Automatic pesticide spraying robot and automatic pesticide spraying system for greenhouse

Abstract

The application provides an automatic pesticide spraying robot and an automatic pesticide spraying system for a greenhouse, and relates to the technical field of plant protection and pesticide spraying. The automatic pesticide spraying robot for the greenhouse comprises a vehicle body and a walking assembly. The walking assembly comprises a driving wheel, a ground universal wheel and a track supporting wheel. The driving wheel is arranged at the bottom of the vehicle body and has a first wheel surface and a second wheel surface along the axial direction thereof. The radius of the first wheel surface is greater than that of the second wheel surface, and the difference between the two is equal to the height of the upper end of the track relative to the ground. The ground universal wheel is arranged at the bottom of the vehicle body. The track supporting wheel is arranged at the bottom of the vehicle body and is located between the driving wheel and the ground universal wheel along the advancing direction of the vehicle body. The height of the tangent plane of the lower end of the track supporting wheel is greater than that of the ground universal wheel, and the difference between the two is equal to the height of the upper end of the track relative to the ground. The application can improve the efficiency of pesticide spraying operation.

Description

Technical Field

[0001] This invention relates to the field of plant protection spraying technology, and more specifically, to an automatic spraying robot and an automatic spraying system for greenhouses. Background Technology

[0002] Currently, in order to reduce the safety hazards caused by workers being in the closed environment of a greenhouse for a long time when carrying out pesticide spraying operations, automatic spraying equipment is often used to achieve automated spraying operations.

[0003] However, in related technologies, in order to facilitate the movement of automatic spraying equipment, greenhouses often have tracks that are higher than the ground for each row of crops. This means that during spraying operations, it is necessary to manually move the equipment from one row of tracks to the next row of tracks frequently, which affects the efficiency of the operation. Summary of the Invention

[0004] The problem this invention addresses is: how to improve the efficiency of pesticide spraying operations.

[0005] To address the above problems, this invention provides an automatic spraying robot and an automatic spraying system for greenhouses.

[0006] In a first aspect, the present invention provides an automatic spraying robot for greenhouses, comprising a vehicle body and a walking assembly; the walking assembly includes a drive wheel, a ground omnidirectional wheel, and a rail support wheel. The drive wheel is located at the bottom of the vehicle body and has a first wheel surface and a second wheel surface along its axial direction. The radius of the first wheel surface is greater than the radius of the second wheel surface, and the difference between the two is equal to the height of the upper end of the rail relative to the ground. The ground omnidirectional wheel is located at the bottom of the vehicle body. The rail support wheel is located at the bottom of the vehicle body and is positioned between the drive wheel and the ground omnidirectional wheel along the traveling direction of the vehicle body. The height of the tangent plane at the lower end of the rail support wheel is greater than the height of the tangent plane at the lower end of the ground omnidirectional wheel, and the difference between the two is equal to the height of the upper end of the rail relative to the ground.

[0007] Optionally, the drive wheel, the rail support wheel, and the ground omnidirectional wheel are spaced apart along the length of the vehicle body, and the ground omnidirectional wheel is aligned with the first wheel face and the rail support wheel is aligned with the second wheel face along the length of the vehicle body.

[0008] Optionally, the bottom of the vehicle body is provided with a connecting shaft extending along its width direction, and the two ends of the connecting shaft are respectively provided with rail support wheels. The distance between the rail support wheels at both ends of the connecting shaft is adapted to the width of the track, and on the connecting shaft, each rail support wheel has a flange at its outer end away from the other rail support wheel.

[0009] Optionally, the system further includes a visual navigation component and a controller. The visual navigation component is located at the bottom of the vehicle body, and the controller is electrically connected to both the drive wheel and the visual navigation component. The controller is used for: Receive track image information acquired by the visual navigation component; The drive wheel is controlled to adjust its posture according to the track image information so that the centerline of the walking component coincides with the centerline of the track. Receive the landmark information acquired by the visual navigation component; The drive wheel is controlled to move according to the landmark information, so that the track support wheel and the second wheel surface move sequentially onto the track.

[0010] Optionally, it also includes a spraying assembly, the controller being connected to the spraying assembly, the controller further being configured to: Obtain pesticide application instructions from the scheduling system; The driving wheels are controlled to move according to the spraying command, and the spraying assembly is controlled to perform the spraying operation.

[0011] Optionally, the spraying assembly is equipped with a flow meter; the controller is further configured to: During the spraying operation, the flow rate information collected by the flow meter is acquired. The rotational speed of the drive wheel is adjusted based on the flow rate information.

[0012] Secondly, the present invention provides an automatic pesticide application system for greenhouses, including an automatic pesticide application machine and an automatic pesticide application robot for greenhouses as described above, wherein the automatic pesticide application robot is used to detachably dock with the automatic pesticide application machine.

[0013] Optionally, the automatic dosing machine includes a frame, a dosing tank, a dosing assembly, and an electric cylinder; the dosing tank is disposed on the frame; the dosing assembly is rotatably disposed on the frame and communicates with the dosing tank; the electric cylinder is connected between the frame and the dosing assembly, and is used to drive the dosing assembly to rotate relative to the frame so that the dosing head of the dosing assembly is inserted downward or removed upward from the dosing port of the automatic spraying robot.

