CN108098779A - A kind of control system for the robot that sprays - Google Patents
A kind of control system for the robot that sprays Download PDFInfo
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- CN108098779A CN108098779A CN201810163312.2A CN201810163312A CN108098779A CN 108098779 A CN108098779 A CN 108098779A CN 201810163312 A CN201810163312 A CN 201810163312A CN 108098779 A CN108098779 A CN 108098779A
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- module
- spray
- control module
- control system
- main control
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Catching Or Destruction (AREA)
Abstract
The present invention relates to a kind of control systems for the robot that sprays, it is characterized in that, including main control module, driving device of the main control module respectively with tracking module, spray target detection module, plane positioning module, spraying control module, travelling control module and upper-lower position on device is connected, and multiple nozzles of the spray robot are arranged in the upper-lower position on device.The driving device of the upper-lower position on device includes lifting motor and lifting motor driver, and the lifting motor driver of the upper-lower position on device is connected with the corresponding I/O port of the main control module.The present invention be suitble to teaching application, student can quick left-hand seat, driving spray robot complete setting task.
Description
Technical field
The invention belongs to impart knowledge to students with spray robotic technology field, and in particular to a kind of control system for the robot that sprays.
Background technology
Spray robot project is a sub-project of China services robot contest.Competition area, referring to Fig. 1.Than
During match, robot is autonomous to complete spray, it is impossible to be remotely-controlled by A areas, B areas, C areas, D areas from origin zone.Wherein,
A areas are to spray to target, and B areas are fixed tree-like spray, it is desirable that tree-like outside cannot be sprayed on during spray, C areas are for the different age of trees
Tree sprays, each tree-like different parts has different spray requirements, and D areas are to deforming tree-like spray.In A areas, B areas
On heart line, there is robot ambulation guide line（White matt paper slip）, in spray drug operation place A1, A2, A3, B2, B3, B4, C2,
C3, C4 and D1, D2 have spray place indication wire（White matt paper slip）.
According to laws of the game, during the games, robot needs can identify racing track guide wire, in the part of no guide wire
Section can independently complete location tasks, and complete spray task.To complete match task, in addition to mechanical mechanism designs,
Will also be according to the match good control system of task design, otherwise, robot can not independently complete task.
The experimental facilities of current experimental facilities, especially higher education, it is less for the experimental facilities of contest link exploitation,
Just start the student to enter the lists, proximate nutrition obscures, it is therefore necessary to develop relevant spray robot, take in competition to student into
Row guiding.
The content of the invention
In order to solve above-mentioned technical problem, the present invention devises a kind of control system for the robot that sprays, can be real
Existing robot tracking, plane positioning, spray.
In order to solve above-mentioned technical problem, present invention employs following scheme：
A kind of control system for the robot that sprays, including main control module, the main control module detects respectively with tracking module, spray target
Module, plane positioning module, spraying control module, the connection of the driving device of travelling control module and upper-lower position on device, institute
The multiple nozzles for stating spray robot are arranged in the upper-lower position on device.
Further, the spraying control module includes multiple solenoid valves and electromagnetic relay, the solenoid valve and the spray
Head connects one to one to control the flow of corresponding nozzle, and booster pump opens in the electromagnetic relay control pesticide spraying system
Stop.
Further, the driving device of the upper-lower position on device includes lifting motor and lifting motor driver, the liter
Drop motor driver is connected with the corresponding I/O port of the main control module.
Further, the upper-lower position on device further includes the screw being vertically arranged and the feed screw nut with screw cooperation,
The feed screw nut is coordinated by sliding block and guide rail, and the guide rail is arranged on rail brackets；The upper and lower ends of the screw point
Upper bottom plate not with the rail brackets is rotatably connected, and the lower end of the screw is connected by shaft coupling and lifting motor
It connects.
Further, the multiple nozzle is divided into two groups, is separately positioned on the both ends of spray plate, and the spray plate is connected by spraying plate
Plate is connected with the feed screw nut.
