CN209862068U - An autonomous navigation spraying robot for orchard operations - Google Patents

Abstract

The utility model relates to an autonomous navigation pesticide spraying robot for orchard operation, belonging to the field of agricultural intelligent equipment; the robot comprises a robot body and auxiliary equipment; the robot body comprises a movable chassis, a wind-driven pesticide spraying device, an inertial navigation device, a satellite positioning device, a control system, a remote communication device and an energy power system, wherein radar obstacle avoidance devices are arranged at the front end and the rear end of the robot body; the accessory equipment comprises a remote controller and a communication base station; the pneumatic conveying and pesticide spraying device, the inertial navigation device, the satellite positioning device, the energy power system and the radar obstacle avoidance device are all connected with the control system; the control system is connected with a remote communication device, the remote communication device is connected with the internet through a communication base station, and the remote communication device is also connected with a remote controller through a wireless mode. The utility model discloses can show reduction orchard spout medicine operation with worker's quantity and intensity of labour, improve the matter increase and new and old kinetic energy conversion meaning great to modern fruit industry.

Description

An autonomous navigation spraying robot for orchard operations

technical field

The utility model relates to an autonomous navigation spraying robot for orchard operations, which belongs to the technical field of agricultural intelligent equipment.

Background technique

Orchard management is a labor-intensive industry, and the labor cost accounts for a relatively high proportion of the total cost, and the problem of labor shortage has become increasingly prominent. The daily management of the orchard mainly includes spraying, pruning, weeding, watering, fertilizing and other activities, among which spraying is one of the essential operations. For a long time, the majority of fruit farmers have mainly relied on simple machinery such as sprayers and sprayers to assist in spraying pesticides, which has low operating efficiency and high labor intensity, and often causes harm to human health due to inhalation of pesticide mist. In recent years, with the continuous innovation and development of artificial intelligence and other technologies, intelligent robots have gradually been applied in many industries. In the field of agriculture, it is undoubtedly of great practical significance to use intelligent robots to replace manual spraying of fruit trees.

In terms of technical research and equipment development of orchard spraying robots, relevant domestic units and technicians have proposed their own solutions, and their comparative analysis is as follows.

Chinese patent application publication number is CN107639640A a kind of multi-nozzle intelligent spraying robot, realizes spraying by arranging sprinklers on the top of multiple upright and variable-height electric push rods, with GPS receiver to receive position information, but its deficiency The reason is that it is difficult to guarantee the spraying distance, degree of atomization, and the effect of penetrating the canopy by relying on pressure spraying alone without the participation of an air delivery mechanism; in addition, information such as whether the robot is unmanned or how to navigate is not given. . The Chinese patent application publication number is CN107678318A, an intelligent spraying robot, which realizes spraying control through image analysis, and uses a remote control to control the walking of the robot. The operator still needs to follow the robot instead of autonomously navigating. The Chinese patent application publication number is CN108098779A, a control system of a spraying robot. The spray head is arranged on the up and down adjustment mechanism and controlled by the main control module. It is only suitable for teaching experiments and has no practical significance. The Chinese patent application publication number is CN104186451B, a machine vision-based pest control and herbicide spraying robot, which uses machine vision to identify field weeds and insect pests. It is mainly used in field environments and cannot be used for orchard spraying. The Chinese patent publication number is the spraying robot of CN206963767U, and its spraying mechanism is a mist machine, and has no navigation function. The Chinese patent publication number is CN206651269U, a remote-controlled intelligent spraying robot, which uses a mechanical arm to drive a high-pressure spray gun and an atomization adjustment mechanism for spraying. The coverage of the spray is small and the spraying efficiency is low; it is controlled by a remote control and has no navigation function. . Chinese patent application publication number is CN106708036A, a kind of path navigation device based on embedded spraying robot and its implementation method, which uses image processing technology to extract path fitting points and carry out navigation control; its disadvantage is that it is not aimed at the orchard environment, It also does not consider the complexity of the orchard path, the occlusion of fruit tree branches and leaves, the strong light during the day or the operation under low light at night, and does not give the spraying plan and effect, so it is not practical. The Chinese patent publication number is CN103891697B, a variable spraying method of an indoor autonomous mobile spraying robot, which uses a camera and an ultrasonic sensor to realize variable spraying and autonomous movement in a greenhouse, which is not applicable to an open-air orchard environment and is incomparable. The Chinese Patent Publication No. is CN104820425B, a farmland intelligent spraying robot based on electromagnetic detection and the automatic execution system and automatic execution method of the orchard spraying robot whose publication number is CN107544511A. Both of them set prerequisites for the autonomous travel of the robot. The former needs to lay wires on the path, and the latter needs to set baffles on the edge of the path, which are not operable in actual production. Chinese patent application publication number is a kind of intelligent spraying robot of CN106719544A, is only suitable for field spraying, and has no navigation function. Chinese patent application publication number is CN108391649A a kind of orchard automatic spraying device, needs to lay track in the field in advance, and the one, it is comparatively loaded down with trivial details to implement, and investment is bigger;