[0014] Optionally, the dispensing assembly is provided with a detection rod and a proximity switch. The detection rod is arranged side by side with the dispensing head and is telescopic along its own length. The detection rod is used to abut against the top of the automatic spraying robot and be gradually compressed during the process of the dispensing head being inserted into the dispensing port. The proximity switch is arranged near the upper end of the detection rod and is used to generate a detection signal when the distance between the proximity switch and the lower end of the detection rod is less than a preset value.

[0015] Optionally, the automatic dosing machine further includes a stirring pump, a liquid dosing pump, a solenoid valve, and a valve assembly; the stirring pump is mounted on the frame and communicates with the dosing tank, and is used to provide stirring power for the liquid dosing tank; the liquid dosing pump is mounted on the frame; the two ends of the solenoid valve are respectively connected to the dosing assembly and the liquid dosing pump; the valve assembly is respectively connected to the liquid dosing pump, the dosing tank, and an external water source, and the valve assembly has a first state, a second state, and a third state. In the first state, the liquid dosing pump is connected to the dosing tank through the valve assembly; in the second state, the liquid dosing pump is connected to the external water source through the valve assembly; and in the third state, the dosing tank is connected to the external water source through the valve assembly.

[0016] The beneficial effects of the automatic spraying robot for greenhouses of the present invention are as follows: By making the drive wheel have a first wheel surface and a second wheel surface, the radius of the first wheel surface is greater than the radius of the second wheel surface, and the difference between the two is equal to the height of the upper end of the track relative to the ground. At the same time, the height of the tangent plane of the lower end of the track support wheel is greater than the height of the tangent plane of the lower end of the ground universal wheel, and the difference between the two is equal to the height of the upper end of the track relative to the ground. In this way, the first wheel surface and the ground universal wheel can be used to contact the ground together to achieve walking on the ground, and the second wheel surface and the track support wheel can be used to contact the upper end of the track together to achieve walking on the track. When it is necessary to switch from walking on the ground to walking on the track, the first wheel surface and the ground universal wheel roll along the ground and toward the track, so that the track support wheel and the second wheel surface can sequentially walk onto the track to complete the upper track. The reverse is also true for the lower track. This makes it easy for the automatic spraying robot to move between tracks of different rows by itself without frequent human intervention, thereby improving the efficiency of spraying operations.

[0017] The beneficial effects of the automatic pesticide application system for greenhouses of the present invention are as follows: the automatic pesticide application machine can automatically apply pesticides to the automatic pesticide application robot, which effectively reduces manpower compared to the traditional manual method of applying pesticides and water by hand. This improves the efficiency of plant protection operations and increases the safety of operators. Furthermore, by configuring the automatic pesticide application robot and the automatic pesticide application machine in a detachable docking configuration, the automatic pesticide application robot can detach from the automatic pesticide application machine after application to allow the next automatic pesticide application robot to perform its operation. In other words, the automatic pesticide application machine can apply pesticides to multiple automatic pesticide application robots without the need for a separate automatic pesticide application machine for each robot, thus reducing the number of automatic pesticide application machines required and consequently lowering costs. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the automatic spraying robot according to an embodiment of the present invention; Figure 2This is a schematic diagram of the bottom structure of the automatic spraying robot according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the automatic spraying robot's movement according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the installation of the drive wheels of the automatic spraying robot according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the automatic pesticide application system according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the automatic dosing machine according to an embodiment of the present invention; Figure 7 for Figure 6 Enlarged schematic diagram of part A of the automatic dosing machine.

[0019] Explanation of reference numerals in the attached figures: 10. Automated spraying robot; 11. Vehicle body; 111. Connecting shaft; 112. Spring; 113. Suspension bracket; 12. Walking assembly; 121. Drive wheel; 1211. First wheel surface; 1212. Second wheel surface; 122. Ground caster wheel; 123. Rail support wheel; 1231. Flange; 13. Visual navigation assembly; 14. Spraying assembly; 141. Spraying tank; 1411. Connecting bracket; 1412. Liquid level. Sensor; 1413, filling port; 142, spray bar; 20, track; 30, ground; 40, automatic dosing machine; 41, frame; 42, dosing tank; 421, level gauge; 43, dosing assembly; 431, swing arm; 4311, photoelectric switch; 432, dosing pipeline; 4321, dosing head; 44, electric cylinder; 45, stirring pump; 46, liquid pump; 47, detection rod; 48, proximity switch; 49, control device. Detailed Implementation

[0020] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0021] In the attached figures, the X-axis represents the front-to-back position, with the positive direction of the X-axis representing the front and the negative direction representing the rear. The Y-axis represents the left-to-right position, with the positive direction representing the left and the negative direction representing the right. The Z-axis represents the up-down position, with the positive direction representing the top and the negative direction representing the bottom. It should be noted that the aforementioned representations of the X, Y, and Z axes are for ease of description and simplification of the invention, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0022] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0023] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0024] This invention provides an automatic spraying robot and an automatic spraying system for greenhouses, which will be described in detail below with reference to specific embodiments.

