CN114375930A - Orchard pesticide spraying robot - Google Patents
Orchard pesticide spraying robot Download PDFInfo
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- CN114375930A CN114375930A CN202210023304.4A CN202210023304A CN114375930A CN 114375930 A CN114375930 A CN 114375930A CN 202210023304 A CN202210023304 A CN 202210023304A CN 114375930 A CN114375930 A CN 114375930A
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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
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. 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
- A01M7/0089—Regulating or controlling systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
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- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
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Abstract
The invention belongs to the technical field of pesticide spraying machines, and aims to solve the problems that in the existing fruit expansion period, due to the fact that fruit branches and leaves are numerous, a pesticide spraying robot cannot enter a branch between two adjacent groups of fruit trees in the same row to spray the middle parts of the fruit trees, and only can spray pesticides on two sides of the fruit trees from a main road, so that the pesticide attachment amount on the surfaces of the fruit trees is low; according to the invention, by arranging the pesticide spraying mechanism, on the basis of utilizing the infrared image camera to perform real-time identification on the region to be sprayed, the electric telescopic rod is controlled to push the supporting plate and the pesticide spraying component on the surface of the supporting plate to the interior of the fruit tree, and pesticide is sprayed to the fruit tree through the spray head, so that the interior of the fruit tree can be fully sprayed.
Description
Technical Field
The invention relates to the technical field of pesticide spraying machines, in particular to a pesticide spraying robot for an orchard.
Background
Along with the continuous improvement of scientific and technical development level, the medicine spraying robot is applied to orchard medicine spraying work more and more, and this has reduced peasant's intensity of labour to a certain extent, has also further improved work efficiency simultaneously, and the peasant need not be in the pesticide spraying environment of body moreover, has avoided the injury of pesticide toxicity to the health.
The Chinese patent with the publication number of CN212260259U discloses a crawler belt moving type intelligent orchard pesticide spraying robot which can not only finish pesticide spraying work of double rows of fruit trees, but also effectively improve pesticide spraying precision, and can still meet pesticide spraying requirements of tree crown layers for fruit trees with the height of more than 2.5 meters, thereby improving the application range of the pesticide spraying robot.
However, in the above technical scheme, only two rows of fruit trees are sprayed by arranging a plurality of groups of spray heads, only two sides of the fruit trees can be fully sprayed, the medicament is blocked by branches and leaves and is difficult to enter the middle of the fruit trees, particularly, the phenomenon is particularly obvious in the fruit expansion period, in order to prevent the phenomenon that the fruits fall off, the possibility of abnormal fruits of the fruit trees is reduced, strong pedicel pesticide is required to be sprayed to the fruit trees, the nutrition transportation quantity of the fruit trees is further improved, the thickness of the pedicel is increased, the branches and leaves in the period are luxuriant, the spraying robot cannot enter a branch between two adjacent groups of fruit trees in the same row to spray the middle of the fruit trees, the medicament can be sprayed to two sides of the fruit trees only from a dry road, the attachment quantity of the medicament on the surfaces of the fruit trees is low, and the application range of the device is reduced.
In view of the above technical drawbacks, a solution is proposed.
Disclosure of Invention
The invention aims to provide an orchard pesticide spraying robot, which is characterized in that a pesticide spraying mechanism is arranged, so that on the basis of utilizing an infrared image camera to perform real-time identification on a region to be sprayed, an electric telescopic rod is controlled to push a supporting plate and a pesticide spraying assembly on the surface of the supporting plate to the interior of a fruit tree, pesticide is enabled to sequentially pass through a flow guide pipe and a flow guide cavity and is sprayed to the fruit tree through a spray head, and the interior of the fruit tree can be fully sprayed; and in this in-process, utilize two drive racks of electric telescopic handle to reciprocate and rack and gear mesh mutually, can drive the rotating tube and drive the shower nozzle and rotate, thereby can change and the direction spraying the direction of medicament in the spraying process, increase the intensity that the medicament sprays the stress of in-process from the shower nozzle, thereby the penetrability of medicament has been improved comparatively, the droplet adhesion on fruit tree surface has been guaranteed, it has been solved when the fruit expands the big period, because the fruit tree branch leaves are luxuriant, it can't get into the branch road between two sets of adjacent fruit trees of same row and spray its fruit tree middle part to spout the medicine robot, only can spray the medicament from the main road to the both sides of fruit tree, lead to the problem that fruit tree surface medicament adhesion is low.
