CN112136423B - A multifunctional agricultural robot - Google Patents
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- CN112136423B CN112136423B CN202011101606.6A CN202011101606A CN112136423B CN 112136423 B CN112136423 B CN 112136423B CN 202011101606 A CN202011101606 A CN 202011101606A CN 112136423 B CN112136423 B CN 112136423B
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C15/00—Fertiliser distributors
- A01C15/12—Fertiliser distributors with movable parts of the receptacle
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
- A01C23/047—Spraying of liquid fertilisers
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/062—Devices for making drills or furrows
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/066—Devices for covering drills or furrows
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protection of plants
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Data Mining & Analysis (AREA)
- Mechanical Engineering (AREA)
- Evolutionary Biology (AREA)
- General Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Bioinformatics & Computational Biology (AREA)
- Water Supply & Treatment (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Fertilizing (AREA)
Abstract
本发明提供一种多功能农用机器人，其包括肥、土壤混合搅拌母仓和驱动模块，肥、土壤混合搅拌母仓通过快速锁定装置安装在驱动模块上方；驱动模块为轮式或履带式驱动底盘，肥、土壤混合搅拌母仓包括：旋转挖斗、封闭式土壤上输送带、人体接近安全传感器、激光雷达/RFID/视觉识别系统、肥料仓模块、液态叶面施肥或农药模块、土壤仓模块、肥/土混合搅拌模块、机器人控制中心、土壤下料铺平装置、称重模块和混合肥土下料口。本发明实现开沟挖土、实时养分检测分析、配肥、混肥、施肥、自动回填全流程一次性完成。可在大型机械无法进入的果园、小块土地、茶园、丘陵、山地等不同的地形和土质进行作业。分析速度快，操作简单，不浪费、无污染等诸多优点。
The present invention provides a multifunctional agricultural robot, which includes a fertilizer and soil mixing mother bin and a driving module, wherein the fertilizer and soil mixing mother bin is installed above the driving module through a quick locking device; the driving module is a wheeled or crawler driven chassis, and the fertilizer and soil mixing mother bin includes: a rotating bucket, a closed soil conveyor belt, a human proximity safety sensor, a laser radar/RFID/visual recognition system, a fertilizer bin module, a liquid foliar fertilizer or pesticide module, a soil bin module, a fertilizer/soil mixing module, a robot control center, a soil feeding and paving device, a weighing module and a mixed fertilizer and soil feeding port. The present invention realizes the one-time completion of the whole process of trenching and soil digging, real-time nutrient detection and analysis, fertilizer distribution, fertilizer mixing, fertilization, and automatic backfilling. It can be operated in different terrains and soils such as orchards, small plots of land, tea gardens, hills, mountains, etc., which are inaccessible to large machinery. It has many advantages such as fast analysis speed, simple operation, no waste, and no pollution.
Description
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, solids, liquids and gases are interwoven, plants and microorganisms are interdependent, and the growth of crops is closely related to nitrogen, phosphorus, potassium, organic substances and other nutrients in the soil. The crop yield is formed with 40% -80% of nutrients from the soil, but the soil cannot be regarded as an inexhaustible 'nutrient reservoir'. In order to ensure that the soil has enough nutrient supply capacity and strength and keep the balance between the carrying-out and the input of the soil nutrients, the soil nutrients must be realized through the measures of fertilization. By means of fertilization, nutrients absorbed by crops can be returned to soil, and the soil capacity is ensured.
The growth of crops requires obtaining moisture and various nutrients from the soil, the soil itself can not always provide the best nutrition for the crops, farmers must rotate regularly to provide necessary nutrition for the crops, in the past, applying chemical fertilizers for harvesting more crops is a common means, excessive fertilization can cause resource waste and serious environmental pollution, chemical substances such as nitrogen, phosphorus, potassium and the like are easy to be solidified by the soil, various salts are accumulated in the soil, the soil nutrient is imbalance, the content of harmful heavy metals and the amount of harmful bacteria exceed the standard, the soil property is deteriorated, and partial substance conversion and synthesis in the crops are blocked, so that the quality of agricultural products is reduced.
