CN112136423A

CN112136423A - Multifunctional agricultural robot

Info

Publication number: CN112136423A
Application number: CN202011101606.6A
Authority: CN
Inventors: 杨立; 许超; 杜文; 李燕凌; 刘星
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-10-15
Filing date: 2020-10-15
Publication date: 2020-12-29

Abstract

The invention provides a multifunctional agricultural robot which comprises a fertilizer and soil mixing and stirring main bin and a driving module, wherein the fertilizer and soil mixing and stirring main bin is arranged above the driving module through a quick locking device; drive module is wheeled or crawler-type drive chassis, and fertile, the female storehouse of soil mixing stirring includes: the device comprises a rotary bucket, a closed soil upper conveying belt, a human body proximity safety sensor, a laser radar/RFID/visual identification system, a fertilizer bin module, a liquid foliar fertilization or pesticide module, a soil bin module, a fertilizer/soil mixing and stirring module, a robot control center, a soil blanking and flattening device, a weighing module and a mixed fertilizer and soil blanking port. The invention realizes the one-time completion of the whole process of ditching and digging, real-time nutrient detection and analysis, fertilizer preparation, fertilizer mixing, fertilizer application and automatic backfilling. The machine can work on orchards, small lands, tea gardens, hills, mountains and other different terrains and soil properties which cannot be entered by large-scale machines. Fast analysis speed, simple operation, no waste, no pollution and the like.

Description

Multifunctional agricultural robot

Technical Field

The invention relates to the field of agricultural machinery, in particular to a multifunctional agricultural robot.

Background

Soil is a very complex substance, organic and inorganic substances coexist, solid, liquid and gas are interlaced, plants and microorganisms are interdependent, and the growth of crops is closely related to nitrogen, phosphorus, potassium, organic matters and other nutrients in the soil. The crop yield is formed by 40-80% of nutrients from soil, but the soil cannot be regarded as an inexhaustible 'nutrient bank'. In order to ensure that the soil has enough nutrient supply capacity and strength and to keep the balance between the carrying-out and the inputting of the soil nutrients, the measures of fertilization are necessary. By means of fertilization, nutrients absorbed by crops can be returned to the soil, and the soil capability is ensured.

The growth of crops needs to obtain water and various nutrient substances from soil, the soil cannot always provide the best nutrition for the crops, farmers must periodically rotate to provide necessary nutrition for the crops, in the past, in order to harvest more crops, the application of chemical fertilizers to the crops is a common means, excessive fertilization can cause resource waste and serious environmental pollution, some chemical substances such as nitrogen, phosphorus, potassium and the like are easy to be consolidated by the soil, so that various salts are accumulated in the soil, the imbalance of soil nutrients is caused, the content of harmful heavy metals and the content of harmful germs exceed the standard, the soil property is deteriorated, the transformation and synthesis of partial substances in the crops are blocked, and the quality of the agricultural products is reduced.

In recent years, with the vigorous development of green agriculture in China and the popularization of organic fertilizers to replace chemical fertilizer technology, the physical and chemical properties of soil in orchards are improved to a certain extent, but the application of organic fertilizers is not regarded in orchards in some areas, the soil is salinized to different degrees, hardening is serious, root growth is limited, the yield and quality cannot be guaranteed, and the income of farmers is greatly reduced.

On one hand, the crop root system can absorb moisture, mineral substances and other nutrients from the soil to meet the crop growth demand; on the other hand, the fertilizer can also store nutrient substances, thereby being convenient for maintaining the growth of plants in a short time when the root system can not adapt to the conditions. In addition, the root system also has the functions of secreting organic acid, synthesizing growth hormone, propagating new plants and the like, which influence the growth of plants. But the normal performance of the functions of the root system needs proper soil temperature, humidity, air permeability and the like to be guaranteed, and the application of the organic fertilizer can well keep the soil temperature and humidity appropriate and the air permeability is increased, so that the normal performance of the functions of the root system is facilitated. The application of the organic fertilizer not only affects the yield and quality of the plants in the current year, but also can improve the physicochemical property of soil, improve the growth vigor of the plants, create excellent conditions for the normal growth and development of the plants and further improve the resistance of the plants to severe environments.