In order to achieve the purpose, the invention provides the following technical scheme:
an orchard pesticide spraying robot comprises a crawler-type walking chassis, an intelligent control cabinet and pesticide storage boxes, wherein the intelligent control cabinet and the pesticide storage boxes are both arranged above the crawler-type walking chassis, a pesticide spraying mechanism is arranged above the intelligent control cabinet and comprises a fixing frame, a supporting frame, a sliding block, an electric telescopic rod I, an infrared image recognition camera, a supporting plate and a pesticide spraying assembly, the supporting plate is fixedly connected to the outer surface of the upper end of the intelligent control cabinet, the outer surface of the upper end of the supporting plate is fixedly connected with the fixing frame at the middle part, sliding grooves are formed in the positions, located on the two sides of the supporting plate, of the outer surface of the upper end of the supporting plate, guide rods are fixedly connected to the inner surface of the sliding grooves, the sliding blocks are respectively connected to the outer surfaces of the two groups of guide rods in a sliding manner, the supporting frame is fixedly connected to the outer surface of the upper end of the sliding block, and the two groups of supporting frames are symmetrically distributed on the two sides of the fixing frame, an electric telescopic rod I is arranged between the fixing frame and the two groups of supporting frames, three groups of pesticide spraying assemblies are arranged on one sides of the outer surfaces of the two groups of supporting frames, which are far away from the fixing frame, the three groups of pesticide spraying assemblies are distributed on the surfaces of the supporting frames at equal distances from top to bottom, and infrared image recognition cameras are arranged on the outer surfaces of the upper ends of the supporting frames;
the pesticide spraying assembly comprises a diversion pipe, a hose, a gear, a rotating pipe, nozzles, connecting holes, a diversion cavity, a rotating rod and pressurizing blades, wherein the diversion pipe is fixedly connected with a support frame, the rotating pipe is sleeved on the outer surface of the diversion pipe and is rotatably connected with the support frame, the inner surface of the rotating pipe is tightly attached to the outer surface of the diversion pipe, the hose is communicated between a pesticide storage box and each group of diversion pipes, the connecting holes are formed in the inner surface of the diversion pipe, the diversion cavity is formed in the rotating pipe, a plurality of groups of nozzles are arranged at positions, corresponding to the diversion cavity, of the outer surface of the rotating pipe, the nozzles are communicated with the diversion cavity, a second electric telescopic rod is fixedly connected to the position, above the three groups of pesticide spraying assemblies, of the surface of the support frame, a fixed plate is fixedly connected to the outer surface of the lower end of the second electric telescopic rod, and the gear is fixedly connected to one side, close to the support frame, of the outer surface of the rotating pipe, and one side of the gear is meshed with a rack, the rack is meshed with the three groups of gears, and the rack is fixedly connected with the fixed plate.
Further, the one end fixedly connected with dwang of support frame is kept away from to the rotating tube internal surface, and the dwang runs through in proper order to the inside of honeycomb duct and rotate with the support frame and be connected, the outward appearance of dwang is a plurality of pressure boost blades of group of fixedly connected with of annular equidistance, the dwang rotates with the honeycomb duct to be connected, and both junctions are provided with the sealing washer.
Furthermore, the number of the connecting holes and the number of the flow guide cavities corresponding to the uppermost pesticide spraying assembly are one group, and the group of connecting holes are arranged right below the flow guide pipe;
the number of the connecting holes and the number of the flow guide cavities corresponding to the pesticide spraying assembly positioned in the middle are two, and the two groups of the connecting holes are respectively provided with two sides of the flow guide pipe;
the number of the connecting holes and the number of the flow guide cavities corresponding to the medicine spraying assembly positioned at the lowest part are both one group, and the group of the connecting holes are arranged right above the flow guide pipe.