In recent years, with the great development of green agriculture in China, the technology of replacing chemical fertilizers with organic fertilizers is promoted, the physicochemical properties of the soil in an orchard are improved to a certain extent, but the application of organic fertilizers in the orchard in partial areas is not considered, the salinization phenomenon of the soil occurs to different extents, the hardening is serious, the root growth is limited, the yield and the quality are not guaranteed, and the income of farmers is greatly reduced.
On one hand, the root system of the crops can absorb moisture, mineral matters and other nutrients from the soil to meet the growth requirement of the crops, and on the other hand, the root system can store nutrient substances, so that the plant growth can be maintained for a short time when the root system cannot adapt to the conditions. In addition, the functions of secreting organic acid, synthesizing growth hormone, propagating new plants and the like of the root system also influence the growth of plants. However, the normal exertion of the functions of the root system needs to be ensured by proper soil temperature, humidity, air permeability and the like, and the application of the organic fertilizer can well keep proper soil temperature and humidity, so that the air permeability is increased, and the normal exertion 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 and the growth vigor of the plants, thus creating excellent conditions for the normal growth and development of the plants and further improving the resistance of the plants to severe environments.
The prior art CN201820913714.5 is a patent of an agricultural machine fertilizer injection unit, adopts a four-wheel tractor as traction, is more suitable for mechanized fertilization of a large-area farmland, can not operate in hills, mountains and the like, has no working procedure of fertilizer and soil mixing, and can cause a large amount of accumulation of nutrients such as phosphorus, potassium and the like in soil, thus causing the adverse effects of unbalanced soil nutrients, root burning of crops and the like.
In the prior art CN201820446062.9, the remote monitoring system of the pit digging fertilizer applicator for the closed apple orchard based on image transmission is used for monitoring the field working condition of the pit digging fertilizer applicator by collecting the data information of the pit digging fertilizer applicator in real time, finding out faults of the pit digging fertilizer applicator in time, realizing the remote monitoring and control of the data of the pit digging fertilizer applicator by wireless transmission, and completing the excavation, fertilizer mixing and soil covering in one step
The traditional artificial fertilization mode in China has low efficiency and shallow fertilization depth, is easy to cause the root system of crops to float upwards, reduces drought resistance and disease resistance of crops, and seriously affects the yield and fruit quality of crops. Therefore, a machine device is needed to replace manual work to accurately fertilize each crop, so that the labor intensity of farmers is reduced, the production efficiency of agriculture is improved, and the labor and production cost are saved.
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, and a differentiated fertilization scheme is customized for different crop types, so that the whole process of ditching, soil digging, real-time nutrient detection and analysis, fertilizer mixing, fertilizer application and automatic backfilling is completed at one time. Can realize that large-scale machinery can not get into different topography and soil property such as orchard, little soil, tea garden, hilly, mountain region and carry out the operation.
In order to achieve the above purpose, the present invention provides the following technical solutions.
