CN107544511B - Automatic execution system and automatic execution method of orchard pesticide spraying robot - Google Patents
Automatic execution system and automatic execution method of orchard pesticide spraying robot Download PDFInfo
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Abstract
The automatic execution system of the orchard pesticide spraying robot comprises a control mechanism, a movement mechanism and a pesticide spraying mechanism; the control mechanism comprises a controller, a left distance sensor, a right distance sensor, a front distance sensor, a left photoelectric sensor and a right photoelectric sensor, wherein the left distance sensor, the right distance sensor, the front distance sensor, the left photoelectric sensor and the right photoelectric sensor are all electrically connected with the controller; the motion mechanism comprises a driving motor for driving the robot to walk and a steering engine for controlling the robot to steer, and the driving motor and the control motor are both electrically connected with the controller; the medicine spraying mechanism comprises a medicine barrel, a water pump, a left spray head and a right spray head, the left spray head and the right spray head are respectively communicated with the water pump through an electromagnetic valve, and the two electromagnetic valves are electrically connected with the controller. The invention can automatically finish the actions of moving, steering, spraying and taking out of the orchard according to the actual situation of the orchard, has higher efficiency and avoids the influence of pesticide on the health of personnel.
Description
Technical Field
The invention relates to the field of agricultural robots, in particular to an automatic execution system and an automatic execution method of an orchard pesticide spraying robot.
Background
Nowadays, orchard pesticide application technology in China is relatively laggard, most of orchard pesticide application technology still stays in a backpack manual pesticide application state, and manual pesticide spraying has many adverse factors: 1. the medicine is harmful to human body and can cause potential lesion harm to human body. 2. The medicine spraying efficiency is low, and manual medicine spraying not only consumes physical strength, but also delays time. 3. The medicine utilization ratio is low, and artifical the spouting medicine can cause to spout the medicine inhomogeneous, and the medicine drips the hourglass scheduling problem, leads to the waste of medicine. Some mechanical spraying devices are applied to spraying in orchards, but the spraying devices have the following disadvantages: 1. the whole spraying process cannot be automatically realized due to the need of manual control. 2. The spraying mode is single, and the efficiency is not high enough. 3. The working mode does not meet the orchard establishment standard of the existing orchard. 4. The operation method is complicated.
Therefore, the research on the automatic targeted pesticide application technology in the orchard is urgent, so that the operation efficiency can be improved, the precise pesticide spraying is realized, the pesticide utilization rate is improved, the pollution to the surrounding environment and soil can be reduced to a certain degree, and the personal safety of a pesticide applicator is protected. In the existing research results, a pesticide spraying robot is mostly adopted to realize automatic targeted pesticide application in an orchard, and although the method has many advantages compared with the traditional manual pesticide application method, certain defects still exist. Particularly, the application range of the robot is limited, and generally, the orchard needs to be modeled in advance, and the operation mode of the robot is set according to the model, so that the robot can apply the pesticide to the orchard according to the set operation mode, which causes that if the robot is used for other orchards, modeling and setting the operation mode are required to be carried out again, and therefore, the robot is very complex and the technical cost is too high. In order to be applied to different orchards, a remote operation mode is usually adopted, so that the automation degree of the robot is sacrificed, and the labor is required.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides an automatic execution system and an automatic execution method of an orchard pesticide spraying robot, different walking modes can be flexibly selected according to the actual situation of an orchard, the actions of moving, steering, spraying and exiting the orchard can be automatically completed, manual operation is not needed, the efficiency is higher, and the influence of pesticides on the health of personnel is avoided.
