Fertilization and irrigation dual-purpose robot capable of accurately positioning sliding block and lead screw

Abstract

The utility model belongs to the technical field of intelligent agricultural machinery, and discloses a fertilization and irrigation dual-purpose robot capable of accurately positioning a sliding block and a lead screw, which comprises a machine body, a bottom plate is arranged at the bottom of the machine body, a walking mechanism is mounted at the bottom of the bottom plate, and the bottom plate comprises a main plate and an auxiliary plate which are connected through a connecting rod; a positioning mechanism is installed on the top of a top plate of the machine body to collect crop position information. A sprinkling irrigation mechanism is mounted on the positioning mechanism and is used for lifting the positioning mechanism; a controller is mounted in the machine main body, is connected with and controls the sprinkling irrigation mechanism and the positioning mechanism, and is in electric signal connection with the positioning camera so as to receive crop position information collected by the positioning camera and control the sprinkling irrigation mechanism to ascend and descend. The robot can correspondingly adjust the position of the sprinkling irrigation mechanism according to collected crop position information, sprinkling irrigation is accurate, meanwhile, flexibility is high, and the influence of inaccurate sprinkling irrigation position caused by terrain problems can be reduced.

Description

Technical Field

[0001] This utility model relates to the field of intelligent agricultural machinery technology, and more specifically to a dual-purpose robot for fertilization and irrigation with precise positioning of a slider and lead screw. Background Technology

[0002] In today's era of intelligent agricultural machinery, more and more agricultural planting, irrigation, and fertilization are being handled by robots, thus freeing up human hands and improving the level of agricultural intelligence. For greenhouse vegetable farming, while some irrigation and fertilization robots have appeared on the market, traditional robots in this field, although already in use, still suffer from inaccurate information acquisition, an inability to operate independently, and the need for manual back-end operation. Furthermore, they generally only provide large-area irrigation from both sides, lacking precision and resulting in significant waste of water and fertilizer resources. They also have poor adaptability to complex terrain, making them difficult to deploy in normal applications.

[0003] Therefore, how to provide an irrigation and fertilization robot that can accurately locate and automatically perform sprinkler irrigation, and is flexible enough to adapt to complex terrain, is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] In view of this, the present invention provides a fertilization and irrigation dual-purpose robot with precise positioning by a slider and lead screw. By setting a positioning mechanism in conjunction with a sprinkler mechanism, and a base plate formed by a main board and a sub-board connected at intervals, the robot can adjust the position of the sprinkler mechanism according to the collected crop position information during its movement, so as to achieve precise irrigation. At the same time, it improves its flexibility and reduces the impact of inaccurate sprinkler position caused by terrain problems, so as to solve the problems of uneven irrigation and water waste in the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A dual-purpose fertilization and irrigation robot with precise positioning via a slider and lead screw, comprising:

[0007] The main body of the fuselage has a base plate at its bottom, and a walking mechanism is installed on the bottom of the base plate. The base plate includes a main board, a sub-board, snap rings, and connecting rods. The main board and the sub-board are arranged on the same horizontal plane and spaced apart. There are two snap rings, which are respectively installed on the bottom end surfaces of the main board and the sub-board and arranged opposite to each other. The two ends of the connecting rod are respectively inserted into and snapped into the two snap rings to connect the main board and the sub-board.

[0008] The positioning mechanism includes a lead screw mounting frame, a lead screw, a sliding support rod, a lead screw motor, and a positioning camera. The lead screw mounting frame is vertically mounted on the top of the main body of the machine. The lead screw is installed inside the lead screw mounting frame and is perpendicular to the top surface of the main body of the machine. The two ends of the sliding support rod are slidably connected to the lead screw mounting frame. The rod body of the lead screw passes through the upper and lower end faces of the sliding support rod and is threaded to it. The lead screw motor is installed at the bottom of the lead screw mounting frame and its drive end is connected to one end of the lead screw. The positioning camera is installed at the top of the lead screw mounting frame to collect crop position information.

