Self-propelled precise targeting spraying robot for orchard

Abstract

The utility model discloses an orchard self-propelled precise targeting spraying robot which comprises a walking mechanism, a storage rack is arranged above the walking mechanism, a water storage barrel is arranged on the storage rack, a plurality of spraying mechanisms are distributed on the periphery of the water storage barrel, the spraying mechanisms are connected with the water storage barrel, and the spraying mechanisms are connected with the walking mechanism. A plurality of visual perception mechanisms are arranged on the inner side of the spraying mechanism, and the spraying mechanism, the visual perception mechanisms and the walking mechanism are all connected with the main control unit; the main control unit receives monitoring data of the visual perception mechanism and adjusts the advancing route of the walking mechanism and the spraying direction and the spraying intensity of the spraying mechanism according to the monitoring data. According to the real-time condition of the fruit trees and the obstacle information on the orchard path, intelligent adjustment of the advancing path, the spraying direction and the spraying intensity is carried out, collision and resource waste are avoided, and the intelligent level of orchard management is improved.

Description

Technical Field

[0001] The utility model relates to the technical field, in particular to a self-propelled precise target spraying robot for an orchard. Background Art

[0002] With the continuous advancement of agricultural modernization in my country, agricultural production methods are gradually changing from traditional manual labor to mechanization and intelligence. In orchard management, plant protection operations are an important link to ensure the healthy growth of crops, and their efficiency and safety have a significant impact on agricultural production. However, traditional orchard management usually relies on manual operation, which is time-consuming, labor-intensive and inefficient. Manual spraying has problems such as unevenness and waste of sprays, and requires a large amount of human resources for management. Manual operation is difficult to achieve accurate monitoring and management of the growth status of fruit trees and the maturity of fruits, which is easy to cause waste and loss. Traditional spray operations often cannot accurately control the direction and intensity of spraying, which may cause the spray to pollute non-target areas and pose risks to the environment. With the increase in labor costs, labor costs have gradually become an important cost of orchard management, and traditional manual management methods require a lot of manpower input, which increases management costs. In summary, traditional orchard management methods have problems such as low efficiency, low accuracy, high environmental risks and high labor costs, and need to introduce more intelligent and automated technical means to improve and optimize. Therefore, it is imperative to develop an orchard management robot that can move autonomously and spray accurately. Utility Model Content

[0003] In view of the problems existing in the above-mentioned prior art, the utility model provides a self-propelled precise target spraying robot for an orchard.

[0004] To achieve the above objectives, the utility model is implemented through the following technical solutions: the utility model is a self-propelled precision target spray robot for orchard, which includes a walking mechanism, a storage rack is provided above the walking mechanism, a water barrel is provided on the storage rack, a plurality of spraying mechanisms are arranged around the water barrel, the spraying mechanism is connected to the water barrel, a plurality of visual perception mechanisms are arranged on the inner side of the spraying mechanism, the spraying mechanism, the visual perception mechanism and the walking mechanism are all connected to a main control unit; the main control unit receives the monitoring data of the visual perception mechanism, and adjusts the forward route of the walking mechanism and the spraying direction and spraying intensity of the spraying mechanism according to the monitoring data.

[0005] Furthermore, the spray mechanism includes a spray head, which is installed on the storage rack through an electric bracket and connected to the water storage barrel through a water pump. The electric bracket is electrically connected to the main control unit, and the main control unit drives the spray head to rotate through the electric bracket.

[0006] Furthermore, the number of the nozzles is 2-6.

[0007] Furthermore, the visual perception mechanism includes a plurality of image acquisition units, which are mounted on the storage rack via an electric bracket 2. The image acquisition units and the electric bracket 2 are both connected to a main control unit, and the main control unit drives the image acquisition units to rotate via the electric bracket 2.

[0008] Furthermore, the image acquisition unit is a ZED 2i binocular camera.

[0009] Furthermore, the number of the image acquisition units is 2-6.