In order to achieve the purpose, the invention adopts the specific scheme that:
the automatic execution system of the orchard pesticide spraying robot comprises a control mechanism, a movement mechanism and a pesticide spraying mechanism;
the control mechanism comprises a controller, a left distance sensor, a right distance sensor, a front distance sensor, a left photoelectric sensor and a right photoelectric sensor, wherein the left distance sensor, the right distance sensor, the front distance sensor, the left photoelectric sensor and the right photoelectric sensor are all electrically connected with the controller;
the motion mechanism comprises a driving motor for driving the robot to walk and a steering engine for controlling the robot to steer, and the driving motor and the control motor are both electrically connected with the controller;
the medicine spraying mechanism comprises a medicine barrel, a water pump, a left spray head and a right spray head, the left spray head and the right spray head are respectively communicated with the water pump through an electromagnetic valve, and the two electromagnetic valves are electrically connected with the controller.
The left photoelectric sensor and the right photoelectric sensor are both infrared photoelectric sensors with the model number of E18-D80 NK.
The water pump adopts a miniature water pump with the model of DC 1020.
The controller adopts a single chip microcomputer with the model number of ATmega 328.
The left side distance sensor, the right side distance sensor and the front distance sensor are all infrared distance sensors with the model number GP2Y0A41SK 0F.
The automatic execution method of the automatic execution system of the orchard pesticide spraying robot comprises the following steps:
step one, arranging a fence at the edge of a rectangular orchard, arranging an entrance for a robot to enter and exit at one corner of the fence, selecting a first walking mode if the direction of the entrance is vertical to the extending direction of a furrow, and selecting a second walking mode if the direction of the entrance is parallel to the extending direction of the furrow, wherein the first walking mode and the second walking mode both comprise three actions of going straight, turning 90 degrees and turning 180 degrees;
and step two, in the walking process of the robot, spraying the pesticide to the fruit trees when the robot performs a straight-going action, and interrupting the pesticide spraying to the fruit trees when the robot performs a 90-degree turning action or a 180-degree turning action.
The first walking mode comprises the following specific steps:
s1, the robot enters the orchard from the entrance and the exit, and the distance sensing system detects the distance between the robot and the obstacle from the front side, the left side and the right side and transmits the detection value to the controller;
s2, when the detection value of the left distance sensor or the right distance sensor of the distance sensing system changes suddenly, the controller controls the steering wheel to rotate leftwards or rightwards through the steering engine, so that the robot is driven to steer, and the steering angle is 90 degrees;
s3, the robot is steered to move straight, fruit trees in furrows are detected by the left photoelectric sensor and the right photoelectric sensor in the straight moving process, if the fruit trees are detected, a medicine spraying signal is generated by the controller, and the left spray head or the right spray head is controlled by the electromagnetic valve to spray medicine on the fruit trees by the left spray head or the right spray head;
s4, if the detection value of the left side distance sensor or the right side distance sensor changes suddenly during the straight-ahead process of the robot, the controller controls the robot to turn 180 degrees through a steering rudder when the detection value of the front distance sensor is smaller than X, and the turning direction is the side towards which the detection value changes suddenly;
s5, the robot turns to move straight after turning, and the robot sprays the pesticide to the fruit trees in the process of moving straight;
s6, if the detection values of the left distance sensor and the right distance sensor of the robot suddenly change at the same time, the controller controls the robot to turn by 180 degrees through a steering rudder, and the turning direction is opposite to the last turning direction;
s7, repeating the steps for a plurality of times S7;
s8, when the detection value of the left side distance sensor or the right side distance sensor of the robot suddenly changes, the controller controls the robot to turn 90 degrees through a steering rudder, and the turning direction is towards the side with the sudden change of the detection value;
and S9, the steered robot moves straight and leaves the orchard through the inlet and the outlet.
Preferably, in the first walking mode, during the straight walking process of the robot, if the robot rotates rightwards in the last rotation, the left distance sensor detects the distance between the robot and the left furrow in real time, the controller controls the steering engine to keep the distance unchanged, and if the robot rotates leftwards, the right distance sensor detects the distance between the robot and the right furrow in real time, and the controller controls the steering engine to keep the distance Y.