A multifunctional agricultural robot comprises a fertilizer and soil mixing and stirring female bin and a driving module, wherein the fertilizer and soil mixing and stirring female bin is arranged above the driving module through a quick locking device;
the driving module is a wheeled or crawler-type driving chassis, and adopts a gasoline engine, a diesel engine or a battery pack as a power source;
The fertilizer and soil mixing and stirring mother bin comprises a rotary bucket, a closed type 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 discharging and paving device, a weighing module and a mixed fertilizer discharging opening;
one end of the closed type soil conveying belt is connected with the front end of the fertilizer and soil mixing and stirring female bin, the other end of the closed type soil conveying belt is connected with the rotary bucket, and the rotary bucket is arranged below the front end of the fertilizer and soil mixing and stirring female bin and is driven to rotate by a motor or a machine;
The human body proximity safety sensor is arranged at the front end of the fertilizer and soil mixing and stirring female bin, the laser radar/RFID/visual recognition system is arranged at the upper part of the front end of the fertilizer and soil mixing and stirring female bin, the human body proximity safety sensor and the laser radar/RFID/visual recognition system jointly realize judgment of barriers, targets, positions, dimensions, speeds and orientations, and relevant data are transmitted to a robot control center arranged at the rear end of the fertilizer and soil mixing and stirring female bin to plan targets, barriers and routes;
The fertilizer bin module is arranged in the front end of the fertilizer and soil mixing and stirring mother bin, and the weighing module is arranged at the lower end of the fertilizer bin module and 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 mother bin, and a nozzle is used for fertilizing foliar fertilization or spraying pesticide on the foliar;
The soil bin module is arranged at the rear part of the fertilizer and soil mixing and stirring mother bin, the lower end of the soil bin module is provided with the soil discharging paving device and the weighing module, and the weighing module weighs the soil released by the soil bin module;
The fertilizer/soil mixing and stirring module is arranged at the bottom of the fertilizer/soil mixing and stirring mother 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 mother bin, is electrically connected with each part of the multifunctional agricultural robot, and controls the robot;
the mixed fertilizer soil discharging opening is arranged below the fertilizer and soil mixed stirring mother bin.
The soil bin module is provided with two independent soil outlets, the fertilizer bin modules are provided with a plurality of fertilizer outlets, each fertilizer bin module is provided with a fertilizer outlet at the lower end, the weighing module comprises a soil weighing module and a fertilizer weighing module, the soil weighing module is arranged below the soil outlets of the soil bin modules, the lower end of the soil weighing module is provided with an outlet, the fertilizer weighing module is arranged below the fertilizer outlets of the fertilizer bin modules, and the lower end of the fertilizer weighing module is provided with an outlet.
Preferably, the sealed soil up-conveying pipeline is connected with one end of a sealed soil horizontal conveying pipeline arranged in the fertilizer and soil mixing and stirring mother bin, the other end of the sealed soil horizontal conveying pipeline extends to the upper side of the soil bin module, a soil outlet arranged at the lower end of the soil bin module is connected with one end of a covered surface soil conveying pipeline, and the other end of the covered surface soil conveying pipeline is connected with the soil blanking paving device.
Preferably, the liquid foliar fertilization or 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 mother bin, the nozzle can move along the XYZ axis under the guidance of the nozzle guide rail, and 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, an infrared spectrum sensor and a light source are arranged at the top of the inside of the soil bin module, the light source irradiates soil inside the soil bin module, the infrared spectrum sensor collects diffuse reflection light reflected by the soil and transmits collected soil spectrum data to the robot control center.
Preferably, the robot control center is provided with communication equipment, and can communicate with the cloud expert database in a wireless manner in a 4G and 5G mode.