[0010] Furthermore, the main control unit includes a data processing unit and a driving unit. The data processing unit is connected to the visual perception mechanism and receives image information collected by the visual perception mechanism, and then controls the driving unit according to the image information. The driving unit is driven by connecting to the walking mechanism, the spraying mechanism, and the visual perception mechanism.

[0011] Beneficial effects of the utility model: Through the precise data collection of the visual perception mechanism and the image acquisition unit, the robot can accurately understand the layout of the orchard and the growth status of the fruit trees, thereby generating the optimal walking path and adjusting the spraying scheme in real time, saving the use of spray liquid and maximizing the coverage. The utility model uses a visual depth detection algorithm to accurately calculate the shape, size, and distance and position of the fruit trees, ensuring the precise positioning and proper use of the spray, and avoiding waste of resources or damage to the fruit trees caused by excessive spraying. Through the intelligent adjustment mechanism, the robot can make intelligent adjustments based on the real-time situation of the fruit trees and the obstacle information on the orchard path, avoiding collisions and waste of resources, and improving the intelligent level of orchard management. The orchard self-propelled precision target spray robot designed by this utility model patent will effectively improve the accuracy, efficiency and intelligence level of orchard management, and provide a reliable solution for fruit farmers to save costs and reduce labor input. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is the front view of the orchard spray robot;

[0013] Figure 2 This is a side view of the orchard spray robot;

[0014] In the figure: 1-walking mechanism; 2-shelf; 3-water storage bucket; 4-spraying mechanism; 41-spray head; 42-electric bracket 1; 43-water pump; 5-visual perception mechanism; 51-image acquisition unit; 52-electric bracket 2; 6-main control unit; 61-data processing unit; 62-driving unit. DETAILED DESCRIPTION

[0015] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0016] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0017] Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0018] Please refer to Figure 1 The utility model provides a self-propelled precision target spray robot for an orchard, comprising a walking mechanism 1, a storage rack 2 is provided above the walking mechanism 1, a water storage barrel 3 is provided on the storage rack 2, a plurality of spraying mechanisms 4 are arranged around the water storage barrel 3, the spraying mechanism 4 is connected to the water storage barrel 3, a plurality of visual perception mechanisms 5 are arranged on the inner side of the spraying mechanism 4, the spraying mechanism 4, the visual perception mechanism 5, and the walking mechanism 1 are all connected to a main control unit 6, the main control unit 6 receives the monitoring data of the visual perception mechanism 5, and adjusts the forward route of the walking mechanism 1 and the spraying direction and spraying intensity of the spraying mechanism 4 according to the monitoring data.

[0019] Among them, the walking mechanism 1 adopts a four-wheel drive structure or a track drive structure, each wheel or track is driven by an independent motor, and has a suspension system to adapt to different terrains. The motor of each wheel or track is connected to the main control unit 6 through a wiring harness. The main control unit 6 receives image data from the visual perception mechanism 5, generates motion instructions based on the image analysis results, and controls the movement of the walking mechanism 1 to avoid obstacles and move along a preset path.

[0020] The rack 2 is fixed above the walking mechanism 1, and is used to support and fix the water storage bucket 3, the spraying mechanism 4, the visual perception mechanism 5, and the main control unit 6. The rack 2 is directly fixed on the walking mechanism 1 to form the overall structure of the robot, and provides the functions of supporting and fixing the water storage bucket 3, the spraying mechanism 4, the visual perception mechanism 5, and the main control unit 6.

[0021] The water storage tank 3 is fixed on the rack 2 to store the spray liquid, and is equipped with a liquid level sensor to monitor the liquid level. The water storage tank 3 is connected to the spray mechanism 4 through a pipeline to provide the spray liquid. The water storage tank 3 is used to store the spray liquid and provide it to the spray mechanism through a pipeline for spraying operation.