In the prior art, a patent of CN201820913714.5 agricultural machinery fertilizing device adopts a four-wheel tractor as traction, is more suitable for mechanized fertilization of large-area farmlands, cannot operate on hills, mountains and the like, does not have a process of mixing rich soil, and can cause a great amount of nutrients such as phosphorus, potassium and the like in soil to be gathered, thereby causing the adverse consequences of unbalanced soil nutrients, root burning of crops and the like.

In the prior art, CN201820446062.9 patent of remote monitoring system of apple orchard digging and fertilizing machine based on image transmission is that the field working condition of the digging and fertilizing machine is monitored by acquiring the data information of the digging and fertilizing machine in real time, the fault of the digging and fertilizing machine is found in time, the remote monitoring and control of the data of the digging and fertilizing machine are realized by wireless transmission, and the digging, fertilizer mixing and soil covering can not be finished at one time

The traditional manual fertilization mode in China has low efficiency and shallow fertilization depth, and is easy to cause the root system of crops to float, so that the drought resistance and disease resistance of the crops are reduced, and the yield and the fruit quality of the crops are seriously influenced. Therefore, a machine device is needed to replace manpower to precisely fertilize each crop, so as to reduce the labor intensity of farmers, improve the agricultural production efficiency and save the manpower and production cost.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides a multifunctional agricultural robot, which integrates fertilizer science, machine learning, Internet of things, big data and the like with a crop growth system, customizes a differentiated fertilization scheme for different crop types, and realizes one-step completion of the whole process of ditching and digging, real-time nutrient detection and analysis, fertilizer preparation, fertilizer mixing, fertilization and automatic backfilling. The operation of orchard, small land, tea garden, hills, mountain lands and other different terrains and soil properties which can not be entered by large machinery can be realized.

In order to achieve the above object, the present invention provides the following technical solutions.

A multi-function agricultural robot, comprising: the fertilizer and soil mixing and stirring main bin is arranged above the driving module through a quick locking device;

the driving module is a wheel type or crawler type driving chassis and adopts a gasoline engine, a diesel engine or a battery pack as a power source;

fertile, the female storehouse of soil mixing stirring includes: the system comprises a rotary bucket, a closed soil upper conveying belt, a human body approach safety sensor, a laser radar/RFID/visual identification system, a fertilizer bin module, a liquid foliar fertilization or pesticide module, a soil bin module, a fertilizer/soil mixing and stirring module, a robot control center, a soil blanking and flattening device, a weighing module and a mixed fertilizer and soil blanking port;

one end of the closed soil upper conveying belt is connected with the front end of the fertilizer and soil mixing and stirring main bin, the other end of the closed soil upper conveying belt is connected with the rotary bucket, the rotary bucket is arranged below the front end of the fertilizer and soil mixing and stirring main bin, and the rotary bucket is driven to rotate through a motor or machinery;

the human body proximity safety sensor is arranged at the front end of the fertilizer and soil mixing and stirring main bin, the laser radar/RFID/visual identification system is arranged at the upper part of the front end of the fertilizer and soil mixing and stirring main bin, the human body proximity safety sensor and the laser radar/RFID/visual identification system jointly realize the judgment of obstacles, targets, positions, dimensions, speeds and orientations, and transmit related data to a robot control center arranged at the rear end of the fertilizer and soil mixing and stirring main bin to plan the targets, the obstacles and routes;

the fertilizer bin module is arranged in the front end of the fertilizer and soil mixing and stirring main bin, the weighing module is arranged at the lower end of the fertilizer bin module, and the weighing module is used for weighing different fertilizers released by the fertilizer bin module;

the liquid foliar fertilization or pesticide module is arranged in the middle of the fertilizer and soil mixing and stirring main bin, and a nozzle is used for foliar fertilization or pesticide spraying on the foliar;

the soil bin module is arranged at the rear part of the fertilizer and soil mixing and stirring main bin, the soil discharging and paving device and the weighing module are arranged at the lower end of the soil bin module, and the weighing module is used for weighing the soil released by the soil bin module;

the fertilizer/soil mixing and stirring module is arranged at the bottom of the fertilizer and soil mixing and stirring main bin and is used for mixing and stirring the fertilizer and the soil;

the robot control center is arranged at the rear end of the fertilizer and soil mixing and stirring main bin, is electrically connected with all the components of the multifunctional agricultural robot, and controls the robot;

the mixed fertilizer feed opening is arranged below the fertilizer and soil mixing and stirring main bin.

