CN109122642A - A kind of Agricultural Robot - Google Patents
A kind of Agricultural Robot Download PDFInfo
- Publication number
- CN109122642A CN109122642A CN201811260843.XA CN201811260843A CN109122642A CN 109122642 A CN109122642 A CN 109122642A CN 201811260843 A CN201811260843 A CN 201811260843A CN 109122642 A CN109122642 A CN 109122642A
- Authority
- CN
- China
- Prior art keywords
- chest
- medicine
- dolly chassis
- steering
- spray
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The present invention provides a kind of Agricultural Robot, comprising: walking mechanism, executing agency, power mechanism, guiding mechanism, control mechanism and spraying mechanism, advanced using guiding mechanism guided robot along predetermined planning route, using the presence or absence of spraying mechanism detection crops, density situation, and sprinkling dose and spray angle are adjusted accordingly.It is not only able to work under complicated geographical environment as a result, and can also be worked normally in night conditions, while saving medical fluid, improve spray effect.
Description
Technical field
The present invention relates to agricultural production equipment technical fields, specifically, more particularly to a kind of Agricultural Robot.
Background technique
Currently, middle-size and small-size farmland crops fruits and vegetables pesticide spraying largely has manpower completion, more advanced large area
Farmland can be sprayed insecticide with aviation, large-scale field equipment, small drone and liquid fertilizer.But for mountainous region, medium and small
It is necessary to be restricted for the fruit tree woods of area farmland, while eminence sprinkling can not have effect the plant leaf back side.And employment
Power completes sprinkling, not only delays farming season, and uneven due to spraying, and causes liquid waste.
Summary of the invention
According to the technical issues of receiving landform and environment influence set forth above of spraying insecticide, and provide a kind of farm machine
People.The present invention mainly carries out pesticide spraying along the route that planning is set using the Agricultural Robot that can voluntarily travel, from
And plays the role of saving time and medical fluid and improve spray effect.
The technological means that the present invention uses is as follows:
A kind of Agricultural Robot comprising:
Walking mechanism, with dolly chassis, steering mechanism, steering-engine, deflecting roller, driving wheel and driving motor,
Wherein, steering mechanism is arranged in the top of dolly chassis and is located at the front end along direction of advance of dolly chassis, steering-engine
Setting steering mechanism rear and be located at dolly chassis below, the two sides of steering-engine be provided with one group of deflecting roller and with turn to rudder
Machine be connected, driving motor be arranged in dolly chassis along direction of advance rear end and be located at dolly chassis below, two sides setting
There is one group of driving wheel and is connected with driving motor；
Executing agency, setting is at steering mechanism rear and is located above dolly chassis, and the position with steering-engine
It is corresponding；
Power mechanism, with charge protection device and power supply, wherein power supply is arranged above dolly chassis and is located at and turns
To between steering engine and driving motor, the side of power supply is provided with charge protection device；
Control mechanism, with car running computer and status displays, wherein car running computer be arranged above dolly chassis and
Corresponding with the position of driving motor, status displays are arranged above car running computer, for showing driving states and every skill
Art index；
Spraying mechanism, with sensor, spray swing arm spray canister, sprinkler, medicine-chest and blower, wherein medicine-chest setting
Dolly chassis centre and be located at the top of dolly chassis, sensor is arranged above medicine-chest and more prominent than medicine-chest direction of marching forward
Out, spray swing arm spray canister be arranged in medicine-chest by direction of advance front end and be located at medicine-chest above, sprinkler setting is shaking by spraying
Arm spray canister overcentre and it is connected with spray swing arm spray canister, blower is arranged in the rear of spray swing arm spray canister and is located at the upper of medicine-chest
Side.
Further, guiding mechanism, with navigation sensor and anticollision obstacle avoidance sensor, wherein navigation sensor is set
The front end for being located at direction of advance above dolly chassis and than steering mechanism is set, anticollision obstacle avoidance sensor is arranged in executing agency
Side.
Further, the side in vehicle-width direction is arranged in charging jack, and corresponding with the position of power supply, uses
In progress electric power supplement.
Further, the side in vehicle-width direction is arranged in power switch, and corresponding with the position of power supply, uses
In control power switch.
Further, dosing mouth is arranged above medicine-chest, and the medical fluid for carrying out medicine-chest supplements.
Further, receiving antenna is arranged in the side of executing agency, and extends obliquely upward, for receiving manipulation
Signal.