[0009] A sprinkler irrigation mechanism, which is mounted on the sliding support rod;

[0010] The controller is installed inside the main body of the machine. The controller is connected to control the sprinkler mechanism and the lead screw motor, and is also electrically connected to the positioning camera to receive crop location information collected by the positioning camera and control the raising and lowering of the sprinkler mechanism.

[0011] Through the above technical solution, this utility model discloses a fertilization and irrigation dual-purpose robot with precise positioning of a slider and lead screw. The robot moves in the field through a walking mechanism, which is installed on a base plate at the bottom of the main body. The base plate consists of a main plate, a secondary plate, a snap-fit ​​ring, and a connecting rod. This structural design makes the robot's bottom more flexible and stable, adaptable to different terrains, allowing the robot to move freely in the field, even in the presence of obstacles or irregular plots, thus expanding the robot's applicability. A positioning camera is installed at the top of the lead screw mounting frame, which can capture real-time information of the crop to be irrigated and transmit it to the controller. The controller controls the lead screw motor in the positioning mechanism to drive the lead screw to rotate based on the position information. Through threaded engagement, the sliding support rod moves up and down along the lead screw mounting frame. The irrigation mechanism is installed on the sliding support rod. As the sliding support rod rises and falls, the height of the irrigation mechanism is adjusted, thereby allowing it to adjust according to the crop height. This robot precisely locates irrigation positions based on irrigation needs, improving accuracy and water resource utilization efficiency. It is suitable for medium and low-growing crops in facilities and horticulture, where the crops are relatively short and densely packed. Precise positioning of fertilization and irrigation points avoids waste of fertilizer and water, while preventing damage to the crops. During the sowing and seedling stages, crops have concentrated and sensitive needs for fertilizer and water, requiring precise fertilization and irrigation to ensure healthy growth. As crops mature, their growth rate slows, and their fertilizer needs decrease. At this stage, the focus is on maintaining soil moisture to sustain normal physiological activities. Therefore, the robot only needs to irrigate in the later stages of crop growth, eliminating the need for fertilization, simplifying the operation process and improving efficiency. It also avoids the risks associated with fertilizing crops during maturity, such as fertilizer burn on leaves or soil salinization due to over-fertilization.

[0012] Furthermore, the positioning mechanism also includes a bearing housing, which is fixed on the lead screw mounting bracket. A bearing is installed inside the bearing housing and is arranged coaxially with the lead screw. The lead screw is connected to the bearing in a transmission manner.

[0013] The beneficial effects of adopting the above technical solution are: the bearing installed in the bearing housing is arranged coaxially with the lead screw, which can provide precise guidance and support for the lead screw, ensure that the lead screw maintains linear motion during rotation, reduce the bending and swaying of the lead screw, and thus improve the transmission accuracy and stability of the lead screw.

[0014] Furthermore, the sprinkler mechanism consists of two sets symmetrically mounted on the sliding support rod, and each set of the sprinkler mechanism includes:

[0015] The servo motor is electrically connected to the controller.

[0016] A sprinkler head mounting plate, one side of which is perpendicular to and connected to the drive end of the servo motor, so that the sprinkler head mounting plate can rotate and swing about the drive end of the servo motor as an axis.

[0017] A sprinkler head is mounted on a sprinkler head mounting plate and arranged away from the servo motor. The spraying direction of the sprinkler head is perpendicular to the travel direction of the fuselage body.

[0018] The beneficial effects of adopting the above technical solution are: the high-precision control and signal feedback function of the servo motor can accurately adjust the angle of the sprinkler head, and combined with the positioning camera information, accurately aim at the crop. It can adapt to different planting modes and terrains, improve irrigation effect, and by setting two sets of symmetrically installed sprinkler heads, water can be sprayed to both sides at the same time, expanding the coverage area and reducing irrigation blind spots. The servo motor controls the swing of the sprinkler head mounting plate to make the sprinkler irrigation more uniform and avoid local over-wetting or drought.

[0019] Furthermore, the positioning cameras are two in number and symmetrically hinged to the top side wall of the lead screw mounting bracket, and the positioning information acquisition direction of the two positioning cameras is perpendicular to the walking direction of the main body of the machine.