Preferably, 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, respectively adding corresponding fertilizers into each fertilizer bin module of the multifunctional agricultural robot, selectively adding liquid fertilizers or pesticides into the liquid foliar fertilizers or pesticides, and starting the multifunctional agricultural robot;
2) The rotary bucket excavates strip-shaped ditches in the forward process of the multifunctional agricultural robot, excavated soil passes through the sealed soil up-conveying pipeline and the sealed soil horizontal conveying pipeline, and the excavated soil is conveyed to the soil bin module;
3) The method comprises the steps of collecting diffuse reflection light reflected by soil by an infrared spectrum sensor, transmitting the collected soil spectrum data to a robot control center, carrying out edge calculation locally, combining 4G or 5G with cloud expert database data communication technology, reading crop identity identification RFID tags read in the advancing process of a multifunctional agricultural robot according to the actual conditions of different types of soil, reading fertilization history of crops, planning excavation depth, formulating different fertilization strategies, opening a soil outlet of the soil bin module, weighing part of soil in the soil weighing module, opening the outlet to fall into a soil-fertilizer-soil mixing and stirring module after weighing, opening the fertilizer outlet of the corresponding fertilizer bin module according to the fertilization strategy, opening the outlet to fall into the fertilizer weighing module after weighing, and opening the outlet to fall into the fertilizer-soil mixing and stirring module after weighing;
4) Collecting image analysis of the growth situation of crops through a binocular vision sensor arranged on a low-cost multi-axis stabilizer, opening the liquid foliar fertilization or pesticide module and adjusting the position and angle of the nozzle in combination with a fertilization strategy, and spraying foliar fertilizers required by the crops in the advancing process or accurately spraying pesticides on the back surfaces of the leaves;
5) Stirring and uniformly mixing soil and various fertilizers in a fertilizer and soil mixing and stirring module;
6) And after the stirring is completed, opening the mixed fertilizer soil discharging opening, dropping the mixed fertilizer soil into the excavated strip-shaped ditch, and finally opening the other outlet of the soil bin module, conveying the residual soil to the soil discharging paving device through the covered surface soil conveying pipeline, and covering the surface layer of the fertilized strip-shaped ditch.
The beneficial effects of the invention are as follows:
1. integrating fertilizer science, machine learning, internet of things, big data and the like with a crop growth system, customizing a fertilization scheme for crops according to the types of the crops, and completing the whole process of ditching and soil digging, real-time nutrient detection and analysis, fertilizer preparation, fertilizer mixing, fertilization and automatic backfilling at one time.
2. Can realize that large-scale machinery can not get into different topography and soil property such as orchard, little soil, tea garden, hilly, mountain region and carry out the operation.
3. Interpreting the fertilization history of crops, planning the excavation depth and the like, analyzing what fertilizer and the required quantity of the crops need to be supplemented by adopting an infrared spectrum sensor to detect the soil nutrients, providing the crops with the fertilizer with the optimal quantity, sending the mixed fertilizer 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 fertilizer utilization rate.
4. The robot image recognition technology is used for accurately spraying pesticides on crops, so that the pesticide waste is reduced, and the defect that the unmanned aerial vehicle spraying has poor killing effect on pests on the back of the leaves is overcome.
5. The fertilizer can ensure the even distribution of the fertilizer in the soil, avoid the defect of uneven fertilizer distribution and root burning, and eliminate the hidden trouble of drought resistance and disease resistance reduction of crops caused by floating of the root system of the crops due to the traditional fertilizer application mode.
6. The robot has the advantages of high analysis speed, simple operation, no waste, no pollution and the like, and has great advantages and development potential in the aspects of intelligent agriculture and the like by adding the original fertilizer and soil mixed distribution technology, and has very broad application prospect.
Drawings
Fig. 1 is a schematic view of a multifunctional agricultural robot of the present invention.
Fig. 2 is a schematic diagram of the internal structure of the fertilizer and soil mixing and stirring mother bin of the invention.
Fig. 3 is a schematic view of a soil bin module according to the present invention.
FIG. 4 is a schematic view of soil spectrum data acquisition according to the present invention.
Fig. 5 is a schematic diagram of a liquid foliar fertilizer or pesticide module according to the invention.
Fig. 6 is a flowchart for extracting spectral feature data of soil according to the present invention.
Fig. 7 is a flow chart of scientific fertilization control according to the present invention.
FIG. 8 is a schematic diagram of an edge calculation flow of the present invention.
FIG. 9 is a flow chart of a multi-source sensing fusion obstacle avoidance and route planning of the present invention
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention become more apparent, 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 some, but not all, embodiments of the invention. The embodiments described below, together with the words of orientation, are exemplary and intended to explain the invention and should not be taken as limiting the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The invention will be further described with reference to fig. 1-5.