[0022] The spray mechanism 4 is arranged around the water storage barrel 3, and the spray mechanism 4 includes a spray head 41, an electric bracket 42 and a water pump 43. The water pump 43 is fixed around the water storage barrel 3 by bolts, the water pump 43 is connected to the water storage barrel 3 through a pipeline, the spray head 41 is connected to the water pump 43 through a pipeline, and the power supply and control signal are connected to the main control unit 6 through a wiring harness. The main control unit 6 controls the switch and pumping speed of the water pump 43, and adjusts the intensity and frequency of the liquid spray according to the location and growth of the fruit tree.

[0023] Among them, the visual perception mechanism 5 is composed of an image acquisition unit 51 and an electric bracket 2 52. Multiple ZED 2i binocular cameras are used to obtain growth images of fruit trees. The camera has a maximum output resolution of 4416×1242, a maximum frame rate of 100FPS, and a 120-degree wide field of view. Unlike depth cameras using TOF and structured light principles that require external light sources to obtain depth information, ZED 2i infers depth information based on the principle of image difference, with a measurement range of 0.2m-20m. The electric bracket 2 52 is a rotatable structure that enables the image acquisition unit 51 to rotate in the horizontal and vertical directions. The image acquisition unit 51 is connected to the electric bracket 2 52 through the mechanical connection part of the electric bracket 2 52 to ensure a stable connection. The mechanical connection part includes a bearing and a rotating shaft. The image acquisition unit 51 is installed on the electric bracket 2, and the power supply and control signal are connected to the main control unit 6 through a wiring harness to realize the control of the image acquisition unit 51. The control signal sent by the main control unit 6 drives the rotation of the electric bracket 2 52, so that the image acquisition unit 51 can rotate in the horizontal and vertical directions, thereby realizing all-round observation and image acquisition of the environment around the fruit tree.

[0024] The main control unit 6 includes a data processing unit 61 and a drive unit 62, which are usually embedded systems or single-chip microcomputers. The data processing unit 61 uses the NVIDIA Jetson Xavier NX, which is responsible for image information collection, obstacle detection and positioning, obstacle avoidance path planning and spray decision-making tasks. Jetson Xavier NX has high-performance AI computing capabilities and is equipped with a 384-core NVIDIA Volta 48 Tensor Core. TM GPU with 6-core NVIDIA Carmel 64-bit CPU. Equipped with 8GB 128-bit LPDDR4 video memory, 16GB eMMC 5.1 storage and dual Deep Learning accelerators. It can provide up to 21TOPS computing performance at a maximum power consumption of 15W, and can bring the performance of a supercomputer to the edge in a compact module system.

[0025] The drive unit 62 adopts the JC-VCU-02 vehicle intelligent controller, which uses a 32-bit high-performance microcontroller, can drive two DC brushless motors at the same time, and uses Hall sensors and incremental encoders for precise position feedback to achieve advanced motion control algorithms, including electronic differential functions. It supports multiple control modes such as speed open loop, closed loop mode, position mode and torque mode to adapt to different operating environments. At the same time, JC-VCU-02 also supports SBUS protocol, CANopen communication protocol and Modbus communication protocol, ensuring efficient data communication with edge computers and other systems, as well as controlling various electrical equipment through 10-way Mosfet switches. The main control unit 6 is connected to the walking mechanism 1, the spraying mechanism 4 and the visual perception mechanism 5 by electrical connection. The data processing unit 61 receives the image data, analyzes and processes it through a pre-set algorithm, generates control instructions and sends them to the drive unit 62, and the drive unit 62 controls the movement and action of each component to achieve autonomous movement and task execution of the robot.