The second walking mode comprises the following specific steps:
t1, enabling the robot to enter the orchard from the entrance and the exit, simultaneously detecting the distances between the robot and the obstacles from the front side, the left side and the right side by a distance sensing system, and transmitting the detection values to a controller;
t2, when the detection value of the left distance sensor or the right distance sensor of the distance sensing system suddenly changes for the third time, the controller controls the steering wheel to rotate leftwards or rightwards through the steering engine number, so that the robot is driven to steer, and the steering angle is 180 degrees;
t3, steering the robot to move straight, detecting the fruit trees in the furrow through a left photoelectric sensor or a right photoelectric sensor in the process of moving straight, if the fruit trees are detected, generating a pesticide spraying signal by a controller, and controlling a left spray head or a right spray head through an electromagnetic valve to enable the left spray head or the right spray head to spray pesticide on the fruit trees;
t4, the robot moves straight after turning, if the detection values of the left distance sensor and the right distance sensor of the robot suddenly change at the same time, the controller controls the robot to turn by 180 degrees through the steering rudder, and the turning direction is opposite to the last turning direction;
t5, repeating T4 for a plurality of times;
t6, when the detection value of the left distance sensor or the right distance sensor of the robot suddenly changes, the controller controls the robot to turn 90 degrees through a steering rudder, and the turning direction is the same as the last turning direction;
t7, the robot moves straight after rotating, if the last turning direction is leftward, the controller controls the robot to turn 90 degrees rightward through a steering rudder when the detection value of a right distance sensor changes suddenly in the straight moving process of the robot; if the last turning direction is rightward, the controller controls the robot to turn leftward by 90 degrees through the steering rudder when the detection value of the left distance sensor suddenly changes in the straight-moving process of the robot;
and T8, the steered robot moves straight and leaves the orchard through the access.
Preferably, in the second walking mode, in the straight walking process of the robot, if the last turning is right turning, the left distance sensor detects the distance between the robot and the left furrow in real time, and then the controller controls the turning steering engine to keep the distance unchanged, and if the last turning is left turning, the right distance sensor detects the distance between the robot and the right furrow in real time, and then the controller controls the turning steering engine to keep the distance Y.
Has the advantages that: the invention can flexibly select different walking modes according to the actual situation of the orchard, automatically finish the actions of moving, steering, spraying and exiting the orchard, does not need manual operation, has higher efficiency and avoids the influence of pesticide on the health of personnel.
Drawings
FIG. 1 is a schematic diagram of an automated execution system;
fig. 2 is a first route diagram of a first walking mode when furrows are odd;
FIG. 3 is a second route diagram of the first walking mode when the number of furrows is odd;
fig. 4 is a first route diagram of the second walking mode when the furrows are odd;
fig. 5 is a second route pattern of the second walking pattern when the furrows are odd;
fig. 6 is a first route pattern of the first walking pattern when furrows are even.
Reference numerals: 1. steering engine, 2, driving motor, 3, anterior distance sensor, 4, left side distance sensor, 5, right side distance sensor, 6, left side photoelectric sensor, 7, right side photoelectric sensor, 8, left shower nozzle, 9, right shower nozzle, 10, explosive barrel, 11, controller, 12, orchard, 13, furrow, 14, fruit tree.
Detailed Description
Embodiments of the present invention will be specifically described below with reference to the accompanying drawings.
As shown in fig. 1, the automatic execution system of the orchard pesticide spraying robot comprises a control mechanism, a movement mechanism and a pesticide spraying mechanism, which are arranged on a machine body of the robot, and the robot further comprises a driving wheel arranged at the rear part of the machine body and a steering wheel arranged at the front part of the machine body.
The control mechanism comprises a controller 11, a left distance sensor 4, a right distance sensor 5, a front distance sensor 3, a left photoelectric sensor 6 and a right photoelectric sensor 7, wherein the left distance sensor 4, the right distance sensor 5, the front distance sensor 3, the left photoelectric sensor 6 and the right photoelectric sensor 7 are all electrically connected with the controller 11; the motion mechanism comprises a driving motor 2 for driving the robot to walk and a steering engine 1 for controlling the robot to steer, and the driving motor 2 and the control motor are both electrically connected with the controller 11; the medicine spraying mechanism comprises a medicine barrel 10, a water pump, a left spray head 8 and a right spray head 9, wherein the left spray head 8 and the right spray head 9 are respectively communicated with the water pump through an electromagnetic valve, and the two electromagnetic valves are electrically connected with a controller 11.