Utility model content

Aiming at the deficiencies of the prior art, the utility model provides an autonomous navigation spraying robot for orchard operations.

The utility model adopts the following technical solutions:

On the one hand, the utility model provides an autonomous navigation spraying robot for orchard operations, including a robot body and auxiliary equipment;

The robot body includes a mobile chassis, and an air-driven spraying device, an inertial navigation device, a satellite positioning device, a control system, a remote communication device, and an energy power system that provides power for the spraying robot are arranged on the mobile chassis. The front and rear ends of the robot body are equipped with radar obstacle avoidance devices; the accessory equipment includes a remote controller and a communication base station;

The wind-driven spraying device, inertial navigation device, satellite positioning device, energy power system and radar obstacle avoidance device are all connected to the control system, and the control system is connected to the mobile chassis to control the advancement of the mobile chassis, Reverse, turn, accelerate, decelerate and stop; the control system receives and processes data from satellite positioning devices, inertial navigation devices, etc., to realize the functions of robot drive control, path learning, autonomous navigation, spraying control, and remote communication. The above-mentioned functions can be realized by using the existing mature technology through the control system, and too many statements are not made here.

The control system is connected to the remote communication device, the remote communication device is connected to the Internet through a communication base station, and the remote communication device is also connected to the remote controller through wireless.

Preferably, the robot body also includes a state sensing system, the state sensing system includes a liquid level sensor located in the air-driven spraying device, a power sensor located in the energy power system, a speed and heading sensor located in the inertial navigation device, The position sensor located on the satellite positioning device and the camera located on the robot are used for real-time perception of liquid medicine volume, power, position, speed, heading and video, etc., and can realize remote transmission. Each sensor of the state perception system is connected to Described control system, the model of above-mentioned each sensor can be selected flexibly according to actual situation, all does not influence implementation of the present utility model.

Preferably, the mobile chassis is a wheeled chassis or a crawler chassis, and the robot uses a wheeled or crawler chassis as a carrier and a mobile platform.

Preferably, the communication base station is a tower base station, preferably arranged in the geometric center area of the orchard, the communication base station is a fixed facility, once established for long-term use, the communication base station includes a fixed base and a pole bracket, and the pole bracket is installed There are wireless bridges, communication antennas, radio antennas, satellite antennas and other communication equipment, and the signal covers the range of the orchard; the state perception system of the spraying robot will pass its own relevant information such as the amount of liquid medicine, power, position, speed and video images, etc. The communication base station transmits to the remote control and the Internet; the spraying robot can receive control commands from the remote control or the remote Internet terminal and perform corresponding tasks, realizing manual or remote control of the spraying robot by humans.

