Precise variable fruit tree pesticide application robot based on multiple sensors

Abstract

The invention discloses a precise variable fruit tree pesticide application robot based on multiple sensors. The robot comprises a self-propelled system, a laser sensor (10), a camera (11), an industrial personal computer and a single chip microcomputer (9); the self-propelled system is used for installing equipment and driving the whole robot to move forward; the laser sensor (10) is used for detecting whether or not a target exists, sending a signal to the industrial personal computer after the target is detected and collecting and transmitting distance information to the industrial personal computer; the camera (11) is used for collecting images of the target and transmitting the images to the industrial personal computer for processing; the industrial personal computer is used for receiving the target signal of the laser sensor (10), judging the disease level according to the collected image information, obtaining the total canopy volume of the target according to the distance information of the target to determine the pesticide spraying amount and transmitting the pesticide spraying amount information to the single chip microcomputer (9); the single chip microcomputer (9) is used for receiving the pesticide spraying amount information, controlling a pesticide supply system to supply pesticide to a variable spraying system and controlling the variable spraying system to apply the pesticide. The robot obtains the accurate pesticide spraying amount by accurately detecting the volume of the target and identifying the degree of diseases and pests.

Description

technical field [0001] The invention relates to the field of plant protection machinery and automation, in particular to a multi-sensor-based precision variable fruit tree pesticide application robot that can perform precise pesticide application in combination with the degree of pest damage and tree crown volume. Background technique [0002] The ecological environment of orchards is relatively stable, which is suitable for the reproduction of pests. With the increase of fruit tree planting area, the work of pest control in orchards is becoming more and more arduous. Due to the different external conditions (moisture, light, etc.) of fruit tree growth, the distribution of pests on each fruit tree will inevitably be different, so the degree of disease and insect damage of each fruit tree will also be different; The canopy shape and density of foliage will vary, as will the spacing from tree to tree. These are the factors that must be considered to achieve precision pesticid...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to address the problems existing in the prior art, and to provide a multi-sensor-based precision variable fruit tree pesticide application robot that can accurately spray pesticides in combination with the degree of disease and insect pests and the volume of the canopy. Identify the degree of pests and diseases to provide accurate spraying amount, which solves the problem of low working efficiency of existing sprayers, inability to effectively identify the degree of diseases and insect pests, resulting in unreasonable dosage of pesticides, inability to achieve real-time variable spraying, resulting in waste of chemicals, serious environmental pollution, etc. question

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