Furthermore, the positions, close to the two sides of the flow guide cavity, of the outer surface of the rotating pipe corresponding to the two groups of pesticide spraying assemblies positioned at the lowest part and the uppermost part are fixedly connected with first flow guide plates, and the two groups of corresponding first flow guide plates are distributed on the outer surface of the rotating pipe in a central symmetry manner;
and two groups of guide plates II are fixedly connected with the outer surface of the rotating pipe corresponding to the pesticide spraying assembly positioned in the middle, are distributed between the two groups of guide cavities in a central symmetry manner, and have trapezoidal cross sections.
Further, the cavity has been seted up with the position that guide plate one, guide plate two correspond to the inside of rotating tube, and the cavity extends to the inside of guide plate one, guide plate two rather than corresponding, one side that the surface of guide plate one is close to the shower nozzle, the both sides of the surface of guide plate two and one end all are the fretwork form, one side that the support frame was kept away from to the rotating tube surface is the fretwork form with the position that the cavity corresponds, the inside fixedly connected with a plurality of flabellums of group of cavity.
Furthermore, a PLC (programmable logic controller), a satellite positioning module, a speed sensor and a storage battery are arranged in the intelligent control cabinet, and the storage battery is used as a power supply of all the electric components in the device.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the fruit tree spraying device, the electric telescopic rod is controlled to push the supporting plate and the spraying component on the surface of the supporting plate to the interior of a fruit tree on the basis of utilizing the infrared image camera to identify a to-be-sprayed area in real time, so that a pesticide is sprayed to the fruit tree through the flow guide pipe and the flow guide cavity sequentially and finally through the spray head, and therefore the interior of the fruit tree can be fully sprayed; in the process, the rack is driven to move up and down by the electric telescopic rod II, and the rack is meshed with the gear, so that the rotating pipe can be driven to drive the spray head to rotate, the spraying direction of the medicament can be changed and guided in the spraying process, the stress intensity of the medicament in the spraying process from the spray head is increased, the penetrability of the medicament is improved, and the fog drop attachment quantity on the surface of a fruit tree is ensured;
2. according to the invention, the rotating rod and the pressurizing blades are arranged in the flow guide pipe, and in the process that the rack drives the rotating pipe to rotate, the rotating rod drives the pressurizing blades on the surface of the rotating pipe to rotate along with the rotating pipe, so that the medicament in the flow guide pipe can be fully stirred to ensure uniform concentration, the pressure during medicament spraying is enhanced, the medicament spraying range is expanded, and the use effect of the device is further improved;
3. according to the invention, the opening positions of the connecting holes corresponding to the pesticide spraying assemblies with different heights are different, so that the precision in the pesticide spraying process can be improved, the waste of the pesticide is reduced, and the attachment amount of the pesticide on the surfaces of the leaves or the fruits is increased;
4. according to the fruit tree pesticide spraying device, the first guide plate, the second guide plate and the fan blades are arranged, so that the flow velocity of air near the pesticide spraying assembly can be accelerated in the rotating process of the rotating pipe, blades on the surface of a fruit tree can be made to swing, the upper surface and the lower surface of each blade can be guaranteed to be uniformly attached with pesticide, meanwhile, the direction of the pesticide can be guided by utilizing wind power generated by the fan blades along with the rotation of the rotating pipe, the pesticide can be fully sprayed on the surface of the fruit tree, and the use ratio of the pesticide is improved.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings;
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an enlarged view of area A of FIG. 1 in accordance with the present invention;
FIG. 3 is an enlarged view of area B of FIG. 1 in accordance with the present invention;
FIG. 4 is a combined view of the rack and pinion of the present invention;
FIG. 5 is a structural view of the uppermost spray assembly of the present invention;
FIG. 6 is a structural view of the centrally located spray assembly of the present invention;
figure 7 is a structural view of the lowermost spray assembly of the present invention.