Preferably, the air-driven spraying device adopts an integrated multi-nozzle air-driven spraying device, and the integrated multi-nozzle air-driven spraying device includes a liquid medicine tank, a plunger pump, a plurality of spray heads and a fan. The liquid tank is connected with a plurality of spray heads through the outlet pipe.

When spraying, the liquid medicine in the liquid medicine tank has a certain pressure under the action of the plunger pump, and it is sprayed out in the form of mist through multiple nozzles through the outlet pipe, and the spray is atomized again by the strong airflow of the fan, and at the same time The atomized fine mist is sent to the canopy of the fruit tree, and the fan is preferably an electric fan to enhance the spraying distance and atomization effect.

Preferably, the inertial navigation device includes a MEMS gyroscope and a processor, the processor is connected to the control system, and the processor is an STM32 microprocessor, which is used to process and transmit the signal sent by the MEMS gyroscope to the control system. The inertial navigation device can ensure that the robot can navigate and walk normally when intermittent satellites lose contact due to tree canopy occlusion in the orchard.

The model of the inertial navigation device is preferably a JCG-ZCR-G4A2-J12 inertial navigation module created by Beijing Aerospace Army.

Preferably, the satellite positioning device adopts a GPS receiver or a Beidou satellite receiver, and is equipped with dual satellite antennas and satellite positioning base stations to achieve high-precision differential positioning; the dual satellite antennas are used to receive positioning signals from navigation and positioning satellites, and GPS receives The computer or Beidou satellite receiver is used to process the received positioning signal and solve the position coordinates.

Preferably, in the satellite positioning device, the model of the communication base station receiver is Shanghai Sinan M300, the model of the mobile terminal receiver is Shanghai Sinan M600U, and the model of the satellite antenna is Shanghai Sinan AT340.

Preferably, the energy power system includes generators, storage batteries, motors, etc., to provide energy and power for the robot.

Preferably, the radar obstacle avoidance device includes an ultrasonic sensor and an ultrasonic controller, the ultrasonic sensor is arranged at the front and rear ends of the spraying robot to assist obstacle avoidance, and the ultrasonic sensor includes a transmitting unit and a receiving unit, respectively for transmitting and receiving ultrasonic waves, the ultrasonic controller is connected with the ultrasonic sensor, and the distance between the robot and the obstacle is calculated according to the time difference between transmitting ultrasonic waves and receiving ultrasonic waves, and the ultrasonic controller is connected with the control system.

The model of the radar obstacle avoidance device is preferably HC-SR04.

Preferably, the remote communication device adopts a 5.8G wireless network bridge and is equipped with a 360-degree high-gain omnidirectional antenna, the spraying robot is used as a mobile terminal for remote communication, and the communication base station is used as a fixed terminal for remote communication.

Further preferably, the control system adopts a raspberry pie or an ARM embedded system as a processing platform, uses Python and C/C++ etc. to write a control program, receives and processes data sent from a satellite positioning device, an inertial navigation device, etc., and realizes Robot drive control, path learning, autonomous navigation, spraying control, state perception, remote communication and other functions.

The control system preferably adopts ARM Cortex-A53 and above processors.

Further preferably, the remote controller includes a left joystick, a right joystick, an antenna, a display screen and a mode selection button.

On the other hand, the utility model provides a working method of an autonomous navigation spraying robot for orchard operations, including a remote control mode, a learning mode and a navigation mode, wherein:

The spraying robot is in the remote control mode by default when it is powered on for the first time or exits from other modes. In this mode, the spraying robot relies on the human to control the remote control to control walking, such as forward, left, right, backward, acceleration, and deceleration ,stop;

Before the spraying robot enters the navigation mode, it needs to learn the path. The path learning process is as follows: the person switches the robot to the learning mode on the remote control, and controls the robot to walk along the target path through the remote control. During this process, the memory in the control system Remember the path to make the robot complete the path learning;

The working process of the navigation mode is: the human switches the robot to the navigation mode on the remote control, and selects a learned path, and the robot navigates and walks autonomously along the path. Path learning is required for the first time walking, and it can directly navigate along the path autonomously from the second time.