Preferably, the lower end of the soil bin module is provided with two independent soil outlets; the fertilizer bin modules are provided with a plurality of fertilizer outlets, and a fertilizer outlet is formed in the lower end of each fertilizer bin module; the weighing module comprises: soil weighing module and fertilizer weighing module, soil weighing module sets up the soil export below of soil storehouse module, soil weighing module lower extreme is provided with the export, fertilizer weighing module sets up the fertilizer export below of fertilizer storehouse module, fertilizer weighing module lower extreme is provided with the export.

Preferably, the sealed soil upper conveying pipeline is connected with one end of a sealed soil horizontal conveying pipeline arranged inside the fertilizer and soil mixing and stirring main bin, and the other end of the sealed soil horizontal conveying pipeline extends to the upper part of the soil bin module; one end of a soil outlet connecting and covering surface soil conveying pipeline is arranged at the lower end of the soil bin module, and the other end of the covering surface soil conveying pipeline is connected with the soil discharging and paving device.

Preferably, the liquid foliar fertilization or pesticide module comprises: the liquid foliar fertilization and pesticide module comprises a nozzle guide rail, a liquid conveying hose and a nozzle, wherein the nozzle guide rail and the liquid conveying hose penetrate through the upper surface of the fertilizer and soil mixing and stirring main bin, the nozzle can move along XYZ axes under the guidance of the nozzle guide rail, one end of the liquid conveying hose is connected with the liquid foliar fertilization or pesticide module, and the other end of the liquid conveying hose is connected with the nozzle.

Preferably, the inside top in soil storehouse module is provided with infrared spectrum sensor and light source, the light source is right the inside soil in soil storehouse module shines, infrared spectrum sensor gathers the diffuse reflection light of soil reflection to transmit the soil spectral data who gathers for robot control center.

Preferably, the robot control center is provided with communication equipment, and can carry out wireless communication with the cloud expert database in a 4G and 5G mode.

Preferably, an operating method of operating the multifunctional agricultural robot comprises the following steps:

1) selecting a driving module for the multifunctional agricultural robot according to the field operation requirement, adding corresponding fertilizers to each fertilizer bin module of the multifunctional agricultural robot, selectively adding liquid fertilizers or pesticides to the liquid foliar fertilizer or pesticide modules, and starting the multifunctional agricultural robot;

2) the rotary excavator bucket excavates a strip-shaped ditch in the advancing process of the multifunctional agricultural robot, and conveys excavated soil to the soil bin module through the sealed soil upper conveying pipeline and the sealed soil horizontal conveying pipeline;

3) the light source in the soil bin module irradiates soil, the infrared spectrum sensor collects diffuse reflection light reflected by the soil and transmits collected soil spectrum data to the robot control center, edge calculation is performed locally, 4G or 5G is combined with a cloud expert database data communication technology, and according to actual conditions of different types of soil, crop identity identification RFID tags read in advancing of the multifunctional agricultural robot are combined, and different fertilization strategies are formulated according to fertilization history of crops and planning and excavation depth; opening a soil outlet of the soil bin module, weighing part of soil falling into the soil weighing module, and opening the outlet after weighing to fall into the soil-to-fertilizer and soil mixing and stirring module; opening a fertilizer outlet of the corresponding fertilizer bin module according to a fertilization strategy, enabling the fertilizer to fall into the fertilizer weighing module, weighing the fertilizer, and then opening the outlet to fall into the fertilizer and soil mixing and stirring module;

4) collecting images of the growth situation of crops for analysis through a binocular vision sensor arranged on a low-cost multi-axis stabilizer, opening the liquid foliar fertilizer or pesticide module and adjusting the position and the angle of the nozzle by combining a fertilizer application strategy, and spraying foliar fertilizer required by the crops in the process of advancing or accurately spraying pesticide on the back of the leaves;

5) the soil and various fertilizers are stirred and mixed evenly in a fertilizer and soil mixing and stirring module;

6) open after the stirring is even accomplished the mixed fertile soil feed opening falls into the strip irrigation canals and ditches of excavation with mixed fertile soil, opens at last another export of soil storehouse module passes through remaining soil cover the surface soil pipeline and carry the soil unloading is spread the flat device, covers on the top layer of the strip irrigation canals and ditches of having fertilized.