Reference numerals: 1. a crawler-type traveling chassis; 2. an intelligent control cabinet; 3. a medicine storage box; 4. a pesticide spraying mechanism; 41. a fixed mount; 42. a support frame; 43. a slider; 44. a first electric telescopic rod; 45. an infrared image recognition camera; 46. a support plate; 47. a chute; 48. a guide bar; 5. a pesticide spraying component; 51. a flow guide pipe; 52. a hose; 53. a gear; 54. rotating the tube; 55. a spray head; 56. connecting holes; 57. a flow guide cavity; 58. rotating the rod; 59. a supercharging blade; 6. a second electric telescopic rod; 7. a fixing plate; 8. a rack; 9. a first guide plate; 10. a second guide plate; 11. a cavity; 12. a fan blade.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
The first embodiment is as follows:
as shown in fig. 1-7, the orchard pesticide spraying robot provided by the invention comprises a crawler-type walking chassis 1, an intelligent control cabinet 2 and a pesticide storage box 3, wherein the intelligent control cabinet 2 and the pesticide storage box are both installed above the crawler-type walking chassis 1, an electric pesticide spraying pump is arranged inside the pesticide storage box 3, a PLC controller, a satellite positioning module, a speed sensor and a storage battery are arranged inside the intelligent control cabinet 2, the storage battery is used as a power supply source of all useful electric components in the device, a pesticide spraying mechanism 4 is installed above the intelligent control cabinet 2, the pesticide spraying mechanism 4 comprises a fixed frame 41, a supporting frame 42, a sliding block 43, an electric telescopic rod 44, an infrared image recognition camera 45, a supporting plate 46 and a pesticide spraying assembly 5, the supporting plate 46 is fixedly connected to the outer surface of the upper end of the intelligent control cabinet 2, and the fixed frame 41 is fixedly connected to the position, located in the middle, of the outer surface of the upper end of the supporting plate 46, the positions of the outer surface of the upper end of the supporting plate 46, which are positioned at the two sides of the supporting plate 46, are respectively provided with a sliding groove 47, the inner surface of the sliding groove 47 is fixedly connected with guide rods 48, the outer surfaces of the two groups of guide rods 48 are respectively connected with a sliding block 43 in a sliding manner, the supporting frames 42 are fixedly connected with the outer surface of the upper end of the sliding block 43, the two groups of supporting frames 42 are symmetrically distributed at the two sides of the fixing frame 41, electric telescopic rods 44 are respectively arranged between the fixing frame 41 and the two groups of supporting frames 42, when the pesticide spraying robot is positioned between two adjacent groups of fruit trees, the pesticide spraying robot stops moving, a PLC (programmable logic controller) in the intelligent control cabinet 2 sends a starting instruction to the electric telescopic rods 44, the electric telescopic rods 44 respectively drive the two groups of supporting frames 42 to drive the sliding blocks 43 to move along the sliding groove 47, one side, which is far away from the fixing frame 41, of the outer surfaces of the two groups of supporting frames 42 is provided with three groups of pesticide spraying assemblies 5, the three groups of pesticide spraying assemblies are distributed on the surfaces of the supporting frames 42 at equal distances from top to bottom, the outer surface of the upper end of the supporting frame 42 is provided with an infrared image recognition camera 45, and the infrared image recognition cameras 45 scan fruit trees on the left side and the right side of the pesticide spraying robot;
the pesticide spraying assembly 5 comprises a flow guide pipe 51, a hose 52, a gear 53, a rotating pipe 54, spray heads 55, connecting holes 56, a flow guide cavity 57, a rotating rod 58 and pressurizing blades 59, wherein the flow guide pipe 51 is fixedly connected with a support frame 42, the rotating pipe 54 is sleeved on the outer surface of the flow guide pipe 51, the rotating pipe 54 is rotatably connected with the support frame 42, the inner surface of the rotating pipe 54 is tightly attached to the outer surface of the flow guide pipe 51, the hose 52 is communicated between the pesticide box 3 and each group of flow guide pipes 51, pesticide liquid in the pesticide box 3 is pumped into the flow guide pipe 51 through the hose 52 by a motor-driven pesticide spraying pump, the connecting holes 56 are formed in the inner surface of the flow guide pipe 51, the flow guide cavity 57 is formed in the rotating pipe 54, a plurality of groups of spray heads 55 are arranged at positions of the outer surface of the rotating pipe 54 corresponding to the flow guide cavity 57, the spray heads 55 are communicated with the flow guide cavity 57, and when the flow guide cavity 57 corresponds to the connecting holes 56, the pesticide is uniformly sprayed to the fruit tree through the spray heads 55, the position, above the three groups of pesticide spraying assemblies 5, of the surface of the supporting frame 42 is fixedly connected with a second electric telescopic rod 6, the outer surface of the lower end of the second electric telescopic rod 6 is fixedly connected with a fixed plate 7, one side, close to the supporting frame 42, of the outer surface of the rotating pipe 54 is fixedly connected with a gear 53, one side of the gear 53 is meshed with a rack 8, the rack 8 is meshed with the three groups of gears 53, the rack 8 is fixedly connected with the fixed plate 7, and the second electric telescopic rod 6 drives the rack 8 to repeatedly move up and down, so that the rotating pipe 54 rotates;
