A smart robotic sprayer

Abstract

This utility model belongs to the field of intelligent sprayer technology, specifically relating to an intelligent robotic sprayer, including a robot body, a rotating device and a control box mounted on it, and a spraying device for atomization and spraying mounted on the rotating device; the rotating device, the spraying device, and the control box are electrically connected. This product can navigate in complex terrain, reducing the risk of human exposure to hazardous environments, and improves operational accuracy through AI-driven object recognition and real-time environmental monitoring, stopping atomization when humans or animals are detected; real-time environmental monitoring (wind speed, obstacles) improves safety and accuracy; this invention aims to revolutionize mosquito control and improve public health outcomes by providing a scalable, autonomous, and environmentally compliant solution, while reducing operational risks and costs. The integration of the rotating device, wireless control, and safety mechanisms ensures adaptability and reliability in different environments, setting a new standard for automated pest control.

Description

This utility model relates to the field of intelligent sprayer technology, specifically to an intelligent robotic sprayer that is easily driven by a quadruped robot. Background Technology: Atomization operations are crucial for controlling mosquitoes, especially in areas with complex terrain, such as dense vegetation, slopes, and uneven paths. Traditionally, these operations rely on manually operated handheld or vehicle-mounted sprayers, exposing workers to harmful chemicals and requiring high physical exertion. For example, handheld sprayers, traditional atomization equipment such as backpack or handheld ULV sprayers, are manually operated by workers; these devices expose operators to harmful chemicals, are labor-intensive, and have limited coverage in uneven or densely vegetated areas. Disadvantages include high personal risk, low efficiency, and inability to adapt to complex environments. Existing robotic solutions, such as wheeled or tracked robots, include some robotic platforms used for agricultural spraying that employ wheeled or tracked designs. They have poor mobility on slopes or uneven terrain, limited autonomy, and lack artificial intelligence for real-time object detection, increasing the risk of accidental exposure. Existing drone atomization systems: Drones equipped with sprayers are used for large-scale pest control. However, these systems have limited payload capacity, short battery life (typically 10-20 minutes), and difficulty in precise navigation in narrow or densely vegetated areas, lacking adaptability to terrain. They often require continuous human supervision, limiting autonomy and increasing operating costs. To overcome the shortcomings of the prior art, this utility model aims to provide an intelligent robot sprayer. The technical solution is as follows: An intelligent robot sprayer includes a robot body, a rotating device and control box mounted on it, and a spraying device for atomization and spraying mounted on the rotating device; the rotating device, spraying device, and control box are electrically connected. Preferably, the robot body includes four legs and mounting parts on the four legs; the rotating device and control box are mounted on the mounting parts. Preferably, the spraying device is located in front of the control box, and a mounting pole fixedly connected to the control box is provided on the rear side of the control box; an anemometer electrically connected to the control box and a monitoring camera for monitoring the overall operation of the robot are provided at the upper end of the mounting pole. Preferably, a mounting bracket is provided on one side wall of the rotating device, and an A1 camera is provided on the upper end of the mounting bracket. Preferably, the rotating device includes an X-axis rotating assembly disposed on the mounting part, and a Y-axis rotating assembly connected to the X-axis rotating assembly; the spraying device is disposed on the Y-axis rotating assembly.Preferably, the X-axis rotating assembly includes an X-axis base mounted on the mounting portion, an X-axis stepper motor located at one end of the X-axis base, a coupling located at the output end of the X-axis stepper motor, a worm gear connected at one end to the coupling, and a worm wheel mounted on the X-axis base, engaging with the worm gear, and rotatable relative to the X-axis base. Preferably, the X-axis base is provided with an X-axis