The left photoelectric sensor 6 and the right photoelectric sensor 7 are both infrared photoelectric sensors with the model number of E18-D80 NK; the water pump adopts a miniature water pump with the model number of DC 1020; the controller 11 adopts a singlechip with the model number of ATmega 328; the left distance sensor 4, the right distance sensor 5 and the front distance sensor 3 are all infrared distance sensors with the model number GP2Y0A41SK 0F; the electromagnetic valve adopts a normally closed micro electromagnetic valve, the size is 21mm x 43mm, the inner diameter of an inlet and an outlet is 2.5mm, the outer diameter is 5.5mm, the wire length is 33mm, the required rated voltage is 12V direct current voltage, and the current does not exceed 120 mA. The flow rate was 11L/min at 7PSI pressure.
The automatic execution method of the automatic execution system of the orchard 12 pesticide spraying robot is suitable for the condition that odd furrows 13 are arranged in a rectangular orchard 12, and comprises the following steps of:
step one, arranging a barrier at the edge of a rectangular orchard 12, arranging an entrance for a robot to enter and exit at one corner of the barrier, selecting a first walking mode by the robot if the direction of the entrance is vertical to the extending direction of a furrow 13, and selecting a second walking mode if the direction of the entrance is parallel to the extending direction of the furrow 13, wherein the first walking mode and the second walking mode both comprise three actions of going straight, turning 90 degrees and turning 180 degrees;
and step two, in the walking process, spraying the pesticide on the fruit tree 14 when the robot does a straight-going action, and stopping spraying the pesticide on the fruit tree 14 when the robot turns to 90 degrees or 180 degrees.
As shown in fig. 2 and 3, the specific steps of the first walking mode are as follows:
s1, the robot enters the orchard 12 from the entrance and exit, and the distance sensing system detects the distance between the robot and the obstacle from the front side, the left side and the right side and transmits the detection value to the controller 11, in the process, the detection value of the front side distance sensor 3 is changed stably, and the detection values of the left side distance sensor 4 and the right side distance sensor 5 are changed stably;
s2, when the detection value of the left distance sensor 4 or the right distance sensor 5 of the distance sensing system changes suddenly and the robot goes out of the entrance and enters the orchard 12, the detection direction of the left distance sensor 4 or the right distance sensor 5 is parallel to the enclosure, so that the detection value changes suddenly, the controller 11 controls the steering wheel 12 to rotate leftwards or rightwards through the steering engine 1 at the moment, the robot is driven to steer, and the steering angle is 90 degrees;
s3, the steered robot moves straight between one furrow 13 and the enclosure, a left photoelectric sensor 6 and a right photoelectric sensor 7 detect a fruit tree 14 in the furrow 13 in the straight-moving process, if the fruit tree 14 is detected, a controller 11 generates a pesticide spraying signal, and a left spray head 8 or a right spray head 9 is controlled by an electromagnetic valve, so that the left spray head 8 or the right spray head 9 sprays pesticide on the fruit tree 14;
s4, if the detection value of the left distance sensor 4 or the right distance sensor changes suddenly during the straight-ahead process of the robot, the controller 11 controls the robot to turn 180 degrees through the steering engine 1 when the detection value of the front distance sensor 3 is smaller than X, and the turning direction is the side towards which the detection value changes suddenly;
s5, the robot turns to move straight between the two furrows 13, and the robot sprays the pesticide to the fruit trees 14 in the process of moving straight;
s6, if the detection values of the left distance sensor 4 and the right distance sensor 5 of the robot suddenly change at the same time, the robot goes out from the two furrows 13, the detection value of the left distance sensor 4 or the right distance sensor 5 suddenly changes to be the distance between the robot and the fence, the controller 11 controls the robot to turn by 180 degrees through the steering engine 1, and the turning direction is opposite to the previous turning direction;
s7, repeating the steps for a plurality of times S7;
s8, when the detection value of the left distance sensor 4 or the right distance sensor 5 of the robot suddenly changes, the controller 11 controls the robot to turn 90 degrees through the steering engine 1, and the turning direction is towards the side with the sudden change of the detection value;
and S9, the steered robot moves straight and leaves the orchard 12 through the access.
