An intelligent fertilization robot

Abstract

This utility model relates to the field of agricultural machinery technology, and more particularly to the field of automated fertilization technology; an intelligent fertilization robot includes: a chassis system with a tracked walking mechanism; a tank-mounted device for loading liquid fertilizer; a pump station for providing power for transporting the liquid fertilizer; and a control system and a spraying system, the spraying system being used to spray the liquid fertilizer onto the field; the control system is electrically connected to the chassis system, the pump station, and the spraying system; the control system is equipped with a navigation and positioning module, a radar sensing module, and an automatic obstacle avoidance module for realizing the robot's autonomous driving, path planning, and automatic obstacle avoidance; the spraying system includes an electronically controlled valve, a mechanical adjustment mechanism, and nozzles, and the control system adjusts the spraying flow rate, spraying angle, and spraying span by controlling the electronically controlled valve and the mechanical adjustment mechanism.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, and in particular to the field of automated fertilization technology. Background Technology

[0002] With the improvement of global agricultural efficiency and the popularization of sustainable development, precise, efficient, green and healthy agricultural fertilization methods have become an inevitable trend in the development of modern agriculture.

[0003] Chinese patent document CN112136423B discloses a multifunctional agricultural robot. In this technical solution, the agricultural robot can perform multiple operations such as ditching, soil testing, fertilizer preparation, fertilizer mixing, fertilization and soil covering. The design focus of the multifunctional agricultural robot is on the mixing and application of solid fertilizers, and emphasizes the combination of root fertilization and foliar spraying.

[0004] However, the fertilization method of the aforementioned devices is still mainly based on mixed fertilizer application in furrows, with the liquid component only achieved through a foliar spraying module. This makes it impossible to achieve high-flow-rate, highly uniform whole-field application of liquid organic fertilizer. Furthermore, its overall structure is complex and highly integrated, which limits its operational efficiency and economy in pure liquid fertilization scenarios. Utility Model Content

[0005] To overcome the shortcomings of the existing technology, an intelligent fertilization robot is provided.

[0006] This utility model is achieved through the following technical solution: an intelligent fertilization robot, comprising: a chassis system with a tracked walking mechanism; a tank-mounted device for loading liquid fertilizer; a pump station for providing power for transporting the liquid fertilizer; and a control system and a spraying system, wherein the spraying system is used to spray the liquid fertilizer onto the field; the control system is electrically connected to the chassis system, the pump station, and the spraying system; the control system is equipped with a navigation and positioning module, a radar sensing module, and an automatic obstacle avoidance module for realizing the robot's autonomous driving, path planning, and automatic obstacle avoidance; the spraying system includes an electronically controlled valve, a mechanical adjustment mechanism, and nozzles, and the control system adjusts the spraying flow rate, spraying angle, and spraying span by controlling the electronically controlled valve and the mechanical adjustment mechanism.

[0007] This technical solution utilizes a pump station to provide powerful momentum, ensuring a large flow rate of liquid fertilizer. Through the electronically controlled valves, mechanical adjustment mechanisms, and nozzles of the spraying system, precise adjustments are made to the spraying flow rate, spraying angle, and spraying span, thereby guaranteeing uniform fertilizer distribution across the entire field. Furthermore, the control system incorporates navigation and positioning, radar sensing, and automatic obstacle avoidance modules, enabling the robot to drive autonomously, plan its path, and avoid obstacles, further improving the accuracy and efficiency of spraying. The overall structure focuses on the liquid fertilization function, reducing unnecessary integrated modules, lowering manufacturing costs and maintenance complexity, and improving the operational economy and applicability in purely liquid fertilization scenarios.

[0008] In a preferred embodiment of this utility model, the control system and the pump station are assembled in the housing, which includes a front panel, a top cover and multiple side panels, and the front panel is provided with a ventilation grille.

[0009] In a preferred embodiment of this utility model, a warning light is provided on the top cover.

[0010] As a preferred embodiment of the present invention, the spraying system includes two sets of spraying units arranged symmetrically on the left and right, each set of spraying units including an electric control valve, a mechanical adjustment mechanism and multiple nozzles.

[0011] In a preferred embodiment of this utility model, the electrically controlled valve includes a left control valve and a right control valve that can be controlled independently or synchronously.

[0012] In a preferred embodiment of the present invention, the mechanical adjustment mechanism includes an angle adjustment mechanism and a span adjustment mechanism; the angle adjustment mechanism includes a first angle adjustment mechanism and a second angle adjustment mechanism, which are used to adjust the spraying angles on the left and right sides of the spraying system respectively; the span adjustment mechanism includes a first span adjustment mechanism and a second span adjustment mechanism, which are used to adjust the spraying width on the left and right sides of the spraying system respectively.

