CN111436414B - Greenhouse strawberry canopy inner circumference wind-conveying pesticide applying robot and implementation method thereof - Google Patents
Greenhouse strawberry canopy inner circumference wind-conveying pesticide applying robot and implementation method thereof Download PDFInfo
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- CN111436414B CN111436414B CN202010250844.7A CN202010250844A CN111436414B CN 111436414 B CN111436414 B CN 111436414B CN 202010250844 A CN202010250844 A CN 202010250844A CN 111436414 B CN111436414 B CN 111436414B
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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
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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
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
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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
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
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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
- A01M7/0089—Regulating or controlling systems
Abstract
The invention provides a greenhouse strawberry canopy inner circumference wind-conveying pesticide-applying robot and an implementation method thereof, wherein the robot consists of an autonomous mobile platform, a plant canopy information acquisition unit, a plant canopy inner circumference wind-conveying pesticide-applying unit and a control system, and the plant canopy inner circumference wind-conveying pesticide-applying unit comprises a plant canopy inner spraying execution device and a circumference wind-conveying spraying device; the plant canopy information acquisition unit acquires the plant canopy central point of the strawberry cultivation row in real time, and the control system transfers the circumferential air-conveying spraying device to the position of the canopy central point through the spraying execution device in the plant canopy; starting the auxiliary pneumatic flow guide device to force the surrounding canopy leaves to vibrate up and down, and then controlling the spray heads to spray the liquid medicine to the surrounding canopy leaves; the invention realizes accurate and efficient pesticide application operation on full canopy leaves of strawberry cultivation row plants.
Description
Technical Field
The invention belongs to the field of agricultural equipment, and particularly relates to a greenhouse strawberry canopy inner circumference wind-conveying pesticide applying robot and an implementation method thereof.
Background
Due to the high nutritional and economic value of strawberries, the strawberry industry has rapidly developed in recent years worldwide, mainly in the greenhouse two-line cultivation mode. Plant diseases and insect pests frequently occur in the whole stage of strawberry cultivation, a large amount of pesticide is needed to be applied, and the situation is more serious in a greenhouse environment. At present, due to the limitation of narrow environment of a greenhouse, the pesticide applying machine in a relatively mature field and orchard is difficult to operate; in the practical production application, still use artifical handheld spraying mode as the main, there are phenomena such as work efficiency is low, the droplet drifts, canopy penetrability is poor, has brought the extravagant, environmental pollution and food, personnel's safety scheduling problem of liquid medicine simultaneously, receives people's attention increasingly.
The strawberry plant canopy has typical happiness type characteristics, and shows layering phenomenon in vertical spatial distribution, and the upper leaf is more, and the lower floor is less, and upper and lower range upon range of shelters from, and the canopy is dense and closes. The existing efficient pesticide applying equipment for greenhouse crops is mainly used for improving pesticide applying efficiency through optimization and fusion of technologies such as spray rod spraying, pneumatic auxiliary spraying, target profiling spraying, Internet of things and the like. However, the prior art and the equipment can not be well adapted to the happiness and the sealing characteristics of the strawberry plant canopy, so that the lower leaves and the back of the leaves in the canopy do not have good medicine drop deposition effect.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a greenhouse strawberry canopy inner circumference air-conveying pesticide applying robot and an implementation method thereof, which are used for finishing the precise and efficient pesticide applying operation of a dense and closed canopy in the whole greenhouse strawberry cultivation stage.
The present invention achieves the above-described object by the following technical means.
A greenhouse strawberry canopy inner circumference wind-conveying pesticide-applying robot comprises an autonomous mobile platform, a plant canopy information acquisition unit, a plant canopy inner circumference wind-conveying pesticide-applying unit and a control system; the strawberry plant canopy information acquisition unit comprises a visual sensor and a computer, and the computer is integrated in the control system; the plant canopy inner circumference air-conveying pesticide applying unit comprises a plant canopy inner circumference spraying execution device and a circumference air-conveying spraying device, the circumference air-conveying spraying device is arranged on the plant canopy inner circumference spraying execution device, and the plant canopy inner circumference spraying execution device and the circumference air-conveying spraying device are controlled by a control system;
the spraying execution device in the plant canopy comprises a horizontal straight moving part, a vertical straight moving part, a rotary part and a support, wherein the horizontal straight moving part is arranged on the outer sides of the front part and the rear part of the support; the horizontal straight moving piece and the vertical straight moving piece drive the bracket and the rotating piece to move, and the rotating piece drives the circumferential air-assisted spraying device to move along the vertical direction;
the circumferential air-conveying spraying device comprises an air pump, a spray head and an auxiliary pneumatic flow guide device, wherein the spray head is nested and fixed in the auxiliary pneumatic flow guide device; the auxiliary pneumatic flow guide device is communicated with the air pump, and a pipeline between the auxiliary pneumatic flow guide device and the air pump is provided with an electromagnetic valve II which is controlled by the control system to be opened and closed.
In the technical scheme, the circumference air-assisted spraying device further comprises a liquid medicine box and a water pump, the spray head is communicated with the liquid medicine box through the water pump, an electromagnetic valve I is arranged on a pipeline between the spray head and the water pump, and the electromagnetic valve I is controlled to be opened and closed by a control system.
In the technical scheme, the vision sensor acquires the canopy image and the depth information of the strawberry plant rows below the visual field in real time and sends the canopy image and the depth information to the computer; the computer obtains the outline of the plant canopy leaf from the canopy image, makes the vertical lines of the axes of the left leaf and the right leaf of each three-compound leaf, and determines the canopy center point according to the two adjacent vertical lines.
In the technical scheme, the computer acquires the top height and the bottom height of the plant canopy of the strawberry plant row from the depth information.
A realization method of a greenhouse strawberry canopy inner circumference wind-conveying pesticide-applying robot comprises the following steps:
step (1), the autonomous mobile platform walks autonomously at a speed V across high ridges or across high frames and forwards at T0At the moment, the computer acquires the distance between the center point of the plant canopy of the strawberry plant row and the horizontal X axis and the vertical Y axis of the visual sensor, and determines the space coordinate of the center point of the plant canopy relative to the visual sensor, namely the target position of the circumferential air-conveying spraying device;
step (2), under the drive of the straight moving part, adjusting the distance between the circumferential air-conveying spraying device and the vertical Y axis of the visual sensor to the distance between the center point of the plant canopy and the vertical Y axis of the visual sensor; under the drive of the vertical straight moving piece, the height of the lower insertion position of the circumferential air-conveying spraying device is adjusted to be a coordinate of the center point of the plant canopy in the vertical direction relative to the visual sensor;
and (3) stopping the autonomous moving platform at the time of downward insertion of the circumferential air-conveying spraying device, driving the circumferential air-conveying spraying device to reach a target position by the rotating part, applying auxiliary air flow to the surrounding canopy blades from the central point of the row canopy of the strawberry plant by the auxiliary air flow guide device, forcing the canopy blades to start to vibrate up and down, and then controlling the spray heads to spray liquid medicine to the surrounding canopy blades.
Furthermore, the downward insertion time of the circumferential air-assisted spraying device is T0+(D1,Y+D2,Y) V, wherein D1,YFor the row planting of strawberry plantsDistance between center point of canopy and horizontal X-axis of vision sensor, D2,YThe distance between the circular air-assisted spraying device and the horizontal X axis of the vision sensor in the initial position is shown.
Furthermore, the initial position of the circumferential air-assisted spraying device is driven by the water straight movable part and the vertical straight movable part together and is positioned at the central position of the autonomous mobile platform.
Further, after the liquid medicine spraying operation is completed, the rotary part drives the circumferential air-conveying spraying device to leave the canopy, and the autonomous mobile platform continues to advance along the cultivation row to perform the next period of pesticide application operation.
The invention has the beneficial effects that: in the invention, a vision sensor acquires a canopy image and depth information of a strawberry plant row below a visual field in real time and sends the canopy image and the depth information to a computer; the computer obtains the contour of the plant canopy from the canopy image, makes a vertical line of a connecting line of two blades in the horizontal direction, and determines the central point of the canopy from two adjacent vertical lines; the target position of the circumferential air-assisted spraying device is determined through the central point of the canopy of the strawberry cultivation row plant, the circumferential air-assisted spraying device reaches the target position under the driving of the straight moving part and the rotating part, the auxiliary pneumatic flow guide device applies auxiliary air flow to the surrounding canopy blades from the central point of the canopy of the strawberry plant row plant to force the canopy blades to start to vibrate up and down, and then the spray heads are controlled to spray liquid medicine to the surrounding canopy blades. The invention effectively adapts to the characteristics of happiness, flatness and density of canopy in the whole stage of greenhouse strawberry cultivation, realizes accurate and efficient deposition of the canopy of strawberry plants, especially the middle and lower layer leaves and the fog drops on the front and back surfaces of the leaves, and has the advantages of simple structure, good adaptability and high efficiency.
Drawings
FIG. 1 is a schematic top view of a greenhouse strawberry canopy inner circumference wind-feeding pesticide-applying robot according to the present invention;
FIG. 2 is a schematic structural view of the greenhouse strawberry canopy inner circumference wind-feeding pesticide-applying robot in the front view;
FIG. 3 is a schematic structural view of a pneumatic conveying medicine application unit on the inner circumference of a canopy of the invention;
fig. 4 is a schematic structural view of the circumferential air-assisted spraying device.
In the figure: 1-an autonomous mobile platform, 2-a liquid medicine tank, 3-a left plant canopy inner spraying execution device, 4-a left circumferential air-assisted spraying device, 5-a vision sensor, 6-a left strawberry plant row, 7-a right strawberry plant row, 8-a right plant canopy inner spraying execution device, 9-a right circumferential air-assisted spraying device, 10-a control system, 11-a water pump, 12-an air pump, 13-a left horizontal straight motion piece, 14-a left vertical straight motion piece, 15-a left rotation piece, 16-a left support, 17-a right horizontal straight motion piece, 18-a right vertical straight motion piece, 19-a right rotation piece, 20-a right support, 21-a left cross-shaped spray head, 22-a left auxiliary pneumatic flow guide device, 23-a right cross-shaped spray head and 24-a right auxiliary pneumatic flow guide device.
Detailed Description
The technical solutions of the present invention will be further described in detail with reference to the accompanying drawings, but the scope of the present invention is not limited thereto. It should be noted that technical features or combinations of technical features described in the following embodiments should not be considered as being isolated, and they may be combined with each other to achieve better technical effects.
In the current greenhouse strawberry production, a double-row planting mode is adopted no matter high-ridge cultivation or overhead cultivation, and the strawberry plant canopy has the advantages of being happy and full-bodied and airtight in growth from the root to the periphery.
As shown in fig. 1, the greenhouse strawberry canopy inner circumference wind-conveying pesticide-applying robot consists of an autonomous mobile platform 1, a plant canopy information acquisition unit, a plant canopy inner circumference wind-conveying pesticide-applying unit and a control system 10. The autonomous mobile platform 1 can realize the autonomous walking function of crossing high ridges and high frames in the greenhouse of the robot (the prior art), and the plant canopy information acquisition unit, the plant canopy internal circumference wind-conveying pesticide application unit and the control system 10 are all arranged on the autonomous mobile platform 1.
As shown in fig. 1 and 2, the strawberry plant canopy information acquisition unit is composed of a vision sensor 5 and a computer, the vision sensor 5 is arranged at the front part of the advancing direction of the autonomous mobile platform 1 and is positioned on the longitudinal central line of the autonomous mobile platform 1, the shooting direction of the vision sensor 5 is vertically downward, the information acquired by the vision sensor 5 is transmitted to the computer for processing, and the computer is integrated in the control system 10.
As shown in fig. 1 and 2, the plant canopy inner circumference air-conveying pesticide application unit consists of a left plant canopy inner spraying execution device 3, a left circumference air-conveying spraying device 4, a right plant canopy inner spraying execution device 8 and a right circumference air-conveying spraying device 9. Spraying actuating device 3 in the left plant canopy, spraying actuating device 8 in the right plant canopy arrange respectively in the anterior both sides of autonomic mobile platform 1, and left circumference wind send atomizer 4 to install on spraying actuating device 3 in the left plant canopy, and right circumference wind send atomizer 9 to install on spraying actuating device 8 in the right plant canopy.
As shown in fig. 3, the left plant canopy internal spray executing device 3 comprises a left horizontal straight moving part 13, a left vertical straight moving part 14, a left revolving part 15 and a left support 16, and the right plant canopy internal spray executing device 8 comprises a right horizontal straight moving part 17, a right vertical straight moving part 18, a right revolving part 19 and a right support 20. The left horizontal direct-acting part 13 is arranged on the outer sides of the front part and the rear part of the left support 16 and is connected with the left support 16 and the autonomous mobile platform 1, the left vertical direct-acting part 14 is arranged on the inner side of the left support 16, and the left revolving part 15 is arranged between the left vertical direct-acting part 14 components. Correspondingly, the right horizontal translational member 17 is installed at the front and rear outer sides of the right bracket 20 to connect the right bracket 20 and the autonomous moving platform 1, the right vertical translational member 18 is installed at the inner side of the right bracket 20, and the right revolving member 19 is installed between the right vertical translational member 18 components.
The direct-acting part comprises a motor, a motor flange, a base, a sliding table, a trapezoidal screw rod, a linear rail, a bearing sheet and a bearing; the lower ends of the bases of the left horizontal direct-acting part 13 and the right horizontal direct-acting part 17 are fixedly connected with the autonomous mobile platform 1, and the sliding tables of the left horizontal direct-acting part 13 and the right horizontal direct-acting part 17 are fixedly connected with the left support 16 and the right support 20 respectively; the lower ends of the bases of the left vertical moving part 14 and the right vertical moving part 18 are fixedly connected with the left bracket 16 and the right bracket 20 respectively; a motor flange is fixed at one end of the base, a motor is fixed on the motor flange, a bearing sheet is fixed at the other end of the base, and a bearing is fixed on the bearing sheet; one end of the trapezoidal screw rod is fixedly connected with the output shaft of the motor, and the other end of the trapezoidal screw rod is in clearance fit with the bearing after penetrating through the threaded hole of the sliding table; the upper part and the lower part of the trapezoidal screw rod are provided with linear rails fixedly connected with the autonomous mobile platform 1; the motor rotates to drive the trapezoidal screw rod to rotate, so that the bracket fixedly connected with the sliding table and the rotating piece are driven to move on the linear rail.
The rotating part comprises a stepping motor and a motor fixing seat, the motor fixing seat is fixed on a sliding table of the direct moving part, the stepping motor is fixed on the motor fixing seat, an output shaft of the stepping motor is connected with the circumference air-conveying spraying device through a crank rocker, the crank rocker is limited by a horizontal plate fixed on the support, and the stepping motor drives the left circumference air-conveying spraying device 4 and the right circumference air-conveying spraying device 9 to vertically move up and down periodically through the crank rocker. The motor of the direct-acting member and the stepping motor of the rotary member are controlled by a control system 10.
As shown in fig. 4, the circumferential air-assisted spraying device comprises a liquid medicine tank 2, a water pump 11, an air pump 12, a left cross four-way nozzle 21, a left auxiliary air-assisted flow guiding device 22, a right cross four-way nozzle 23 and a right auxiliary air-assisted flow guiding device 24. The left cross four-way nozzle 21 and the right cross four-way nozzle 23 are both communicated with the liquid medicine box 2 through the water pump 11, and electromagnetic valves I are arranged on pipelines between the left cross four-way nozzle 21, the right cross four-way nozzle 23 and the water pump 11 and are controlled to be opened and closed by the control system 10; the left auxiliary pneumatic flow guiding device 22 and the right auxiliary pneumatic flow guiding device 24 are both communicated with the air pump 12, and a solenoid valve II is arranged on a pipeline between the left auxiliary pneumatic flow guiding device 22, the right auxiliary pneumatic flow guiding device 24 and the air pump 12 and is controlled to be opened and closed by the control system 10. The left cross-shaped four-way nozzle 21 is nested and fixed in the left auxiliary pneumatic flow guiding device 22, the left auxiliary pneumatic flow guiding device 22 is installed on the crank rocker, the right cross-shaped four-way nozzle 23 is nested and fixed in the right auxiliary pneumatic flow guiding device 24, and the right auxiliary pneumatic flow guiding device 24 is installed on the crank rocker. After the control system 10 controls the electromagnetic valve II to be opened, the auxiliary pneumatic flow guiding device provides auxiliary airflow for the cross four-way nozzle. The initial position of the circumferential air-conveying spraying device is located at the central position of the autonomous mobile platform 1 under the combined action of the water straight moving part and the vertical straight moving part.
A realization method of a greenhouse strawberry canopy inner circumference wind-conveying pesticide-applying robot comprises the following steps:
step (1), the autonomous mobile platform 1 walks autonomously at a speed V across a high ridge or across an overhead forwards and at a speed T0At any moment, the vision sensor 5 acquires the canopy images and the depth information of the left strawberry plant row 6 and the right strawberry plant row 7 below the visual field of the vision sensor in real time and sends the canopy images and the depth information to the computer; the computer obtains the outline of the plant canopy leaf from the canopy image, makes the vertical lines of the axes of the left leaf and the right leaf of each three-compound leaf, and determines the central point of the canopy from the two adjacent vertical lines; the computer obtains the distance D between the central point A of the plant canopy of the row 6 of the left strawberry plant and the horizontal X axis of the visual sensor 5A,YDistance D between central point A of canopy of 6 plants in left strawberry plant row and vertical Y axis of visual sensor 5A,XDistance D between central point B of plant canopy of right strawberry plant row 7 and horizontal X axis of visual sensor 5B,XAnd the distance D between the central point B of the plant canopy of the right strawberry plant row 7 and the vertical Y axis of the visual sensor 5B,Y(ii) a The computer obtains the plant canopy height H of the left strawberry plant row 6 from the depth informationL,maxAnd height HL,minAnd the plant canopy height H of the right strawberry plant row 7R,maxAnd height HR,min(ii) a Thereby obtaining the space coordinate of the central point A of the canopy of the left-row plant relative to the visual sensor 5 as (-D)A,X，DA,Y，(HL,max+HL,min) And 2), the space coordinate of the central point B of the canopy of the right row of plants relative to the visual sensor 5 is (-D)B,X，DB,Y，(HR,max+HR,min)/2)。
Step (2), the control system 10 obtains the distance D between the left circumferential air-assisted spraying device 4 and the horizontal X axis of the vision sensor 5 at the initial positionL,YDistance D between the right circular air-assisted spraying device 9 and the horizontal X axis of the vision sensor 5 at the initial positionR,Y(ii) a Under the drive of the horizontal straight moving part and the vertical straight moving part, the distance between the left circumferential air-conveying spraying device 4 and the vertical Y axis of the visual sensor 5 is adjusted to be DA,XThe distance between the right circumferential air-assisted spraying device 9 and the vertical Y axis of the vision sensor 5 is adjusted to be DB,X(ii) a Meanwhile, the lower inserting positions of the left circumferential air-assisted spraying device 4 and the right circumferential air-assisted spraying device 9 are respectively adjusted to be (H) in height under the driving of the vertical straight moving partL,max+HL,min)/2、(HR,max+HR,min) 2; whileLeft circumference air-assisted spraying device 4 downward insertion time T1-LIs T0+(DA,Y+DL,Y) V, right circumference air-assisted spraying device 9 lower insertion time T1-RIs T0+(DB,Y+DR,Y)/V。
Step (3) at T1-L、T1-RAt the moment, the autonomous mobile platform 1 is stopped, and the rotary member drives the left circumferential air-assisted spraying device 4 and the right circumferential air-assisted spraying device 9 to reach the target positions (namely the spatial coordinates of the central point A, B relative to the visual sensor 5); then, the control system 10 controls the electromagnetic valve B to be opened, the left auxiliary air guiding device 22 and the right auxiliary air guiding device 24 apply auxiliary air flow to the surrounding canopy blades from the central point A of the 6 canopies of the left strawberry plant row and the central point B of the 7 canopies of the right strawberry plant row respectively, and the air speed V is adjusted1The speed is 8-10m/s, and the top layer blade is forced to vibrate up and down; subsequently, the control system 10 controls the electromagnetic valve A to be opened, the left cross four-way nozzle 21 and the right cross four-way nozzle 23 spray the liquid medicine to the surrounding canopy blades, and uniform deposition of fog drops on the front and back surfaces of all canopy blades in the area is achieved.