in the process that the pesticide spraying robot travels according to the planned route, the speed sensor in the intelligent control cabinet 2 feeds back traveling speed data in real time to ensure that the pesticide spraying robot moves at the set traveling speed, in the moving process, the infrared image recognition cameras 45 scan fruit trees on the left side and the right side of the pesticide spraying robot, and when the fruit trees are judged to enter a pesticide spraying range, the moving speed of the pesticide spraying robot is reduced;
meanwhile, in the process, the intelligent control cabinet 2 recognizes the condition of fruit trees on the left side and the right side in real time according to the infrared image recognition camera 45, when the pesticide spraying robot is positioned between two adjacent groups of fruit trees, the pesticide spraying robot stops moving, and the PLC in the intelligent control cabinet 2 sends a starting instruction to the first electric telescopic rod 44, the first electric telescopic rod 44 respectively drives the two groups of support frames 42 to drive the slide block 43 to move along the slide groove 47, when the spray head 55 completely enters the fruit tree area, the electric telescopic rod stops running, at the moment, the PLC in the intelligent control cabinet 2 sends a starting instruction to the electric pesticide spraying pump and the second electric telescopic rod 6 in the pesticide storage box 3, the liquid medicine in the pesticide storage box 3 is pumped into the guide pipe 51 through the hose 52 by the electric pesticide spraying pump, meanwhile, the second electric telescopic rod 6 drives the rack 8 to repeatedly move up and down, so that the rotating pipe 54 rotates, when the flow guide cavity 57 corresponds to the connecting hole 56, the medicament evenly sprays to the fruit tree through shower nozzle 55 to in-process that the medicament sprayed the transfer pipe 54 drives the medicament and rotates, thereby can improve the spraying scope and the impact force degree of medicament, guaranteed the homogeneity of giving medicine to poor free of charge simultaneously.
Example two:
as shown in fig. 3-7, the present embodiment is different from embodiment 1 in that a rotating rod 58 is fixedly connected to an end of an inner surface of the rotating tube 54, which is far away from the supporting frame 42, and the rotating rod 58 sequentially penetrates through the inside of the flow guide tube 51 and is rotatably connected to the supporting frame 42, a plurality of groups of pressurizing blades 59 are fixedly connected to an outer surface of the rotating rod 58 at equal intervals in a ring shape, during the rotation of the rotating tube 54, the rotating rod 58 drives the pressurizing blades 59 on the surface to rotate therewith and stir the inside of the flow guide tube 51, the rotating rod 58 is rotatably connected to the flow guide tube 51, and a sealing ring is disposed at a joint of the rotating rod 58 and the flow guide tube 51, thereby improving the sealing performance of the device.
Example three:
as shown in fig. 5-7, the difference between this embodiment and embodiments 1 and 2 is that the number of the connection holes 56 and the diversion cavities 57 corresponding to the spraying assemblies 5 located at the top are a group, and the group of connection holes 56 is opened right below the diversion pipe 51, so that the spraying of the pesticide can be performed on the fruit tree from top to bottom;
the number of the connecting holes 56 and the flow guide cavities 57 corresponding to the pesticide spraying assembly 5 positioned in the middle is two, and the two groups of connecting holes 56 are respectively provided with two sides of the flow guide pipe 51 for spraying pesticide on the two sides of the fruit tree;
the number of the connecting holes 56 corresponding to the medicine spraying assembly 5 located at the lowest part and the number of the flow guide cavities 57 are both one group, the group of connecting holes 56 are arranged right above the flow guide pipe 51, the fruit tree can be sprayed with the medicine from bottom to top, and therefore the spraying medicines in different directions can be carried out on the positions with different heights of the fruit tree, and the upper surface and the lower surface of each blade can be uniformly sprayed.