[0026] Working principle: The robot first enters the orchard, and the main control unit 6 is started to guide the robot to start working. The main control unit 6 is responsible for coordinating the operation of the entire system. First, the visual perception mechanism 5 is activated, and the image acquisition unit 51 therein starts to capture environmental perception data, which includes orchard path images and fruit tree growth images. These data are transmitted to the data processing unit 61 of the main control unit 6, and image analysis is performed through the dynamic window method to generate the optimal walking path. At the same time, using the visual depth detection algorithm, the main control unit 6 calculates the distance and position between the robot and the fruit tree, and identifies the shape and size of the fruit tree. This information is used to determine the spraying scheme. The main control unit 6 sends corresponding instructions to the walking mechanism 1 and the spraying mechanism 4 according to the analysis results. According to the instructions, the walking mechanism 1 realizes the motion control of the robot by the motor driving the wheels or tracks to avoid obstacles and move along the optimal path. At the same time, the spraying mechanism 4 controls the switch and pumping speed of the water pump 43 according to the instructions to adjust the intensity and frequency of the liquid spray. The nozzle 41 is connected to the rack 2 through an electric bracket 42, and receives the control signal sent by the main control unit 6 to adjust the spray direction and spray intensity to ensure the coverage and spray effect. The orchard self-propelled precision target spray robot realizes the close cooperation between the walking mechanism 1, the spraying mechanism 4 and the visual perception mechanism 5 through the coordinated control of the main control unit 6, thereby ensuring the autonomous and precise spraying of the fruit trees in the orchard, improving the spraying effect and the efficiency of the application, and reducing the investment of manpower and resources.

[0027] The above contents are further detailed descriptions of the present invention in combination with specific preferred implementations, and the specific implementation of the present invention cannot be considered to be limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. Orchard self-propelled precision target spray robot, characterized by: The invention comprises a walking mechanism (1), a storage rack (2) is arranged above the walking mechanism (1), a water storage barrel (3) is arranged on the storage rack (2), a plurality of spraying mechanisms (4) are arranged around the water storage barrel (3), the spraying mechanisms (4) are connected to the water storage barrel (3), a plurality of visual perception mechanisms (5) are arranged inside the spraying mechanisms (4), and the spraying mechanisms (4), the visual perception mechanisms (5) and the walking mechanism (1) are all connected to a main control unit (6); the main control unit (6) receives monitoring data from the visual perception mechanisms (5), and adjusts the forward route of the walking mechanism (1) and the spraying direction and spraying intensity of the spraying mechanisms (4) according to the monitoring data.

2. The orchard self-propelled precision target spraying robot according to claim 1, characterized in that: The spray mechanism (4) comprises a spray head (41), the spray head (41) is mounted on the storage rack (2) via an electric bracket (42), and is connected to the water storage bucket (3) via a water pump (43), the electric bracket (42) is electrically connected to a main control unit (6), and the main control unit (6) drives the spray head (41) to rotate via the electric bracket (42).

3. The orchard self-propelled precision target spraying robot according to claim 2, characterized in that: The number of the nozzles (41) is 2-6.

4. The orchard self-propelled precision target spraying robot according to claim 1, characterized in that: The visual perception mechanism (5) comprises a plurality of image acquisition units (51), wherein the image acquisition units (51) are mounted on the storage rack (2) via a second electric bracket (52), the image acquisition units (51) and the second electric bracket (52) are both connected to a main control unit (6), and the main control unit (6) drives the image acquisition units (51) to rotate via the second electric bracket (52).

5. The orchard self-propelled precision target spraying robot according to claim 4, characterized in that: The image acquisition unit (51) is a ZED 2i binocular camera.

6. The orchard self-propelled precision target spraying robot according to claim 4, characterized in that: The number of the image acquisition units (51) is 2-6.

7. The orchard self-propelled precision target spraying robot according to claim 1, characterized in that: The main control unit (6) comprises a data processing unit (61) and a drive unit (62); the data processing unit (61) is connected to the visual perception mechanism (5) and receives image information collected by the visual perception mechanism (5), and then controls the drive unit (62) according to the image information; the drive unit is connected to the walking mechanism (1), the spraying mechanism (4), and the visual perception mechanism (5).

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