Further, the lifting motor is stepper motor.
Further, the tracking module includes preceding tracking module, rear tracking module, left tracking module and right tracking module.
Further, the preceding tracking module and the rear tracking module include seven sets of tracking sensors respectively；The left side is followed
Mark module and the right tracking module include a set of tracking sensor respectively.
Further, the tracking sensor uses gray-scale sensor.
Further, the photoelectricity that the spray target detection module includes being arranged at left and right sides of the chassis of the running gear is opened
It closes.
Further, the travelling control module includes four wheels being arranged under the robot chassis, each wheel
It is driven respectively by corresponding wheel electrical machine and wheel electrical machine driver, each wheel electrical machine driver is connected to the main control module
Corresponding pin.
Further, the wheel electrical machine is direct current generator.
Further, the main control chip of the main control module is microcontroller.
During work, the main control module sends wheel electrical machine control signal to corresponding wheel electrical machine driver, and driving is each
Wheel electrical machine forward or reverse realizes the basic exercises action such as advance, retrogressing, left-hand rotation, right-hand rotation, stopping of spray robot；Institute
Different detection signals of the main control module according to each tracking module are stated, the walking orientation of spray robot is judged, constantly corrects, make
Robot follows walking guide line walking according to the flow of programming；Do not walk guide line when, the main control module can be with
The plane positioning module is called, completes navigation；The signal that the main control module is detected according to the spray target detection module, is pressed
Program performs spray action；The main control module can control lifting motor driver to act, so as to drive lifting motor, screw
Rotation, so that feed screw nut, nozzle lifting.
The control system of the spray robot has the advantages that：
（1）The present invention can be in the match scene of setting, and according to laws of the game, automatic identification walking guide line is not guiding
The part way of line independently completes task, completes fixed point spray task.
（2）The present invention be suitble to teaching application, student can quick left-hand seat, driving spray robot complete setting task.
（3）The present invention is at low cost, highly practical.
Description of the drawings
Fig. 1：Competition venue schematic diagram in the present invention；
Fig. 2：The modular construction schematic diagram of spray robot control system in embodiment of the present invention；
Fig. 3：The structure diagram of pesticide spraying system in embodiment of the present invention；
Fig. 4：Layout structure schematic diagram in chassis in embodiment of the present invention；
Fig. 5：Master control program flow chart in embodiment of the present invention；
Fig. 6：Front and rear tracking program flow diagram in embodiment of the present invention；
Fig. 7：Plane positioning system program flow diagram in embodiment of the present invention；
Fig. 8：Pesticide spraying system program flow diagram in embodiment of the present invention.
Reference sign：
1-main control module；2-tracking module；21-left tracking module；22-preceding tracking module；23-right tracking module；24—
Tracking module afterwards；3-spray target detection module；31-left optoelectronic switch；32-right optoelectronic switch；4-pesticide spraying system；41-supercharging
Pump；42-medicine-chest；43-spraying control module;431-solenoid valve；432-electromagnetic relay；45-nozzle；46-spray plate；
47-spray plate connector；5-plane positioning module；6-upper-lower position on device；61-lifting motor；62-lifting motor drives
Device；63-feed screw nut；64-sliding block；65-guide rail；66-rail brackets；67-screw；68-shaft coupling；7-walking control
Molding block；71-wheel electrical machine；72-wheel electrical machine driver；73-wheel；8-chassis.
Specific embodiment
Below in conjunction with the accompanying drawings, the present invention will be further described：
Fig. 2 to Fig. 8 shows a kind of embodiment of present invention spray robot control system.Fig. 2 is sprayed in present embodiment
The modular construction schematic diagram of medicine robot control system.
