable spray boom base are adjustable from 60 to 70°.

8. The control method for an agricultural robot based on ultrasonic detection and obstacle avoidance according to any one of claims 1-7, characterized in that, include: The controller maneuvers the mobile chassis to move between two rows of crops; The chassis obstacle avoidance module detects the distance to obstacles in front of its corresponding tracked chassis and transmits the data to the control box. The control box controls the forward direction of the tracked chassis or stops the forward movement based on the detection results. The first, second, and third arm crop detection ultrasonic sensors detect the distance to the crops at corresponding locations and transmit the data to the control box. Based on the detection results, the control box controls the first, second, third, and fourth push rods to ensure that the distance between the nozzles of the first, second, third, and fourth arms and the crops is within the preset operating distance, thus initiating the spraying operation.

9. The control method according to claim 8, characterized in that, When both the left and right waterproof obstacle avoidance ultrasonic sensors detect an obstacle less than 60cm away, the control box sends a control signal to the tracked chassis, and the tracked chassis stops moving forward. When the left waterproof obstacle avoidance ultrasonic sensor detects an obstacle less than 60cm away and the right waterproof obstacle avoidance ultrasonic sensor detects an obstacle greater than 60cm away, the control box sends a control signal to the tracked chassis, and the tracked chassis turns right until the left waterproof obstacle avoidance ultrasonic sensor detects an obstacle greater than 60cm away. When the right waterproof obstacle avoidance ultrasonic sensor detects an obstacle less than 60cm away and the left waterproof obstacle avoidance ultrasonic sensor detects an obstacle greater than 60cm away, the control box sends a control signal to the tracked chassis, which then turns left until the right waterproof obstacle avoidance ultrasonic sensor detects an obstacle greater than 60cm away.

10. The control method according to claim 8, characterized in that, When the crop detection ultrasonic sensor on the first or second forearm detects a crop distance of less than 20cm, the control box sends control information to the first or third push rod, controlling the first or second forearm to rise to a crop distance of 40-60cm before spraying. When the crop detection ultrasonic sensor on the first or second forearm detects a crop distance of more than 60cm but less than 90cm, the control box sends control information to the first or third push rod, controlling the first or second forearm to descend to a crop distance of 40-60cm before spraying. When the crop detection ultrasonic sensor on the first or second forearm detects a crop distance of more than 90cm, the first or second forearm remains stationary. When the crop detection ultrasonic sensor on the first or second arm detects a crop distance of less than 20cm, the control box sends control information to the second or fourth push rod, controlling the first or second arm to raise to a crop distance of 40-60cm before spraying. When the crop detection ultrasonic sensor on the first or second arm detects a crop distance of more than 60cm but less than 90cm, the control box sends control information to the second or fourth push rod, controlling the first or second arm to lower to a crop distance of 40-60cm before spraying. When the crop detection ultrasonic sensor on the first or second arm detects a crop distance of more than 90cm, the first or second arm remains stationary.

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