The multifunctional agricultural robot comprises a fertilizer and soil mixing and stirring female bin 1 and a driving module, wherein the fertilizer and soil mixing and stirring female bin 1 is arranged above the driving module through a quick locking device;
the driving module is a wheeled or crawler-type driving chassis 2, and adopts a gasoline engine, a diesel engine or a battery pack as a power source;
The fertilizer and soil mixing and stirring mother bin 1 comprises a rotary bucket 3, a closed type soil upper conveying belt 4, a human body proximity safety sensor 5, a laser radar/RFID/visual identification system 6, a fertilizer bin module 7, a liquid foliar fertilizer or pesticide module 8, a soil bin module 9, a fertilizer/soil mixing and stirring module 21, a robot control center 10, a soil discharging and paving device 11, a weighing module 12 and a mixed fertilizer soil discharging opening 13;
One end of the closed type soil conveying belt 4 is connected with the front end of the fertilizer and soil mixing and stirring female bin 1, the other end of the closed type soil conveying belt 4 is connected with the rotary bucket 3, and the rotary bucket 3 is arranged below the front end of the fertilizer and soil mixing and stirring female bin 1 and is driven to rotate by a motor or a machine;
The human body proximity safety sensor 5 is arranged at the front end of the fertilizer and soil mixing and stirring female bin 1, the laser radar/RFID/visual recognition system 6 is arranged at the upper part of the front end of the fertilizer and soil mixing and stirring female bin 1, the human body proximity safety sensor 5 and the laser radar/RFID/visual recognition system 6 jointly realize judgment of barriers, targets, positions, dimensions, speeds and orientations, and related data are transmitted to the robot control center 10 arranged at the rear end of the fertilizer and soil mixing and stirring female bin 1 to plan targets, barriers and routes;
the fertilizer bin module 7 is arranged in the front end of the fertilizer and soil mixing and stirring mother bin 1, and the weighing module 12 is arranged at the lower end of the fertilizer bin module and 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 mother 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 mother bin 1, the lower end of the soil bin module 9 is provided with the soil discharging paving device 11 and the weighing module 12, and the weighing module 12 weighs 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/soil mixing and stirring mother 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 mother bin 1, is electrically connected with each part of the multifunctional agricultural robot, and controls the robot;
The mixed fertilizer soil discharging opening 13 is arranged below the fertilizer and soil mixing and stirring mother bin 1.
The lower end of the soil bin module 9 is provided with two independent soil outlets 16 and 17, the fertilizer bin module 7 is provided with a plurality of fertilizer outlets 24, the lower end of each fertilizer bin module 7 is provided with a fertilizer outlet 24, the weighing module 12 comprises a soil weighing module 12-1 and a fertilizer weighing module 12-2, the soil weighing module 12-1 is arranged below the soil outlets 16 and 17 of the soil bin module 9, the lower end of the soil weighing module 12-1 is provided with an outlet 23, the fertilizer weighing module 12-2 is arranged below the fertilizer outlet of the fertilizer bin module 7, and the lower end of the fertilizer weighing module 12-2 is provided with an outlet 22.
The sealed soil up-conveying pipeline 4 is connected with one end of a sealed soil horizontal conveying pipeline 19 arranged in the fertilizer and soil mixing and stirring female bin 1, the other end of the sealed soil horizontal conveying pipeline 19 extends to the upper side of the soil bin module 9, a soil outlet 16 arranged at the lower end of the soil bin module 9 is connected with one end of a covered surface soil conveying pipeline 20, and the other end of the covered surface soil conveying pipeline 20 is connected with the soil discharging paving device 11.
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 mother bin 1, the nozzle 15 can move along the 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 is connected with the nozzle 15.
The top of the inside of the soil bin module 9 is provided with an infrared spectrum sensor 14 and a light source 18, the light source 18 irradiates the soil inside the soil bin module 9, the infrared spectrum sensor 14 collects diffuse reflection light reflected by the soil and transmits the collected soil spectrum data to the robot control center 10.