The invention has the beneficial effects that:

1. the method integrates fertilizer science, machine learning, Internet of things, big data and the like with a crop growth system, customizes a fertilization scheme for crops according to the types of the crops, and realizes one-time completion of the whole flow of ditching and digging, real-time nutrient detection and analysis, fertilizer preparation, fertilizer mixing, fertilization and automatic backfilling.

2. The operation of orchard, small land, tea garden, hills, mountain lands and other different terrains and soil properties which can not be entered by large machinery can be realized.

3. Reading the fertilization history of crops, planning excavation depth and the like, analyzing what fertilizers need to be supplemented and the required quantity of the crops by adopting an infrared spectrum sensor to detect soil nutrients, providing the most appropriate amount of fertilizers for the crops, sending mixed fertilizers to the roots of the crops according to different requirements of the growth of the crops, and improving the nutrient absorption capacity of the crops and the utilization rate of the fertilizers.

4. The image recognition technology of the robot is used for accurately spraying the pesticide to the crops, so that the waste of the pesticide is reduced, and the defect that the killing effect of the unmanned aerial vehicle on the pests on the back of the leaves is poor is overcome.

5. The uniform distribution of the fertilizer at the roots of the crops in the soil is ensured, and the defect of root burning caused by uneven fertilizer distribution is avoided; the hidden trouble that the root system of the crop floats upwards to cause the reduction of the drought resistance and disease resistance of the crop caused by the traditional fertilizing mode is eliminated.

6. The robot has the advantages of high analysis speed, simplicity in operation, no waste, no pollution and the like, and has huge advantages and development potential in the aspects of intelligent agriculture and the like due to the original fertilizer and soil mixing and distributing technology, and the application prospect is very wide.

Drawings

Fig. 1 is a schematic view of the multi-functional agricultural robot of the present invention.

FIG. 2 is a schematic view of the internal structure of the fertilizer and soil mixing and stirring main bin.

Fig. 3 is a schematic view of a soil bin module of the present invention.

FIG. 4 is a schematic view of the soil spectral data acquisition of the present invention.

Fig. 5 is a schematic diagram of a liquid foliar fertilizer or pesticide module of the present invention.

Fig. 6 is a flow chart of soil spectral feature data extraction according to the invention.

Fig. 7 is a scientific fertilization control flow chart of the invention.

FIG. 8 is a schematic diagram of the edge calculation process of the present invention.

FIG. 9 is a flow chart of multi-source sensing fusion obstacle avoidance and route planning of the present invention

Detailed Description

In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments and the directional terms described below with reference to the drawings are exemplary and intended to be used in the explanation of the invention, and should not be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

The invention is further illustrated with reference to figures 1-5.

A multi-function agricultural robot, comprising: the fertilizer and soil mixing and stirring main bin 1 is arranged above the driving module through a quick locking device;

the driving module is a wheel type or crawler type driving chassis 2, and a gasoline engine, a diesel engine or a battery pack is used as a power source;

fertile, the female storehouse of soil mixing stirring 1 includes: the system comprises a rotary bucket 3, a closed soil upper conveying belt 4, a human body approach safety sensor 5, a laser radar/RFID/visual identification system 6, a fertilizer bin module 7, a liquid foliar fertilization or pesticide module 8, a soil bin module 9, a fertilizer/soil mixing and stirring module 21, a robot control center 10, a soil blanking and flattening device 11, a weighing module 12 and a mixed fertilizer and soil discharging port 13;

one end of the closed soil upper conveying belt 4 is connected with the front end of the fertilizer and soil mixing and stirring main bin 1, the other end of the closed soil upper conveying belt 4 is connected with the rotary bucket 3, the rotary bucket 3 is arranged below the front end of the fertilizer and soil mixing and stirring main bin 1, and the rotary bucket 3 is driven to rotate through a motor or machinery;

the human body proximity safety sensor 5 is arranged at the front end of the fertilizer and soil mixing and stirring main bin 1, the laser radar/RFID/visual identification system 6 is arranged at the upper part of the front end of the fertilizer and soil mixing and stirring main bin 1, the human body proximity safety sensor 5 and the laser radar/RFID/visual identification system 6 jointly realize judgment of obstacles, targets, positions, dimensions, speeds and orientations, relevant data are transmitted to a robot control center 10 arranged at the rear end of the fertilizer and soil mixing and stirring main bin 1, and planning of the targets, the obstacles and routes is carried out;