[0020] The beneficial effects of adopting the above technical solution are: the angle of the symmetrically hinged positioning camera can be flexibly adjusted to adapt to different planting patterns and crop row spacing, expand the monitoring range, and cooperate with the controller to automatically adjust the operation parameters according to the monitoring information, realize intelligent irrigation, and improve the level of intelligence and automation of agricultural production.

[0021] Furthermore, it also includes a water and fertilizer supply mechanism installed on the top of the main body of the machine. The water and fertilizer supply mechanism includes a supply box, a water pump, and a battery. The supply box is fixed on the top of the main body of the machine and adjacent to the screw mounting bracket. There are two water pumps, which are symmetrically installed on the outer side wall of the supply box. The outlet ends of the two water pumps are respectively connected to the two irrigation heads through pipes. Both water pumps are electrically connected to the controller. A battery placement slot is provided on the supply box. The battery is installed in the battery placement slot and electrically connected to the two water pumps.

[0022] The beneficial effects of adopting the above technical solution are: the two water pumps are electrically connected to the controller and can be controlled independently. The failure of one water pump will not affect the operation of the other, which improves the reliability of the system. At the same time, the irrigation volume on both sides can be controlled separately to ensure accurate irrigation without wasting water and fertilizer resources. The layout of the water pumps and batteries facilitates maintenance and replacement from the outside of the machine body, reducing maintenance costs and difficulty.

[0023] Furthermore, the walking mechanism includes walking wheels and drive motors. There are multiple walking wheels that are evenly distributed on the bottom of the main body of the machine body, and there are multiple drive motors that are evenly distributed and fixed on the bottom of the main body of the machine body. Each walking wheel is connected to the output end of one of the drive motors.

[0024] The beneficial effects of adopting the above technical solution are: each walking wheel is controlled by an independent drive motor, which can realize differential steering, enabling the robot to change direction flexibly and easily turn around even in complex farmland environments; it can also ensure that the robot has sufficient driving force to cope with different terrains and load conditions, and thus better adapt to various farmland environments, including soft, muddy or sloping fields, improving the adaptability and reliability of irrigation operations.

[0025] Furthermore, the walking mechanism also includes walking path sensors, which are multiple and divided into two groups. One group of walking path sensors is symmetrically installed on the top surface of the main body and arranged close to the lead screw mounting bracket. The other group of walking path sensors is symmetrically installed on the bottom of the main body and arranged vertically corresponding to the walking path sensor group. Each walking path sensor is electrically connected to the controller.

[0026] The beneficial effects of adopting the above technical solution are as follows: by installing two sets of walking path sensors on the top and bottom of the main body of the robot, respectively, and arranging them in a corresponding manner, the walking path can be monitored from different angles and heights to obtain more comprehensive terrain and obstacle information, thereby improving the accuracy and reliability of path recognition; and by connecting multiple walking path sensors to the controller via electrical signals, the collected path information is transmitted to the controller in real time. Based on this information, combined with preset navigation algorithms and irrigation strategies, the controller automatically plans the optimal walking path and precisely controls the speed and direction of the drive motor, thereby realizing the robot's intelligent autonomous navigation and irrigation operations, reducing human intervention.

[0027] Furthermore, the walking path sensor is a photoelectric sensor and is fixed to the main body of the machine via a sensor mounting bracket.

[0028] The beneficial effects of adopting the above technical solution are: photoelectric sensors have the characteristics of fast response and high-precision detection, and can accurately sense changes in light and obstacles on the path, thereby providing the robot with more accurate navigation information. Fixing the sensor to the main body via a mounting bracket ensures stable installation and accurate alignment of the sensor, improving the stability of the sensing signal.

[0029] Furthermore, it also includes a power supply mechanism that provides energy, which is installed at the inner bottom of the fuselage body. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0031] Figure 1 This is a three-dimensional structural diagram of the irrigation robot provided by this utility model.

[0032] Figure 2 for Figure 1 A schematic diagram of the structure viewed from below.

[0033] Figure 3 A schematic diagram of the controller provided by this utility model.

[0034] Figure 4 A schematic diagram of the structure of the water and fertilizer supply mechanism provided by this utility model.

[0035] Figure 5 A schematic diagram of the positioning mechanism provided by this utility model.

[0036] Among them, 1-Main body, 11-Base plate, 111-Main board, 112-Sub-board, 113-Snap-fit ​​ring, 114-Connecting rod, 12-Top plate, 2-Positioning mechanism, 21-Screw mounting bracket, 22-Screw, 23-Sliding support rod, 24-Screw motor, 25-Positioning camera, 26-Bearing seat, 3-Sprinkler mechanism, 31-Servo motor, 32-Sprinkler head mounting plate, 4-Water and fertilizer dual-use supply mechanism, 41-Supply box, 42-Water pump, 43-Battery, 5-Controller, 6-Walking mechanism, 61-Walking wheel, 62-Drive motor, 63-Walking path sensor, 7-Power supply mechanism. Detailed Implementation

[0037] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0038] This utility model discloses a dual-purpose fertilization and irrigation robot with precise positioning via a slider and lead screw, comprising: a main body 1, a base plate 11 at the bottom of the main body 1, a walking mechanism 6 mounted on the bottom of the base plate 11, the base plate 11 including a main plate 111, a secondary plate 112, locking rings 113 and connecting rods 114, the main plate 111 and the secondary plate 112 being arranged at intervals on the same horizontal plane, two locking rings 113 being respectively mounted on the bottom end surfaces of the main plate 111 and the secondary plate 112 and arranged opposite to each other, the two ends of the connecting rods 114 being inserted into and rotatably mounted in the two locking rings 113 to connect the main plate 111 and the secondary plate 112; a positioning mechanism 2 is mounted on the top plate 12 of the main body 1, the positioning mechanism 2 including a lead screw mounting bracket 21, a lead screw 22, a sliding support rod 23, a lead screw motor 24 and a positioning camera 2. 5. The lead screw mounting bracket 21 is vertically mounted on the top of the main body 1. The lead screw 22 is installed inside the lead screw mounting bracket 21 and is perpendicular to the top surface of the main body 1. The two ends of the sliding support rod 23 are slidably connected to the lead screw mounting bracket 21. The rod body of the lead screw 22 passes through the upper and lower end faces of the sliding support rod 23 and is connected to its internal thread. The lead screw motor 24 is installed at the bottom of the lead screw mounting bracket 21 and its drive end is connected to one end of the lead screw 22. The positioning camera 25 is installed at the top of the lead screw mounting bracket 21 to collect crop position information. The irrigation mechanism 3 is installed on the sliding support rod 23. The controller 5 is installed inside the main body 1. The controller 5 is connected to control the irrigation mechanism 3 and the lead screw motor 24 respectively, and is electrically connected to the positioning camera 25 to receive the crop position information collected by the positioning camera 25 and control the raising and lowering of the irrigation mechanism 3.

[0039] In another embodiment of the positioning mechanism 2 in this utility model, the positioning mechanism 2 further includes a bearing seat 26, which is fixed on the lead screw mounting bracket 21. A bearing is installed inside the bearing seat 26 and is coaxially arranged with the lead screw 22. The lead screw 22 is connected to the bearing for transmission. The bearing installed in the bearing seat and coaxially arranged with the lead screw provides precise guidance and support for the lead screw, ensuring that the lead screw maintains linear motion during rotation, reducing bending and swaying of the lead screw, thereby improving the transmission accuracy and stability of the lead screw.

[0040] Specifically, there are two sets of bearing housings 26 arranged and installed at intervals along the axial direction of the lead screw mounting bracket 21, and both ends of the lead screw 22 coaxially pass through the bearings of the bearing housings 26 and are connected to them for transmission, which further improves the stability of the lead screw movement.