[0025] like Figures 1 to 3 As shown in the figure, an automatic spraying robot 10 for greenhouses provided by an embodiment of the present invention includes a vehicle body 11 and a walking component 12. The walking component 12 includes a drive wheel 121, a ground universal wheel 122, and a rail support wheel 123. The drive wheel 121 is located at the bottom of the vehicle body 11 and has a first wheel surface 1211 and a second wheel surface 1212 along its axial direction. The radius of the first wheel surface 1211 is greater than the radius of the second wheel surface 1212, and the difference between the two is equal to the height of the upper end of the track 20 relative to the ground 30. The ground universal wheel 122 is located at the bottom of the vehicle body 11. The rail support wheel 123 is located at the bottom of the vehicle body 11 and is positioned between the drive wheel 121 and the ground universal wheel 122 along the traveling direction of the vehicle body 11. The height of the tangent plane at the lower end of the rail support wheel 123 is greater than the height of the tangent plane at the lower end of the ground universal wheel 122, and the difference between the two is equal to the height of the upper end of the track 20 relative to the ground 30.

[0026] The drive wheel 121 acts as the active wheel. When the drive wheel 121 rotates, it drives the vehicle body 11 to move on the ground 30 or the track 20, thereby causing the ground omnidirectional wheel 122 to roll relative to the ground 30 or the track support wheel 123 to roll relative to the track 20. Furthermore, the ground omnidirectional wheel 122 and the track support wheel 123 are used to ensure the automatic spraying robot 10 can move stably on the ground 30 and the track 20, respectively. Therefore, multiple of both are generally provided under the vehicle body 11, for example, four in each case arranged in a quadrilateral shape. The tangent plane refers to the horizontal plane tangent to the lower end of the corresponding wheel.

[0027] For the ground 30 of the greenhouse, specifically, a long, recessed groove is formed on the ground 30 to serve as a cultivation area for crops. Multiple rows of crops can be cultivated in the cultivation area. Each row of crops is spaced apart along the length of the long groove and extends along the width of the long groove. Each row of crops is provided with a track 20 above it. Each track 20 is erected above the long groove and its two ends are supported on the ground at both ends of the width of the long groove.

[0028] Specifically, since the difference between the height of the tangent plane at the lower end of the track-mounted support wheel 123 and the height of the tangent plane at the lower end of the ground omnidirectional wheel 122 is equal to the height of the upper end of the track 20 relative to the ground 30, when the lower end of the ground omnidirectional wheel 122 contacts the ground 30, the lower end of the track-mounted support wheel 123 is approximately aligned with the height of the upper end of the track 20. Therefore, after the automatic spraying robot 10 moves close to the end of the track 20, the track-mounted support wheel 123 can naturally contact the upper end of the track 20 and bear the load. Similarly, the track-mounted support wheel 123... The difference between the height of the lower end of the tangent plane of 23 and the height of the lower end of the tangent plane of the ground universal wheel 122 is equal to the height of the upper end of the track 20 relative to the ground 30. Therefore, when the first wheel surface 1211 of the drive wheel 121 rolls on the ground 30, the lower end of the second wheel surface 1212 of the drive wheel 121 is roughly aligned with the upper end of the track 20. After the first wheel surface 1211 rolls on the ground 30 and approaches the end of the track 20, the second wheel surface 1212 of the drive wheel 121 can naturally contact the upper end of the track 20 and bear the force.

[0029] Specifically, the tangent plane at the lower end of the ground omnidirectional wheel 122 can be coplanar with the tangent plane at the lower end of the first wheel surface 1211, so that the first wheel surface 1211 can roll on the ground 30 and simultaneously carry the ground omnidirectional wheel 122 to roll on the ground 30; the tangent plane at the lower end of the rail support wheel 123 can be coplanar with the tangent plane at the lower end of the second wheel surface 1212, so that the second wheel surface 1212 can roll on the rail 20 and simultaneously carry the rail support wheel 123 to roll on the rail 20.

[0030] When the automatic spraying robot 10 needs to switch from walking on the ground 30 to walking on the track 20, the drive wheel 121 rotates, causing the front and rear omnidirectional wheels 122 to roll on the ground 30 until the front track support wheel 123 contacts the upper end of the track 20 and bears the load; it continues to move forward until the front omnidirectional wheel 122 is lifted off the ground 30 and suspended in the air (the omnidirectional wheel 122 is above the elongated groove). At this time, the front track support wheel 123 rolls on the track 20, while the first wheel surface 1211 of the drive wheel 121 and the rear omnidirectional wheel 122 are still rolling on the ground 30; it continues to move forward until the second wheel surface 1211 of the drive wheel 121... After 212 contacts the upper end of the track 20, it bears the force and the drive wheel 121 is lifted off the ground 30 and suspended in the air (the first wheel surface 1211 is above the elongated groove). At this time, the front track support wheel 123 and the drive wheel 121 are rolling on the track 20, while the rear ground universal wheel 122 is still rolling on the ground 30. Continuing to move forward, the rear track support wheel 123 will contact the upper end of the track 20, and the rear ground universal wheel 122 will be lifted off the ground 30 and suspended in the air. At this time, the drive wheel 121 rotates and will cause the front and rear track support wheels 123 to roll on the track 20, realizing the automatic spraying robot 10 to switch from walking on the ground 30 to walking on the track 20.

