CN109362682A - A kind of electrostatic spray plant protection robot and its control method - Google Patents
A kind of electrostatic spray plant protection robot and its control method Download PDFInfo
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- CN109362682A CN109362682A CN201811196258.8A CN201811196258A CN109362682A CN 109362682 A CN109362682 A CN 109362682A CN 201811196258 A CN201811196258 A CN 201811196258A CN 109362682 A CN109362682 A CN 109362682A
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- 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
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Wood Science & Technology (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of electrostatic spray plant protection robot and its control methods; electrostatic spray plant protection robot includes root joint platform; the bottom of root joint platform is equipped with walking mechanism; the top of root joint platform is equipped with static water-spraying system; spraying system includes multiple degrees of freedom spray gun; it is additionally provided with Embedded computer system system on the platform of root joint, control method is S1, to open switch；S2, Embedded computer system system carry out data processing operation according to image video signal, and export calculated result；S3, Embedded computer system system control each motor movement, and more freely more spray guns is made to reach designated position；S4, static water-spraying system are opened.The present invention can rationally utilize pesticide dosage, improve the consistency of tree crown internal layer, outer layer foliage application amount, improve blade face front and back sides dose and the uniformity, avoid application to personal injury, reduce and soil air environment is polluted, improve labor productivity.
Description
Technical field
The present invention relates to a kind of agricultural plant protection technical fields, in particular to a kind of electrostatic spray plant protection robot and its control
Method.
Background technique
Rural Areas at Present orchard industrial crops cultivated area is increasing, and orchard plant protection fertilization pesticide spraying management fining requires to get over
Come higher, needs to put into a large amount of manpower and material resources.
Existing equipment for plant protection is mainly sprayed insecticide using artificial backpack sprayer or operates plant protection by pilot steering
Mechanical spraying operation, no matter large-scale equipment for plant protection equipment or small knapsack medicine-chest, also stay in extensive fertilization pesticide spraying operation,
Fountain height cannot be controlled well, and medical fluid majority is sprayed on tree crown surface layer blade face, or even is sprayed onto air, tree crown internal layer, outer
Layer blade face adhering liquid medicine amount is uneven, and blade face medical fluid is also easy drippage, causes soil air environment to pollute, plant protection comprehensive economy
Effect is not very good.In addition personnel directly participate in application operation, on the one hand increase the labor intensity of personnel, another aspect pesticide
Middle toxicity damage is also inevitably caused to human body, production requirement has been unable to meet rural laborer and chases after to good life hope
It asks.
Summary of the invention
In order to solve above-mentioned deficiency in the prior art, the purpose of the present invention is to provide a kind of electrostatic spray plant protection machines
People, the robot can rationally utilize pesticide dosage, improve the consistency of tree crown internal layer, outer layer foliage application amount, improve blade face
Front and back sides dose and the uniformity, avoid application to personal injury, reduce to soil air environment pollute, improve labour production effect
Rate.
The technical solution adopted by the present invention to solve the technical problems are as follows:
A kind of electrostatic spray plant protection robot is provided, including root joint platform, the bottom of described joint platform are equipped with
The top of walking mechanism, root joint platform is equipped with spraying system,
The spraying system includes multiple degrees of freedom spray gun, and the bottom of the multiple degrees of freedom spray gun is connect with root joint platform,
Multiple degrees of freedom spray gun is built-in with driving motor, and driving motor drives multiple degrees of freedom spray gun to realize multivariant rotational action；
Described joint platform is equipped with spray tank, and spray liquor, the multiple degrees of freedom spray are loaded in the spray tank
The bottom of rifle is connected to by water pump with spray tank, is connected with atomizer at the top of multiple degrees of freedom spray gun；
Electrostatic high-pressure generator is equipped in the spray tank, the inner wall of the spray tank is fixedly connected with charging electrode, institute
The high-pressure electrostatic negative pole end for stating electrostatic high-pressure generator is connect with charging electrode；
Be additionally provided with Embedded computer system system on described joint platform, the walking mechanism, driving motor and
Water pump is controlled by Embedded computer system system.
Preferably, the bottom of multiple degrees of freedom spray gun is connect by medicine supplying pipe with the spray liquor in spray tank.
Preferably, water pump is set between medicine supplying pipe and multiple degrees of freedom spray gun, and the inlet of water pump is connect with medicine supplying pipe,
The liquid outlet of water pump is connect with multiple degrees of freedom spray gun.
Preferably, multiple degrees of freedom spray gun includes several segments joint and the drug liquid tube that is connected on joint, per adjacent two
It is rotatablely connected mutually between Duan Guanjie, and is located at the joint of lowest position far from one end of adjacent segment and root joint platform
Connection, one end of drug liquid tube and the liquid outlet of water pump connect, and the other end of drug liquid tube connects atomizer, and the atomizer is logical
Cross the joint support positioned at top.
Preferably, the joint positioned at top position is connect by spray boom with the atomizer, the spray boom
One end is connect with drug liquid tube medicine outlet, the feeding opening connection of the other end and atomizer.
Preferably, drug liquid tube is distributed in the outside in joint, and drug liquid tube is clamped in the outside in joint by fixing clamp.
Preferably, joint is equipped with three sections, and respectively large arm, forearm and wrist joint, the driving motor include shoulder joint
Motor, shoulder joint motor, wrist joint motor and articulations digitorum manus motor, the shoulder joint motor connection root joint platform and large arm,
Shoulder joint motor connects large arm and forearm, and wrist joint motor connects forearm and wrist joint, and articulations digitorum manus motor connects wrist joint and spray
Bar, the shoulder joint motor, shoulder joint motor, wrist joint motor and articulations digitorum manus motor respectively with Embedded computer system system
System connection.
Preferably, running gear includes the crawler belt for being respectively arranged on root joint platform two sides, crawler driving whell, and the crawler belt drives
Driving wheel is rotated by driven by Brush-Less DC motor, track drive wheel drive crawler travel.
Preferably, the outside of Embedded computer system system is equipped with the camera shooting connecting with Embedded computer system system
Head, camera provide image video signal for Embedded computer system system；Embedded computer system system is additionally provided with nothing
Line communication module, Embedded computer system system establish channel radio by wireless communication module and remote computer control terminal
News.
The present invention also provides the control methods of multiple degrees of freedom electrostatic spray plant protection robot, comprising the following steps:
S1, starting switch for multiple degrees of freedom electrostatic spray plant protection robot is opened, so that Embedded computer system system
It is in running order；
GPS positioning module built in S2, Embedded computer system system is to multiple degrees of freedom electrostatic spray plant protection robot
Position positioned；
S3, camera are acquired the image video signal of vegetation bizet, and the image video signal are transmitted to embedding
In the data processing module for entering formula computer control system；
S4, Embedded computer system system carry out processing calculating to image video signal, and export calculated result；
S5, Embedded computer system system drive multiple degrees of freedom spray gun and running gear movement according to calculated result,
Make the spraying end of multiple degrees of freedom spray gun close to the vegetation bizet position to be sprayed；
S6, Embedded computer system system control pump working, so that multiple degrees of freedom spray gun sprays vegetation bizet
Mist.
Compared with prior art, the invention has the benefit that
1. the present invention connects atomizer by multiple degrees of freedom spray gun, and multiple degrees of freedom spray gun is built-in with driving motor, leads to
It overdrives motor driven, enables multiple degrees of freedom spray gun freely to go deep into the inside and outside two sides of vegetation bizet, to effectively solve
Traditional work herb liquid of having determined only is sprayed onto the phenomenon that vegetation surface layer blade face, improve vegetation blade dose and be attached to
The uniformity of vegetation blade both side surface medical fluid；
2. the present invention controls the sprinkling of medical fluid and the fortune of multiple degrees of freedom spray gun by Embedded computer system system
It is dynamic, automation spray is realized, by the control of computer control system, fountain height and the spray of medical fluid can be accurately controlled
Range is spilt, the reasonability of sprinkling medical fluid dose is improved；
3. the present invention controls the movement of the driving motor of multiple degrees of freedom spray gun, energy using Embedded computer system system
It is accurately controlled the injection direction of atomizer, enough so as to effectively avoid phenomenon of the medicine liquid spray into air, a side
Face improves the utilization rate of medical fluid, avoids waste medical fluid, on the other hand can prevent medicine liquid spray from causing air dirty into air
The phenomenon that dye, avoids environmental pollution；
4. the present invention realizes the electrostatic spray of medical fluid using electrostatic high-pressure generator, enable medical fluid droplet to vegetation leaf
The upper and lower surfaces of piece form effective encirclement, prevent medical fluid from dripping；
5. the present invention installs walking mechanism in the bottom of root joint platform, and walking mechanism is passed through embedded computer control
System processed is controlled, and so as to replace the mode of existing artificial sprinkling medical fluid, has been liberated labour, has been reduced operator
The labor intensity of member, while the phenomenon that application process damages personnel is also avoided, improve safety.
Detailed description of the invention
Fig. 1 is main view of the invention；
Fig. 2 is right view of the invention；
Fig. 3 is the structural schematic diagram of the more spray guns of more freedom of the invention；
Fig. 4 is control flow chart of the invention.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples, it is to be understood that retouch in this place
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 1, 2, the invention discloses a kind of electrostatic spray plant protection robot, including root joint platform 1, root joints
The bottom of platform 1 is equipped with walking mechanism 2, and the top of root joint platform 1 is equipped with spraying system, and the quantity of spraying system is at least one
A, in the present embodiment, the quantity of spraying system is two, and two spraying systems are evenly distributed in the top of root joint platform 1
The time is saved to improve the spraying efficiency of medical fluid in portion.
As shown in Figures 1 to 3, spraying system of the invention includes multiple degrees of freedom spray gun 3, the bottom of multiple degrees of freedom spray gun 3 with
Root joint platform 1 connects, and multiple degrees of freedom spray gun 3 is built-in with driving motor 4.Root joint platform 1 of the invention is equipped with spray tank
5, spray liquor is loaded in spray tank 5, the bottom of multiple degrees of freedom spray gun 3 is connected to by water pump 7 with spray tank 5, multiple degrees of freedom
The top of spray gun 3 is connected with atomizer 304.One end of drug liquid tube 305 is connect with the liquid outlet of water pump 7, drug liquid tube 305 it is another
One end connects atomizer 304.
Electrostatic high-pressure generator 8 is equipped in spray tank 5 of the invention, the inner wall of spray tank 5 is fixedly connected with charging electrode
The high-pressure electrostatic negative pole end of (being not drawn into figure), electrostatic high-pressure generator 8 is connect with charging electrode, passes through electrostatic high-pressure generator
8 and charging electrode, electrostatic particle is provided to the medical fluid in spray tank 5, to realize electrostatic spray.
Driving motor 4 drives multiple degrees of freedom spray gun 3 to realize multivariant rotational action.If multiple degrees of freedom spray gun 3 includes
Dry section joint and the drug liquid tube 305 being connected on joint, are often rotatablely connected mutually, in order to more between two sections of adjacent joints
Freedom degree spray gun 3 is capable of forming multivariant movement, one end and root positioned at the joint of lowest position far from adjacent segment
Joint platform 1 connects, and atomizer 304 of the invention is located at top position by being located at the joint support of top
Joint connect with atomizer 304 by spray boom 306, one end of spray boom 306 is connect with 305 medicine outlet of drug liquid tube, the other end
It is connect with the feeding opening of atomizer 304.
In the present embodiment, the bottom of drug liquid tube 305 passes through the spray liquor in medicine supplying pipe (being not drawn into figure) and spray tank 5
Connection, water pump 7 is set between medicine supplying pipe and drug liquid tube 305, and the inlet of water pump 7 is connect with medicine supplying pipe, and water pump 7 goes out liquid
Mouth is connect with drug liquid tube 305.By the way that medicine supplying pipe is arranged, it is only necessary to medicine supplying pipe is inserted into the medical fluid in spray tank 5, it is possible to enough
Start water pump 7, it is not necessary that water pump 7 to be also mounted in spray tank 5, to facilitate installation water pump 7.
As shown in figure 3, the joint of multiple degrees of freedom spray gun 3 is equipped with three sections, respectively large arm 301, forearm in the present embodiment
302 and wrist joint 303, driving motor 4 includes shoulder joint motor 401, shoulder joint motor 402, wrist joint motor 403 and refers to
Joint motor 404, shoulder joint motor 401 connect root joint platform 1 and large arm 301, shoulder joint motor 402 connect large arm 401 with
Forearm 402, wrist joint motor 403 connect forearm 402 and wrist joint 403, and articulations digitorum manus motor 404 connects wrist joint 403 and spray boom
306, the present invention respectively drives large arm 301, forearm by shoulder joint motor 401, shoulder joint motor 402, wrist joint motor 403
302, wrist joint 303 does 0~180 ° of rotational action on the vertical plane, and articulations digitorum manus motor 404 then drives spray boom 306 in level
0~180 ° of rotational action is done on face, the athletic performance of multiple degrees of freedom spray gun 3 is realized with this, is improved multiple degrees of freedom spray gun 3 and is moved
Accuracy.
Embedded computer system system 6 is additionally provided on root joint platform 1, walking mechanism 2, shoulder joint motor 401, arm close
It saves motor 402, wrist joint motor 403, articulations digitorum manus motor 404 and water pump 7 and passes through Embedded computer system system 6 respectively
Control, and walking mechanism 2, shoulder joint motor 401, shoulder joint motor 402, wrist joint motor 403, articulations digitorum manus motor 404, with
And water pump 7 connect control by CAN bus and switching signal respectively with Embedded computer system system 6.
Drug liquid tube 305 can be distributed in the outside in joint, and drug liquid tube when drug liquid tube 305 is arranged by the present embodiment
305 are clamped in the outside in joint by fixing clamp 307.Drug liquid tube 305 can also be distributed in the inside in joint, at this time, it may be necessary to
The center in every joint of multiple degrees of freedom spray gun 3 opens up to the central passage for being used for drug liquid tube 305 and passing through, central passage it is straight
The outer diameter of diameter and drug liquid tube 305 is adapted, and drug liquid tube 305 is then made to pass through the central passage in each joint, realizes drug liquid tube 305
Positioning.But no matter which kind of mode is required to joining place in each joint there are surplus in fixed drug liquid tube 305, with
It can act freely convenient for drug liquid tube 305 in articulation, drug liquid tube 305 is prevented to be torn.
The running gear 2 of the present embodiment includes crawler belt 201, the crawler driving whell for being respectively arranged on 1 two sides of root joint platform
202, crawler driving whell 202 drives crawler belt 201 to walk by the driving rotation of DC brushless motor 203, crawler driving whell 202.?
In the present embodiment, for DC brushless motor 203 by the connection control of electric machine controller electric signal, the connection of electric machine controller electric signal is embedding
Enter formula computer control system 6, Embedded computer system system 6 controls root joint platform 1 and advances, retreats, flicker, the right side
Rotation is made.
The outside of Embedded computer system system 6 is equipped with the camera 9 connecting with Embedded computer system system 6,
Camera 9 is that Embedded computer system system 6 provides image information.Embedded computer system system 6 is additionally provided with channel radio
Module is interrogated, Embedded computer system system 6 establishes wireless telecommunications by wireless communication module and remote computer control terminal.
As shown in figure 4, the rate-determining steps of multiple degrees of freedom electrostatic spray plant protection robot of the invention are as follows:
S1, starting switch for multiple degrees of freedom electrostatic spray plant protection robot is opened, so that Embedded computer system system 6
It is in running order；
GPS positioning module built in S2, Embedded computer system system 6 is to multiple degrees of freedom electrostatic spray plant protection robot
Position positioned；
S3, camera 9 are acquired the image video signal of vegetation bizet, and the image video signal are transmitted to embedding
In the data processing module for entering formula computer control system 6；
S4, Embedded computer system system 6 carry out processing calculating to image video signal, and export calculated result；
S5, Embedded computer system system 6 drive multiple degrees of freedom spray gun 3 and running gear 2 to transport according to calculated result
It is dynamic, make the spraying end of multiple degrees of freedom spray gun 3 close to the vegetation bizet position to be sprayed；
S6, Embedded computer system system 6 control water pump 7 and work, so that multiple degrees of freedom spray gun 3 carries out vegetation bizet
It is spraying.
In addition, being equipped with switching control in Embedded computer system system 6 and switching, in order to be carried out to control model
Switching.Specifically, the present embodiment under the action of Embedded computer system system 6, is divided into automatic and two kinds of works of remote control
Operation mode.
Under automatic operation mode, track route is planned by the touch screen of Embedded computer system system 6 in advance, is embedded in
Formula computer control system 6 controls the advance of movement root joint according to GPS positioning module information, according to programme path, retreats, original place
Turn left, turn right.Camera 9 acquires the image video signal of vegetation bizet in real time, and Embedded computer system system 6 regards image
Frequency signal carries out processing calculating, calculates the shape of vegetation bizet, is then inserted into the data processing mould of formula computer control system 6
Block determines target three-dimensional space coordinate, after the moving line and the application range that determine multiple degrees of freedom spray gun 3, insertion
Formula computer control system 6 respectively drives each joint motor of two multiple degrees of freedom spray guns 3, reaches atomizer 304 respectively
From spraying position is needed, it is then inserted into the control starting water pump 7 of formula computer control system 6, static water-spraying system work.
Under remote control mode, camera 9 acquires the image video signal of vegetation bizet, Embedded computer system in real time
System 6 carries out processing calculating to image video signal, calculates the shape of vegetation bizet, is then inserted into formula computer control system
6 give remote computer control terminal by wireless communication module real-time transmission of video image and GPS positioning module location information, remotely
Computer control terminal monitors target image information in real time, sends manipulation instruction to Embedded computer system system 6, insertion
Formula computer control system 6 is advanced, is retreated, flicker, right-hand rotation according to corresponding manipulation instruction, control control movement root joint,
Drive each joint motor of multiple degrees of freedom spray gun 3, manipulation static water-spraying system work, under distance control mode, more than two
Freedom degree spray gun 3 is respectively equipped with control key.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle, those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed, such as features described above have similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Except for the technical features described in the specification, remaining technical characteristic is the known technology of those skilled in the art, is prominent
Innovative characteristics of the invention out, details are not described herein for remaining technical characteristic.
Claims (10)
1. the bottom of a kind of electrostatic spray plant protection robot, including root joint platform (1), described joint platform (1) is equipped with row
It walks mechanism (2), the top of root joint platform (1) is equipped with spraying system, it is characterised in that:
The spraying system includes multiple degrees of freedom spray gun (3), the bottom of the multiple degrees of freedom spray gun (3) and root joint platform (1)
Connection, multiple degrees of freedom spray gun (3) are built-in with driving motor (4), and driving motor (4) drives multiple degrees of freedom spray gun (3) to realize mostly certainly
By the rotational action spent；
Described joint platform (1) is equipped with spray tank (5), and spray liquor is loaded in the spray tank (5), described mostly free
The bottom of degree spray gun (3) is connected to by water pump (7) with spray tank (5), and multiple degrees of freedom spray gun is connected with atomizer at the top of (3)
(304)；
Electrostatic high-pressure generator (8) are equipped in the spray tank (5), the inner wall of the spray tank (5) is fixedly connected with charging electricity
The high-pressure electrostatic negative pole end of pole, the electrostatic high-pressure generator (8) is connect with charging electrode；
It is additionally provided with Embedded computer system system (6) on described joint platform (1), the walking mechanism (2), driving motor
(4) and water pump (7) is controlled by Embedded computer system system (6).
2. electrostatic spray machine people according to claim 1, it is characterised in that: the bottom of the multiple degrees of freedom spray gun (3)
It is connect by medicine supplying pipe with the spray liquor in spray tank (5).
3. electrostatic spray plant protection according to claim 2 robot, it is characterised in that: the water pump (7) is set to medicine supplying pipe
Between multiple degrees of freedom spray gun (3), and the inlet of water pump (7) is connect with medicine supplying pipe, the liquid outlet of water pump (7) with mostly freely
Spend spray gun (3) connection.
4. electrostatic spray plant protection according to claim 3 robot, it is characterised in that: multiple degrees of freedom spray gun (3) packet
Several segments joint and the drug liquid tube being connected on joint (305) are included, is rotatablely connected mutually between every two sections of adjacent joints, and
And the joint for being located at lowest position is connect far from one end of adjacent segment with root joint platform (1), one end of drug liquid tube (305)
It is connect with the liquid outlet of water pump (7), the other end of drug liquid tube (305) connects atomizer (304), the atomizer (304)
By the joint support for being located at top.