Example four:
as shown in fig. 5-7, the difference between this embodiment and embodiments 1, 2, and 3 is that the first flow deflectors 9 are fixedly connected to the outer surfaces of the rotating pipes 54 corresponding to the two sets of pesticide spraying assemblies 5 located at the bottom and the top, which are close to the two sides of the flow guiding cavity 57, and the two sets of corresponding first flow deflectors 9 are distributed on the outer surfaces of the rotating pipes 54 in a central symmetry manner;
two groups of guide plates II 10 are fixedly connected to the outer surface of the rotating pipe 54 corresponding to the pesticide spraying assembly 5 positioned in the middle, the two groups of guide plates II 10 are distributed between the two groups of guide cavities 57 in a central symmetry manner, and the cross sections of the guide plates II 10 are trapezoidal; the cavity 11 is formed in the position, corresponding to the first guide plate 9 and the second guide plate 10, in the rotating pipe 54, the cavity 11 extends to the inner parts of the first guide plate 9 and the second guide plate 10 corresponding to the cavity 11, one side, close to the spray head 55, of the outer surface of the first guide plate 9, two sides and one end of the outer surface of the second guide plate 10 are all hollow, one side, far away from the support frame 42, of the outer surface of the rotating pipe 54 is hollow, the position, corresponding to the cavity 11 is hollow, and a plurality of groups of fan blades 12 are fixedly connected in the cavity 11;
in the spraying process, guide plate one 9 and two 10 of guide plate rotate along with rotating tube 54, make fruit tree surface blade swing, thereby can guarantee that the blade is the even medicament that adheres to of surface from top to bottom, flabellum 12 rotates the wind-force of production along with rotating tube 54 simultaneously, discharge through the fretwork form department of guide plate one 9 and two 10 of guide plate, can lead to the direction of medicament, improve the spraying scope of medicament, make the medicament fully spray on the fruit tree surface, improve the utilization ratio of medicament.
The working process and principle of the invention are as follows:
in the process that the pesticide spraying robot travels according to the planned route, the speed sensor in the intelligent control cabinet 2 feeds back traveling speed data in real time to ensure that the pesticide spraying robot moves at the set traveling speed, in the moving process, the infrared image recognition cameras 45 scan fruit trees on the left side and the right side of the pesticide spraying robot, and when the fruit trees are judged to enter a pesticide spraying range, the moving speed of the pesticide spraying robot is reduced;
meanwhile, in the process, the intelligent control cabinet 2 recognizes the condition of fruit trees on the left side and the right side in real time according to the infrared image recognition camera 45, when the pesticide spraying robot is positioned between two adjacent groups of fruit trees, the pesticide spraying robot stops moving, and the PLC in the intelligent control cabinet 2 sends a starting instruction to the first electric telescopic rod 44, the first electric telescopic rod 44 respectively drives the two groups of support frames 42 to drive the slide block 43 to move along the slide groove 47, when the spray head 55 completely enters the fruit tree area, the electric telescopic rod stops running, at the moment, the PLC in the intelligent control cabinet 2 sends a starting instruction to the electric pesticide spraying pump and the second electric telescopic rod 6 in the pesticide storage box 3, the liquid medicine in the pesticide storage box 3 is pumped into the guide pipe 51 through the hose 52 by the electric pesticide spraying pump, meanwhile, the second electric telescopic rod 6 drives the rack 8 to repeatedly move up and down, so that the rotating pipe 54 rotates, when the flow guide cavity 57 corresponds to the connecting hole 56, the agent is uniformly sprayed to the fruit trees through the spray head 55, and the rotary pipe 54 drives the agent to rotate in the spraying process of the agent, so that the spraying range and the impact force of the agent can be improved, and the uniformity of pesticide application is ensured;
in the process of rotating the rotating pipe 54, the rotating rod 58 drives the pressurizing blades 59 on the surface to rotate along with the rotating pipe and stir the inside of the menstrual flow guide pipe 51, so that the uniformity of medicament mixing is ensured, the pressure of the medicament during spraying is enhanced, and the spraying effect is further improved;
