An environmentally-aware pesticide spraying robot

Abstract

This utility model relates to the field of agricultural automation equipment technology, specifically a pesticide spraying robot based on environmental perception. It includes a frame, with a pesticide tank fixed to the top of the frame. A box is fixed to the right end of the pesticide tank, and a reversing frame is mounted on the top of the box. An air cannon is located inside the reversing frame, and several top nozzles are located outside the air cannon. A pesticide delivery pipe is located inside the pesticide tank, and a water pump is fixed to the right end of the delivery pipe. A connecting pipe is fixed to the right end of the water pump, and bottom spray pipes are located at both ends of the connecting pipe. Several bottom nozzles are fixed to the outside of each bottom spray pipe. This utility model uses a fan to generate gas in the air cannon, which is then sprayed out through a diverter plate, thereby improving the uniformity of spraying tall crops. High-speed airflow evenly disperses pesticide droplets into the canopy layer, increasing the spray coverage area, improving operational efficiency, and ensuring the effectiveness of pesticide spraying.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural automation equipment technology, specifically a pesticide spraying robot based on environmental perception. Background Technology

[0002] In agricultural production, pesticide spraying is a crucial step in controlling pests and diseases and ensuring healthy crop growth. However, traditional manual spraying methods are highly risky, especially in complex terrains such as mountainous areas and forests. Manual spraying is not only inefficient but also prone to causing physical harm to operators. Furthermore, manual spraying makes it difficult to precisely control the spray volume and coverage, leading to pesticide waste and environmental pollution. With the development of modern agriculture, higher demands are placed on the safety, efficiency, and precision of pesticide spraying operations.

[0003] However, most existing pesticide spraying methods are done manually, resulting in low spraying efficiency. In addition, existing pesticide spraying devices can only spray pesticides at the same height, thus limiting the application range of the entire device. To address these issues, this invention designs a pesticide spraying robot based on environmental perception. Utility Model Content

[0004] In view of the above situation and to overcome the shortcomings of the prior art, this utility model provides a pesticide spraying robot based on environmental perception, which effectively solves the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a pesticide spraying robot based on environmental perception, comprising a frame, a pesticide tank fixed to the top of the frame, a box fixed to the right end of the pesticide tank, a reversing frame on the top of the box, a wind cannon inside the reversing frame, several top nozzles outside the wind cannon, a fan inside the reversing frame, a pesticide delivery pipe inside the pesticide tank, a water pump fixed to the right end of the pesticide delivery pipe, a connecting pipe fixed to the right end of the water pump, bottom spray pipes at both ends of the connecting pipe, a reversing plate fastened to the outside of each bottom spray pipe, a reversing motor rotatably connected to the bottom of each reversing plate, several bottom nozzles fixed to the outside of each bottom spray pipe, a wind speed sensor fixed to the top of the frame, several obstacle avoidance sensors fixed to the top of the frame, a temperature and humidity sensor fixed to the top of the box, and several tracks at both ends of the frame.

[0006] Preferably, each track is rotatably connected to a track motor, a solar panel is fixed to the top of the frame, a display screen is fixed to the top of the box, a camera is fixed to the top of the box, a controller is fixed to the top of the box, a battery is fixed to the right end of the controller, and a Bluetooth device is fixed to the left end of the controller.

[0007] Preferably, a support frame is fixed to the top of the frame, the support frame is fixedly connected to the reversing frame at its top, a blower motor is fixed inside the reversing frame, the blower motor is rotatably connected to the blower at its rear end, and the rear end of the blower is rotatably connected to the reversing frame via a rotating shaft.

[0008] Preferably, an infusion ring is fixed to the outside of the air cannon barrel, the infusion ring is fixedly connected to the top nozzle at its left end through a pipe, the top nozzle is fixedly connected to the air cannon barrel, a flow divider is fixed inside the air cannon barrel, a fan guard is fastened to the right end of the air cannon barrel, and the fan motor of the fan shaft is fixedly connected to the flow divider.

[0009] Preferably, a top infusion tube is fixed to the top of the infusion ring, the other end of the top infusion tube is fixedly connected to the connecting tube, a top infusion solenoid valve is fixed to the outside of the top infusion tube, each bottom nozzle is fixedly connected to the connecting tube through a bottom connecting hose, a bottom solenoid valve is fixed to the outside of each bottom connecting hose, and each reversing motor is fixedly connected to the frame.