Further, work warning lamp, is arranged above spray swing arm spray canister and sprinkler two is arranged in wing
Side, for showing fault alarm and trolley work normality instruction.
Compared with the prior art, the invention has the following advantages that
1, Agricultural Robot provided by the invention, by using navigation positional device, realizing can under complex environment
Implement the effect of sprinkling.
2, Agricultural Robot provided by the invention improves medicine liquid spray effect by using spray swing arm spray canister.
3, Agricultural Robot provided by the invention is implemented spraying operation by using ultrasound, infrared sensor guidance, is solved
The problem worked at night, the Agricultural Robot have the mode of working at night.
To sum up, technical solution of the present invention solves in the prior art be difficult under extreme terrain and complex environment efficiently
Ground carries out the problem of pesticide spraying.
The present invention can be widely popularized in fields such as farm equipments based on the above reasons.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to do simply to introduce, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the side view of Agricultural Robot of the invention.
Fig. 2 is the main view of Agricultural Robot of the invention.
Fig. 3 is the bottom view of Agricultural Robot of the invention.
Fig. 4 is the top view of Agricultural Robot of the invention.
Fig. 5 is the structural schematic diagram on the chassis of Agricultural Robot of the invention, power unit.
Fig. 6 is the structural schematic diagram of the navigation sensor of Agricultural Robot of the invention, steering-engine.
Fig. 7 is the structural schematic diagram of the driving device of Agricultural Robot of the invention.
Fig. 8 is the structural schematic diagram of the anticollision obstacle avoidance sensor of Agricultural Robot of the invention, executing agency.
Fig. 9 is the structural schematic diagram of the spraying mechanism of Agricultural Robot of the invention.
Figure 10 is the structural schematic diagram of the control mechanism of Agricultural Robot of the invention.
In figure: 1, navigation sensor；2, receiving antenna；3, steering mechanism；4, executing agency；5, sensor；6, it shakes by spraying
Arm spray canister；7, sprinkler；8, blower；9, medicine-chest；10, dosing mouth；11, car running computer；12, power supply；13, charging jack；14, electric
Source switch；15, driving wheel；16, driving motor；17, status displays；18, deflecting roller；19, anticollision obstacle avoidance sensor；20, turn
To steering engine；21, charge protection device；22, dolly chassis；23, work warning lamp；24, operational module case.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, instead of all the embodiments.It is real to the description of at least one exemplary embodiment below
It is merely illustrative on border, never as to the present invention and its application or any restrictions used.Based on the reality in the present invention
Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts all belongs to
In the scope of protection of the invention.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to exemplary embodiments of the present invention.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
It is not limited the scope of the invention up to formula and numerical value.Simultaneously, it should be clear that for ease of description, each portion shown in attached drawing
The size divided not is to draw according to actual proportionate relationship.Technology known for person of ordinary skill in the relevant, side
Method and equipment may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as authorizing explanation
A part of book.In shown here and discussion all examples, appointing should be construed as merely illustratively to occurrence, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should also be noted that similar label
Similar terms are indicated in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It does not need that it is further discussed in figure.
In the description of the present invention, it is to be understood that, the noun of locality such as " front, rear, top, and bottom, left and right ", " it is laterally, vertical,
Vertically, orientation or positional relationship indicated by level " and " top, bottom " etc. is normally based on orientation or position shown in the drawings and closes
System, is merely for convenience of description of the present invention and simplification of the description, in the absence of explanation to the contrary, these nouns of locality do not indicate that
It must have a particular orientation or be constructed and operated in a specific orientation with the device or element for implying signified, therefore cannot manage
Solution is limiting the scope of the invention: the noun of locality " inside and outside " refers to inside and outside the profile relative to each component itself.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under its device or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
In addition, it should be noted that, limiting components using the words such as " first ", " second ", it is only for be convenient for
Corresponding components are distinguished, do not have Stated otherwise such as, there is no particular meanings for above-mentioned word, therefore should not be understood as to this
The limitation of invention protection scope.
Embodiment 1
As Figure 1-10 shows, the present invention provides a kind of Agricultural Robots comprising: walking mechanism, with trolley bottom
Disk 22, steering mechanism 3, steering-engine 20, deflecting roller 18, driving wheel 15 and driving motor 16, wherein steering mechanism 3 is arranged
Top in dolly chassis 22 and the front end along direction of advance positioned at dolly chassis 22, the setting of steering-engine 20 are turning to
3 rear of mechanism and it is located at the lower section of dolly chassis 22, the two sides of steering-engine 20 are provided with one group of deflecting roller 18 and and steering-engine
20 be connected, driving motor 16 be arranged in dolly chassis 22 along direction of advance rear end and be located at dolly chassis 22 below, two
Side is provided with one group of driving wheel 15 and is connected with driving motor 16.