[0031] In this embodiment, by making the drive wheel 121 have a first wheel surface 1211 and a second wheel surface 1212, the radius of the first wheel surface 1211 is greater than the radius of the second wheel surface 1212, and the difference between the two is equal to the height of the upper end of the track 20 relative to the ground 30. Simultaneously, the height of the tangent plane at the lower end of the track support wheel 123 is greater than the height of the tangent plane at the lower end of the ground omnidirectional wheel 122, and the difference between the two is equal to the height of the upper end of the track 20 relative to the ground 30. Thus, the first wheel surface 1211 and the ground omnidirectional wheel 122 can be used to jointly contact the ground 30 to achieve movement on the ground 30. The second wheel surface 1212 and the rail support wheel 123 can be used to contact the upper end of the rail 20 together to achieve walking on the rail 20. When it is necessary to switch from walking on the ground 30 to walking on the rail 20, the first wheel surface 1211 and the ground universal wheel 122 roll along the ground 30 and toward the rail 20, so that the rail support wheel 123 and the second wheel surface 1212 can sequentially walk onto the rail 20 to complete the upper rail. The reverse is also true for the lower rail. This makes it easy for the automatic spraying robot 10 to move between the rails 20 of different rows on its own without frequent human intervention, thereby improving the efficiency of spraying operations.

[0032] Optionally, such as Figure 2As shown, the drive wheel 121, the rail support wheel 123, and the ground omnidirectional wheel 122 are spaced apart along the length of the vehicle body 11. In the length of the vehicle body 11, the ground omnidirectional wheel 122 is aligned with the first wheel surface 1211, and the rail support wheel 123 is aligned with the second wheel surface 1212.

[0033] It should be noted that the vehicle's direction of travel is its length direction; that is, the vehicle typically travels along its length, and the axles of the drive wheels 121, rail support wheels 123, etc., extend along the width direction of the vehicle. The vehicle body 11 may have a vertical plane perpendicular to its length direction. Regarding the statement "the ground omnidirectional wheel 122 is aligned with the first wheel surface 1211," it means that the projection of the ground omnidirectional wheel 122's wheel surface in the vertical plane coincides with the projection of the first wheel surface 1211 in the vertical plane. This means that the projection of the wheel surface of the ground omnidirectional wheel 122 in the vertical plane is offset from the projection of the second wheel surface 1212 in the vertical plane; as for "the rail support wheel 123 is aligned with the second wheel surface 1212", it means that the projection of the wheel surface of the rail support wheel 123 in the vertical plane coincides with the projection of the second wheel surface 1212 in the vertical plane, which means that the projection of the wheel surface of the rail support wheel 123 in the vertical plane is offset from the projection of the first wheel surface 1211 in the vertical plane.

[0034] In this optional embodiment, along the length of the vehicle body 11, the ground omnidirectional wheel 122 is aligned with the first wheel surface 1211, and the rail support wheel 123 is aligned with the second wheel surface 1212. This ensures that the wheel surface of the rail support wheel 123 is only on the same line as the second wheel surface 1212, thereby preventing the first wheel surface 1211 from following the rail support wheel 123 onto the track 20 and causing the spraying robot to tip over.

[0035] It should be noted that the specific number of drive wheels 121, ground casters 122, and rail support wheels 123 is not limited. For example, refer to... Figure 2 Taking the example of four ground casters 122, two drive wheels 121, and four rail support wheels 123, the four ground casters 122 are located at the four corners of the bottom of the vehicle body 11, the two drive wheels 121 are located in the middle of the bottom of the vehicle body 11 along the length direction and are located between the two ground casters 122, and the four rail support wheels 123 are located between the ground casters 122 and the drive wheels 121. In this way, the stability of the automatic spraying robot 10 during the walking process can be improved.

[0036] Optionally, such as Figure 2As shown, the bottom of the vehicle body 11 is provided with a connecting shaft 111 extending along its width direction. The two ends of the connecting shaft 111 are respectively provided with rail support wheels 123. The distance between the rail support wheels 123 at both ends of the connecting shaft 111 is adapted to the width of the track 20. On the connecting shaft 111, each rail support wheel 123 has a flange 1231 at its outer end away from the other rail support wheel 123.

[0037] The width of track 20 is the distance between the two track beams in track 20.

[0038] In this optional embodiment, since the track 20 typically includes two parallel track beams, the spacing between the track support wheels 123 at both ends of the connecting shaft 111 is adapted to the width of the track 20. This ensures that the two track support wheels 123 correspondingly walk on the two track beams, thereby achieving more stable support and facilitating the movement of the automatic spraying robot 10 on the track 20. Furthermore, a flange 1231 is provided at the outer end of each track support wheel 123 away from the other track support wheel 123. Each flange 1231 is used to mutually limit the movement with the outer side of the corresponding track, serving a guiding function to ensure that the walking component 12 travels in a straight line along the track 20, preventing skewing and derailment.

[0039] Furthermore, such as Figure 4 As shown, a vertically arranged spring 112 is provided at the bottom of the vehicle body 11. The lower end of the spring 112 is connected to the suspension bracket 113, and the drive wheel 121 is mounted on the suspension bracket 113. This design allows the automatic spraying robot 10 to withstand uneven ground 30 or non-straight track 20 during its movement. The spring 112 can resist the suspension bracket 113 through elastic deformation to ensure that the drive wheel 121 is always in contact with the ground 30 or track 20. This effectively avoids the shaking of the machine body caused by bumps, thereby ensuring the uniformity of the spraying operation.