The robot control center 10 is provided with communication equipment, and can perform wireless communication with the cloud expert database in a 4G and 5G mode.
Description of the working procedure of the invention according to figures 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, respectively adding corresponding fertilizers into each fertilizer bin module 7 of the multifunctional agricultural robot, selecting and adding liquid fertilizers or pesticides into the liquid foliar fertilizers or pesticides module 8, and starting the multifunctional agricultural robot;
2) The rotary bucket 3 excavates strip-shaped ditches in the forward process of the multifunctional agricultural robot, excavated soil passes through the sealed soil up-conveying soil pipeline 4 and the sealed soil horizontal conveying pipeline 19, and the excavated soil is conveyed to the soil bin module 9;
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, the collected soil spectrum data is transmitted to the robot control center 10, edge calculation is carried out locally, 4G or 5G is combined with cloud expert database data communication technology, according to actual conditions of different types of soil, the RFID tag is combined with crop identification read in the running process of the multifunctional agricultural robot, different fertilization strategies are formulated according to the fertilization history and planning excavation depth of crops, one soil outlet 17 of the soil bin module 9 is opened, part of soil falls into the soil weighing module 12-1 to be weighed, an outlet 23 is opened to fall into the soil-fertilizer-soil mixing stirring module 21 after weighing is completed, a fertilizer outlet 24 of the corresponding fertilizer bin module 7 is opened according to a fertilization strategy, fertilizer falls into the fertilizer weighing module 12-2, and the outlet 22 is opened to fall into the fertilizer-soil mixing stirring module 21 after weighing is carried out;
4) Collecting image analysis of the growth situation of crops 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 angle of the nozzle 15 in combination with a fertilization strategy, spraying foliar fertilizers required by the crops in the advancing process or accurately spraying pesticides on the backs of the leaves;
5) Stirring and uniformly mixing soil and various fertilizers in a fertilizer and soil mixing and stirring module 21;
6) After the stirring is completed, the mixed fertilizer soil discharging opening 13 is opened, mixed fertilizer soil falls into the excavated strip-shaped ditch, the other outlet 16 of the soil bin module 9 is opened finally, and residual soil is conveyed to the soil discharging paving device 11 through the covered surface soil conveying pipeline 20 and is covered on the surface layer of the fertilized strip-shaped ditch.
Description of the computational effort of the present invention according to figures 1-8
The front end that the robot marches is installed and is rotated bucket 3, excavates the strip irrigation ditch, 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 export 16 and 17 that can open and shut voluntarily, can carry out the instruction that robot control center 10 sent, opens and shuts the soil export respectively.
The real-time soil nutrient detection and analysis system is realized by adopting an infrared spectrum detection technology. Infrared spectroscopy is an analysis technology with the characteristics of rapidness, economy, high efficiency, environmental friendliness and no damage, is originally adopted on a multifunctional fertilizing robot, and is based on the principle that molecular vibration and electronic transition related to soil components absorb light while interacting with radiation, and as the spectral characteristics respond to mineral substances and organic components in the soil, many soil characteristics can be directly calibrated into Near Infrared (NIR) and Mid Infrared (MIR) spectra.
The method has the advantages that the identification RFID tags of crops are read in the advancing process, the fertilization history of the crops is read, the planning excavation depth and the like are read, the soil nutrients are detected by adopting the infrared spectrum sensor, what fertilizer and the needed quantity of the crops need to be supplemented are analyzed, the most appropriate quantity of fertilizer is provided for the crops, the mixed fertilizer can be delivered to the roots of the crops according to different demands of the growth of the crops, and the nutrient absorption capacity of the crops and the fertilizer utilization rate are improved.