As shown in Fig. 2, the spray robot control system in present embodiment, including main control module 1, main control module 1 divides
Not with tracking module 2, spray target detection module 3, plane positioning module 5, spraying control module 43, travelling control module 7 and on
The driving device connection of lower regulating mechanism 6, multiple nozzles 45 of the spray robot are arranged in upper-lower position on device 6.
As shown in figure 3, Fig. 3 is the structure diagram of pesticide spraying system in present embodiment, spraying control module 43 includes more
A solenoid valve 431 and electromagnetic relay 432, solenoid valve 431 connect one to one to control corresponding nozzle 45 with nozzle 45
Flow, electromagnetic relay 432 control the start and stop of booster pump 41 in pesticide spraying system 4.Pesticide spraying system 4 further includes medicine-chest 42, booster pump
41 and several nozzles 45, each nozzle 45 connected respectively by corresponding water pipe, solenoid valve 43 with the water outlet of booster pump 41, increase
The water inlet of press pump 41 is connected with the water outlet of medicine-chest 42；Electromagnetic relay 44 controls the start and stop of booster pump 41.
As shown in Figures 2 and 3, pesticide spraying system 4 further includes upper-lower position on device 6, and several nozzles 45 of pesticide spraying system 4 are set
In upper-lower position on device 6, the lifting motor driver 62 of upper-lower position on device 6 is connected with 1 corresponding I/O port of main control module.
Upper-lower position on device 6 further includes the screw 67 being vertically arranged and the feed screw nut 63 coordinated with screw 67.Feed screw nut 63 is logical
It crosses sliding block 64 with guide rail 65 to coordinate, guide rail 65 is arranged on rail brackets 66；The upper and lower ends of screw 67 respectively with rail brackets
66 upper bottom plate is rotatably connected, and the lower end of screw 67 is connected by shaft coupling 68 with lifting motor 61.Several nozzles 45
The both ends of spray plate 46 are arranged on, spray plate 46 is connected by spraying plate connector 47 with feed screw nut 63.
In the present embodiment, spray plate 46 is a U-board structure, and nozzle 45, U is respectively arranged on the both side plate of U-board structure
The bottom plate center of shape harden structure is provided with several connecting holes to be connected with spray plate connector 47.
In the present embodiment, spray plate connector 47 is a L shaped plate structure, and the transverse slat of L shaped plate structure is connected with spray plate 46, L-shaped
The riser of harden structure is connected with feed screw nut 63.
In the present embodiment, be machined with longitudinal U-type groove on rail brackets 66, U-type groove slot bottom be provided with several mounting holes with
Guide rail 65 is installed；The body of guide rail 65 is a rectangular list structure, and the two sides of rectangular list structure are respectively arranged with step surface
To form slide；Multiple threaded connection holes are additionally provided in rectangular list structure to be connected with rail brackets 66.
In the present embodiment, lifting motor 61 is stepper motor.
As shown in Figure 2 and Figure 4, Fig. 4 is layout structure schematic diagram in chassis in present embodiment, and tracking module 2 is followed including a left side
Mark module 21, preceding tracking module 22, right tracking module 23 and rear tracking module 24.Preceding tracking module 22 and rear tracking module 24 are divided
It Bao Kuo not seven sets of tracking sensors；Left tracking module 21 and right tracking module 23 include a set of tracking sensor respectively.This implementation
In example, tracking sensor uses gray-scale sensor.Preceding tracking module 22, rear tracking module 24, left tracking module 21 and right tracking
Module 23 can detect the walking guide line of spray robot, and main control module 1 is according to preceding tracking module 22, rear tracking module
24th, the different detection signals of left tracking module 21 and right tracking module 23, judge the walking orientation of spray robot, constantly rectify
Just, enable robot by the flow of programming, follow guide line walking.When running into the right side（It is or left）It is right when turning right angle white line（Or
It is left）Side tracking sensor is swept to first, then triggers external interrupt 0, control robot turns right（Or turn left）About 90 degree.