Preferably, in the remote control mode, people control the various behaviors of the robot within the sight range by holding the remote control. First, the robot is driven to the target operation area, and an instruction is sent on the remote control to turn on the air-driven spraying device, and the robot starts Work and spray the liquid medicine; people use the left and right joysticks on the remote control to make the robot walk between the rows of fruit trees, and control the speed and direction of the robot; stop spraying after walking one row, turn to another row and repeat the above process to realize the robot in the remote control Manually controlled spraying in mode;

Under the learning mode, people switch the robot to the learning mode through the remote control, so that the robot travels to the starting point of the target path, selects the learning key, and the robot stores the current position data and feeds back a completion signal; the robot continues to drive to the next target location , press the learning button, the robot stores the position data and feeds back the completion signal; repeats the above process until it reaches the end of the target path, the robot completes the learning of the entire path and stores all the information of the path. During the path learning process, the robot also The spraying operation can be executed synchronously;

In the navigation mode, the robot drives to the starting point or near the target path, and the person switches the robot to the navigation mode on the remote control, selects the path and starts the navigation, the robot loads the learned path information and autonomously navigates and walks along the path, At the same time, the spraying operation is carried out until the end of the target path is reached, the robot automatically stops the operation and returns to the remote control mode to stand by, and it can be unattended during the entire operation process.

In the utility model, the spraying robot performs the spraying operation in the autonomous navigation mode, and will transmit information such as the amount of liquid medicine to the remote controller during the operation; if the amount of liquid medicine is insufficient or lower than the preset value, the robot will automatically Stop the operation and return to the remote control mode, and at the same time feed back the alarm information to the remote controller to request to add the liquid medicine; after adding the liquid medicine, the robot will first navigate to the position where the spraying was stopped last time, and then start the spraying operation to realize continuous spraying at breakpoints.

It is worth noting that in the present utility model, the specific process of path learning for the spraying robot is: the remote controller establishes a wireless connection with the robot (wireless connection methods include but not limited to bluetooth, wifi, zigbee, infrared, etc.), Switch the robot to the learning mode; the robot runs under the control of the remote control, and stops after reaching the learning position; the remote control sends an instruction to obtain the coordinates of the way point, and the robot automatically obtains the positioning coordinates of the way point and returns the information to the remote control; the remote control stores the coordinates of the way point. At this time, the point collection work is completed; the remote control robot moves to the next position, repeats the above steps until the entire path is run, and the path information is stored in the remote control, and the path learning process is completed.

When the spraying robot is in the learning mode, the storage of position data is the storage of the coordinate data of the path collection points; under the action of the control system, the robot walks along a straight line between two adjacent path collection points; the remote control is responsible for sending and obtaining path points Coordinate command, receive the corresponding data sent by the robot and store it as a path file on the remote control; the satellite positioning device, control system, and remote communication device of the spraying robot jointly complete the coordinate positioning, collection and transmission of the path point.

Select the path to go on the remote control and send it to the robot (stored in the control system), switch the working mode of the robot to navigation mode; then the remote control sends a command to start navigation, and the robot runs according to the route after receiving the command , the robot runs to the last collection point of the path and stops automatically, and the autonomous navigation ends.

The beneficial effects of the utility model are:

Compared with the prior art, the utility model provides an autonomous navigation spraying robot for orchard operations and a working method thereof. In terms of spraying, the robot adopts an integrated multi-nozzle air-supply spraying device, which has a long spraying distance, a high degree of atomization, a good penetration effect of the tree canopy, and even fruit trees receive medicine; in terms of navigation and positioning, the utility model adopts a satellite positioning device Combined with the inertial navigation device, it integrates the advantages of the former's high precision and the latter's stability to realize combined navigation, so that the robot can navigate and walk normally when intermittent satellites are lost due to tree canopy occlusion in the orchard ; In terms of operation, the robot has the functions of state perception and intelligent control, which can realize target spraying, intermittent spraying and night operation.