the fertilizer bin module 7 is arranged in the front end of the fertilizer and soil mixing and stirring main bin 1, the weighing module 12 is arranged at the lower end of the fertilizer bin module and is used for weighing different fertilizers released by the fertilizer bin module 7;

the liquid foliar fertilization or pesticide module 8 is arranged in the middle of the fertilizer and soil mixing and stirring main bin 1, and a nozzle 15 is used for foliar fertilization or pesticide spraying on the foliar;

the soil bin module 9 is arranged at the rear part of the fertilizer and soil mixing and stirring main bin 1, the soil discharging and paving device 11 and the weighing module 12 are arranged at the lower end of the soil bin module 9, and the weighing module 12 is used for weighing the soil released by the soil bin module 9;

the fertilizer/soil mixing and stirring module 21 is arranged at the bottom of the fertilizer and soil mixing and stirring main bin 1 and is used for mixing and stirring the fertilizer and the soil;

the robot control center 10 is arranged at the rear end of the fertilizer and soil mixing and stirring main bin 1, is electrically connected with all the components of the multifunctional agricultural robot, and controls the robot;

the mixed fertilizer feed opening 13 is arranged below the fertilizer and soil mixing and stirring main bin 1.

The lower end of the soil bin module 9 is provided with two

independent soil outlets

16 and 17; a plurality of fertilizer bin modules 7 are arranged, and a fertilizer outlet 24 is arranged at the lower end of each fertilizer bin module 7; the weighing module 12 comprises: the fertilizer bin comprises a soil weighing module 12-1 and a fertilizer weighing module 12-2, wherein the soil weighing module 12-1 is arranged below

soil outlets

16 and 17 of the soil bin module 9, an outlet 23 is formed in the lower end of the soil weighing module 12-1, the fertilizer weighing module 12-2 is arranged below a fertilizer outlet of the fertilizer bin module 7, and an outlet 22 is formed in the lower end of the fertilizer weighing module 12-2.

The sealed soil upper conveying pipeline 4 is connected with one end of a sealed soil horizontal conveying pipeline 19 arranged inside the fertilizer and soil mixing and stirring main bin 1, and the other end of the sealed soil horizontal conveying pipeline 19 extends to the upper part of the soil bin module 9; one soil outlet 16 arranged at the lower end of the soil bin module 9 is connected with one end of a covering surface soil conveying pipeline 20, and the other end of the covering surface soil conveying pipeline 20 is connected with the soil discharging and paving device 11.

The liquid foliar fertilization or pesticide module 8 includes: the liquid foliar fertilization or pesticide module 8 comprises a nozzle guide rail 25, a liquid conveying hose 26 and a nozzle 15, wherein the nozzle guide rail 25 and the liquid conveying hose 26 penetrate through the upper surface of the fertilizer and soil mixing and stirring main bin 1, the nozzle 15 can move along XYZ axes under the guidance of the nozzle guide rail 25, one end of the liquid conveying hose 26 is connected with the liquid foliar fertilization or pesticide module 8, and the other end of the liquid conveying hose is connected with the nozzle 15.

The inside top in soil storehouse module 9 is provided with infrared spectrum sensor 14 and light source 18, light source 18 is right the inside soil in soil storehouse module 9 shines, infrared spectrum sensor 14 gathers the diffuse reflection light of soil reflection to transmit the soil spectrum data who gathers for robot control center 10.

The robot control center 10 is provided with a communication device, and can perform wireless communication with the cloud expert database in 4G and 5G modes.

The working process of the invention is described with reference to fig. 1-8

An operation method for operating the multifunctional agricultural robot comprises the following steps:

1) selecting a driving module for the multifunctional agricultural robot according to the field operation requirement, adding corresponding fertilizers into each fertilizer bin module 7 of the multifunctional agricultural robot, selectively adding liquid fertilizers or pesticides into the liquid foliar fertilizer or pesticide module 8, and starting the multifunctional agricultural robot;

2) the rotary excavator bucket 3 excavates a strip-shaped ditch in the advancing process of the multifunctional agricultural robot, and conveys excavated soil to the soil bin module 9 through the sealed soil upper conveying pipeline 4 and the sealed soil horizontal conveying pipeline 19;