As shown in Figure 2, Figure 3 and Figure 4, spraying target detection module 3 includes the left light for being arranged on 8 left and right sides of chassis of robot
Electric switch 31 and right optoelectronic switch 32.Left optoelectronic switch 31 and right optoelectronic switch 32, can detect front obstacle, detecting distance
It can be by left optoelectronic switch 31, the adjusting circuit configuration of right optoelectronic switch 32.In robot sprays tasks make progress, such as scheme
Shown in 1, robot does not have spray drug operation to prompt point in B areas, so, robot needs judge whether to reach pre- in this course
Determine place, whether barrier is detected by left optoelectronic switch 31 and right optoelectronic switch 32（Spray target）To differentiate.Main control module 1 exists
It receives left optoelectronic switch 31 or right optoelectronic switch 32 detects front obstacle（Spray target）Signal after, call lifting motor drive
Dynamic program, driving lifting motor 61 rotate, screw 67 are driven to rotate, spray plate 46 is made to rise predetermined distance, then performs spray
Task.The positioning of left photoelectricity switch 31, the action point, it can be achieved that B areas spray of right optoelectronic switch 32, when spray robot tracking to B
Target is scanned by optoelectronic switch in area, and scanning is transmitted to 1 one low levels of main control module after, and the robot that sprays at this time stops
Walking, sprays.
As shown in Figure 2 and Figure 4, running gear 7 is included in four wheels 73 under chassis 8, and each wheel 73 is respectively by phase
Corresponding wheel electrical machine 71 and wheel electrical machine driver 72 drive.In the present embodiment, wheel electrical machine 71 is direct current generator.Each
Wheel electrical machine 71 needs 3 control signals EN1, IN1, IN2, and EN1 is enable signal, selects PWM connections EN1 pins all the way, adjusts
The duty cycle of whole PWM can adjust the rotating speed of wheel electrical machine 71, and IN1, IN2 are controlled by two digits signal, you can control vehicle
The forward and backward of turbin generator 71.In the present embodiment, two electrodes IN1, IN2 of wheel electrical machine 71 are direction of motor rotation control letters
Number, when being respectively 1,0, motor rotates forward, conversely, motor reversal.Therefore, main control module 1 sends motor control signal to corresponding
Wheel electrical machine driver 72, the rotating forward of corresponding wheel electrical machine 71, reversion and speed can control to adjust, realize spray robot
Advance, retrogressing, left-hand rotation, right-hand rotation, speed adjust and stop etc. basic exercises action.
In present embodiment, the control core of main control module 1 is microcontroller, 1 corresponding I/O port of main control module respectively with
Tracking module 2, spray target detection module 3, plane positioning module 5, spraying control module 43, travelling control module 7 and upper downward
Save the driving device connection of mechanism 6.The plane positioning module 5 of plane positioning system passes the position data of robot back in real time, leads to
It crosses compared with the numerical value of microcontroller setting, judges order, realize positioning.
Spray machine people participates in the sub-project of Chinese robot contest, the arena of the spray robot compulsory exercise
Ground, as shown in Figure 1, ground is green carpet, long 4000mm, wide 3300mm.The guide line of robot ambulation is put for width 24mm
Enter white matt paper slip（Double faced adhesive tape）, dotted line guide line is not present in play.In match, robot needs to complete spray times
Business.According to laws of the game, during the games, robot needs can identify starting line, stop line and racing track guide line, not have
The part way of guide wire can independently complete task.Robot is from origin zone, by A areas, B areas, C areas, D areas, respectively into
Row becomes tree-like spray to target spray, fixed tree-like spray.Wherein, the target of spray simulates the spray target such as tree-like, is printed upon A
3 paper（297mm×420mm）On.Wherein, there is guide line in A, B area, and there is operating location indication wire in A, C, D area.The match of spray robot
It in, is distinguished by the difficulty of spray, is followed successively by A areas, B areas, C areas, D areas, games results are calculated with fraction height.
Referring to Fig. 1, since match uses bottle green carpet, white tape line is posted on carpet, tracking module uses gray scale
Sensor, the transmitting tube of gray-scale sensor, transmitting light run into white background and are reflected, the reception pipe of gray-scale sensor connects to road surface
Reflected light is received, after Schmidt trigger shaping, exports low level；It when light runs into bottle green carpet, is then absorbed, is received
Pipe is not received by reflected light, after Schmidt trigger shaping, exports high level.In running gear chassis forepart, seven tunnels are set
Tracking sensor, arranged on left and right sides respectively set tracking sensor all the way, and afterbody sets seven road tracking sensors.Detect the white of ground
Adhesive tape makes 1 corresponding I/O pin of main control module generate associated voltage variation, so as to learn robot traffic direction and white track
The relation of line.The label of seven road tracking sensor of front, is from left to right L1, L2, L3, M1, R3, R2, R1 respectively；Seven tunnel of rear
The label of tracking sensor is from left to right L4, L5, L6, M2, R6, R5, R4 respectively.Forward and backward tracking flow, as shown in Figure 6.
After tracking sensor detects white wire, low level signal can be returned to main control module 1.When M1 detects white line, if
M2 also detects that white line, then robot keeps straight on；If M1 detects white line, white line is not detected in M2, then according to rear tracking module
Judge robot motion, L4, L5, L6 detect white line, can move right trolley, and R4, R5, R6 detect white line, can make small
Vehicle is to left movement；If white line is not detected in M1, the action of robot is judged according to preceding tracking module, L1, L2, L3 are detected
White line, making trolley, R1, R2, R3 detect white line to left movement, can move right trolley.So as to fulfill white line position always
In dolly chassis axis line position.
The flow chart of plane positioning system, referring to Fig. 7.The plane positioning module of plane positioning system can pass number back in real time
According to, including trolley plan-position x, y-coordinate and angle, by compared with the numerical value of program setting, judging order, if
X, y, angle value are different from setting value, then carry out algorithm design, make trolley by advancing, retreating, progress position correction of turning, when
When the numerical value passed back is equal with setting value, trolley stops, and then carries out the action of next step.
The flow chart of spray task, referring to Fig. 8.The tracking module 22 before receiving of main control module 1 detects spray drug operation
After prompting point, left optoelectronic switch 31 or right optoelectronic switch 32 detect the signal of front obstacle, the microcontroller hair of main control module 1
Sending instruction, driving lifting motor 61 rotates, feed screw nut 63 is driven to lift, reaches spray plate 46 pre- to lifting motor driver 62
Fixed spray height, then main control module 1 is by controlling 44 break-make of electromagnetic relay, to control the keying of booster pump 41, master control mould
Block 1 is by controlling each solenoid valve 43 to control the flow of nozzle.
The main control flow that spray machine is manually made, referring to Fig. 5.Robot main control module 1 and each wheel electrical machine driver,
Each tracking sensor, lifting motor combine, and control the tracking of robot, positioning, spray.Robot from starting point, before,
Tracking module makes robot successively by A1, A2, A3 afterwards, and completes spray task.Then, using forward and backward tracking module and it is left,
Right optoelectronic switch is successively by each target in B areas, and complete to spray.Due to after B5 points, place without guide line, so using
Plane positioning module completes the spray task in C areas.
The present invention can be in the match scene of setting, and according to laws of the game, automatic identification walking guide line is not guiding
The part way of line independently completes task, completes fixed point spray task.
The present invention be suitble to teaching application, student can quick left-hand seat, driving spray robot complete setting task.
Illustrative description is carried out to the present invention above in conjunction with attached drawing, it is clear that realization of the invention and from aforesaid way
Limitation, as long as employ the inventive concept and technical scheme of the present invention progress various improvement or not improved by the present invention
Design and technical solution directly apply to other occasions, within the scope of the present invention.