[0010] Compared with the prior art, the beneficial effects of this utility model are:

[0011] This invention uses a fan to generate gas in the air cannon barrel, which is then sprayed out through a distributor plate. This improves the uniformity of spraying tall crops and uses high-speed airflow to evenly disperse pesticide droplets into the canopy layer, increasing the spray coverage area, improving work efficiency, and ensuring the effectiveness of pesticide spraying.

[0012] This invention utilizes a reversing plate for the bottom spray pipe. A reversing motor drives the reversing plate to rotate, thereby changing the angle of the bottom spray pipe, which in turn changes the pesticide spraying angle and the pesticide spraying range, thus increasing the overall usability of the robot. Simultaneously, a water pump transports the pesticide inside the tank through a delivery pipe to a connecting pipe, which in turn delivers it to the top delivery pipe and the bottom connecting hose, thereby delivering it to the delivery ring and the bottom spray pipe. Finally, it is sprayed out through the top and bottom nozzles, enabling pesticide spraying at different heights and thus increasing the spraying range.

[0013] This invention uses a wind speed sensor to monitor wind speed, thereby determining whether it is suitable for pesticide spraying, facilitating pesticide application and preventing pesticides from being blown away by the wind, thus ensuring the effectiveness of the spraying. An obstacle avoidance sensor, combined with an intelligent algorithm, enables automatic obstacle avoidance, ensuring operational safety. At the same time, a temperature and humidity sensor monitors the ambient temperature and humidity, determining whether it is suitable for pesticide spraying, thus preventing pesticide waste while ensuring the effectiveness of pesticide spraying. Attached Figure Description

[0014] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation thereof.

[0015] In the attached diagram:

[0016] Figure 1 This is a schematic diagram of the overall design of this utility model;

[0017] Figure 2 This is a top view of the entire utility model;

[0018] Figure 3 This is a schematic diagram of the right end of the entire utility model;

[0019] Figure 4 This is a schematic diagram of the right end of the housing of this utility model;

[0020] Figure 5 This is a schematic diagram of the air cannon barrel of this utility model;

[0021] Figure 6 This is a schematic diagram of the interior of the wind-driving cannon barrel of this utility model;

[0022] Figure 7 This is a cross-sectional view of the box body of this utility model.

[0023] In the diagram: 1-Frame; 2-Track; 3-Medication tank; 4-Reversing frame; 5-Top nozzle; 6-Bottom nozzle; 101-Box; 102-Controller; 103-Battery; 104-Bluetooth; 105-Camera; 106-Display screen; 107-Obstacle avoidance sensor; 108-Wind speed sensor; 109-Solar tracking panel; 110-Temperature and humidity sensor; 201-Track motor; 301-Medication delivery pipe 302-Water pump; 401-Support frame; 402-Air jet nozzle; 403-Air jet nozzle motor; 404-Fan protective net; 405-Diverter plate; 406-Fan; 501-Infusion ring; 502-Top infusion pipe; 503-Top infusion solenoid valve; 504-Connecting pipe; 601-Bottom nozzle; 602-Bottom connecting hose; 603-Reversing plate; 604-Reversing motor; 605-Bottom solenoid valve. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0025] Example 1, by Figures 1-3 、 Figure 6The present invention includes a frame 1 made of alloy material, which supports the entire robot. A pesticide tank 3, also made of alloy material, is fixed to the top of the frame 1 and is used to hold pesticides. A box 101, also made of alloy material, is fixed to the right end of the pesticide tank 3 and supports the controller 102. A reversing frame 4, made of alloy material, is provided on the top of the box 101 and is used to position the wind cannon motor 403. A wind cannon 402, also made of alloy material, is located inside the reversing frame 4 and generates gas to enhance the spraying of tall crops. Uniformity is achieved by using a high-speed airflow to evenly disperse pesticide droplets into the canopy layer, increasing the spray coverage and improving operational efficiency. The air cannon 402 has several top nozzles 5 on its exterior for spraying pesticides. A fan 406 is installed inside the reversing frame 4, generating airflow through rotation. A pesticide delivery pipe 301 is installed inside the pesticide tank 3 for delivering pesticides. A water pump 302 is fixed to the right end of the delivery pipe 301, which can extract pesticides from the pesticide tank 3. A connecting pipe 504, made of alloy material, is fixed to the right end of the water pump 302, connecting the top delivery pipe 502 and the bottom connecting hose 60. 2. The connecting pipe 504 has bottom spray pipes 6 at both ends, made of alloy material. These bottom spray pipes 6 deliver the required pesticide to the bottom nozzle 601. Each bottom spray pipe 6 is externally fastened with a reversing plate 603, also made of alloy material, for positioning the bottom spray pipe 6. Each reversing plate 603 is rotatably connected to its bottom with a reversing motor 604. The reversing motor 604 can drive the reversing plate 603 to rotate, thereby changing the angle of the bottom spray pipe 6, thus changing the pesticide spraying angle and spraying range, thereby increasing the overall usability of the robot. Each bottom spray pipe 6 is externally fixed with several... The robot has a bottom nozzle 601 for spraying pesticides. A wind speed sensor 108 is fixed to the top of the frame 1 to monitor wind speed and determine whether it is suitable for pesticide spraying, thus facilitating pesticide spraying and preventing pesticides from being blown away by the wind, thereby ensuring the spraying effect. Several obstacle avoidance sensors 107 are also fixed to the top of the frame 1. The obstacle avoidance sensors 107 work with intelligent algorithms to achieve automatic obstacle avoidance and ensure operational safety. A temperature and humidity sensor 110 is also fixed to the top of the housing 101 to monitor the ambient temperature and humidity. Several tracks 2 are provided at the front and rear ends of the frame 1. The tracks 2 can drive the entire robot to move by rotating.