In the process of the robot going straight, if the robot rotates rightwards last time, the left distance sensor detects the distance between the robot and the left furrow 13 in real time, and then the controller controls the steering engine to keep the distance unchanged, if the robot rotates leftwards, the right distance sensor detects the distance between the robot and the right furrow 13 in real time, and then the controller controls the steering engine to keep the distance Y.
As shown in fig. 4 and 5, the second walking mode includes the following specific steps:
t1, the robot enters the orchard 12 from the entrance and exit, and the distance sensing system detects the distance between the robot and the obstacle from the front side, the left side and the right side and transmits the detection value to the controller 11;
t2, when the detection value of the left distance sensor 4 or the right distance sensor 5 of the distance sensing system suddenly changes for the third time, wherein the first sudden change of the detection value is that when the robot enters the orchard 12, the detection value of the distance sensor suddenly changes from between the robot and the entrance to between the robot and the enclosure, the second sudden change of the detection value suddenly changes from between the robot and the enclosure to between the robot and the furrow 13, the third sudden change of the detection value suddenly changes from between the robot and the furrow 13 to between the robot and the enclosure, and the controller 11 controls the steering wheel 12 to rotate leftwards or rightwards through the steering engine No. 1 during the third sudden change, so as to drive the robot to steer, and the steering angle is 180 degrees;
t3, steering the robot to move straight, detecting the fruit trees 14 in the furrows 13 through the left photoelectric sensor 6 or the right photoelectric sensor 7 in the process of moving straight, if the fruit trees 14 are detected, generating a pesticide spraying signal through the controller 11, and controlling the left spray head 8 or the right spray head 9 through the electromagnetic valve to enable the left spray head 8 or the right spray head 9 to spray pesticide on the fruit trees 14;
t4, the robot moves straight after turning, if the detection values of the left distance sensor 4 and the right distance sensor 5 of the robot suddenly change at the same time, the controller 11 controls the robot to turn 180 degrees through the turning steering engine 1, and the turning direction is opposite to the last turning direction;
t5, repeating T4 for a plurality of times;
t6, when the detection value of the left distance sensor 4 or the right distance sensor 5 of the robot suddenly changes, the controller 11 controls the robot to turn 90 degrees through the steering engine 1, and the turning direction is the same as the previous turning direction;
t7, the robot moves straight after rotating, if the last turning direction is leftward, the controller controls the robot to turn 90 degrees rightward through a steering rudder when the detection value of a right distance sensor changes suddenly in the straight moving process of the robot; if the last turning direction is rightward, the controller controls the robot to turn leftward by 90 degrees through the steering rudder when the detection value of the left distance sensor suddenly changes in the straight-moving process of the robot;
t8, after turning, the robot moves straight and leaves the orchard 12 through the entrance and exit.
The robot is at the straight-ahead driving in-process, if turn to for the last time is the right turn, then the distance between left side distance sensor real-time detection robot and the left side furrow, thereby and then control the steering wheel through the controller and keep the distance unchangeable, if turn to the left, then the distance between right side distance sensor real-time detection robot and the right side furrow, thereby keep the distance to be Y to the steering wheel is controlled through the controller.
The selection of the first walking mode and the second walking mode can be manually selected according to the actual situation of the orchard 12 before the robot enters the orchard 12, and manual intervention is not needed after the robot enters the orchard 12.