Claims (10)
1. it is a kind of spray robot control system, which is characterized in that including main control module, the main control module respectively with tracking
Module, the drive for spraying target detection module, plane positioning module, spraying control module, travelling control module and upper-lower position on device
Dynamic device connection, multiple nozzles of the spray robot are arranged in the upper-lower position on device.
2. the control system of spray robot according to claim 1, which is characterized in that the spraying control module includes
Multiple solenoid valves and electromagnetic relay, the solenoid valve connect one to one to control the stream of corresponding nozzle with the nozzle
Amount, the electromagnetic relay control the start and stop of booster pump in pesticide spraying system.
3. the control system of spray robot according to claim 1 or 2, which is characterized in that the upper-lower position on device
Driving device include lifting motor and lifting motor driver, the lifting motor driver is corresponding with the main control module
I/O port connection.
4. the control system of spray robot according to any one of claims 1 to 3, which is characterized in that the up and down adjustment
Mechanism further includes the screw being vertically arranged and the feed screw nut with screw cooperation, the feed screw nut are matched somebody with somebody by sliding block and guide rail
It closes, the guide rail is arranged on rail brackets；The upper and lower ends of the screw upper bottom plate with the rail brackets respectively
It is rotatably connected, the lower end of the screw is connected by shaft coupling with lifting motor.
5. the control system of spray robot according to claim 4, which is characterized in that the multiple nozzle is divided into two
Group, is separately positioned on the both ends of spray plate, and the spray plate is connected by spraying plate connecting plate with the feed screw nut.
6. the control system of spray robot according to any one of claims 1 to 5, which is characterized in that the tracking module
Including preceding tracking module, rear tracking module, left tracking module and right tracking module.
7. the control system of spray robot according to claim 6, which is characterized in that the preceding tracking module and described
Tracking module includes seven sets of tracking sensors respectively afterwards；The left tracking module and the right tracking module include a set of follow respectively
Mark sensor.
8. the control system of spray robot according to any one of claims 1 to 7, which is characterized in that the spray target detection
Module includes being arranged on the optoelectronic switch at left and right sides of the chassis of the running gear.
9. the control system of spray robot according to any one of claims 1 to 8, which is characterized in that the travelling control
Module includes four wheels being arranged under the robot chassis, and each wheel is respectively by corresponding wheel electrical machine and wheel
Motor driver drives, and each wheel electrical machine driver is connected to the corresponding pin of the main control module.
10. the control system of spray robot according to any one of claims 1 to 9, which is characterized in that the main control module
Main control chip be microcontroller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163312.2A CN108098779A (en) | 2018-02-27 | 2018-02-27 | A kind of control system for the robot that sprays |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163312.2A CN108098779A (en) | 2018-02-27 | 2018-02-27 | A kind of control system for the robot that sprays |
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| Publication Number | Publication Date |
|---|---|
| CN108098779A true CN108098779A (en) | 2018-06-01 |
Family
ID=62205734
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810163312.2A Pending CN108098779A (en) | 2018-02-27 | 2018-02-27 | A kind of control system for the robot that sprays |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109156464A (en) * | 2018-11-13 | 2019-01-08 | 西北农林科技大学 | A kind of spray robot |
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| CN208246824U (en) * | 2018-02-27 | 2018-12-18 | 西北农林科技大学 | A kind of control system for the robot that sprays |
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|---|---|---|---|---|
| KR20120055959A (en) * | 2010-11-24 | 2012-06-01 | 박진우 | Multipurpose crop-dusting robot |
| CN103056056A (en) * | 2012-12-27 | 2013-04-24 | 青岛农业大学 | Intelligent tracking pesticide spraying vehicle |
| CN103676959A (en) * | 2013-11-11 | 2014-03-26 | 河池学院 | WiFi wireless control-based intelligent spraying robot |
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| CN109156464A (en) * | 2018-11-13 | 2019-01-08 | 西北农林科技大学 | A kind of spray robot |
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