The spraying robot and working method provided by the utility model can significantly reduce the labor quantity and labor intensity of the spraying operation in the orchard. The operation mode and effect are the same as the daytime operation, which is of great significance for the improvement of quality and efficiency of modern fruit industry and the conversion of old and new kinetic energy.

Description of drawings

Fig. 1 is a structural schematic diagram of an embodiment of an autonomous navigation spraying robot for orchard operations of the present invention;

Fig. 2 is a schematic structural view of an embodiment of the remote controller of the present invention;

Fig. 3 is the structural representation of the communication base station of the present utility model;

Fig. 4 is a schematic diagram of the connection relationship of the control system of the present invention;

Among them: 1. Mobile chassis, 2. Wind spraying device, 3. Inertial navigation device, 4. Satellite positioning device, 5. Control system, 6. Remote communication device, 7. Energy power system, 8. Radar obstacle avoidance Device, 9. Remote control, 9-1. Left joystick, 9-2. Right joystick, 9-3. Antenna, 9-4. Display, 10. Communication base station, 10-1. Fixed base, 10-2 .Pole support, 10-3. Wireless bridge, 10-4. Communication antenna, 10-5. Radio antenna, 10-6. Satellite antenna, 11. Status awareness system.

Detailed ways

In order to make the technical problems, technical solutions and advantages to be solved by the utility model more clear, the following will be described in detail in conjunction with the accompanying drawings and specific embodiments, but not limited thereto, the utility model is not described in detail, all according to the conventional technology in the field .

Example 1:

As shown in Figure 1-4, an autonomous navigation spraying robot for orchard operations, including the robot body and auxiliary equipment;

The robot body includes a mobile chassis 1, and an air-driven spraying device 2, an inertial navigation device 3, a satellite positioning device 4, a control system 5, a remote communication device 6 and a power supply for the spraying robot provided on the mobile chassis 1. The energy power system 7, the front and rear ends of the robot body are equipped with a radar obstacle avoidance device 8; the auxiliary equipment includes a remote controller 9 and a communication base station 10;

The air-driven spraying device 2, the inertial navigation device 3, the satellite positioning device 4, the energy power system 7 and the radar obstacle avoidance device 8 are all connected to the control system 5, and the control system 5 is connected to the mobile chassis 1 to control the advancement of the mobile chassis 1 , back, turn, acceleration, deceleration and stop; the control system 5 receives and processes the data sent from the satellite positioning device 4, the inertial navigation device 3, etc., and realizes the drive control, path learning, autonomous navigation, spraying control, remote Communication and other functions.

The control system 5 is connected with the remote communication device 6, and the remote communication device 6 is connected to the Internet through the communication base station 10, and the remote communication device 6 is also connected with the remote controller 9 through wireless.

Example 2:

An autonomous navigation spraying robot for orchard operations, the structure is as shown in Embodiment 1, the difference is that the robot body also includes a state sensing system 11, and the state sensing system 11 includes a liquid level sensor located in the air-driven spraying device 2. Sensors, the power sensor located in the energy power system 7, the speed and heading sensor located in the inertial navigation device 3, the position sensor located in the satellite positioning device 4, and the camera located on the robot etc. are all connected to the control system 5 for real-time sensing medicine. Fluid volume, electric quantity, position, speed, course and video etc., and can realize remote transmission through telecommunication device 6.

Example 3:

An autonomous navigation spraying robot for orchard operations, as shown in Embodiment 1, the difference is that the mobile chassis 1 is a wheeled chassis or a crawler chassis, and the robot uses a wheeled or crawler chassis as a carrier and mobile platform.

