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Automatic orchard targeting spraying robot and spraying method

A technology for robots and orchards, applied in the field of robots, can solve the problems of working methods that do not meet the standards for building gardens, delaying time, and harm to human lesions, and achieve the effect of avoiding the impact of personnel health and high efficiency.

Active Publication Date: 2018-02-16
HENAN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Artificial spraying has the following unfavorable factors: 1. The medicine is harmful to the human body and will cause potential pathological changes in the human body.
2. The spraying efficiency is low. Manual spraying not only consumes physical strength, but also delays time
3. The utilization rate of the drug is low. Manual spraying will cause problems such as uneven spraying and drug dripping, which will lead to waste of drugs
Some mechanical spraying devices are used in orchard spraying, but these spraying devices have the following disadvantages: 1. Human control is required, and the whole process of spraying cannot be realized independently
2. The spraying method is single and the efficiency is not high enough
3. The working method does not meet the current orchard construction standards
4. The operation method is complicated

Method used

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  • Automatic orchard targeting spraying robot and spraying method
  • Automatic orchard targeting spraying robot and spraying method
  • Automatic orchard targeting spraying robot and spraying method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0052] The first embodiment, based on the spraying method of the orchard automatic spraying robot on the target, is suitable for the situation that the rectangular orchard 16 and the number of ditches 17 in the orchard 16 is an odd number, the specific steps are as follows.

[0053] Step 1. Set a fence on the edge of the rectangular orchard 16, leaving a distance between the fence and the ditch 17, and open an entrance for the robot to enter and exit at a corner of the fence. If the direction of the entrance and the ditch 17 extend If it is vertical, the robot selects walking mode 1, and if the direction of the entrance and exit is parallel to the extending direction of the ditch 17, it selects walking mode 2;

[0054] Step 2: The robot sprays the fruit tree 18 while walking.

[0055] Such as Figure 4 with 5 As shown, the specific steps of walking mode one are:

[0056] S1. The robot enters the orchard 16 from the entrance and exit. At the same time, the distance sensing system detec...

Embodiment 2

[0080] The second embodiment is based on the spraying method of the orchard automatic spraying robot to the target, which is suitable for the situation that the rectangular orchard and the number of furrows in the orchard is even.

[0081] Such as Figure 8 As shown, the robot first enters the orchard 16 from the entrance and exit, and continuously detects the distance between the robot and the obstacle from the front, left and right sides during the movement, and transmits the detection value to the controller 11; Or when one of the distance detection values ​​on the right has a sudden change, the robot turns 90° to that side, and then goes straight between the ditch 17 and the enclosure; when one of the distance detection values ​​on the left or right has a sudden change for the second time, the robot Turn 180° to this side, and then go straight between the two ditches 17; when the left and right distance detection values ​​change at the same time, the robot turns 180°, and the ...

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Abstract

The invention discloses an automatic orchard targeting spraying robot. The automatic orchard targeting spraying robot comprises a body, steering wheels, driving wheels and a steering engine. The robotalso comprises a distance induction system, a spraying system and a controller; the distance induction system is electrically connected with the controller, and comprises a front-side distance sensorfixedly arranged at the front portion of the body, a left-side induction device arranged on the left side of the body and a right-side induction device arranged on the right side of the body, whereinthe left induction device comprises a left-side distance sensor and a left-side photoelectric sensor, and the right-side induction device comprises a right-side distance sensor and a right-side photoelectric sensor; the spraying system comprises a pesticide barrel fixedly arranged in the middle of the body, a left spraying head and a right spraying head are arranged at the top of the pesticide barrel, the left spraying head and the right spraying head are each communicated with the pesticide barrel through an electromagnetic valve, and the two electromagnetic valves are evenly and electrically connected with the controller. By means of the automatic orchard targeting spraying robot, it can be achieved that moving movement, steering movement, spraying movement and orchard leaving movementare automatically completed in an orchard, the efficiency is higher, and the influence of pesticide on person health is avoided.

Description

Technical field [0001] The invention relates to the field of robots, in particular to an orchard automatic spraying robot on a target and a spraying method. Background technique [0002] With the improvement of people's requirements for the quality of life, people are more aware of the importance of the nutritional value of fruits, and the demand for fruits is increasing. Fruit growers are planting more and more fruit trees, and spraying the fruit trees has become more onerous. [0003] At present, spraying the fruit trees is mainly done manually. Artificial spraying has the following unfavorable factors: 1. The drug is harmful to the human body and can cause potential damage to the human body. 2. The spraying efficiency is low. Manual spraying not only consumes energy, but also delays time. 3. The utilization rate of the medicine is low, and manual spraying will cause uneven spraying, dripping and leakage of the medicine, resulting in waste of medicine. There are some mechanic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01M7/00
CPCA01M7/0082A01M7/0089
Inventor 张伏王亚飞许子和陈新辉郭儒雅
Owner HENAN UNIV OF SCI & TECH
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