3) the light source 18 in the soil bin module 9 irradiates soil, the infrared spectrum sensor 14 collects diffuse reflection light reflected by the soil, transmits collected soil spectrum data to the robot control center 10, performs edge calculation locally, combines 4G or 5G and cloud expert database data communication technology, and reads crop identity identification RFID tags in advancing of the multifunctional agricultural robot according to actual conditions of different types of soil, reads fertilization histories of crops, plans excavation depth and formulates different fertilization strategies; opening a soil outlet 17 of the soil bin module 9, weighing part of soil falling into the soil weighing module 12-1, and opening an outlet 23 after weighing to fall into the soil-to-fertilizer-soil mixing and stirring module 21; opening a fertilizer outlet 24 of the corresponding fertilizer bin module 7 according to a fertilizer application strategy, enabling the fertilizer to fall into the fertilizer weighing module 12-2, weighing the fertilizer, opening an outlet 22, and enabling the fertilizer to fall into the fertilizer and soil mixing and stirring module 21;

4) collecting images of the growth situation of crops for analysis through a binocular vision sensor arranged on a low-cost multi-axis stabilizer, opening the liquid foliar fertilization or pesticide module 8 and adjusting the position and the angle of the nozzle 15 by combining a fertilization strategy, and spraying foliar fertilizer required by the crops in the process of advancing or accurately spraying pesticide on the back of the leaves;

5) the soil and various fertilizers are stirred and mixed evenly in the fertilizer and soil mixing and stirring module 21;

6) open after the stirring is even accomplished mix fertile soil feed opening 13 falls into the strip irrigation canals and ditches of excavation with mixing fertile soil, opens at last another export 16 of soil storehouse module 9 passes through with surplus soil cover surface soil pipeline 20 and carry soil unloading paves device 11, covers on the top layer of strip irrigation canals and ditches of having fertilized.

The computational working process of the present invention is described with reference to FIGS. 1-8

The front end that the robot marchs is installed rotatory bucket 3, excavates the strip irrigation canals and ditches, and the soil of digging is carried in soil storehouse module 9 through closed soil conveyer belt 4, and soil storehouse module 9 lower part has two

soil exports

16 and 17 that can open and shut automatically, and the instruction that executable robot control center 10 sent opens and shuts respectively the soil export.

A real-time soil nutrient detection and analysis system is realized by adopting an infrared spectrum detection technology. The infrared spectrum is used as an analysis technology with the characteristics of quickness, economy, high efficiency, environmental friendliness and no damage, and is originally used on a multifunctional fertilizing robot, and the infrared spectrum analysis of the soil is based on the following principle: molecular vibrations and electronic transitions associated with soil constituents absorb light while interacting with radiation, and many soil properties can be directly calibrated to Near Infrared (NIR) and Mid Infrared (MIR) spectra since spectral features will respond to mineral and organic constituents in the soil.

By reading the crop identity identification RFID tag in the advancing process, reading the fertilization history of the crop, planning the excavation depth and the like, analyzing what fertilizer needs to be supplemented and the required quantity of the crop by adopting the infrared spectrum sensor to detect the soil nutrients, providing the most appropriate amount of fertilizer for the crop, sending the mixed fertilizer to the root of the crop according to different requirements of the crop growth, and improving the nutrient absorption capacity of the crop and the fertilizer utilization rate.

The soil bin module 9 is designed to be a closed darkroom, and is internally provided with an LED or other light sources, and when detecting, the light is projected on a soil sample, the infrared spectrum sensor 14 receives diffuse reflection light irradiated on the soil, collects the spectrum data of the soil, and then compares the spectrum data with the soil spectrum data stored by the robot to judge the fertility of the soil.

The captured reflection spectrum of the soil is input into a robot control center 10 for edge calculation, crop growth and soil nutrients are analyzed and processed in real time by using artificial intelligence technologies such as deep learning, and then the comparison analysis is carried out on the crop growth and the soil nutrients through a 4G or 5G wireless communication network and a cloud expert database.