[0041] In the above embodiment, the positioning mechanism 2 further includes a mounting base. The bottom end of the mounting base is fixedly mounted on the top plate 12 of the main body 1, and a lead screw mounting bracket 21 is vertically fixed on its top end. Both the mounting base and the top plate 12 have through holes arranged coaxially with the lead screw 22. The lead screw motor 24 is fixed on the bottom end of the top plate 12, and one end of the lead screw 22 can pass through the through hole and be connected to the lead screw motor 24 for transmission. This further improves the stability of the lead screw mounting bracket 21, and also prevents liquid water and fertilizer from splashing onto the lead screw motor 24 during sprinkler irrigation, preventing damage and extending its service life.

[0042] In a specific embodiment of the sprinkler irrigation mechanism 3 of this utility model, the sprinkler irrigation mechanism 3 consists of two sets symmetrically mounted on the sliding support rod 23. Each set of sprinkler irrigation mechanism 3 includes: a servo motor 31, which is electrically connected to the controller 5; a sprinkler head mounting plate 32, one side of which is perpendicular to and connected to the drive end of the servo motor 31, so that the sprinkler head mounting plate 32 can rotate and swing about the drive end of the servo motor 31; and a sprinkler head, which is mounted on the sprinkler head mounting plate 32 and arranged away from the servo motor 31, with the spraying direction of the sprinkler head perpendicular to the walking direction of the main body 1. The high-precision control and signal feedback function of the servo motor can accurately adjust the angle of the sprinkler head, and combined with the positioning camera information, accurately aim at the crop, adapting to different planting modes and terrains, improving irrigation effect. Furthermore, by setting two sets of symmetrically mounted sprinkler heads, water can be sprayed to both sides simultaneously, expanding the coverage area and reducing irrigation blind spots. By controlling the swing of the sprinkler head mounting plate through the servo motor, the sprinkler irrigation is more uniform, avoiding local over-wetting or drought.

[0043] The servo motor is a position (angle) servo drive suitable for control systems that require continuous angle changes and maintenance. It is an automatic control system consisting of a DC motor, a reduction gear set, a potentiometer, and a control circuit. By sending pulse signals, it specifies the rotation angle of the output shaft. Servo motors generally have a maximum rotation angle (e.g., 180 degrees). The main difference between a servo motor and a regular DC motor is that a DC motor rotates in revolutions, while a servo motor can only rotate within a certain angle and cannot perform circular motion. This makes it very suitable for the oscillating sprinkler irrigation function described in this invention. The specific model of the servo motor used in this invention is DS3120mg20kg.

[0044] Specifically, the sprinkler head mounting plate 32 has a plate-shaped structure, and on the side of the plate away from the servo motor drive end, there are pipe fixing rings fixed at intervals along its length, so that the pipe connecting the sprinkler head passes through multiple pipe fixing rings for fixation, thereby improving the stability of the pipe installation and also improving the stability of the sprinkler head when swinging the sprinkler.

[0045] In the above embodiment, two positioning cameras 25 are symmetrically hinged and mounted on the top side wall of the lead screw mounting bracket 21. The positioning information collection direction of both positioning cameras 25 is perpendicular to the walking direction of the main body 1. The angle of the symmetrically hinged positioning cameras can be flexibly adjusted to adapt to different planting patterns and crop row spacing, expand the monitoring range, and cooperate with the controller to automatically adjust the operating parameters according to the monitoring information, realize intelligent irrigation, and improve the intelligence and automation level of agricultural production.

[0046] Specifically, a mounting plate is horizontally fixed to the top of the lead screw mounting bracket 21. Hinges are fixed to both sides of the mounting plate corresponding to the positioning camera 25. The mounting parts of the two positioning cameras 25 are respectively hinged to the two hinges to facilitate the positioning camera 25 to complete the angle adjustment and increase the area for information collection.