The second embodiment is suitable for the situation that even furrows 13 are arranged in the rectangular orchard 12. As shown in fig. 6, the robot enters the orchard 12 from the entrance, the distance between the robot and the obstacle is continuously detected from the front side, the left side and the right side in the moving process, and the detected value is transmitted to the controller 11; when one of the distance detection values on the left side or the right side changes suddenly, the robot turns to the side by 90 degrees and then moves straight between the furrow 13 and the enclosure; when one of the left side or the right side has sudden change for the second time, the robot rotates 180 degrees to the side and then moves straight between the two furrows 13; when the left side and right side distance detection values are suddenly changed at the same time, the robot turns 180 degrees, and the turning direction is opposite to the last turning direction; after n times of 180-degree steering, when one of the left side or the right side has sudden change of the distance detection value, the robot turns to the side for 90 degrees and then moves straight, and in the process of moving straight, when the (2 n-1) th sudden change of the distance detection value of one side has occurred, the robot turns to the side for 90 degrees and then moves straight; when the distance detection value of one side suddenly changes in the straight-going process, the robot turns to the side by 90 degrees and leaves the orchard 12 from the entrance and the exit.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. Automatic execution system of medicine robot is spouted in orchard, including control mechanism, motion and spout medicine mechanism, its characterized in that:
the control mechanism comprises a controller (11), a left distance sensor (4), a right distance sensor (5), a front distance sensor (3), a left photoelectric sensor (6) and a right photoelectric sensor (7), wherein the left distance sensor (4), the right distance sensor (5), the front distance sensor (3), the left photoelectric sensor (6) and the right photoelectric sensor (7) are all electrically connected with the controller (11);
the motion mechanism comprises a driving motor (2) for driving the robot to walk and a steering engine (1) for controlling the robot to steer, and the driving motor (2) and the steering engine (1) are electrically connected with the controller (11);
the pesticide spraying mechanism comprises a pesticide barrel (10), a water pump, a left spray head (8) and a right spray head (9), the left spray head (8) and the right spray head (9) are respectively communicated with the water pump through an electromagnetic valve, and the two electromagnetic valves are electrically connected with the controller (11);
the automatic execution method of the automatic execution system of the orchard pesticide spraying robot comprises the following steps:
step one, arranging a fence at the edge of a rectangular orchard, arranging an entrance for a robot to enter and exit at one corner of the fence, selecting a first walking mode if the direction of the entrance is vertical to the extending direction of a furrow, and selecting a second walking mode if the direction of the entrance is parallel to the extending direction of the furrow, wherein the first walking mode and the second walking mode both comprise three actions of going straight, turning 90 degrees and turning 180 degrees;
secondly, spraying pesticide on the fruit trees when the robot moves straight and stopping spraying pesticide on the fruit trees when the robot turns to 90 degrees or 180 degrees in the walking process;
the first walking mode comprises the following specific steps:
s1, the robot enters the orchard from the entrance and the exit, and the distance sensing system detects the distance between the robot and the obstacle from the front side, the left side and the right side and transmits the detection value to the controller;
s2, when the detection value of the left distance sensor or the right distance sensor of the distance sensing system changes suddenly, the controller controls the steering wheel to rotate leftwards or rightwards through the steering engine, so that the robot is driven to steer, and the steering angle is 90 degrees;
s3, the robot is steered to move straight, fruit trees in furrows are detected by the left photoelectric sensor and the right photoelectric sensor in the straight moving process, if the fruit trees are detected, a medicine spraying signal is generated by the controller, and the left spray head or the right spray head is controlled by the electromagnetic valve to spray medicine on the fruit trees by the left spray head or the right spray head;
s4, if the detection value of the left side distance sensor or the right side distance sensor changes suddenly during the straight-ahead process of the robot, the controller controls the robot to turn 180 degrees through a steering rudder when the detection value of the front distance sensor is smaller than X, and the turning direction is the side towards which the detection value changes suddenly;
s5, the robot turns to move straight after turning, and the robot sprays the pesticide to the fruit trees in the process of moving straight;