[0040] Optionally, such as Figure 2 As shown, the automatic spraying robot 10 for greenhouses also includes a visual navigation component 13 and a controller. The visual navigation component 13 is located at the bottom of the vehicle body 11. The controller is electrically connected to the drive wheel 121 and the visual navigation component 13. The controller is used to: receive track image information acquired by the visual navigation component 13; control the drive wheel 121 to adjust its posture according to the track image information so that the centerline of the walking component 12 coincides with the centerline of the track 20; receive landmark information acquired by the visual navigation component 13; and control the drive wheel 121 to move according to the landmark information so that the track support wheel 123 and the second wheel surface 1212 move sequentially onto the track 20.

[0041] It should be noted that the centerline of the traveling component 12 is the centerline of the traveling component 12 perpendicular to the width direction, and the centerline of the track 20 is the centerline of the track 20 perpendicular to the width direction.

[0042] Specifically, the visual navigation component 13 can be a camera. The visual navigation component 13 can take pictures of the track 20 to obtain track image information, or take pictures of landmarks to obtain landmark information. Landmarks are markers affixed to the ground 30, including preset markers such as navigation color strips and positioning QR codes. The controller can determine the relative position of the centerline of the walking component 12 and the centerline of the track 20 based on the track image information, and then control the drive wheel 121 to adjust its posture based on this relative position. The controller can determine the current position of the automatic spraying robot 10 based on the landmark information, and then control the drive wheel 121 to move based on this current position. Specifically, the current position determines the distance that the track support wheel 123 and the second wheel surface 1212 need to travel when they walk onto the track 20. Based on this distance, the controller controls the drive wheel 121 to rotate accordingly, so that the track support wheel 123 and the second wheel surface 1212 sequentially walk onto the track 20.

[0043] There can be two drive wheels 121. It can be understood that when the controller controls the two drive wheels 121 to run at different speeds, it can drive the automatic spraying robot 10 to change direction and achieve posture adjustment; when the controller controls the two drive wheels 121 to run at the same speed, it can drive the automatic spraying robot 10 to travel in a straight line and achieve movement.

[0044] In this optional embodiment, when the automatic spraying robot 10 needs to be transferred from the ground 30 to the track 20, the controller can first control the drive wheel 121 to adjust its posture according to the track image information so that the center line of the walking component 12 coincides with the center line of the track 20. Then, the controller controls the drive wheel 121 to move according to the landmark information so that the track support wheel 123 and the second wheel surface 1212 move onto the track 20 in sequence, thus completing the track mounting process. The track mounting process relies on the automatic control of the controller and does not require manual intervention, which effectively improves the efficiency of spraying operations.

[0045] Optionally, such as Figure 1 and Figure 2 As shown, the automatic spraying robot 10 for greenhouses also includes a spraying assembly 14. The controller is connected to the spraying assembly 14 and is further configured to: acquire spraying instructions from the scheduling system; control the drive wheel 121 to move according to the spraying instructions and control the spraying assembly 14 to perform spraying operations.

[0046] Specifically, after the track support wheel 123 and the second wheel surface 1212 have moved onto the track 20 in sequence, if it is necessary to spray pesticides on crops, the staff can send a pesticide spraying command to the controller through the dispatch system, and then the controller can obtain the pesticide spraying command. The specific process of the controller controlling the movement and spraying operation can be as follows: The controller first sends a first walking command to the drive wheel 121 according to the spraying command, so that the drive wheel 121 moves to the first position. That is, when the automatic spraying robot 10 moves, when the visual navigation component 13 recognizes the landmark information of the first position, it can be determined that the automatic spraying robot 10 has moved to the first position. The controller then sends a second walking command to the drive wheel 121 and simultaneously sends a spraying command to the spraying component 14 to start the spraying operation, so that the drive wheel 121 moves to the second position. That is, when the automatic spraying robot 10 moves, when the visual navigation component 13 recognizes the landmark information of the second position, it can be determined that the automatic spraying robot 10 has moved to the second position, and finally completes the spraying operation from the first position as the starting position to the second position as the ending position.

[0047] In this optional embodiment, the controller can control the drive wheel 121 to move and control the spraying assembly 14 to perform spraying operations according to the spraying command, so as to realize automatic spraying while moving, thereby improving the efficiency of spraying operations.

[0048] Furthermore, such as Figure 1 and Figure 2 As shown, the spraying assembly 14 includes a spray tank 141 and a spray bar 142. A connecting bracket 1411 is installed on the spray tank 141, and the spray bar 142 is installed on the connecting bracket 1411 and connected to the spray tank 141 through a pipeline. Thus, the pesticide solution in the spray tank 141 can be sprayed out through the spray bar 142 to achieve pesticide spraying. In addition, a nozzle can be installed in the nozzle of the spray bar 142 to atomize the pesticide solution and improve the uniformity of spraying. Furthermore, a water pump can be installed on the pipeline to provide power for pesticide spraying; valves can also be installed on the pipeline to control the on / off state of the pipeline. Meanwhile, a liquid level sensor 1412 can be installed on the top of the spray tank 141 to detect the real-time remaining amount of pesticide solution in the spray tank 141; the top of the spray tank 141 can also have a filling port 1413 for adding pesticide solution.