crossed roller bearing, and the worm wheel is sleeved on the X-axis crossed roller bearing; an X-axis connecting plate is provided on the worm wheel and connected thereto. Preferably, the Y-axis rotating assembly includes a Y-axis base mounted on the X-axis connecting plate, a Y-axis stepper motor located inside and connected to the Y-axis base, a harmonic reducer located at the output end of the Y-axis stepper motor, and a mounting platform for mounting a spray device, connected to the Y-axis base and the harmonic reducer. Preferably, the Y-axis base includes two Y-axis vertical plates perpendicular to and parallel to each other, mounted on the X-axis connecting plate. The Y-axis stepper motor is located between the two Y-axis vertical plates, and the Y-axis stepper motor and the harmonic reducer are mounted on the inner side of one of the Y-axis vertical plates. Preferably, the mounting platform includes two parallel platform plates rotatably connected to the outer sides of the two Y-axis vertical plates, and a mounting plate perpendicularly connected to the upper ends of the two platform plates. The platform plate rotatably connected to the outer side of one of the Y-axis vertical plates is connected to the harmonic reducer. Technical effects: This robotic sprayer adopts a quadrupedal structure, enabling navigation in complex terrain, reducing the risk of human exposure to hazardous environments. It improves operational accuracy through AI-driven object recognition and real-time environmental monitoring, stopping atomization when humans or animals are detected. Real-time environmental monitoring (wind speed, obstacles) improves safety and accuracy. This invention aims to revolutionize mosquito control, improve public health outcomes, and reduce operational risks and costs by providing a scalable, autonomous, and environmentally compliant solution. The integration of rotating mechanisms, wireless control, and safety mechanisms ensures adaptability and reliability in different environments, setting a new standard for automated pest control.Figure 1 is a front view of an embodiment of the present invention; Figure 2 is a right view of an embodiment of the present invention; Figure 3 is a top view of an embodiment of the present invention; Figure 4 is a front view of the sprayer without the robot body of an embodiment of the present invention; Figure 5 is a right view of the sprayer without the robot body of an embodiment of the present invention; Figure 6 is a top view of the sprayer without the robot body of an embodiment of the present invention; Figure 7 is a left view of a partial structure of the sprayer of an embodiment of the present invention; Figure 8 is the FF view of Figure 7; Figure 9 is the JJ view of Figure 7; Figure 10 is a partial enlarged view of Figure 9; Figure 11 is a right view of a partial structure of the sprayer of an embodiment of the present invention; Figure 12 is a schematic diagram of the sprayer of an embodiment of the present invention rotating 90 degrees forward and reverse in the X direction; Figure 13 is a schematic diagram of the sprayer of an embodiment of the present invention rotating 50 degrees forward in the Y direction; Figure 14 is a schematic diagram of the sprayer of an embodiment of the present invention rotating 20 degrees reverse in the Y direction. Reference numerals: Robot body - 1', Foot - 101, Mounting part - 102, Rotating device - 2, X-axis rotating assembly - 201, X-axis base - 201a, X-axis stepper motor - 201b, Coupling - 201c, Worm gear - 201d, Worm wheel - 201e, X-axis crossed roller bearing - 201f, X-axis connecting plate - 201g, Y-axis rotating assembly - 202, Y-axis stepper motor - 202a, Harmonic reducer - 202b, Y-axis upright plate - 202c, Platform upright plate - 202d, Mounting plate - 202e, Control box - 3, Spraying device - 4, Mounting pole - 5, Anemometer - 6, Monitoring camera - 7, Mounting bracket - 8, AI camera - 9, Limiting hook - 10. Detailed Description of the Embodiments To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. As shown in Figures 1-6, an embodiment of the present invention provides an intelligent robot sprayer, including a robot body 1', a rotating device 2 and a control box 3 mounted thereon, and a spraying device 4 for atomization and spraying mounted on the rotating device; the rotating device, the spraying device and the control box are electrically connected. The robot body 1 includes four legs 101 and mounting portions 102 on the four legs; the rotating device 2 and the control box 3 are mounted on the mounting portions.This utility model discloses a robotic sprayer, an integrated platform designed for spraying operations. Based on the Unitree B2 chassis, it is equipped with enhanced add-ons. The system dimensions are approximately 1098mm x 450mm x 645mm (standing), weighing approximately 60kg. It includes a 45Ah (2250Wh) battery, providing 4-6 hours of operation. The spraying device uses an Ai roStar wireless ULV cold fogger (39cm x 17cm x 35cm, approximately 3.7kg, 2.SL capacity), secured with quick-change clamps for easy installation and replacement. The robotic sprayer has an IP67 protection rating, is adaptable to harsh environments, has a walking load capacity of no more than 40kg, and is suitable for diverse terrains. The rotating device 2 measures 230mm x 210mm, weighs approximately 11.5kg, and has a load capacity of 12kg. It rotates horizontally 180 degrees (-90° to +90° at a speed <20° / s) and tilts vertically from -20° to +50° (at a speed <10° / s), achieving omnidirectional spraying. During assembly, the spraying device 4 is located in front of the control box 3, with a mounting pole 5 fixedly connected to it on the rear side. At the upper end of the mounting pole is an anemometer 6 electrically connected to the control box 3 and a monitoring camera 7 for monitoring the overall operation of the robot, including robot movement monitoring and atomization area monitoring. The measurement range is 0-40m / s, ensuring safe conditions for atomization operations. As shown in Figures 7-11, a mounting bracket 8 is provided on one side wall of the rotating device 2, with an AI camera 9 mounted on the upper end of the bracket for artificial intelligence object recognition, supplemented by 3D LiDAR for environmental sensing. As shown in Figures 7-11, the rotating device 2 includes an X-axis rotating assembly 201 mounted on the mounting part and a Y-axis rotating assembly 202 connected to the X-axis rotating assembly; the spraying device 4 is mounted on the Y-axis rotating assembly. As shown in Figures 8-10, the X-axis rotating assembly 201 includes an X-axis base 201a mounted on the mounting part, an X-axis stepper motor 201b mounted at one end of the X-axis base, a coupling 201c mounted at the output end of the X-axis stepper motor, a worm gear 201d connected at one end to the coupling, and a worm wheel 201e mounted on the X-axis base, engaging with the worm gear, and rotatable relative to the X-axis base.The X-axis base 201a is equipped with an X-axis crossed roller bearing 201f, and the worm gear 201e is fitted onto the X-axis crossed roller bearing. An X-axis connecting plate 201g is provided on the worm gear 201e and connected thereto. Here, the X-axis stepper motor 201b starts, and through forward and reverse rotation, drives the worm gear 201e to rotate forward or reverse by 90 degrees, thereby causing the device on the X-axis connecting plate 201g to rotate forward or reverse by 90 degrees, as shown in Figure 12. As shown in Figures 8-10, the Y-axis rotating assembly 202 includes a Y-axis base mounted on the X-axis connecting plate 201g, a Y-axis stepper motor 202a mounted inside and connected to the Y-axis base, a harmonic reducer 202b located at the output end of the Y-axis stepper motor, and an installation platform for mounting a spraying device, which is connected to the Y-axis base and the harmonic reducer. As shown in Figures 8-10, the Y-axis base includes two Y-axis vertical plates 202c that are perpendicular to and parallel to each other mounted on the X-axis connecting plate 201g. The Y-axis stepper motor 202a is located between the two Y-axis vertical plates, and the Y-axis stepper motor and the harmonic reducer 202b are mounted on the inner side of one of the Y-axis vertical plates. As shown in Figures 8-10, the installation platform includes two parallel platform plates 202d that are rotatably connected to the outer sides of the two Y-direction vertical plates 202c, and an installation plate 202e that is perpendicularly connected to the upper ends of the two platform plates. The platform plate rotatably connected to the outer side of one of the Y-direction vertical plates is connected to a harmonic reducer 202b. The Y-direction base rotates 90 degrees forward or backward in the X-direction along with the X-direction connecting plate 201g; the Y-direction stepper motor 202a starts, driving the installation platform composed of the platform plates 202d and the installation plate 202e to rotate 50 degrees forward or 20 degrees backward in the Y-direction, thereby driving the spraying device to rotate so as to achieve omnidirectional operation; as shown in Figures 1-14. As shown in Figure 