The soil bin module 9 is designed into a closed light darkroom, an LED or other light source is arranged in the darkroom, light is projected onto a soil sample during detection, the infrared spectrum sensor 14 receives diffuse reflection light irradiated onto soil, spectrum data of the soil are collected, and then the collected spectrum data are compared with the spectrum data of the soil stored by the robot to judge the fertility of the soil.
The method comprises the steps of capturing the reflection spectrum of soil, inputting the captured reflection spectrum into a robot control center 10 for edge calculation, analyzing and processing crop growth and soil nutrients in real time by using artificial intelligence technologies such as deep learning, and comparing and analyzing the crop growth and soil nutrients with a cloud expert database through a 4G or 5G wireless communication network.
By combining technologies such as soil real-time infrared spectrum analysis, crop image recognition technology, edge calculation in local, 4G or 5G and cloud expert database data communication 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 fertilizing formula is obtained according to the 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 purposefully supplement nutrient elements required by crops. What elements are needed to be supplemented by the crops when the crops lack what elements, so that balanced supply of various nutrients is realized, the requirements of the crops are met, and the difficulty of increasing the yield of the crops by means of a large amount of fertilizer is overcome. The contradiction between nutrient requirements and soil nutrient supply in the growing period of crops is solved. Therefore, the condition of fertilizer waste can be hardly generated any more, the agricultural cost is greatly reduced, and the robot which is skilled in fertilizer science can know 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 original fertilizer and soil mixing and distributing technology is characterized in that soil generated in the advancing ditching process is conveyed to a soil bin, soil and fertilizer are stirred and mixed in a mixing and stirring bin according to a fertilizing scheme formulated by a robot, the evenly mixed soil and fertilizer are distributed into ditches through a mixing and stirring bin discharging opening 13, and finally the ditches are filled and smoothed through a soil discharging paving device 11 at the rear part of the robot.
1. Excavation of trenches
In the forward process of the rotary excavator bucket 3, the excavated soil is conveyed 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 the real-time soil fertilizer formula, opening a soil outlet 17 of the soil bin module 9, weighing the required soil in the soil weighing module 12-1, and opening an outlet 23 to fall the soil to the fertilizer and soil mixing and stirring module 21 after weighing;
the fertilizer outlet 24 of the fertilizer bin module 7 is opened, fertilizer is dropped into the fertilizer weighing module 12-2, and the outlet 22 is opened to drop into the fertilizer and soil mixing and stirring module 21 after weighing;
3. Mixing and stirring of mixed fertilizer
Stirring and uniformly mixing soil and various fertilizers in a fertilizer and soil mixing and stirring module 21;
4. fertilizing and surface covering soil
After the uniform stirring is completed, the mixed fertilizer soil discharging opening 13 is opened, the mixed fertilizer soil falls into the excavated ditch, and 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 covered surface soil conveying pipeline 20.
By adopting the fertilizer and soil mixing and distributing method of the robot, the upper surface layer soil does not contain fertilizer, ensures the even distribution of fertilizer in the soil of the root of crops, avoids the defect of uneven fertilizer distribution and root burning, and eliminates the hidden trouble of drought resistance and disease resistance reduction of crops caused by floating of the root system of the crops due to the traditional fertilizer application mode.
The fruit tree crown is big, the leaf layer is dense, and the medicine fog is difficult to penetrate, can not ensure to beat every fruit tree from the top down, and a lot of pests can all move at the leaf back, can not spray the leaf back to pesticide, because above-mentioned reason, unmanned aerial vehicle that current is popular sprays pesticide and beats at all and does not thoroughly, leads to the effect not to do by the manual work well, can't kill the pest on crop leaf back.
The robot can be used for replacing the pesticide bin on the universal chassis, and the pesticide is accurately sprayed to crops by utilizing the image recognition technology of the robot, so that the pesticide waste is reduced, and the defect of poor pest killing effect on the back of the leaves due to unmanned aerial vehicle spraying is overcome.