[0049] Optionally, the spraying assembly 14 is provided with a flow meter; the controller is also used to: acquire the flow information collected by the flow meter during the spraying operation of the spraying assembly 14; and adjust the rotational speed of the drive wheel 121 according to the flow information.

[0050] Specifically, a flow meter can be installed in the pipeline between the spray tank 141 and the spray bar 142 to detect the real-time flow rate in the pipeline.

[0051] In this optional embodiment, the controller can adjust the rotation speed of the drive wheel 121 according to the flow information collected by the flow meter, so as to adjust the rotation speed of the drive wheel 121 to match the water flow rate of the spraying assembly 14, thereby improving the consistency of the area spraying density.

[0052] Furthermore, adjusting the rotational speed of the drive wheel 121 based on the flow rate information specifically includes: increasing the rotational speed of the drive wheel 121 when the flow rate is greater than the target value; and decreasing the rotational speed of the drive wheel 121 when the flow rate is less than the target value. This effectively improves the consistency of the area spraying density.

[0053] like Figure 5 As shown in the figure, an automatic pesticide application system for greenhouses provided by an embodiment of the present invention includes an automatic pesticide application machine 40 and an automatic pesticide application robot 10 for greenhouses as described above. The automatic pesticide application robot 10 is used to detachably dock with the automatic pesticide application machine 40.

[0054] In this embodiment, the automatic pesticide dispenser 40 can automatically dispense pesticides for the automatic spraying robot 10. Compared with the traditional manual method of dispensing pesticides and water by hand, this effectively reduces manpower, improves the efficiency of plant protection operations, and increases the safety of operators. Furthermore, the automatic spraying robot 10 and the automatic pesticide dispenser 40 are configured to be detachably connected. This allows the automatic spraying robot 10 to detach from the automatic pesticide dispenser 40 after dispensing, enabling the next automatic spraying robot 10 to dispense pesticides. In other words, the automatic pesticide dispenser 40 can dispense pesticides for multiple automatic spraying robots 10 without requiring a separate automatic pesticide dispenser 40 for each robot 10, thus reducing the number of automatic pesticide dispensers 40 and lowering costs.

[0055] It should also be noted that when the automatic dosing machine 40 is dosing pesticides for multiple automatic spraying robots 10, the dosing time of each automatic spraying robot 10 can be controlled by the scheduling system to stagger the dosing times of each machine and avoid congestion; when multiple automatic spraying robots 10 are spraying pesticides at the same time, the operation route of each automatic spraying robot 10 can be controlled by the scheduling system to ensure that each automatic spraying robot 10 operates along the optimal operation route (such as multiple automatic spraying robots 10 working in a queue and side by side) to achieve the best operation efficiency.

[0056] Optionally, such as Figure 6As shown, the automatic dosing machine 40 includes a frame 41, a dosing tank 42, a dosing assembly 43, and an electric cylinder 44; the dosing tank 42 is disposed on the frame 41; the dosing assembly 43 is rotatably disposed on the frame 41 and communicates with the dosing tank 42; the electric cylinder 44 is connected between the frame 41 and the dosing assembly 43, and is used to drive the dosing assembly 43 to rotate relative to the frame 41 so that the dosing head 4321 of the dosing assembly 43 is inserted downward or removed upward from the dosing port 1413 of the automatic spraying robot 10.

[0057] Specifically, when it is necessary to add pesticide to the automatic spraying robot 10, after the automatic spraying robot 10 moves in front of the automatic pesticide dispenser 40, the electric cylinder 44 is activated to make the dispensing component 43 rotate and drive the dispensing head 4321 to swing downward, thereby making the dispensing head 4321 insert downward into the dispensing port 1413 of the automatic spraying robot 10. Then the dispensing component 43 adds pesticide liquid into the automatic spraying robot 10, thereby completing the pesticide addition.

[0058] The electric cylinder 44, during its extension and retraction, can rotate the dispensing assembly 43 relative to the frame 41, thereby causing the dispensing head 4321 to insert downwards or exit upwards from the dispensing port 1413 of the automatic spraying robot 10. It is understood that, since the dispensing port 1413 is typically large, even if the path of the dispensing head 4321 following the movement of the electric cylinder 44 is an arc-shaped path, it will not affect the normal insertion of the dispensing head 4321 into the dispensing port 1413.

[0059] In this optional embodiment, the electric cylinder 44 can drive the filling component 43 to rotate relative to the frame 41 so that the filling head 4321 of the filling component 43 is inserted downward or removed upward from the filling port 1413 of the automatic spraying robot 10. That is, the filling component 43 achieves detachable docking with the filling port 1413 by swinging. Compared with the filling component 43 achieving detachable docking with the filling port 1413 by vertical lifting, the height space required for the filling component 43 during the operation can be reduced, which is more conducive to the application of this automatic spraying system in greenhouses with limited height.

[0060] Furthermore, such as Figure 6 As shown, the dispensing assembly 43 includes a swing arm 431 and a dispensing pipe 432. One end of the swing arm 431 is rotatably connected to the frame 41. The dispensing pipe 432 is disposed on the swing arm 431 and extends along the length of the swing arm 431. The end of the dispensing pipe 432 away from the frame 41 is bent downward to form a dispensing head 4321. One end of the electric cylinder 44 is hinged to the swing arm 431, and the other end is hinged to the frame 41. Thus, when the electric cylinder 44 extends and retracts, it can swing the swing arm 431 up and down to drive the dispensing head 4321 to insert downward or exit upward from the dispensing port 1413 of the automatic spraying robot 10.