[0047] Other embodiments of this utility model also include a water and fertilizer supply mechanism 4 installed on the top of the main body 1. The water and fertilizer supply mechanism 4 includes a supply box 41, water pumps 42, and batteries 43. The supply box 41 is fixed on the top of the main body 1 and adjacent to the lead screw mounting bracket 21. There are two water pumps 42, which are symmetrically installed on the outer side wall of the supply box 41. The outlet ends of the two water pumps 42 are respectively connected to two irrigation heads through pipes. Both water pumps 42 are electrically connected to the controller 5. A battery placement slot is provided on the supply box 41, and the battery 43 is installed in the battery placement slot and electrically connected to the two water pumps 42. The two water pumps are electrically connected to the controller and can be controlled independently. If one water pump fails, it will not affect the operation of the other, which improves the reliability of the system. At the same time, the irrigation volume on both sides can be controlled separately to ensure accurate irrigation without wasting water and fertilizer resources. The layout of the water pumps and batteries facilitates maintenance and replacement from the outside of the main body, reducing maintenance costs and difficulties.

[0048] Specifically, the supply box 41 adopts a small and compact box body. Although the load capacity is reduced, it reduces the overall weight and load capacity of the robot, reduces the load power, and makes it more suitable for uneven terrain, making it easier for it to climb slopes and improve its travel efficiency.

[0049] In a specific embodiment of the walking mechanism 6 of this utility model, the walking mechanism 6 includes walking wheels 61 and drive motors 62. Multiple walking wheels 61 are evenly distributed at the bottom of the main body 1, and multiple drive motors 62 are evenly distributed and fixed at the bottom of the main body 1. Each walking wheel 61 is connected to the output end of a drive motor 62. Each walking wheel is controlled by an independent drive motor, enabling differential steering. This allows the robot to flexibly change direction, easily turning and reversing even in complex farmland environments. It also ensures the robot has sufficient driving force to cope with different terrains and load conditions, thus better adapting to various farmland environments, including soft, muddy, or sloping fields, improving the adaptability and reliability of irrigation operations.

[0050] Specifically, the multiple walking wheels 61 are divided into two groups. One group of walking wheels 61 is installed at the bottom of the sub-plate 112, and the other group of walking wheels 61 is installed at the bottom of the main plate 111 on the side away from the sub-plate 112. A protective protrusion is fixedly installed at the bottom of the main plate 111 between the two walking wheels 61 to protect the robot from direct collision with rocks or soil and prevent damage.

[0051] In the above embodiment, the walking mechanism 6 also includes walking path sensors 63. There are multiple walking path sensors 63 arranged in two groups. One group of walking path sensors 63 is symmetrically installed on the top surface of the main body 1 and arranged near the lead screw mounting bracket 21. The other group of walking path sensors 63 is symmetrically installed on the inner bottom of the main body 1 and arranged vertically corresponding to the first group. Each walking path sensor 63 is electrically connected to the controller 5. By installing the two groups of walking path sensors on the top and inner bottom of the main body respectively, and arranging them vertically, the walking path can be monitored from different angles and heights, obtaining more comprehensive terrain and obstacle information, improving the accuracy and reliability of path recognition. Furthermore, by connecting multiple walking path sensors to the controller, the collected path information is transmitted to the controller in real time. Based on this information, combined with a preset navigation algorithm and irrigation strategy, the controller automatically plans the optimal walking path and precisely controls the speed and direction of the drive motor, realizing intelligent autonomous navigation and irrigation operations for the robot, reducing manual intervention.

[0052] In the above embodiment, the walking path sensor 63 is a photoelectric sensor, which is fixed to the main body 1 of the robot via a sensor mounting bracket. The photoelectric sensor features fast response and high-precision detection, enabling it to accurately sense changes in light and obstacles along the path, thus providing the robot with more precise navigation information. Fixing the sensor to the main body via the mounting bracket ensures stable installation and accurate alignment, improving the stability of the sensing signal.

[0053] In the above embodiments, a power supply mechanism 7 for providing energy is also included, which is installed at the inner bottom of the fuselage body 1.