[0013] In a preferred embodiment of this utility model, the nozzle is connected to the tank-mounted device via a connecting pipe, and the nozzle has a duckbill-shaped cavity at one end near the connecting pipe; the end of the nozzle is a fan-shaped nozzle.

[0014] In a preferred embodiment of the present invention, the ends of the first angle adjustment mechanism and the second angle adjustment mechanism, as well as the ends of the first span adjustment mechanism and the second span adjustment mechanism, are each independently connected to a nozzle.

[0015] As a preferred embodiment of this utility model, the control system is also equipped with a global satellite positioning system and a lidar active detection system for real-time tracking of field location.

[0016] In a preferred embodiment of this utility model, the control system further includes a motor-valve control module. This module is electrically connected to the chassis system's walking motor, the pump station's pump, and the spraying system's electrically controlled valves. It receives commands from the control system and controls the starting and stopping of the walking motor and its speed, the starting and stopping of the pump and its power, and the opening and closing of the electrically controlled valves. Compared with the prior art, this utility model has the following advantages: An intelligent fertilization robot, through the integrated design of chassis system, tank-mounted device, pump station, control system and spraying system, combined with navigation and positioning, radar perception and automatic obstacle avoidance modules, realizes the functions of automatic driving, path planning and automatic obstacle avoidance in fertilization operations, improves operation efficiency and accuracy, and reduces manual operation costs.

[0017] Furthermore, the enclosure provides physical protection for the built-in control system and pump station, while the front panel ventilation grille promotes air circulation, effectively dissipates heat, prevents internal equipment from overheating, and extends the service life of the equipment.

[0018] Furthermore, the top cover warning light uses bright light to indicate the working status, enhancing visibility during field operations, reducing the risk of collisions, and ensuring the safety of personnel and equipment.

[0019] Furthermore, the symmetrical spraying unit design supports independent or collaborative operation on both sides, adapting to different field width requirements and improving the uniformity of fertilizer coverage and operational flexibility.

[0020] Furthermore, the independent or synchronous control function of the left and right control valves can achieve precise adjustment of zoned flow rates, meet the differentiated fertilization needs of different crops or fields, and avoid resource waste.

[0021] Furthermore, the left and right partition design of the angle adjustment mechanism and the span adjustment mechanism can adjust the spraying angle and width according to different crop row spacing or terrain slope, thereby improving the accuracy and adaptability of fertilization.

[0022] Furthermore, the duckbill-shaped pelvic design optimizes the fluid flow path, while the fan-shaped nozzles expand the spray coverage area, reduce liquid fertilizer dripping, and improve spray uniformity and utilization.

[0023] Furthermore, the nozzles are directly connected to the ends of each adjustment mechanism, shortening the control response time and improving the real-time performance and accuracy of spraying parameter adjustments.

[0024] Furthermore, GPS and lidar active detection systems can analyze the distribution of crops or the location of obstacles in the field in real time, optimize navigation paths, and improve the intelligence and adaptability of autonomous driving.

[0025] Furthermore, the motor and valve control module centrally manages the walking motor, pump, and electric control valve, enabling coordinated control of all components and improving system response speed and operational consistency.

[0026] Other features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0027] The present invention will be further described below with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the structure of an intelligent fertilization robot according to the present invention; Figure 2 This is a schematic diagram of the structure of the box body of this utility model; Figure 3 This is a side view schematic diagram of the front panel structure of this utility model; Figure 4 This is a side view schematic diagram of the spraying system of this utility model; Figure 5 This is a front view schematic diagram of the spraying system of this utility model; The annotations in the attached figures are explained as follows: Chassis system 1, tank-mounted device 2, pump station 3, spraying system 5, box body 6, front panel 61, top cover 62, side panel 63, ventilation grille 611, warning light 64, navigation and positioning module 41, radar sensing module 42, automatic obstacle avoidance module 43, electric control valve 51, mechanical adjustment mechanism 52, nozzle 53, left control valve 511, right control valve 512, angle adjustment mechanism 521, span adjustment mechanism 522, first angle adjustment mechanism 5211, second angle adjustment mechanism 5212, first span adjustment mechanism 5221, second span adjustment mechanism 5222, motor valve control module 44. Detailed Implementation

[0028] The technical solutions of the present utility model will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present utility model.