And collecting image analysis of the growth situation of crops by a binocular vision sensor arranged on a low-cost multi-axis stabilizer, and spraying leaf fertilizer required by the crops in the advancing process. 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 robot in the vertical direction of the visual recognition system is adjusted, the situation of insect damage on the back of the leaf can be seen, the nozzle 15 arranged on the pesticide module is controlled to move up and down on the nozzle guide rail 25 (in the vertical direction) through insect damage recognition and edge calculation and 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 directions is adjusted, and the pesticide is precisely sprayed on the insect damage position.
In the crop harvesting season, the yield of each crop can be counted by replacing a mother bin with a weighing function, and the yield is uploaded to a cloud end for summarizing, so that a marketing plan is established in advance.
The safety measure is that a human body proximity sensor is arranged at the front end of the robot, and when a person approaches to a working area of the robot, the running and ditching work of the robot is automatically cut off to protect the human body from being damaged.
The robot adopts multi-source sensor fusion such as Beidou navigation, binocular identification, laser radar and the like to conduct route planning and obstacle avoidance. Among them, the laser radar uses a Time of Flight (TOF) technique to calculate the relative distance between a target and itself based on the turn-back Time of laser light after encountering an obstacle. The laser beam can accurately measure the relative distance between the outline edge of the object in the view field and the robot, the outline information forms a so-called point cloud, a 3D environment map is drawn, and the information of the category, time, dimension, speed, position and the like of the target parameter is output through comprehensive processing of the data analysis of the feasible region of the orchard, tree spacing information, tree coordinates, tree outline size, the advancing speed information of the robot and the like.
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 travelling 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, simple operation, no waste, no pollution and the like, and has great advantages and development potential in the aspects of intelligent agriculture and the like by adding the original fertilizer and soil mixing and distributing technology, and has very wide application prospect.
Finally, it should be pointed out that the above embodiments are only intended to illustrate the technical solution of the invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that modifications may be made to the technical solutions described in the foregoing embodiments or equivalents may be substituted for some of the technical features thereof, and that such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention in essence of the corresponding technical solutions.
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| CN113348842B (en) * | 2021-06-17 | 2022-10-11 | 昆明理工大学 | An automatic variable fertilizer applicator for orchards based on multi-line lidar |
| CN113557837B (en) * | 2021-07-26 | 2022-05-17 | 河北农业大学 | Intelligent water and fertilizer integrated equipment and use method thereof |
| CN113632626B (en) * | 2021-08-12 | 2022-06-10 | 阜阳市乾丰茶业有限公司 | A fixed-point quantitative fertilization method for tea chrysanthemum planting |
| CN114082772B (en) * | 2021-11-23 | 2023-05-26 | 广东中烟工业有限责任公司 | Pesticide soil residue jointly administers equipment |
| KR102424114B1 (en) * | 2021-11-23 | 2022-07-27 | 대한민국 | Robot of unmanned unicycle electric wheel type for upland crop management |
| CN114402955A (en) * | 2022-01-17 | 2022-04-29 | 上海市园林科学规划研究院 | Intelligent and accurate blending system and method for formulated soil for landscaping |
| CN115349341B (en) * | 2022-07-20 | 2024-02-02 | 湖南科技学院 | Intelligent vegetable foliar fertilizer fixed-point spraying equipment |
| CN116210419A (en) * | 2022-12-30 | 2023-06-06 | 广东若铂智能机器人有限公司 | Automatic fertilization equipment based on machine vision |
| CN115777312B (en) * | 2023-02-10 | 2023-04-25 | 中国建设基础设施有限公司 | Dynamic fertilization method based on soil information real-time acquisition and analysis |
| CN118715907B (en) * | 2024-06-25 | 2025-03-14 | 武昌工学院 | Crawler-type multifunctional agricultural robot |
| CN119384903B (en) * | 2024-10-14 | 2025-05-13 | 扬州大学 | A sowing method suitable for heavy clay soil operations |
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