s6, if the detection values of the left distance sensor and the right distance sensor of the robot suddenly change at the same time, the controller controls the robot to turn by 180 degrees through a steering rudder, and the turning direction is opposite to the last turning direction;
s7, repeating the steps for a plurality of times S6;
s8, when the detection value of the left side distance sensor or the right side distance sensor of the robot suddenly changes, the controller controls the robot to turn 90 degrees through a steering rudder, and the turning direction is towards the side with the sudden change of the detection value;
s9, the steered robot moves straight and leaves the orchard through an inlet and an outlet;
the second walking mode comprises the following specific steps:
t1, enabling the robot to enter the orchard from the entrance and the exit, simultaneously detecting the distances between the robot and the obstacles from the front side, the left side and the right side by a distance sensing system, and transmitting the detection values to a controller;
t2, when the detection value of the left distance sensor or the right distance sensor of the distance sensing system suddenly changes for the third time, the controller controls the steering wheel to rotate leftwards or rightwards through the steering engine, so that the robot is driven to steer, and the steering angle is 180 degrees;
t3, steering the robot to move straight, detecting the fruit trees in the furrow through a left photoelectric sensor or a right photoelectric sensor in the process of moving straight, if the fruit trees are detected, generating a pesticide spraying signal by a controller, and controlling a left spray head or a right spray head through an electromagnetic valve to enable the left spray head or the right spray head to spray pesticide on the fruit trees;
t4, the robot moves straight after turning, if the detection values of the left distance sensor and the right distance sensor of the robot suddenly change at the same time, the controller controls the robot to turn by 180 degrees through the steering rudder, and the turning direction is opposite to the last turning direction;
t5, repeating T4 for a plurality of times;
t6, when the detection value of the left distance sensor or the right distance sensor of the robot suddenly changes, the controller controls the robot to turn 90 degrees through a steering rudder, and the turning direction is the same as the last turning direction;
t7, the robot moves straight after rotating, if the last turning direction is leftward, the controller controls the robot to turn 90 degrees rightward through a steering rudder when the detection value of a right distance sensor changes suddenly in the straight moving process of the robot; if the last turning direction is rightward, the controller controls the robot to turn leftward by 90 degrees through the steering rudder when the detection value of the left distance sensor suddenly changes in the straight-moving process of the robot;
and T8, the steered robot moves straight and leaves the orchard through the access.
2. An automatic execution system of an orchard spraying robot according to claim 1, characterized in that: the left photoelectric sensor (6) and the right photoelectric sensor (7) are all infrared photoelectric sensors with the model number of E18-D80 NK.
3. An automatic execution system of an orchard spraying robot according to claim 1, characterized in that: the water pump adopts a miniature water pump with the model of DC 1020.
4. An automatic execution system of an orchard spraying robot according to claim 1, characterized in that: the controller (11) adopts a single chip microcomputer with the model number of ATmega 328.
5. An automatic execution system of an orchard spraying robot according to claim 1, characterized in that: the left distance sensor (4), the right distance sensor (5) and the front distance sensor (3) are all infrared distance sensors with the model number GP2Y0A41SK 0F.
6. An automatic execution system of an orchard spraying robot according to claim 1, characterized in that: in the first walking mode, if the robot rotates rightwards in the straight-ahead process, the left distance sensor detects the distance between the robot and the left furrow in real time, the controller controls the steering engine to keep the distance unchanged, and if the robot rotates leftwards, the right distance sensor detects the distance between the robot and the right furrow in real time, and the controller controls the steering engine to keep the distance Y.
7. An automatic execution system of an orchard spraying robot according to claim 1, characterized in that: in the second walking mode, the robot is in the process of going straight, if the robot turns to the right direction for the last time, the left distance sensor detects the distance between the robot and the left furrow in real time, and then the controller controls the steering engine to keep the distance unchanged, if the robot turns to the left direction, the right distance sensor detects the distance between the robot and the right furrow in real time, and then the controller controls the steering engine to keep the distance Y.
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| CN110775173B (en) * | 2019-11-29 | 2023-11-10 | 徐州徐工基础工程机械有限公司 | High-precision linear walking deviation correcting system based on bilateral distance detection and engineering vehicle |
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