meanwhile, three groups of pesticide spraying assemblies 5 are arranged and distributed in an up-to-middle-down manner, connecting holes 56 corresponding to the pesticide spraying assemblies 5 positioned at the top are formed right below the guide pipe 51, the number of the connecting holes 56 corresponding to the pesticide spraying assemblies 5 positioned at the middle part is two, the two connecting holes are respectively formed in two sides of the guide pipe 51, the connecting hole 56 corresponding to the pesticide spraying assembly 5 positioned at the bottom is formed right above the guide pipe 51, pesticide spraying in different directions can be carried out at different heights of the fruit tree, and the upper surface and the lower surface of each blade can be uniformly sprayed;
and in the spraying process, guide plate one 9 and guide plate two 10 rotate along with rotating tube 54, make fruit tree surface blade swing to can guarantee that the blade is the even medicament that adheres to of upper and lower surface, flabellum 12 rotates the wind-force of production along with rotating tube 54 simultaneously, discharge through the fretwork form department of guide plate one 9 and guide plate two 10, can lead to the direction of medicament, improve the spray range of medicament, make the medicament fully spray on the fruit tree surface, improve the utilization ratio of medicament.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (6)
1. The orchard pesticide spraying robot comprises a crawler-type walking chassis (1), an intelligent control cabinet (2) and a pesticide storage box (3), wherein the intelligent control cabinet (2) and the pesticide storage box are installed above the crawler-type walking chassis (1), and is characterized in that a pesticide spraying mechanism (4) is installed above the intelligent control cabinet (2), the pesticide spraying mechanism (4) comprises a fixing frame (41), a supporting frame (42), a sliding block (43), an electric telescopic rod I (44), an infrared image recognition camera (45), a supporting plate (46) and a pesticide spraying assembly (5), the supporting plate (46) is fixedly connected to the outer surface of the upper end of the intelligent control cabinet (2), the outer surface of the upper end of the supporting plate (46) is fixedly connected with the fixing frame (41) in the middle part, sliding grooves (47) are formed in positions, located on two sides of the supporting plate (46), of the outer surface of the upper end of the supporting plate (46), the inner surface of the sliding groove (47) is fixedly connected with guide rods (48), the outer surfaces of two groups of guide rods (48) are connected with sliding blocks (43) in a sliding mode, the supporting frame (42) is fixedly connected to the outer surface of the upper end of each sliding block (43), the two groups of supporting frames (42) are symmetrically distributed on two sides of the fixing frame (41), electric telescopic rods I (44) are arranged between the fixing frame (41) and the two groups of supporting frames (42), three groups of pesticide spraying assemblies (5) are arranged on one side, away from the fixing frame (41), of the outer surfaces of the two groups of supporting frames (42), the three groups of pesticide spraying assemblies (5) are distributed on the surface of the supporting frame (42) at equal distances from top to bottom, and an infrared image recognition camera (45) is mounted on the outer surface of the upper end of the supporting frame (42);
the pesticide spraying assembly (5) comprises a guide pipe (51), a hose (52), a gear (53), a rotating pipe (54), spray heads (55), connecting holes (56), a guide cavity (57), a rotating rod (58) and pressurizing blades (59), wherein the guide pipe (51) is fixedly connected with a support frame (42), the outer surface of the guide pipe (51) is sleeved with the rotating pipe (54), the rotating pipe (54) is rotatably connected with the support frame (42), the inner surface of the rotating pipe (54) is tightly attached to the outer surface of the guide pipe (51), the hose (52) is communicated between the pesticide storage box (3) and each group of guide pipes (51), the connecting holes (56) are formed in the inner surface of the guide pipe (51), the guide cavity (57) is formed in the rotating pipe (54), and a plurality of groups of spray heads (55) are arranged at positions, corresponding to the outer surface of the rotating pipe (54) and the guide cavity (57), and shower nozzle (55) communicate with each other with water conservancy diversion chamber (57), support frame (42) surface is located three groups and spouts the position fixedly connected with electric telescopic handle two (6) above medicine subassembly (5), and the lower extreme external surface fixedly connected with fixed plate (7) of electric telescopic handle two (6), one side fixedly connected with gear (53) that rotating tube (54) surface is close to support frame (42), and one side meshing of gear (53) has rack (8), rack (8) and three groups of gear (53) all mesh, and rack (8) and fixed plate (7) fixed connection.