By combining technologies such as real-time infrared spectroscopy analysis of soil, edge calculation of crop image recognition technology locally, data communication between 4G or 5G and a cloud expert database and the like, different fertilization strategies can be formulated according to actual conditions of different types of soil;

the robot is provided with a plurality of fertilizer bin modules 7 (such as nitrogen, phosphorus, potassium, organic fertilizer and the like), after an optimal amount of fertilizer formula is obtained according to analysis of the robot on soil nutrients, the corresponding fertilizer bin modules 7 are respectively opened to weigh the fertilizer, the fertilizer falls into a mixing and stirring bin to be stirred with soil, and the fertilizer is uniformly mixed to pertinently supplement nutrient elements required by crops. What elements are needed to be supplemented when the crops lack the elements, the balanced supply of various nutrients is realized, the needs of the crops are met, and the problem that the yield of the crops is improved by means of a large amount of fertilizer is solved. Solving the contradiction between the nutrient demand of crops in the growing period and the nutrient supply of soil. Therefore, the situation of fertilizer waste hardly occurs any more, the agricultural cost is greatly reduced, and the robot which is skilled in the fertilizer science knows how to fertilize to minimize the influence on the environment, so that the current situation of extensive agriculture in China can be fundamentally changed.

The soil storehouse is carried to the soil that will advance to dig the ditch in-process production to the mixed technique of laying out of rich soil of original creation, according to the fertilization scheme that the robot formulated, stirs soil and fertilizer in mixing the stirring storehouse, mixes in the even back and lays the ditch through mixing stirring storehouse feed opening 13, and the soil unloading that passes through the robot rear portion at last is spread device 11 and is filled up the ditch and smooth.

1. Excavating ditch

In the advancing process of the rotary excavator bucket 3, the excavated soil is sent to the soil bin module 9 through the sealed upper soil conveying pipeline 4 and the sealed soil horizontal conveying pipeline 19;

2. soil and fertilizer weighing

According to a real-time soil and fertilizer formula, a soil outlet 17 of a soil bin module 9 is opened, the required soil falls into a soil weighing module 12-1 for weighing, and after the soil is weighed, an outlet 23 is opened to fall into a fertilizer and soil mixing and stirring module 21;

a fertilizer outlet 24 of the fertilizer bin module 7 is opened, fertilizer falls into the fertilizer weighing module 12-2, and after the fertilizer is weighed, an outlet 22 is opened and the fertilizer falls into the fertilizer and soil mixing and stirring module 21;

3. mixing fertilizer and stirring

The soil and various fertilizers are stirred and mixed evenly in the fertilizer and soil mixing and stirring module 21;

4. fertilizing and covering soil on surface

After the mixing is completed, the mixed fertile soil feed opening 13 is opened, the mixed fertile soil falls into the excavated ditch, finally, the outlet 16 of the soil bin module 9 is opened, and the soil is covered on the surface layer of the fertilized ditch through the covering surface soil conveying pipeline 20.

By adopting the method of mixed fertilizer and soil spreading and applying by the robot, the soil on the upper surface does not contain fertilizer, thereby ensuring the uniform distribution of the fertilizer at the root of the crop in the soil and avoiding the defect of root burning due to uneven distribution of the fertilizer; the hidden trouble that the root system of the crop floats upwards to cause the reduction of the drought resistance and disease resistance of the crop caused by the traditional fertilizing mode is eliminated.

Fruit tree crown is big, the leaf number of piles is dense, and the medicine fog is difficult to pierce through, can not ensure to beat each fruit tree from the top down thoroughly, and a lot of pests all can be in the activity of leaf back, can not spray the leaf back to the pesticide, because above-mentioned reason, current popular unmanned aerial vehicle sprays the pesticide and beats thoroughly at all, leads to the effect not have artifical good of doing, can't kill the pest at the crop leaf back.

The robot can be on general chassis reloads the pesticide storehouse, utilizes the image recognition technology of robot to spray the pesticide to the crop is accurate, has not only reduced the waste of pesticide, and has eliminated unmanned aerial vehicle and sprayed the drawback poor to leaf back pest killing effect.

Through a binocular vision sensor arranged on the low-cost multi-axis stabilizer, the image analysis of the growth situation of the crops is collected, and the foliar fertilizer required by the crops is sprayed in the process of advancing. The height of the foliar fertilizer nozzle can automatically move in the vertical direction so as to adapt to the heights of different crops.