Example 4:

An autonomous navigation spraying robot for orchard operations, as shown in Embodiment 1, the difference is that, as shown in Figure 3, the communication base station 10 is a tower base station, which is arranged in the geometric center area of the orchard, and the communication base station 10 As a fixed facility, once established for long-term use, the communication base station 10 includes a fixed base 10-1 and a pole support 10-2, and a wireless network bridge 10-3, a communication antenna 10-4, and a radio antenna are installed on the pole support 10-2 10-5, satellite antenna 10-6 and other communication equipment, the signal covers the range of the orchard; the state perception system 11 of the spraying robot will pass its own relevant information such as the amount of liquid medicine, power, position, speed and video images through the communication base station 10 Send to the remote control 9 and the Internet; the spraying robot can receive the control instructions from the remote control 9 or the remote Internet terminal and perform corresponding tasks, so as to realize the manual remote control or remote control of the spraying robot by humans.

Example 5:

An autonomous navigation spraying robot for orchard operations, as shown in Embodiment 4, the difference is that the air-sent spraying device 2 adopts an integrated multi-nozzle air-sent spraying device, and the integrated multi-nozzle air-sent spraying device The device includes a liquid medicine tank, a plunger pump, multiple spray heads and a blower fan, and the liquid medicine tank is connected with the multiple spray heads through an outlet pipe.

When spraying, the liquid medicine in the liquid medicine tank has a certain pressure under the action of the plunger pump, and it is sprayed out in the form of mist through multiple nozzles through the outlet pipe, and the spray is atomized again by the strong airflow of the fan, and at the same time The atomized fine mist is sent to the canopy of the fruit tree, and the fan is an electric fan to enhance the spraying distance and atomization effect.

Embodiment 6:

A self-guided spraying robot for orchard operations, as shown in Embodiment 1, the difference is that the inertial navigation device 3 includes a MEMS gyroscope and a processor, the processor is connected to the control system 5, and the processor is an STM32 micro The processor is used to process the signal sent by the MEMS gyroscope and transmit it to the control system 5 . The inertial navigation device can ensure that the robot can navigate and walk normally when intermittent satellites lose contact due to tree canopy occlusion in the orchard.

Embodiment 7:

An autonomous navigation spraying robot for orchard operations, as shown in Embodiment 1, the difference is that the satellite positioning device 4 uses a GPS receiver, and is equipped with dual satellite antennas and satellite positioning base stations to achieve high-precision differential positioning ; The dual satellite antennas are used to receive positioning signals from navigation and positioning satellites, and the GPS receiver is used to process the received positioning signals and calculate the position coordinates.

Embodiment 8:

An autonomous navigation spraying robot for orchard operations, as shown in Embodiment 1, the difference is that the radar obstacle avoidance device 8 includes an ultrasonic sensor and an ultrasonic controller, and the ultrasonic sensor is arranged at the front and rear ends of the spraying robot to Auxiliary obstacle avoidance, the ultrasonic sensor includes a transmitting unit and a receiving unit, which are used to transmit and receive ultrasonic waves respectively. The ultrasonic controller is connected to the ultrasonic sensor, and the distance between the robot and the obstacle is calculated according to the time difference between transmitting ultrasonic waves and receiving ultrasonic waves. The ultrasonic controller is connected with the control system 5 .

Embodiment 9:

An autonomous navigation spraying robot for orchard operations, as shown in Embodiment 1, the difference is that the remote communication device 6 adopts a 5.8G wireless bridge and is configured with a 360-degree high-gain omnidirectional antenna, and the spraying robot is used as a remote The mobile end of the communication, the communication base station 10 is used as the fixed end of the long-distance communication;

Control system 5 adopts ARM Cortex-A53 processor, uses Python and C/C++ to write control programs, receives and processes data from satellite positioning devices, inertial navigation devices, etc., and realizes robot drive control, path learning, and autonomous navigation , spraying control, state perception, remote communication and other functions.