[0061] Furthermore, the automatic dosing machine 40 also includes a stirring pump 45, a liquid dosing pump 46, a solenoid valve, and a valve assembly; the stirring pump 45 is mounted on the frame 41 and communicates with the dosing tank 42, and is used to provide stirring power for the liquid dosing tank 42; the liquid dosing pump 46 is mounted on the frame 41; the two ends of the solenoid valve are respectively connected to the dosing assembly 43 and the liquid dosing pump 46; the valve assembly is respectively connected to the liquid dosing pump 46, the dosing tank 42, and an external water source, and the valve assembly has a first state, a second state, and a third state. In the first state, the liquid dosing pump 46 is communicated with the dosing tank 42 through the valve assembly; in the second state, the liquid dosing pump 46 is communicated with the external water source through the valve assembly; and in the third state, the dosing tank 42 is communicated with the external water source through the valve assembly.

[0062] In practical use, this automatic dosing machine 40 can achieve two dilutions of the drug solution. For the first dilution, the original solution is first added to the dosing tank 42, then the solenoid valve is closed and the valve group is adjusted to the third state. At this time, external water can enter the dosing tank 42 through the valve group. Then, the stirring pump 45 is turned on to drive the water in the dosing tank 42 to mix evenly with the original solution, thus obtaining the first diluted drug solution. For the second dilution, the solenoid valve is first opened and the valve group is adjusted to the first state. At this time, the first diluted drug solution in the dosing tank 42 can enter the automatic spraying robot 10 through the liquid pump 46. Then, the valve group is adjusted to the second state. At this time, external water can enter the automatic spraying robot 10 through the liquid pump 46. The water mixes with the first diluted drug solution, thus obtaining the second diluted drug solution. Thus, through the stirring pump 45, the liquid adding pump 46, the solenoid valve and the valve group, the liquid can be diluted once in the dosing tank 42 and then diluted again in the automatic spraying robot 10. It is not necessary to dilute all the liquid in the dosing tank 42 to achieve sufficient dilution. As much stock solution as possible can be added at one time, thereby reducing the frequency of stock solution addition and improving work efficiency.

[0063] It should be noted that, as Figure 6 As shown, a level gauge 421 can be installed on the top of the dosing tank 42 to detect the real-time remaining amount of the drug solution in the dosing tank 42. Meanwhile, as... Figure 7 As shown, the filling assembly 43 may be equipped with a photoelectric switch 4311. The photoelectric switch 4311 is used to detect whether the filling head 4321 and the filling port 1413 are in a proper relative position so that the filling head 4321 can be correctly inserted into the filling port 1413.

[0064] Optionally, such as Figure 7As shown, the dispensing assembly 43 is provided with a detection rod 47 and a proximity switch 48. The detection rod 47 is arranged side by side with the dispensing head 4321. The detection rod 47 is extendable along its own length. The proximity switch 48 is used to generate a detection signal when the distance between itself and the lower end of the detection rod 47 is less than a preset value.

[0065] In this optional embodiment, by setting a detection rod 47 and a proximity switch 48, when the dispensing head 4321 is inserted into the dispensing port 1413, the lower end of the detection rod 47 will press against the top of the automatic spraying robot 10 and be gradually compressed. When the detection rod 47 retracts to the point that the distance between the lower end and the proximity switch 48 is less than a preset value, the proximity switch 48 will generate a detection signal. At this time, it can be confirmed that the dispensing head 4321 has been correctly inserted into the dispensing port 1413 and the docking is completed. This can effectively improve the accuracy of docking and ensure that the liquid is accurately injected into the automatic spraying robot 10.

[0066] Furthermore, such as Figure 6 As shown, the automatic pesticide dosing machine 40 also includes a control device 49. The control device 49 is electrically connected to the electric cylinder 44, the stirring pump 45, the liquid dosing pump 46, the solenoid valve, and the valve group. The control device 49 is used to: obtain the dosing command from the scheduling system; and control the electric cylinder 44, the stirring pump 45, the liquid dosing pump 46, the solenoid valve, and the valve group to add pesticide solution into the automatic pesticide dosing robot 10 according to the dosing command. In this way, automatic control of pesticide dosing is achieved, improving the automation of pesticide dosing and further improving work efficiency. It should be noted that the dosing command is generated by the scheduling system. Specifically, when the fully automatic pesticide dosing robot 10 reaches the set position in front of the automatic pesticide dosing machine 40, it sends a positioning signal to the scheduling system. The scheduling system then generates a dosing command based on the positioning signal and sends it to the control device 49.