2. The orchard spraying robot according to claim 1, characterized in that one end of the inner surface of the rotating pipe (54) far away from the support frame (42) is fixedly connected with a rotating rod (58), the rotating rod (58) penetrates through the inside of the guide pipe (51) in sequence and is rotatably connected with the support frame (42), the outer surface of the rotating rod (58) is provided with a plurality of groups of pressurizing blades (59) which are fixedly connected with the guide pipe (51) in an annular equidistant mode, the rotating rod (58) is rotatably connected with the guide pipe (51), and a sealing ring is arranged at the joint of the rotating rod and the guide pipe.
3. An orchard pesticide spraying robot according to claim 2, characterized in that the number of the connecting holes (56) and the diversion cavities (57) corresponding to the pesticide spraying assembly (5) positioned at the top is one group, and the group of connecting holes (56) is opened right below the diversion pipe (51);
the number of the connecting holes (56) and the number of the flow guide cavities (57) corresponding to the pesticide spraying assembly (5) positioned in the middle are two, and the two groups of the connecting holes (56) are respectively provided with two sides of the flow guide pipe (51);
the number of the connecting holes (56) and the number of the diversion cavities (57) which correspond to the medicine spraying assembly (5) positioned at the lowest part are both one group, and the group of the connecting holes (56) are arranged right above the diversion pipe (51).
4. An orchard pesticide spraying robot as claimed in claim 3, wherein the positions, close to the two sides of the diversion cavity (57), of the outer surface of the rotating pipe (54) corresponding to the two groups of pesticide spraying assemblies (5) located at the lowest and the uppermost are fixedly connected with first diversion plates (9), and the two groups of corresponding first diversion plates (9) are distributed on the outer surface of the rotating pipe (54) in a central symmetry manner;
two groups of guide plates II (10) are fixedly connected to the outer surface of the rotating pipe (54) corresponding to the pesticide spraying assembly (5) positioned in the middle, the two groups of guide plates II (10) are distributed between the two groups of guide cavities (57) in a central symmetry manner, and the cross sections of the guide plates II (10) are trapezoidal.
5. The orchard spraying robot according to claim 4, characterized in that a cavity (11) is formed in the rotating pipe (54) at a position corresponding to the first guide plate (9) and the second guide plate (10), the cavity (11) extends to the corresponding first guide plate (9) and the second guide plate (10), one side of the outer surface of the first guide plate (9) close to the spray head (55), two sides of the outer surface of the second guide plate (10) and one end of the outer surface of the second guide plate (10) are hollowed out, one side of the outer surface of the rotating pipe (54) far away from the support frame (42) is hollowed out at a position corresponding to the cavity (11), and a plurality of groups of fan blades (12) are fixedly connected to the inside of the cavity (11).
6. An orchard pesticide spraying robot as claimed in claim 1, characterized in that the intelligent control cabinet (2) is internally provided with a PLC controller, a satellite positioning module, a speed sensor and a storage battery, and the storage battery is used as a power supply for all electric components in the device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210023304.4A CN114375930B (en) | 2022-01-10 | 2022-01-10 | Orchard pesticide spraying robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210023304.4A CN114375930B (en) | 2022-01-10 | 2022-01-10 | Orchard pesticide spraying robot |
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| CN114375930A true CN114375930A (en) | 2022-04-22 |
| CN114375930B CN114375930B (en) | 2022-11-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117617203A (en) * | 2024-01-10 | 2024-03-01 | 四川省农业机械科学研究院 | Mulberry orchard spraying system and spraying method |
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| CN114375930B (en) | 2022-11-01 |
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