And (4) after the liquid medicine spraying operation is finished, enabling the left circumferential air-assisted spraying device 4 and the right circumferential air-assisted spraying device 9 to leave the canopy through the left rotating member 15 and the right rotating member 19, enabling the autonomous mobile platform 1 to continue to advance along the cultivation row, and performing the next period of pesticide application operation, so that the accurate and efficient pesticide application operation of the full canopy leaves of the left strawberry plant row 6 and the right strawberry plant row 7 is realized.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (7)
1. A greenhouse strawberry canopy inner circumference wind-conveying pesticide-applying robot is characterized by comprising an autonomous mobile platform (1), a plant canopy information acquisition unit, a plant canopy inner circumference wind-conveying pesticide-applying unit and a control system (10); the plant canopy information acquisition unit comprises a visual sensor (5) and a computer, and the computer is integrated in the control system (10); the plant canopy inner circumference pneumatic conveying pesticide applying unit comprises a plant canopy inner spraying execution device and a circumference pneumatic conveying spraying device, the circumference pneumatic conveying spraying device is installed on the plant canopy inner spraying execution device, and the plant canopy inner spraying execution device and the circumference pneumatic conveying spraying device are controlled by a control system (10);
the spraying execution device in the plant canopy comprises a horizontal straight moving part, a vertical straight moving part, a rotary part and a support, wherein the horizontal straight moving part is arranged on the outer sides of the front part and the rear part of the support; the horizontal straight moving piece and the vertical straight moving piece drive the bracket and the rotating piece to move, and the rotating piece drives the circumferential air-assisted spraying device to move along the vertical direction;
the circumferential air-conveying spraying device comprises an air pump (12), a spray head and an auxiliary pneumatic flow guide device, wherein the spray head is nested and fixed in the auxiliary pneumatic flow guide device; the auxiliary pneumatic flow guide device is communicated with the air pump (12), and a solenoid valve is arranged on a pipeline between the auxiliary pneumatic flow guide device and the air pump (12)
Electromagnetic valve
The opening and closing are controlled by a control system (10);
the implementation method of the greenhouse strawberry canopy inner circumference wind-conveying pesticide applying robot comprises the following steps:
step (1), the autonomous mobile platform (1) walks autonomously at a speed V across a high ridge or across an overhead forwards and at a speed T0At the moment, the computer acquires the distance between the center point of the plant canopy of the strawberry plant row and the horizontal X axis and the vertical Y axis of the visual sensor, and determines the space coordinate of the center point of the plant canopy relative to the visual sensor (5), namely the target position of the circumferential air-conveying spraying device;
step (2), under the drive of the straight moving part, adjusting the distance between the circumferential air-conveying spraying device and the vertical Y axis of the visual sensor (5) to the distance between the center point of the plant canopy and the vertical Y axis of the visual sensor (5); under the drive of the vertical straight moving piece, the height of the lower insertion position of the circumferential air-conveying spraying device is adjusted to be a coordinate of the center point of the plant canopy in the vertical direction relative to the visual sensor (5);
and (3) stopping the autonomous moving platform (1) at the time of downward insertion of the circumferential air-assisted spraying device, driving the circumferential air-assisted spraying device to reach a target position by the rotating part, applying auxiliary air flow to the surrounding canopy blades from the central point of the row canopy of the strawberry plant by the auxiliary air flow guiding device to force the canopy blades to start to vibrate up and down, and then controlling the spray heads to spray liquid medicine to the surrounding canopy blades.
2. The robot for applying pesticide through wind blowing on the inner circumference of the crown layer of strawberries in the greenhouse according to claim 1, wherein the spraying device through wind blowing on the circumference further comprises a pesticide liquid box (2) and a water pump (11), the spray head is communicated with the pesticide liquid box (2) through the water pump (11), and a solenoid valve is arranged on a pipeline between the spray head and the water pump (11)
Electromagnetic valve
The opening and closing are controlled by a control system (10).
3. The greenhouse strawberry canopy inner circumference wind-fed pesticide application robot according to claim 1, wherein the vision sensor (5) acquires canopy images and depth information of strawberry plant rows below a visual field thereof in real time and sends the canopy images and depth information to a computer; the computer obtains the outline of the plant canopy leaf from the canopy image, makes the vertical lines of the axes of the left leaf and the right leaf of each three-compound leaf, and determines the canopy center point according to the two adjacent vertical lines.
4. The greenhouse strawberry canopy inner circumference wind-fed pesticide application robot of claim 3, wherein the computer obtains plant canopy top and bottom heights of strawberry plant rows from the depth information.
5. The greenhouse strawberry canopy inner circumference wind-fed pesticide application robot of claim 1, wherein the circumferential wind-fed spraying device is inserted at a time T0+(D1,Y+D2,Y) V, wherein D1,YThe distance D between the center point of the plant canopy of the strawberry plant and the horizontal X axis of the visual sensor (5)2,YThe distance between the circumferential air-assisted spraying device and the horizontal X axis of the vision sensor (5) in the initial position is shown.
6. The robot for applying pesticide to the inner circumference of the canopy of strawberries in the greenhouse according to claim 5, wherein the initial position of the spraying device with the circumferential wind is located at the center of the autonomous moving platform (1) under the driving of the horizontal and vertical moving parts.
7. The wind-conveying pesticide application robot for the inner circumference of the canopy of the greenhouse strawberry as claimed in claim 6, wherein after the pesticide spraying operation is completed, the rotary member drives the circumferential wind-conveying spraying device to leave the canopy, and the autonomous moving platform (1) continues to travel along the cultivation row for the next period of pesticide application.
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