[0067] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. An automatic spraying robot for greenhouses, characterized in that, The vehicle includes a vehicle body (11) and a running gear (12). The running gear (12) includes a drive wheel (121), a ground omnidirectional wheel (122), and a rail support wheel (123). The drive wheel (121) is located at the bottom of the vehicle body (11) and has a first wheel surface (1211) and a second wheel surface (1212) along its axial direction. The radius of the first wheel surface (1211) is greater than the radius of the second wheel surface (1212), and the difference between the two is equal to the height of the upper end of the track (20) relative to the ground (30). The ground universal wheel (122) is located at the bottom of the vehicle body (11), and the rail support wheel (123) is located at the bottom of the vehicle body (11) and between the drive wheel (121) and the ground universal wheel (122) along the travel direction of the vehicle body (11). The height of the tangent plane at the lower end of the rail support wheel (123) is greater than the height of the tangent plane at the lower end of the ground universal wheel (122), and the difference between the two is equal to the height of the upper end of the track (20) relative to the ground (30).

2. The automatic spraying robot for greenhouses according to claim 1, characterized in that, The drive wheel (121), the rail support wheel (123), and the ground omnidirectional wheel (122) are spaced apart along the length of the vehicle body (11). In the length of the vehicle body (11), the ground omnidirectional wheel (122) is aligned with the first wheel surface (1211), and the rail support wheel (123) is aligned with the second wheel surface (1212).

3. The automatic spraying robot for greenhouses according to claim 2, characterized in that, The bottom of the vehicle body (11) is provided with a connecting shaft (111) extending along its width direction. The two ends of the connecting shaft (111) are respectively provided with rail support wheels (123). The distance between the rail support wheels (123) at both ends of the connecting shaft (111) is adapted to the width of the track (20). On the connecting shaft (111), each rail support wheel (123) has a flange (1231) at its outer end away from the other rail support wheel (123).

4. The automatic spraying robot for greenhouses according to claim 1, characterized in that, It also includes a visual navigation component (13) and a controller. The visual navigation component (13) is located at the bottom of the vehicle body (11). The controller is electrically connected to the drive wheel (121) and the visual navigation component (13). The controller is used for: Receive the orbital image information acquired by the visual navigation component (13); The drive wheel (121) is controlled to adjust its posture according to the track image information so that the centerline of the walking component (12) coincides with the centerline of the track (20); Receive the landmark information acquired by the visual navigation component (13); The drive wheel (121) is controlled to move according to the landmark information so that the track support wheel (123) and the second wheel surface (1212) move sequentially onto the track (20).

5. The automatic spraying robot for greenhouses according to claim 4, characterized in that, It also includes a spraying assembly (14), the controller being connected to the spraying assembly (14), the controller being further configured to: Obtain pesticide application instructions from the scheduling system; The driving wheel (121) is controlled to move according to the spraying command, and the spraying assembly (14) is controlled to perform the spraying operation.

6. The automatic spraying robot for greenhouses according to claim 5, characterized in that, The spraying assembly (14) is equipped with a flow meter; the controller is also used for: During the spraying operation performed by the spraying assembly (14), the flow information collected by the flow meter is acquired; Adjust the rotational speed of the drive wheel (121) according to the flow information.

7. An automatic pesticide application system for greenhouses, characterized in that, Includes an automatic pesticide dispenser (40) and an automatic pesticide spraying robot (10) for greenhouses as described in any one of claims 1-6, wherein the automatic pesticide spraying robot (10) is configured to detachably dock with the automatic pesticide dispenser (40).

8. The automatic pesticide application system for greenhouses according to claim 7, characterized in that, The automatic dosing machine (40) includes a frame (41), a dosing tank (42), a dosing assembly (43), and an electric cylinder (44); the dosing tank (42) is located on the frame (41); the dosing assembly (43) is rotatably located on the frame (41) and communicates with the dosing tank (42); the electric cylinder (44) is connected between the frame (41) and the dosing assembly (43) and is used to drive the dosing assembly (43) to rotate relative to the frame (41) so that the dosing head (4321) of the dosing assembly (43) is inserted downward or removed upward from the dosing port (1413) of the automatic spraying robot (10).

9. The automatic pesticide application system for greenhouses according to claim 8, characterized in that, The dispensing assembly (43) is provided with a detection rod (47) and a proximity switch (48). The detection rod (47) is arranged side by side with the dispensing head (4321). The detection rod (47) is telescopic along its own length. The detection rod (47) is used to abut against the top of the automatic spraying robot (10) and be gradually compressed during the process of the dispensing head (4321) being inserted into the dispensing port (1413). The proximity switch (48) is arranged near the upper end of the detection rod (47). The proximity switch (48) is used to generate a detection signal when the distance between itself and the lower end of the detection rod (47) is less than a preset value.

10. The automatic pesticide application system for greenhouses according to claim 8, characterized in that, The automatic dosing machine (40) also includes a stirring pump (45), a liquid dosing pump (46), a solenoid valve, and a valve group; the stirring pump (45) is mounted on the frame (41) and communicates with the dosing tank (42) to provide the dosing tank (42) with stirring power for the liquid; the liquid dosing pump (46) is mounted on the frame (41); the two ends of the solenoid valve are respectively connected to the dosing assembly (43) and the liquid dosing pump (46); the valve group is respectively connected to the liquid dosing pump (46), the dosing tank (42), and an external water source. The valve group has a first state, a second state, and a third state. In the first state, the liquid dosing pump (46) communicates with the dosing tank (42) through the valve group. In the second state, the liquid dosing pump (46) communicates with the external water source through the valve group. In the third state, the dosing tank (42) communicates with the external water source through the valve group.

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