Robot sprayers for pesticides used in home-grown cantaloupe farms.

Abstract

The invention relates to a pesticide spraying robot for use in greenhouses growing cantaloupe, designed to operate efficiently in narrow greenhouse spaces, moist soil, and trellis structures with varying plant heights. The robot comprises a four-wheeled, self-propelled mobile frame with a low center of gravity, allowing direct movement on the cantaloupe beds without a steering system, while maintaining a straight trajectory through synchronized control of the wheel motors combined with camera image processing. The robot frame features vertical spray arms with multiple nozzles and a localized spray control mechanism, allowing for adjustment of spray height within a range of approximately 0.5 m to 2.5 m, suitable for different growth stages of the cantaloupe plants. The robot also includes a pressure spraying pump system controlled by an integrated central controller using a real-time synchronization algorithm between movement speed and spray flow rate to ensure uniform pesticide distribution.The hybrid LoRa-WiFi wireless communication system enables stable remote control and monitoring of robots in greenhouse environments with numerous obstacles. [FIG. 1].