As shown in FIG. 2 , the remote controller 9 includes a left stick 9-1, a right stick 9-2, an antenna 9-3, a display screen 9-4 and a mode selection button.

The above is a preferred embodiment of the utility model, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the utility model, some improvements and modifications can also be made. And retouching should also be regarded as the protection scope of the present utility model.

Claims (10)

1. An autonomous navigation pesticide spraying robot for orchard operation is characterized by comprising a robot body and auxiliary equipment;

the robot body comprises a movable chassis, a wind-driven pesticide spraying device, an inertial navigation device, a satellite positioning device, a control system, a remote communication device and an energy power system, wherein the wind-driven pesticide spraying device, the inertial navigation device, the satellite positioning device, the control system, the remote communication device and the energy power system are arranged on the movable chassis, and the front end and the rear end of the robot body are provided with radar obstacle avoidance devices; the accessory equipment comprises a remote controller and a communication base station;

the wind-driven pesticide spraying device, the inertial navigation device, the satellite positioning device, the energy power system and the radar obstacle avoidance device are all connected with the control system, and the control system is connected with the movable chassis to control the forward movement, the backward movement, the steering, the acceleration, the deceleration and the stop of the movable chassis;

the control system is connected with the remote communication device, the remote communication device is connected with the internet through a communication base station, and the remote communication device is also connected with the remote controller through a wireless mode.

2. The autonomous navigation pesticide spraying robot for orchard operation according to claim 1, characterized in that the robot body further comprises a state sensing system, the state sensing system comprises a liquid level sensor located in the pneumatic pesticide spraying device, a speed and heading sensor located in the inertial navigation device, a position sensor located in the satellite positioning device, and a camera located on the robot, and the liquid level sensor, the speed and heading sensor, the position sensor and the camera are all connected to the control system.

3. The autonomous navigation pesticide spraying robot for orchard operation according to claim 1, characterized in that the mobile chassis is a wheeled chassis or a tracked chassis;

the communication base station is a tower-type base station and is positioned in the geometric center area of the orchard.

4. The autonomous navigation pesticide spraying robot for orchard operation according to claim 1, characterized in that the wind-powered pesticide spraying device is an integrated multi-nozzle wind-powered pesticide spraying device, the integrated multi-nozzle wind-powered pesticide spraying device comprises a pesticide tank, a plunger pump, a plurality of nozzles and a fan, and the pesticide tank is connected with the plurality of nozzles through a water outlet pipe.

5. The autonomous navigational pesticide spraying robot for orchard operations of claim 1, wherein the inertial navigation device comprises a MEMS gyroscope and a processor, the processor being connected with the control system, the processor being an STM32 microprocessor.

6. The autonomous navigation pesticide spraying robot for orchard operation according to claim 1, characterized in that the satellite positioning device adopts a GPS receiver or a Beidou satellite receiver and is provided with a double-satellite antenna and a satellite positioning base station.

7. The autonomous navigation pesticide spraying robot for orchard operation according to claim 1, wherein the radar obstacle avoidance device comprises ultrasonic sensors and an ultrasonic controller, the ultrasonic sensors are arranged at the front end position and the rear end position of the pesticide spraying robot, the ultrasonic sensors comprise a transmitting unit and a receiving unit, the ultrasonic controller is connected with the ultrasonic sensors, and the ultrasonic controller is connected with the control system.

8. The autonomous navigation pesticide spraying robot for orchard operation according to claim 1, characterized in that the radar obstacle avoidance device is of the type HC-SR 04.

9. The autonomous navigational pesticide spraying robot for orchard operations of claim 1, wherein the control system employs an ARM Cortex-a53 processor.

10. The autonomous navigational pesticide spraying robot for orchard operations of claim 1, wherein the remote control comprises a left rocker, a right rocker, an antenna, a display screen and a mode selection button.