5. electrostatic spray plant protection according to claim 4 robot, it is characterised in that: positioned at the pass of top position
Section is connect by spray boom (306) with the atomizer (304), one end of the spray boom (306) and drug liquid tube (305) medicine outlet
Connection, the other end are connect with the feeding opening of atomizer (304).
6. electrostatic spray plant protection according to claim 5 robot, it is characterised in that: the drug liquid tube (305) is distributed in
The outside in joint, and drug liquid tube (305) is clamped in the outside in joint by fixing clamp (307).
7. electrostatic spray plant protection according to any one of claim 4 to 6 robot, it is characterised in that: the joint is equipped with
Three sections, respectively large arm (301), forearm (302) and wrist joint (303), the driving motor (4) includes shoulder joint motor
(401), shoulder joint motor (402), wrist joint motor (403) and articulations digitorum manus motor (404), the shoulder joint motor (401)
It connects root joint platform (1) and large arm (301), shoulder joint motor (402) connects large arm (401) and forearm (402), wrist joint electricity
Machine (403) connects forearm (402) and wrist joint (403), and articulations digitorum manus motor (404) connects wrist joint (403) and spray boom (306),
The shoulder joint motor (401), shoulder joint motor (402), wrist joint motor (403) and articulations digitorum manus motor (404) respectively with
Embedded computer system system (6) connection.
8. electrostatic spray plant protection according to claim 1 robot, it is characterised in that: the running gear (2) includes point
Not She Yu root joint platform (1) two sides crawler belt (201), crawler driving whell (202), the crawler driving whell (202) passes through straight
Brushless motor (203) driving rotation is flowed, crawler driving whell (202) drives crawler belt (201) walking.
9. multiple degrees of freedom electrostatic spray plant protection robot according to claim 1, it is characterised in that: the embedding assembly
The outside of machine control system (6) is equipped with the camera (9) connecting with Embedded computer system system (6), and camera (9) is embedding
Enter formula computer control system (6) and image video signal is provided；
The Embedded computer system system (6) is additionally provided with wireless communication module, and Embedded computer system system (6) passes through
Wireless communication module and remote computer control terminal establish wireless telecommunications.
10. a kind of control method of multiple degrees of freedom electrostatic spray plant protection robot as claimed in claim 9, which is characterized in that
The following steps are included:
S1, starting switch for multiple degrees of freedom electrostatic spray plant protection robot is opened, so that at Embedded computer system system (6)
In working condition；
GPS positioning module built in S2, Embedded computer system system (6) is to multiple degrees of freedom electrostatic spray plant protection robot
Position is positioned；
S3, camera (9) are acquired the image video signal of vegetation bizet, and the image video signal are transmitted to insertion
In the data processing module of formula computer control system (6)；
S4, Embedded computer system system (6) carry out processing calculating to image video signal, and export calculated result；
S5, Embedded computer system system (6) drive multiple degrees of freedom spray gun (3) and running gear (2) according to calculated result
Movement makes the spraying end of multiple degrees of freedom spray gun (3) close to the vegetation bizet position to be sprayed；
S6, Embedded computer system system (6) control water pump (7) work so that multiple degrees of freedom spray gun (3) to vegetation bizet into
Row is spraying.
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| CN201811196258.8A CN109362682A (en) | 2018-10-15 | 2018-10-15 | A kind of electrostatic spray plant protection robot and its control method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113331161A (en) * | 2021-06-03 | 2021-09-03 | 华中农业大学 | Agricultural accurate target spraying robot with snakelike arm |
| CN113767889A (en) * | 2021-09-30 | 2021-12-10 | 舞阳县林业技术推广总站 | Forestry high efficiency automatic insect-trapping and insect-killing device |
| CN114109481A (en) * | 2021-11-30 | 2022-03-01 | 中国矿业大学 | Intelligent dust-settling robot and dust-settling method thereof |
| CN114109481B (en) * | 2021-11-30 | 2024-05-31 | 中国矿业大学 | Intelligent dust-settling robot and dust-settling method thereof |
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| CN113331161A (en) * | 2021-06-03 | 2021-09-03 | 华中农业大学 | Agricultural accurate target spraying robot with snakelike arm |
| CN113331161B (en) * | 2021-06-03 | 2023-02-28 | 华中农业大学 | Agricultural accurate target spraying robot with snakelike arm |
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