[0054] The working principle of this utility model of a dual-purpose fertilization and irrigation robot with precise positioning by a slider and lead screw is as follows:

[0055] This utility model's robot is applicable to various facilities and horticultural applications involving medium and low-growing crops. The robot moves within its environment via a walking mechanism mounted on a base plate at the bottom of the main body. This base plate consists of a main plate, a secondary plate, a locking ring, and connecting rods. This structural design makes the robot's bottom more flexible and stable, adapting to different terrains and allowing it to move freely in farmland, even with obstacles or irregular terrain, thus expanding its applicability. A positioning camera, mounted on the top of a lead screw mounting frame, captures real-time information about the crops to be irrigated and transmits it to a controller. The controller, based on the position information, controls the lead screw motor in the positioning mechanism to drive the lead screw to rotate. Through threaded engagement, a sliding support rod moves up and down along the lead screw mounting frame. The irrigation mechanism is mounted on the sliding support rod; as the sliding support rod rises and falls, the height of the irrigation mechanism is adjusted, allowing for precise positioning of the irrigation location based on crop height and irrigation needs, improving accuracy and water resource utilization efficiency. Furthermore, by changing the liquid medium in the water supply tank, such as irrigation water or liquid fertilizer, the robot can perform irrigation and fertilization tasks separately, enhancing its practicality.

[0056] Furthermore, staff can automatically determine whether irrigation and fertilization are needed based on the growth stage and condition of crops. During the sowing and seedling stages, crops have concentrated and sensitive needs for fertilizer and water, and robots can precisely fertilize and irrigate crops to ensure their healthy growth. As crops enter the maturity stage, their growth rate slows down, and their need for fertilizer decreases. At this time, the main focus is on maintaining soil moisture to sustain the normal physiological activities of crops. This allows the robot to only perform irrigation in the later stages of crop growth, simplifying the later operation process and improving work efficiency. At the same time, it avoids the risks that may arise from fertilizing crops during the maturity stage, such as fertilizer burning leaves or excessive fertilization leading to soil salinization.

[0057] Therefore, this fertilization and irrigation dual-purpose robot, by setting up a positioning mechanism that works in conjunction with the sprinkler irrigation mechanism, and a base plate formed by the intermittent connection of the main board and the sub-board, allows the irrigation robot to adjust the position of the sprinkler irrigation mechanism according to the collected crop location information during its movement, thus achieving precise sprinkler irrigation. At the same time, it improves its flexibility and reduces the impact of inaccurate sprinkler irrigation position caused by terrain problems, and has the advantages of uniform sprinkler irrigation and saving sprinkler irrigation resources.

[0058] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0059] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A precision positioning of slider nut fertilization and irrigation dual-purpose robot, characterized in that, Include: The fuselage body (1) is provided with a bottom plate (11) at the bottom, a walking mechanism (6) is installed at the bottom of the bottom plate (11), the bottom plate (11) comprises a main plate (111), a sub plate (112), a clamping ring (113) and a connecting rod (114), the main plate (111) and the sub plate (112) are arranged on the same horizontal plane and are spaced apart, the clamping ring (113) is two and is respectively installed on the bottom end surface of the main plate (111) and the sub plate (112) and is oppositely arranged, and the connecting rod (114) is respectively inserted and rotatably installed in the two clamping rings (113) to connect the main plate (111) and the sub plate (112); The positioning mechanism (2) comprises a lead screw mounting bracket (21), a lead screw (22), a sliding support rod (23), a lead screw motor (24) and a positioning camera (25), the lead screw mounting bracket (21) is vertically installed on the top of the fuselage body (1), the lead screw (22) is installed in the lead screw mounting bracket (21) and is perpendicular to the top end surface of the fuselage body (1), the sliding support rod (23) is slidably connected with the lead screw mounting bracket (21) at both ends, the rod body of the lead screw (22) penetrates the upper and lower end surfaces of the sliding support rod (23) and is connected with the internal threads thereof in a threaded manner, the lead screw motor (24) is installed at the bottom of the lead screw mounting bracket (21) and its driving end is drivingly connected with one end of the lead screw (22), and the positioning camera (25) is installed at the top end of the lead screw mounting bracket (21) to collect crop position information; The sprinkling irrigation mechanism (3) is installed on the sliding support rod (23); The controller (5) is installed in the fuselage body (1), the controller (5) is connected to control the sprinkling irrigation mechanism (3) and the lead screw motor (24) respectively, and is electrically connected with the positioning camera (25) to receive the crop position information collected by the positioning camera (25) and control the sprinkling irrigation mechanism (3) to rise and fall.

2. The precision positioning of the sliding block and the lead screw dual-purpose machine for fertilizing and irrigating according to claim 1, characterized in that, The positioning mechanism (2) further comprises a bearing seat (26) fixed on the lead screw mounting bracket (21), a bearing is installed in the bearing seat (26) and arranged coaxially with the lead screw (22), and the lead screw (22) is drivingly connected with the bearing.

3. The precision positioning of the sliding block and the lead screw dual-purpose robot for fertilizing and irrigating according to claim 1, characterized in that, The sprinkling irrigation mechanism (3) is two groups and is symmetrically installed on the sliding support rod (23), each group of the sprinkling irrigation mechanism (3) comprises: A rudder (31) is electrically connected with the controller (5); A sprinkling irrigation head mounting plate (32) is vertically connected with the driving end of the rudder (31) on one side surface and is drivingly connected with the driving end, so that the sprinkling irrigation head mounting plate (32) rotates and swings around the driving end of the rudder (31); A sprinkling irrigation head is installed on the sprinkling irrigation head mounting plate (32) and is arranged away from the rudder (31), and the sprinkling irrigation direction of the sprinkling irrigation head is perpendicular to the walking direction of the fuselage body (1).

4. The precision positioning of the sliding block and the lead screw dual-purpose machine for fertilizing and irrigating according to claim 3, characterized in that, Two positioning cameras (25) are symmetrically hinged on the top end side wall of the lead screw mounting frame (21), and the positioning information collection directions of the two positioning cameras (25) are perpendicular to the walking direction of the fuselage body (1).

5. The precision positioning of the sliding block and the lead screw dual-purpose machine for fertilizing and irrigating according to claim 3, characterized in that, A water and fertilizer dual-purpose supply mechanism (4) is mounted on the top of the fuselage body (1), the water and fertilizer dual-purpose supply mechanism (4) comprises a supply box (41), a water pump (42) and a battery (43), the supply box (41) is fixed on the top of the fuselage body (1) and adjacent to the lead screw mounting frame (21), the water pump (42) is two and symmetrically mounted on the outer side wall of the supply box (41), the water outlet ends of the two water pumps (42) are respectively communicated with the two sprinkler heads through pipes, the two water pumps (42) are electrically connected with the controller (5), the battery (43) is installed in the battery placing groove and electrically connected with the two water pumps (42).

6. The precision positioning of the sliding block and the lead screw dual-purpose machine for fertilizing and irrigating according to claim 1, characterized in that, The walking mechanism (6) comprises walking wheels (61) and drive motors (62), the walking wheels (61) are arranged on the bottom of the fuselage body (1), the drive motors (62) are arranged on the bottom of the fuselage body (1), and each walking wheel (61) is drivingly connected with the output end of a drive motor (62).

7. The precision positioning of the sliding block and the lead screw dual-purpose machine for fertilizing and irrigating according to claim 6, characterized in that, The walking mechanism (6) further comprises walking path sensors (63), the walking path sensors (63) are divided into two groups, one group of the walking path sensors (63) is symmetrically mounted on the top end surface of the fuselage body (1) and arranged close to the lead screw mounting frame (21), and the other group of the walking path sensors (63) is symmetrically mounted on the inner bottom of the fuselage body (1) and arranged above and below the walking path sensor group one respectively, and each walking path sensor (63) is electrically connected with the controller (5).

8. The precision positioning of the sliding block and the lead screw dual-purpose machine for fertilizing and irrigating according to claim 7, characterized in that, The walking path sensor (63) is an optical sensor and is fixed on the fuselage body (1) through a sensor mounting bracket.

9. The precision positioning of the sliding block and the lead screw dual-purpose robot for fertilizing and irrigating according to any one of claims 1-8, characterized in that, A power supply mechanism (7) for providing energy is further included, and the power supply mechanism (7) is mounted on the inner bottom of the fuselage body (1).

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