11, two limiting hooks 10 are provided on the outer side of one of the Y-direction vertical plates 202c for limiting the positioning of one of the platform plates 202d. This utility model's robot has two operating modes: A. Automatic mode: AI-driven operation, detecting humans (within 15m), animals (within 10m), or vehicles through object recognition, triggering an emergency stop to pause atomization. The system pauses for a maximum of 5 seconds, resuming only after the area is safe or the atomizer is redirected to a safe area via a rotating platform. This mode maximizes autonomy and efficiency.B. Manual Mode: The operator controls the robot via a wireless remote control (Bluetooth, 100m range, 780mAh battery, 5-hour battery life), adjusting speed, atomization power, and turntable direction. Artificial intelligence issues object detection alerts to the operator, allowing for manual decision-making for flexible operation. Control is provided through two main interfaces: the wireless remote control and mixed reality (MR) glasses, offering a flexible and immersive operating experience. A. Wireless Remote Control: Equipped with a monitor (e.g., smartphone), built-in 780mAh battery, 5-hour battery life, Bluetooth communication, and a 100m control range. The operator can adjust robot movement, turntable direction, atomization power, and monitor real-time data, including battery life, atomization status, and environmental conditions (such as wind speed data from an anemometer). The controller integrates commands from the robot body, atomizing device, rotating device, and various cameras, processed by an onboard calculator (Intel Core i5 / i7 or Jetson Orin NX). B. Mixed Reality Glasses: Provides a 180-degree first-person view (FPV), enhancing operational efficiency, safety, and user immersion. The glasses display real-time images and environmental data (such as wind speed) from the robot's cameras, allowing operators to control robot navigation, fogging operations, and turntable adjustments via an integrated user interface. Safety features include an emergency stop mechanism triggered by obstacle detection or robot instability, supplemented by a fall prediction algorithm using gyroscopes, accelerometers, and force sensors. A dual control system ensures versatility, catering to both traditional and immersive operational preferences while maintaining accuracy and safety. An AI recognition system, powered by dedicated cameras and onboard processing, can identify humans, animals (such as dogs, cats, and cows), and vehicles in real time. In automatic mode, fogging stops upon detecting an image within a specified range (15m for humans, 10m for animals) to prevent exposure. The system uses depth and optical cameras for environmental analysis, ensuring precise navigation and fogging direction adjustments. The AI ​​model, developed by the team, supports continuous learning to improve detection accuracy, enhance safety, and comply with environmental regulations. Therefore, this utility model has the following advantages: 1. Quadrupedal mobility: Unlike wheeled or tracked robots, the quadrupedal design allows it to climb stairs (up to 25cm), slopes (~40°), and uneven terrain, entering areas inaccessible by existing technologies. 2. Artificial intelligence safety: The integrated artificial intelligence recognition system can detect humans, animals, and vehicles in real time, automatically stopping or redirecting atomization, a feature lacking in most existing technologies, which rely on basic sensors or human supervision. 3. Dual-mode operation: The combination of automatic (artificial intelligence control) and manual (operator control) modes provides flexibility not seen in fully manual handheld systems or semi-autonomous wheeled robots.4. Environmental Integration: Anemometers and AI cameras provide real-time wind speed and environmental data, enabling dynamic adjustments—something drones or traditional robots cannot achieve. 5. Rugged Design: IP67 protection rating, high payload capacity (~40kg), and extended battery life (4-6 hours) surpass the capabilities of drones (short battery life) and wheeled systems (limited terrain adaptability). In the above description, it should be noted that the terms "installed," "connected," and "linked" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. "Set at" should be understood as "installed at" or "set at," including fixed installation, movable installation, and other installation methods. Obviously, the embodiments described above are only some embodiments of this utility model, not all embodiments of the specification in HK 30135231 A. The accompanying drawings show preferred embodiments of this utility model, but do not limit the patent scope of this utility model. This utility model can be implemented in many different forms. Instead, these embodiments are provided to make the disclosure of this utility model more thorough and comprehensive. Any equivalent structure made using the contents of this utility model specification and drawings, directly or indirectly applied to other related technical fields, is similarly within the scope of protection of this utility model patent. 