In addition, also having executing agency, setting is at 3 rear of steering mechanism and is located above dolly chassis 22, and with
The position of steering-engine 20 is corresponding.
In addition, also there is power mechanism, with charge protection device 21 and power supply 12, wherein power supply 12 is arranged small
Above chassis 22 and between steering-engine 3 and driving motor 16, the side of power supply 12 is provided with charge protection device
21, operation power is capable of providing using the power supply 12.
In addition, also there is control mechanism, with car running computer 11 and status displays 17, wherein car running computer 11 is set
Set it is above dolly chassis 22 and corresponding with the position of driving motor 16, status displays 17 be arranged on car running computer 11
Side not only operates as a result, convenient for operator, and can make to grasp for showing driving states and all technical
Make personnel and grasps equipment situation in real time.
In addition, also there is spraying mechanism, with sensor 5, spray swing arm spray canister 6, sprinkler 7, medicine-chest 9 and blower
8, wherein medicine-chest 9 is arranged in the centre of dolly chassis 22 and is located at the top of dolly chassis 22, for storing medical fluid, sensor 5
Be arranged medicine-chest 22 above and more prominent than the direction of marching forward of medicine-chest 22, for detecting the density degree of fruit tree branches and leaves, and accordingly oneself
Dynamic adjustment intensity of spray irrigation, spray swing arm spray canister 6 be arranged in medicine-chest 9 by direction of advance front end and be located above medicine-chest 9, adopt
With rotary nozzle and spray misty medical fluid, sprinkler 7 setting 6 overcentre of spray swing arm spray canister and with spray swing arm spray canister 6
It is connected, for conveying medical fluid to spray swing arm spray canister 6, blower 8 is arranged in the rear of spray swing arm spray canister 6 and is located at medicine-chest 9
Misty medicine liquid spray to plant, is conducive to medical fluid and is attached on plant by top, the high-speed flow blown out using blower 8, is improved
Spray effect.
In addition, also there is guiding mechanism, with navigation sensor 1 and anticollision obstacle avoidance sensor 19, wherein navigation sensing
Device 1 is arranged in 22 top of dolly chassis and is located at the front end of direction of advance than steering mechanism 3, and the setting of anticollision obstacle avoidance sensor 19 exists
Above executing agency, which has a variety of guidance modes, such as is guided using GPS navigation data, and planning navigation is advanced
Route, and guided using the pre-buried coordinate of data point, the guidance of electromagnetic signal line, the planning navigation such as ferromagnetic signal wire guidance traveling road
Line.Meanwhile the obstacle started in can be hidden using anticollision obstacle avoidance sensor 19, help robot in complicated landform and environment
Lower carry out safety work.
In addition, also having charging jack 13, the side in vehicle-width direction, and the position phase with power supply 12 are set
It is corresponding, for carrying out electric power supplement.
In addition, also having power switch 14, the side in vehicle-width direction, and the position phase with power supply 12 are set
It is corresponding, for controlling power switch.
In addition, also having dosing mouth 10, it is arranged above medicine-chest 9, the medical fluid for carrying out medicine-chest 9 supplements.
In addition, also having receiving antenna 2, the side of executing agency 4 is set, and extends obliquely upward, for receiving
Signal.
In addition, also having work warning lamp 23, it is arranged above spray swing arm spray canister 6 and is arranged in wing and spray
7 two sides of device, for showing fault alarm and trolley work normality instruction.
The working principle of the Agricultural Robot is as follows:
Firstly, robot checks power supply and medical fluid situation before work, and operator passes through data shown by display screen,
The state of observer robot each section.After inspection, operator selects the mode of robot by operation keyboard, selected
After walking mode, operator walked in preceding robot in laggard every trade, and in walking process, robot is protected with operator automatically
Hold two meters of distances.
Then, after robot reaches job site, robot rests on preset initial position, to operator
After robot is set as operating mode, remote-control handle starting robot is pressed, robot is along path one pre-planned
Side automatically walk sprays medical fluid to fruit tree on one side.In the process, robot detects the density journey of fruit tree branches and leaves using sensor
Spend simultaneously adjust automatically intensity of spray irrigation and sprinkling dose.During traveling, encounters turning or when the side Bian Long does not have plant, pass
Sensor does not sense signal, then sprinkling is automatically stopped.Meanwhile robot utilizes anticollision obstacle avoidance sensor 19 during traveling
Avoidance walking is carried out in a manner of infrared obstacle avoidance, laser scanning avoidance and ultrasonic distance measurement avoidance.
When no medical fluid, robot auto-returned work station adds medical fluid, and it is automatic complete then to automatically return to halt continuation
At work.
After the completion of the work in the region, robot automatically returns to work station, or automatic transition continues to another piece of region
Work.
The robot has the mode of working at night, and night spray fertilising can extend pesticide in the stop of crop surface
Between, be conducive to crop absorption, to guarantee farming season, promote the growth of crops significant.
The Agricultural Robot is the new product that the technology of making full use of internet, airmanship are developed and serves society,
Replace operation of manually spraying insecticide.Automatic spraying, fertilizer machinery people can completely free the trick of peasant, get rid of and spray insecticide
Adverse circumstances, realize the unmanned operation of farm work.Robot walks according to the route of advance planning, and can be according to branches and leaves
Dense degree, spray head spray distance and intensity of spray irrigation apart from adjust automatically, scientific and reasonable adjustment sprinkling dose, reduce loss,
It improves efficiency to the greatest extent, reduce cost.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (7)
1. a kind of Agricultural Robot characterized by comprising
Walking mechanism, with dolly chassis, steering mechanism, steering-engine, deflecting roller, driving wheel and driving motor, wherein
Steering mechanism is arranged in the top of dolly chassis and is located at the front end along direction of advance of dolly chassis, and steering-engine setting exists
Steering mechanism rear and be located at dolly chassis below, the two sides of steering-engine be provided with one group of deflecting roller and with steering-engine phase
Even, driving motor be arranged in dolly chassis along direction of advance rear end and be located at dolly chassis below, two sides are provided with one
It organizes driving wheel and is connected with driving motor；
Executing agency, setting is at steering mechanism rear and is located above dolly chassis, and opposite with the position of steering-engine
It answers；
Power mechanism, with charge protection device and power supply, wherein power supply, which is arranged above dolly chassis and is located at, turns to rudder
Between machine and driving motor, the side of power supply is provided with charge protection device；
Control mechanism, with car running computer and status displays, wherein car running computer be arranged above dolly chassis and with drive
The position of dynamic motor is corresponding, and status displays are arranged above car running computer, for showing that driving states and every technology refer to
Mark；
Spraying mechanism, with sensor, spray swing arm spray canister, sprinkler, medicine-chest and blower, wherein medicine-chest is arranged small
The centre of chassis and the top for being located at dolly chassis, sensor are arranged above medicine-chest and more prominent than medicine-chest direction of marching forward,
Spray swing arm spray canister be arranged in medicine-chest by direction of advance front end and be located at medicine-chest above, sprinkler setting spray swing arm spray
Cylinder and is connected at overcentre with spray swing arm spray canister, and the rear of spray swing arm spray canister and the top positioned at medicine-chest is arranged in blower.
2. Agricultural Robot according to claim 1, which is characterized in that further include:
Guiding mechanism, with navigation sensor and anticollision obstacle avoidance sensor, wherein navigation sensor is arranged on dolly chassis
Side and the front end for being located at direction of advance than steering mechanism, anticollision obstacle avoidance sensor are arranged above executing agency.
3. Agricultural Robot according to claim 1, which is characterized in that further include:
The side in vehicle-width direction is arranged in charging jack, and corresponding with the position of power supply, for carrying out electric power benefit
It fills.
4. Agricultural Robot according to claim 1, which is characterized in that further include:
The side in vehicle-width direction is arranged in power switch, and corresponding with the position of power supply, opens for controlling power supply
It closes.
5. Agricultural Robot according to claim 1, which is characterized in that further include:
Dosing mouth is arranged above medicine-chest, and the medical fluid for carrying out medicine-chest supplements.
6. Agricultural Robot according to claim 1, which is characterized in that further include:
Receiving antenna is arranged in the side of executing agency, and extends obliquely upward, for receiving control signal.
7. Agricultural Robot according to claim 1, which is characterized in that further include:
Work warning lamp, is arranged above spray swing arm spray canister and is arranged in wing sprinkler two sides, for showing event
Barrier alarm and trolley work normality instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811260843.XA CN109122642A (en) | 2018-10-26 | 2018-10-26 | A kind of Agricultural Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811260843.XA CN109122642A (en) | 2018-10-26 | 2018-10-26 | A kind of Agricultural Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109122642A true CN109122642A (en) | 2019-01-04 |
Family
ID=64809910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811260843.XA Pending CN109122642A (en) | 2018-10-26 | 2018-10-26 | A kind of Agricultural Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109122642A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104430272A (en) * | 2014-11-06 | 2015-03-25 | 安徽农业大学 | Intelligent self-propelled sprayer based on image processing |
| CN205567572U (en) * | 2016-02-26 | 2016-09-14 | 李金泽 | Orchard is with intelligent plant protection robot |
| CN106417234A (en) * | 2016-11-22 | 2017-02-22 | 王昊凡 | Intelligent pesticide spraying system |
| CN108157339A (en) * | 2018-02-13 | 2018-06-15 | 佳木斯大学 | A kind of crawler type greenhouse spraying machine and its method with height and breadth regulatory function |
| CN207969583U (en) * | 2018-02-13 | 2018-10-16 | 佳木斯大学 | A kind of crawler type greenhouse spraying machine with height and breadth regulatory function |
-
2018
- 2018-10-26 CN CN201811260843.XA patent/CN109122642A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104430272A (en) * | 2014-11-06 | 2015-03-25 | 安徽农业大学 | Intelligent self-propelled sprayer based on image processing |
| CN205567572U (en) * | 2016-02-26 | 2016-09-14 | 李金泽 | Orchard is with intelligent plant protection robot |
| CN106417234A (en) * | 2016-11-22 | 2017-02-22 | 王昊凡 | Intelligent pesticide spraying system |
| CN108157339A (en) * | 2018-02-13 | 2018-06-15 | 佳木斯大学 | A kind of crawler type greenhouse spraying machine and its method with height and breadth regulatory function |
| CN207969583U (en) * | 2018-02-13 | 2018-10-16 | 佳木斯大学 | A kind of crawler type greenhouse spraying machine with height and breadth regulatory function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Pérez-Ruiz et al. | Highlights and preliminary results for autonomous crop protection | |
| US10772253B2 (en) | Automatic target recognition and dispensing system | |
| CN205567572U (en) | Orchard is with intelligent plant protection robot | |
| US20180279599A1 (en) | Method and device for controlling unwanted organisms on a field | |
| CN105076099B (en) | A kind of forest obstacle medicine band annular sprayer apparatus and method | |
| CN107992078A (en) | A kind of autonomous paths planning method of plant protection unmanned plane | |
| CN109717175B (en) | Intelligent self-walking type spraying system for orchard and control method thereof | |
| US11147257B2 (en) | Software process for tending crops using a UAV | |
| BR112019003030B1 (en) | ROBOTIC AGRICULTURAL SYSTEM, AND, METHOD FOR A ROBOTIC AGRICULTURAL SYSTEM | |
| JP4649323B2 (en) | Hovercraft for spraying agricultural chemicals | |
| US20200356096A1 (en) | Autonomous agricultural working machine and method of operation | |
| CN109429598A (en) | Agricultural planting auxiliary robot and its automatic job method | |
| CN104521931A (en) | Intelligent pneumatic conveying variable spraying machine provided with laser sensor | |
| KR20200140953A (en) | Spraying device of autonomous driving type unmanned control vehicle | |
| Wang et al. | Design and development of orchard autonomous navigation spray system | |
| US20220174933A1 (en) | System and method for performing spraying operations with an agricultural sprayer | |
| CN114303111A (en) | Control system and method for autonomous driving or remote control of vehicle platforms | |
| CN114467469A (en) | Lawn mower, lawn care method and storage medium | |
| CN109122642A (en) | A kind of Agricultural Robot | |
| WO2023127391A1 (en) | Travel control system for agricultural machine capable of remote-controlled travel | |
| CN111142563A (en) | Cluster plant protection unmanned aerial vehicle operation control method | |
| CN217011813U (en) | Grass cutter | |
| Bykov | World trends in the creation of robots for spraying crops | |
| CN110402788A (en) | A kind of accurate watering, fertilizing of unmanned plane forest spills medicine device and technology | |
| CN106926254A (en) | High accuracy positioning self-navigation agricultural robot based on RTK technologies |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |