Automatic guiding and positioning device for greenhouse plant protecting robot and control method

Abstract

The invention relates to an automatic guiding and positioning device for a greenhouse plant protecting robot and a control method. The automatic guiding and positioning device comprises a frame, a walking guiding device, a positioning device and a control system; the frame is used for supporting and fixing other devices; the walking guiding device is fixed on the frame and used for driving and guiding the frame; the positioning device is used for positioning the plant protection robot during the walking process and correcting the walking direction of the plant protection robot; a drug applyingdevice is used for spraying pesticide to vegetable crops in the greenhouse; the control system is used for controlling the greenhouse plant protecting robot to complete the walking, positioning, drugspraying and other actions. The device and control method apply the automatic guiding and positioning; the walking direction of the greenhouse plant protecting robot is automatically revised throughthe machine vision, thus the track is omitted; the other works of the greenhouse are not influenced when the spraying work is not carried out; the front wheel is universal, and the back wheel is driven at differential speed; the device can independently walked and guided, and the greenhouse changing work is realized.

Description

technical field [0001] The invention belongs to the field of agricultural machinery, and relates to an automatic guiding and positioning device and a control method for a greenhouse plant protection robot, which realize autonomous walking guidance and automatic positioning of the greenhouse plant protection robot. technical background [0002] After nearly 20 years of development, my country's facility vegetables have achieved great results, and the production area of ​​facility vegetables ranks first in the world, gradually showing a regional and large-scale development trend. Vegetables in facilities are mostly off-season vegetables, which have the advantages of high yield and good benefits. However, due to the high temperature and high humidity in the greenhouse and the relatively fixed soil position, pests and diseases are prone to occur, seriously affecting the yield and quality of vegetables. [0003] At present, there is still a big gap between domestic facility vege...

AI Technical Summary

Problems solved by technology

However, due to the high temperature and high humidity in the greenhouse and the relatively fixed position of the soil, pests and diseases are prone to occur, seriously affecting the yield and quality of vegetables

[0003]At present, there is still a big gap between domestic facility vegetable pest control machinery and developed countries. There are: ① The control equipment is outdated and aging, mainly manual work, and labor intensity is high , the operation efficiency is low, and the phenomenon of "running, popping, dripping, and leaking" causes serious pollution; ②The existing plant protection machinery has a low degree of automation under the diversified planting mode of facility vegetables, and the design of the spraying mode is unreasonable, and precise spraying cannot be achieved, and the effect of pest control is poor. , the coverage density of the liquid medicine is uneven, and the effective utilization rate of pesticides is only 20% to 30%; ③The existing equipment is low in automation and intelligence, and it will cause great personal injury to operators in a closed greenhouse environment, and is prone to poisoning

[0004] After searching the literature of the prior art, it was found that the Chinese invention patent "a monorail plant protection robot for greenhouse" patent application number 201521015030.6X uses guide rails to realize the plant protection robot in the greenhouse Walking guide and positioning in the greenhouse, this positioning method has the following problems: ① guide rails and positioning anchors need to be laid in the greenhouse, and the laying cost is high

②The plant protection robot uses track wheels. After detaching from the track, the front and rear wheels cannot touch the ground at the same time, and cannot walk independently when changing sheds

③The laid track is located in the middle of the ground, affecting other operations in the greenhouse

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