[0029] In the following description, terms such as “inner,” “outer,” “upper,” “lower,” “left,” and “right” are used only to facilitate the description of the embodiments and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0030] like Figures 1 to 5As shown, this embodiment provides an intelligent fertilization robot, including a chassis system 1, a tank-mounted device 2, a pump station 3, a control system, and a spraying system 5. The chassis system 1 employs a tracked walking mechanism, which reduces ground pressure by increasing the contact area with the ground. Combined with multiple drive points provided by continuous track plates, it achieves stable movement in muddy, slippery, or uneven fields, avoiding sinking and slipping, and ensuring continuous operation. The tank-mounted device 2 is a sealed container structure made of corrosion-resistant and rust-proof material. It stores liquid fertilizer internally and matches the overall weight distribution of the robot. The sealed design prevents fertilizer volatilization and leakage, ensuring stable fertilizer effectiveness.

[0031] Pump station 3 transports liquid fertilizer from tanker 2 to spraying system 5, providing stable pressure and flow for delivery. The control system is equipped with a dual navigation system of lidar and RTK-GPS, significantly reducing manual intervention, and integrates a navigation and positioning module 41, a radar sensing module 42, an automatic obstacle avoidance module 43, and a motor and valve control module 44. The navigation and positioning module 41 acquires the robot's real-time position and speed via a GNSS receiver; the radar sensing module 42 actively emits electromagnetic waves to detect the distance and orientation of surrounding obstacles; the automatic obstacle avoidance module 43 dynamically plans a safe path based on sensor data and instructs the chassis system to perform obstacle avoidance maneuvers. The motor and valve control module 44 receives weak electrical control signals and converts them into strong electrical signals through power electronic components, driving the chassis motor, pump, and electronically controlled valve 51 to achieve precise control of start / stop, speed, steering, and opening.

[0032] The spraying system 5 comprises two symmetrical spraying units, each equipped with an independent electrically controlled valve 51, a mechanical adjustment mechanism 52, and multiple nozzles 53. The electrically controlled valve 51 includes a left control valve 511 and a right control valve 512, supporting independent or synchronous control modes. In synchronous control, the flow rate on both sides is consistent; in independent control, the spray volume on the left and right sides can be adjusted separately to suit the needs of different fields. The mechanical adjustment mechanism 52 includes an angle adjustment mechanism 521 and a span adjustment mechanism 522. The angle adjustment mechanism changes the nozzle pitch angle via hinges, lead screws, or connecting rods, while the span adjustment mechanism adjusts the nozzle spacing via slide rails and telescopic rods, achieving dynamic adaptation of the spraying angle and width.

[0033] The angle adjustment mechanism 521 includes a first angle adjustment mechanism 5211 and a second angle adjustment mechanism 5212, which respectively adjust the spraying angles on the left and right sides of the spraying system 5; the span adjustment mechanism 522 includes a first span adjustment mechanism 5221 and a second span adjustment mechanism 5222, which respectively adjust the spraying width on the left and right sides of the spraying system 5.

[0034] The ends of each of the above-mentioned adjustment mechanisms, including the first angle adjustment mechanism 5211, the second angle adjustment mechanism 5212, the first span adjustment mechanism 5221, and the second span adjustment mechanism 5222, can be connected to nozzles 53, together forming a 360° three-dimensional spraying coverage area without dead angles or omissions; and the mechanical adjustment mechanism 52 realizes the rapid conversion of electronic control commands to mechanical actions through linkage or gear transmission, shortening the control response time and ensuring the real-time and accurate adjustment of spraying parameters.

[0035] The nozzle 53 has a duckbill-shaped, streamlined flow-guiding chamber near the connecting pipe end to reduce fluid turbulence and pressure loss; the end adopts a fan-shaped nozzle structure, which uses internal geometric compression to form a uniform fan-shaped liquid film of liquid fertilizer, expanding the coverage area and improving distribution uniformity. Furthermore, the nozzle 53 can be adjusted in position via a mechanical adjustment mechanism 52, allowing the spraying system 5 to perform injection-type liquid fertilizer application or trench-covering-type liquid fertilizer application, meeting various liquid fertilizer application needs and broadening its applicability.

[0036] The control system and pump station 3 are housed within a enclosure 6, which comprises a front panel 61, a top cover 62, and multiple side panels 63 forming a closed, protective space. The front panel 61 features a ventilation grille 611, promoting internal heat dissipation through air convection to prevent overheating and failure of the control system and pump station. The front panel 61 has a biomimetic shape, contributing to the seamless integration of the entire device and ensuring both aesthetic appeal and durability. The top cover 62 is equipped with warning lights 64, employing high-brightness light-emitting elements to provide visual signals in low-light conditions through a flashing pattern, alerting surrounding personnel to the robot's operational status and enhancing field safety.

[0037] The control system also integrates a global positioning system (GPS) and a lidar active detection system. The detection system uses cameras to collect images of crop distribution and obstacles in the field, and combines this with positioning data to dynamically optimize the navigation path, enhancing the intelligence and adaptability of autonomous driving. This embodiment, through the above integrated design, achieves autonomous driving, path planning, automatic obstacle avoidance, and precise variable spraying for fertilization operations, significantly improving operational efficiency and fertilizer utilization, reducing manual operation costs, and ensuring stable equipment operation and personnel safety through multiple measures such as physical protection, heat dissipation design, and safety warnings.

[0038] The above are merely specific embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Those skilled in the art should understand that this utility model includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this utility model will be included within the scope of the claims.

Claims

1. An intelligent fertilization robot, comprising: The chassis system (1) adopts a tracked walking mechanism; the tank-mounted device (2) is used to load liquid fertilizer; the pump station (3) is used to provide power for the transport of liquid fertilizer; characterized in that it also includes a control system and a spraying system (5), the spraying system (5) is used to spray liquid fertilizer to the field; the control system is electrically connected to the chassis system (1), the pump station (3) and the spraying system (5); the control system is equipped with a navigation and positioning module (41), a radar sensing module (42) and an automatic obstacle avoidance module (43), used to realize the robot's automatic driving, path planning and automatic obstacle avoidance; the spraying system (5) includes an electric control valve (51), a mechanical adjustment mechanism (52) and a nozzle (53), the control system adjusts the spraying flow rate, spraying angle and spraying span by controlling the electric control valve (51) and the mechanical adjustment mechanism (52).

2. The intelligent fertilizing robot according to claim 1, characterized in that, The control system and the pump station (3) are assembled in the housing (6), which includes a front panel (61), a top cover (62) and multiple side panels (63). The front panel (61) is provided with a ventilation grille (611).

3. The intelligent fertilizing robot according to claim 2, characterized in that, The top cover (62) is equipped with a warning light (64).

4. The intelligent fertilizing robot according to claim 1, characterized in that, The spraying system (5) includes two sets of spraying units arranged symmetrically on the left and right. Each set of spraying units includes the electric control valve (51), the mechanical adjustment mechanism (52), and multiple nozzles (53).

5. The intelligent fertilizing robot according to claim 4, characterized in that, The electrically controlled valve (51) includes a left control valve (511) and a right control valve (512) that can be controlled independently or synchronously.

6. The intelligent fertilizing robot according to claim 4, characterized in that, The mechanical adjustment mechanism (52) includes an angle adjustment mechanism (521) and a span adjustment mechanism (522); the angle adjustment mechanism (521) includes a first angle adjustment mechanism (5211) and a second angle adjustment mechanism (5212), which are used to adjust the spraying angles on the left and right sides of the spraying system (5) respectively; the span adjustment mechanism (522) includes a first span adjustment mechanism (5221) and a second span adjustment mechanism (5222), which are used to adjust the spraying width on the left and right sides of the spraying system (5) respectively.

7. The intelligent fertilizing robot according to claim 6, characterized in that, The nozzle (53) is connected to the tank-mounted device (2) via a connecting pipe. The nozzle (53) has a duckbill-shaped cavity near one end of the connecting pipe. The end of the nozzle (53) is a fan-shaped nozzle.

8. The intelligent fertilizing robot according to claim 6, characterized in that, The nozzle (53) is independently connected to the ends of the first angle adjustment mechanism (5211) and the second angle adjustment mechanism (5212), as well as the ends of the first span adjustment mechanism (5221) and the second span adjustment mechanism (5222).

9. The intelligent fertilizing robot according to claim 1, characterized in that, The control system is also equipped with a global positioning system and a lidar active detection system for real-time tracking of field locations.

10. The intelligent fertilizing robot according to claim 1, characterized in that, The control system also includes a motor valve control module (44); the motor valve control module (44) is electrically connected to the walking motor of the chassis system (1), the pump of the pump station (3) and the electric control valve (51) of the spraying system (5), and is used to receive the instructions of the control system and control the start and stop and speed of the walking motor, the start and stop and power of the pump and the opening and closing and degree of the electric control valve (51).

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