[0026] Example 2, based on Example 1, combined with... Figures 4-5 , Figure 7Each track 2 is internally connected to a track motor 201, which drives the track 2 to rotate. A solar tracking panel 109 is also fixed to the top of the frame 1. The solar tracking panel 109 uses a high-efficiency monocrystalline silicon solar panel that can automatically track the direction of sunlight, maximizing solar energy absorption and conversion into electricity. The solar tracking panel 109 is mounted on the top of the frame 1 via a fixing device with a universal joint and adjustment mechanism to ensure stable operation of the solar tracking panel 109 at different angles and directions. The solar tracking system is also equipped with an intelligent controller that can automatically adjust the angle of the tracking panel according to the light intensity and direction, improving the utilization rate of solar energy. A display screen 106 is fixed to the top of the housing 101, which conveniently displays the operation status of the entire robot. A camera 105 is also fixed to the top of the housing 101, which is used to observe the movement of the entire robot. A controller 102 is fixed to the top of the housing 101, which is used to control the entire robot. A battery 103 is fixed to the right end of the controller 102, which provides the necessary power for the entire robot. A Bluetooth 104 is fixed to the left end of the controller 102, which facilitates communication between the entire robot and external control devices. A support frame 401 is fixed to the top of the frame 1. The support frame 401 is made of alloy material and is used for positioning. The reversing frame 4 and the support frame 401 are fixedly connected to the top of the reversing frame 4. A wind-blown nozzle motor 403 is fixed inside the reversing frame 4, which drives the wind-blown nozzle 402 to rotate. The wind-blown nozzle motor 403 is rotatably connected to the rear end of the wind-blown nozzle 402. The rear end of the wind-blown nozzle 402 is rotatably connected to the reversing frame 4 via a rotating shaft. A liquid infusion ring 501 is fixed outside the wind-blown nozzle 402, which delivers the required pesticide to the top nozzle 5. The liquid infusion ring 501 is fixedly connected to the top nozzle 5 at its left end via a pipe. The top nozzle 5 is fixedly connected to the wind-blown nozzle 402. A flow divider 405 is fixed inside the wind-blown nozzle 402. 5. Made of alloy material, the diverter plate 405 can divert airflow to ensure uniformity. A fan guard 404 is securely connected to the right end of the air cannon barrel 402 to prevent branches from entering the air cannon barrel 402, thus ensuring the safety of the fan 406. The fan motor on the fan 406 shaft is fixedly connected to the diverter plate 405. A top infusion tube 502, made of flexible material, is fixed to the top of the infusion ring 501. The top infusion tube 502 delivers the required pesticide to the infusion ring 501. The other end of the top infusion tube 502 is fixedly connected to the connecting pipe 504. A top infusion solenoid valve 503 is fixed to the outside of the top infusion tube 502.The top infusion solenoid valve 503 controls the entry of pesticide into the top infusion pipe 502. Each bottom spray pipe 6 is fixedly connected to the connecting pipe 504 via a bottom connecting hose 602. A bottom solenoid valve 605 is fixedly attached to the outside of each bottom connecting hose 602, and the bottom solenoid valve 605 controls the entry of pesticide into the bottom connecting hose 602. Each reversing motor 604 is fixedly connected to the frame 1.

[0027] When using this robot, the operator places the entire robot in the desired location. The operator then adds the required pesticide to the pesticide tank 3. At this time, the controller 102 controls several track motors 201 to operate, thereby rotating several tracks 2. This allows the entire robot to move and change direction. Furthermore, the controller 102 can charge the battery 103 by controlling the solar tracking panel 109. Simultaneously, the wind speed sensor 108 monitors the ambient wind speed to determine if the environment is suitable for pesticide spraying. The controller 102 can further... Camera 105 observes the movement of the entire device, while controller 102 monitors the temperature and humidity of the environment via temperature and humidity sensor 110 to determine if the environment is suitable for pesticide spraying, thus ensuring the effectiveness of pesticide spraying. Simultaneously, controller 102 can automatically avoid obstacles using obstacle avoidance sensor 107 and intelligent algorithms to ensure operational safety. When the robot moves to the desired spraying position, controller 102 controls water pump 302 to operate, thereby transporting the pesticide inside the pesticide tank 3 to the connecting pipe 504 through the delivery pipe 301. If ground spraying is required at this time... When applying pesticides, the controller 102 controls the two reversing motors 604 to work together, thereby driving the two reversing plates 603 to rotate, which in turn drives the two bottom spray nozzles 6 to rotate. This further controls the opening of the bottom solenoid valve 605, allowing the pesticide to be delivered to the bottom spray nozzles 6 through the bottom connecting hose 602, and then sprayed out through the bottom nozzles 601. This allows for changes in the spray direction and spray range, ensuring effective pesticide application. Furthermore, if pesticides need to be sprayed onto tree canopies, the controller 102 controls the wind cannon motor 403 to work, thereby driving... The air cannon 402 rotates, thereby changing the spraying direction. Furthermore, the controller 102 controls the top infusion solenoid valve 503 to open, so that the pesticide is delivered to the infusion ring 501 through the top infusion pipe 502, and then sprayed out through the top nozzle 5. At this time, the controller 102 controls the fan 406 to rotate, thereby delivering external airflow into the air cannon 402. At this time, due to the function of the diverter plate 405, the airflow is diverted, thereby ensuring the uniformity of airflow output, and thus ensuring the uniformity of pesticide spraying from the top nozzle 5, thereby ensuring the pesticide spraying effect.

[0028] The workflow of this utility model is as follows: When using this robot, the operator places the entire robot in the desired position. At this time, the operator adds the required pesticide to the pesticide tank 3. The controller 102 then controls several track motors 201 to operate, thereby driving several tracks 2 to rotate. This allows the entire robot to move and change direction. Furthermore, the controller 102 can charge the battery 103 by controlling the solar tracking panel 109. Simultaneously, the wind speed sensor 108 monitors the ambient wind speed to determine if the environment is suitable for pesticide spraying. The device 102 can observe the movement of the entire device through the camera 105. Simultaneously, the controller 102 can monitor the temperature and humidity of the environment through the temperature and humidity sensor 110 to determine if the environment is suitable for pesticide spraying, thus ensuring the effectiveness of pesticide spraying. At the same time, the controller 102 can automatically avoid obstacles using the obstacle avoidance sensor 107 and intelligent algorithms to ensure operational safety. When the robot moves to the desired spraying position, the controller 102 controls the water pump 302 to operate, thereby transporting the pesticide inside the pesticide tank 3 to the connecting pipe 504 through the delivery pipe 301. If at this time... When pesticides need to be sprayed on the ground, the controller 102 controls the two reversing motors 604 to work together, thereby driving the two reversing plates 603 to rotate, which in turn drives the two bottom spray pipes 6 to rotate. This further controls the opening of the bottom solenoid valve 605, allowing pesticides to be delivered to the bottom spray pipes 6 through the bottom connecting hose 602, and then sprayed out through the bottom nozzles 601. This allows for changing the spraying direction and thus the spraying range, ensuring the effectiveness of pesticide spraying. Furthermore, if pesticides need to be sprayed on the tree canopy, the controller 102 controls the wind cannon motor 403 to work, from... The air cannon 402 is rotated, thereby changing the spraying direction. Furthermore, the controller 102 controls the top infusion solenoid valve 503 to open, so that the pesticide is delivered to the infusion ring 501 through the top infusion pipe 502, and then sprayed out through the top nozzle 5. At this time, the controller 102 controls the fan 406 to rotate, thereby delivering external airflow into the air cannon 402. At this time, due to the function of the diverter plate 405, the airflow is diverted, thereby ensuring the uniformity of airflow output, and thus ensuring the uniformity of pesticide spraying from the top nozzle 5, thereby ensuring the pesticide spraying effect.

[0029] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0030] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An environment perception based pesticide spraying robot, characterized in that: Includes a frame (1), on the top of which a medicine barrel (3) is fixed, and on the right end of the medicine barrel (3) a box (101) is fixed. A reversing frame (4) is provided on the top of the box (101), and a wind cannon (402) is provided inside the reversing frame (4). Several top nozzles (5) are provided outside the wind cannon (402). A fan (406) is provided inside the reversing frame (4). A medicine delivery pipe (301) is provided inside the medicine barrel (3). A water pump (302) is fixed to the right end of the medicine delivery pipe (301), and a connecting pipe (504) is fixed to the right end of the water pump (302). 504) Bottom nozzles (6) are provided at both the front and rear ends. Each bottom nozzle (6) is fastened to the outside of a reversing plate (603). Each reversing plate (603) is rotatably connected to the bottom of a reversing motor (604). Several bottom nozzles (601) are fixed to the outside of each bottom nozzle (6). A wind speed sensor (108) is also fixed to the top of the frame (1). Several obstacle avoidance sensors (107) are also fixed to the top of the frame (1). A temperature and humidity sensor (110) is also fixed to the top of the box (101). Several tracks (2) are provided at both the front and rear ends of the frame (1).

2. The environment-aware pesticide spraying robot according to claim 1, wherein: Each track (2) is rotatably connected to a track motor (201). A solar tracking battery panel (109) is fixed to the top of the frame (1). A display screen (106) is fixed to the top of the box (101). A camera (105) is fixed to the top of the box (101). A controller (102) is fixed to the top of the box (101). A battery (103) is fixed to the right end of the controller (102). A Bluetooth device (104) is fixed to the left end of the controller (102).

3. The environment-aware pesticide spraying robot according to claim 2, wherein: The top of the frame (1) is fixed with a support frame (401), which is fixedly connected to the reversing frame (4) at its top. The reversing frame (4) is fixed with a blower motor (403) inside, which is rotatably connected to the blower (402) at its rear end. The rear end of the blower (402) is rotatably connected to the reversing frame (4) through a rotating shaft.

4. The environment-aware pesticide spraying robot according to claim 3, wherein: An infusion ring (501) is fixed to the outside of the air cannon tube (402). The infusion ring (501) is fixedly connected to the top nozzle (5) at its left end through a pipe. The top nozzle (5) is fixedly connected to the air cannon tube (402). A flow divider plate (405) is fixed inside the air cannon tube (402). A fan guard net (404) is fastened to the right end of the air cannon tube (402). The fan motor of the fan (406) shaft is fixedly connected to the flow divider plate (405).

5. The pesticide spraying robot based on environmental perception according to claim 4, characterized in that: The top of the infusion ring (501) is fixed with a top infusion tube (502), and the other end of the top infusion tube (502) is fixedly connected to the connecting tube (504). A top infusion solenoid valve (503) is fixedly fixed to the outside of the top infusion tube (502). Each bottom nozzle (6) is fixedly connected to the connecting tube (504) through a bottom connecting hose (602). A bottom solenoid valve (605) is fixedly fixed to the outside of each bottom connecting hose (602). Each reversing motor (604) is fixedly connected to the frame (1).

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