9 HK 30135231 A Claim 1. An intelligent robot sprayer, characterized in that it includes a robot body (1), a rotating device (2) disposed thereon, and a control box (3), and a spraying device (4) disposed on the rotating device for atomization and spraying; the rotating device, the spraying device and the control box are electrically connected. 2. An intelligent robot sprayer as claimed in claim 1, characterized in that the robot body (1) includes four legs (101), and mounting parts (102) disposed on the four legs; the rotating device (2) and the control box (3) are mounted on the mounting parts. 3. A smart robot sprayer as claimed in claim 2, characterized in that the spraying device (4) is located in front of the control box (3), and a mounting pole (5) fixedly connected to it is provided on the rear side of the control box; an anemometer (6) 10 electrically connected to the control box (3) and a monitoring camera (7) for monitoring the overall operation of the robot are provided at the upper end of the mounting pole. 4. A smart robot sprayer as claimed in claim 2, characterized in that a mounting bracket (8)' is provided on one side wall of the rotating device (2), and an A1 camera (9) is provided at the upper end of the mounting bracket.5. A smart robot sprayer as claimed in claim 2, characterized in that the rotating device (2) includes an X-axis rotating assembly (201) disposed on the mounting part, and a Y-axis rotating assembly (202) connected to the X-axis rotating assembly; the spraying device (4) is disposed on the Y-axis rotating assembly. 6. A smart robot sprayer as claimed in claim 5, characterized in that the X-axis rotating assembly (201) includes an X-axis base (201a) disposed on the mounting part, an X-axis stepper motor (201b) disposed at one end of the X-axis base, a coupling (201c) disposed at the output end of the X-axis stepper motor, a worm gear (201d) with one end connected to the coupling, and a worm wheel (201e) disposed on the X-axis base, engaging with the worm gear and rotatable relative to the X-axis base. 7. A smart robot sprayer as claimed in claim 6, characterized in that the X-axis base (201a) of claim HK 30135231 A is provided with an X-axis crossed roller bearing (201f), and the worm gear (201e) is sleeved on the X-axis crossed roller bearing; an X-axis connecting plate (201g) is provided on the worm gear (201e) and connected thereto. 8. A smart robot sprayer as claimed in claim 7, characterized in that the Y-axis rotating assembly (202) includes a Y-axis base provided on the X-axis connecting plate (201g), a Y-axis stepper motor (202a) provided in and connected to the Y-axis base, a harmonic reducer (202b) provided at the output end of the Y-axis stepper motor, and an installation platform for mounting the sprayer, which is connected to the Y-axis base and the harmonic reducer. 9. A smart robot sprayer as claimed in claim 8, characterized in that the Y-axis base includes two Y-axis vertical plates (202c) vertically disposed on the X-axis connecting plate (201g) and parallel to each other; 10. The Y-axis stepper motor (202a) is located between the two Y-axis vertical plates, and the Y-axis stepper motor and the harmonic reducer (202b) are mounted on the inner side of one of the Y-axis vertical plates. 10. A smart robot sprayer as claimed in claim 9, characterized in that the mounting platform includes two platform vertical plates (202d) parallel to each other and rotatably connected to the outer sides of the two Y-axis vertical plates (202c), and a mounting plate (202e) perpendicularly connected to the upper end of the two platform vertical plates; 15. The platform vertical plate rotatably connected to the outer side of one of the Y-axis vertical plates is connected to the harmonic reducer (202b).2 HK 30135231 A HK 30135231 A HK 30135231 A HK 30135231 A HK 30135231 A HK 30135231 A HK 30135231 A HK 30135231 A HK 30135231 A HK 30135231 A HK 30135231 A HK 30135231 A HK 30135231 A HK 30135231 A HK 30135231 A.

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