The position of the visual recognition system vertical direction of the robot is adjusted, the visual recognition system is lowered to the position where the insect pest situation on the back of the leaf can be seen, the nozzle 15 installed on the pesticide module is controlled to move up and down on the nozzle guide rail 25 (vertical direction) through insect pest recognition and edge calculation analysis, the nozzle 15 is controlled to be lowered to the position below the back of the leaf, the nozzle 15 capable of spraying in the XYZ three-axis direction is adjusted, and the pesticide is precisely sprayed to the insect pest position.

In the crop harvesting season, a mother bin with a weighing function is replaced, the yield of each crop can be counted, the yield is uploaded to a cloud end to be collected, and a marketing plan is built in advance.

Safety measures are as follows: a human body proximity sensor is installed at the front end of the robot, and when a person approaches a working area of the robot, the robot is automatically cut off to advance and dig a ditch, so that the human body is protected from being damaged.

The robot adopts the integration of multi-source sensors such as Beidou navigation, binocular recognition and laser radar to plan the route and avoid obstacles. The technology used by the laser radar is Time of Flight (TOF), and the relative distance between the target and the laser radar is calculated according to the turn-back Time of the laser after encountering the obstacle. The laser beam can accurately measure the relative distance between the edge of the outline of an object in a view field and the robot, the outline information forms a so-called point cloud and draws a 3D environment map, and the information of the category, time, dimension, speed, position and the like of target parameters is output through comprehensive processing of feasible region data analysis, tree spacing information, tree coordinates, tree outline size, robot advancing speed information and the like of an orchard.

The robot adopts a modularized driving chassis, power is driven by a gasoline engine, a diesel engine or a battery according to different requirements, and a crawler-type or wheel-type traveling mode is selected according to the use environment.

The robot for detecting the soil by adopting the infrared spectrum has the advantages of high analysis speed, simplicity in operation, no waste, no pollution and the like, and has huge advantages and development potential in the aspects of intelligent agriculture and the like and very wide application prospect due to the original fertilizer and soil mixed distribution and application technology.

Finally, it should be pointed out that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A multi-functional agricultural robot characterized by comprising: the fertilizer and soil mixing and stirring main bin is arranged above the driving module through a quick locking device;

2. The multi-function agricultural robot of claim 1, wherein: the lower end of the soil bin module is provided with two independent soil outlets; the fertilizer bin modules are provided with a plurality of fertilizer outlets, and a fertilizer outlet is formed in the lower end of each fertilizer bin module; the weighing module comprises: soil weighing module and fertilizer weighing module, soil weighing module sets up the soil export below of soil storehouse module, soil weighing module lower extreme is provided with the export, fertilizer weighing module sets up the fertilizer export below of fertilizer storehouse module, fertilizer weighing module lower extreme is provided with the export.

3. The multi-function agricultural robot of claim 1, wherein: the sealed soil upper conveying pipeline is connected with one end of a sealed soil horizontal conveying pipeline arranged in the fertilizer and soil mixing and stirring main bin, and the other end of the sealed soil horizontal conveying pipeline extends to the upper part of the soil bin module; one end of a soil outlet connecting and covering surface soil conveying pipeline is arranged at the lower end of the soil bin module, and the other end of the covering surface soil conveying pipeline is connected with the soil discharging and paving device.

4. The multi-function agricultural robot of claim 1, wherein: the liquid foliar fertilization or pesticide module comprises: the liquid foliar fertilization and pesticide module comprises a nozzle guide rail, a liquid conveying hose and a nozzle, wherein the nozzle guide rail and the liquid conveying hose penetrate through the upper surface of the fertilizer and soil mixing and stirring main bin, the nozzle can move along XYZ axes under the guidance of the nozzle guide rail, one end of the liquid conveying hose is connected with the liquid foliar fertilization or pesticide module, and the other end of the liquid conveying hose is connected with the nozzle.

5. The multi-function agricultural robot of claim 1, wherein: the soil storehouse module is characterized in that an infrared spectrum sensor and a light source are arranged at the top inside the soil storehouse module, the light source is right the soil inside the soil storehouse module is irradiated, the infrared spectrum sensor collects diffuse reflection light reflected by the soil, and transmits collected soil spectrum data to the robot control center.

6. The multi-function agricultural robot of claim 1, wherein: the robot control center is provided with communication equipment, and can carry out wireless communication with the high in the clouds expert storehouse through 4G and 5G mode.

7. An operating method of operating the multi-function agricultural robot of claims 1-7: