CN112136423A - Multifunctional agricultural robot - Google Patents

Abstract

The invention provides a multifunctional agricultural robot, which comprises a fertilizer and soil mixing and stirring mother silo and a driving module. The fertilizer and soil mixing and stirring mother silo is installed above the driving module through a quick locking device; the driving module is a wheel-type or crawler-type driving chassis , Fertilizer and soil mixing and stirring mother bin includes: rotary bucket, closed soil conveyor belt, human body proximity safety sensor, lidar/RFID/visual recognition system, fertilizer bin module, liquid foliar fertilization or pesticide module, soil bin module , fertilizer/soil mixing module, robot control center, soil cutting and leveling device, weighing module and mixed fertilizer cutting port. The invention realizes the whole process of ditching and excavation, real-time nutrient detection and analysis, fertilizer compounding, mixing fertilizer, fertilization and automatic backfilling at one time. 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 machines. Fast analysis, simple operation, no waste, no pollution and many other advantages.

Description

A multifunctional agricultural robot

technical field

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

Background technique

Soil is a very complex substance, organic matter and inorganic matter coexist, solid, liquid and gas are intertwined, plants and microorganisms are interdependent, and the growth of crops is closely related to nitrogen, phosphorus, potassium, organic matter and other nutrients in the soil. For the formation of crop yield, 40% to 80% of the nutrients come from the soil, but the soil cannot be regarded as an inexhaustible "nutrient pool". In order to ensure that the soil has sufficient nutrient supply capacity and intensity, and maintain the balance between the carry-out and input of soil nutrients, it must be achieved through the measure of fertilization. Relying on fertilization, the nutrients absorbed by crops can be "returned" to the soil to ensure soil capacity.

The growth of crops requires water and various nutrients from the soil. The soil itself does not always provide the best nutrients for the crops. Farmers must regularly rotate crops to provide the necessary nutrients. In the past, to harvest more crops , the application of chemical fertilizers to crops is a commonly used method, and excessive fertilization will lead to waste of resources and serious environmental pollution. Some chemical substances such as nitrogen, phosphorus, and potassium are easily consolidated by the soil, causing various salts to accumulate in the soil, causing soil nutrients. Unbalanced, causing the content of harmful heavy metals and harmful bacteria to exceed the standard, resulting in the deterioration of soil properties, the transformation and synthesis of some substances in crops are blocked, and the quality of agricultural products is reduced.

In recent years, with the country's vigorous development of green agriculture and the promotion of organic fertilizers to replace chemical fertilizers, the physical and chemical properties of orchards have been improved to a certain extent. However, there are still some areas where orchards do not pay attention to the application of organic fertilizers, and soil salinization occurs to varying degrees. , the hardening is more serious, the root growth is limited, resulting in the unguaranteed yield and quality, and the farmers' income has dropped significantly.

On the one hand, the root system of crops can absorb nutrients such as water and minerals from the soil to meet the needs of crop growth; on the other hand, it can store nutrients to facilitate short-term plant growth when the root system cannot adapt to conditions. In addition, the functions of the root system to secrete organic acids, synthesize growth hormone, and reproduce new plants also affect the growth of plants. However, the normal performance of these functions of the root system requires appropriate soil temperature, humidity, air permeability, etc., and the application of organic fertilizer can keep the soil temperature and humidity suitable and increase air permeability, which is conducive to the normal function of the root system. play. The application of organic fertilizers not only affects the yield and quality of plants in the current year, but also improves the physical and chemical properties of the soil, improves the growth potential of plants, creates excellent conditions for the normal growth and development of plants, and improves the resistance of plants to harsh environments.

Prior art CN201820913714.5 A patent for a fertilizing device for agricultural machinery, which uses a four-wheel tractor as traction, is more suitable for mechanized fertilization of large-scale farmland, cannot operate in hills, mountains, etc., and there is no fertile soil mixing process, which may cause Nutrients such as phosphorus and potassium accumulate in the soil, resulting in unbalanced soil nutrients and root burning of crops.

The prior art CN201820446062.9 is a patent for a remote monitoring system for a canopy apple orchard digging and fertilizing machine based on image transmission, which is to monitor the field work situation of the digging and fertilizing machine by collecting the data information of the digging and fertilizing machine in real time, and find out in time For the failure of the digging fertilizer machine, the remote monitoring and control of the data of the digging fertilizer machine can be realized through wireless transmission, and the excavation, fertilization and soil covering cannot be completed at one time.

The traditional artificial fertilization methods in my country are inefficient and shallow, which can easily cause the root system of crops to float up, reduce the drought resistance and disease resistance of crops, and seriously affect the yield and fruit quality of crops. Therefore, there is an urgent need for a machine and equipment that can replace labor to accurately fertilize each crop, so as to reduce the labor intensity of farmers, improve agricultural production efficiency, and save labor and production costs.

SUMMARY OF THE INVENTION

In order to overcome the defects in the prior art, the present invention provides a multi-functional agricultural robot, which integrates fertilizer science, machine learning, Internet of Things, big data, etc. with the crop growth system, and customizes the differences according to different crop types. It can realize the whole process of ditching and excavation, real-time nutrient detection and analysis, compounding, compounding, fertilizing, and automatic backfilling at one time. It can realize the operation of different terrains and soil qualities such as orchards, small plots of land, tea gardens, hills, mountains, etc. that large-scale machinery cannot enter.

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

A multifunctional agricultural robot, comprising: a fertilizer and soil mixing and stirring mother silo and a driving module, wherein the fertilizer and soil mixing and stirring mother silo is installed above the driving module through a quick locking device;

The drive module is a wheel-type or crawler-type drive chassis, and uses a gasoline engine, a diesel engine or a battery pack as a power source;

The fertilizer and soil mixing and stirring mother silo includes: rotating bucket, closed soil upper conveyor belt, human body proximity safety sensor, lidar/RFID/visual recognition system, fertilizer silo module, liquid foliar fertilization or pesticide module, soil silo Module, fertilizer/soil mixing module, robot control center, soil cutting and leveling device, weighing module and mixed fertilizer cutting port;

One end of the closed soil upper conveyor belt is connected to the front end of the fertilizer and soil mixing and stirring mother silo, and the other end of the closed soil upper conveyor belt is connected to the rotating bucket, and the rotating bucket is arranged at the Below the front end of the fertilizer and soil mixing and stirring mother silo, the rotating bucket 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 mother warehouse, and the lidar/RFID/visual recognition system is arranged at the front end of the fertilizer and soil mixing and stirring mother warehouse, and the human body is close to the safety. The sensor and lidar/RFID/visual recognition system jointly realize the determination of obstacles, targets, positions, dimensions, speeds and orientations, and transmit the relevant data to the robot control center set at the back end of the fertilizer and soil mixing master warehouse, Carry out the planning of objects, obstacles and routes;

The fertilizer silo module is arranged inside the front end of the fertilizer and soil mixing and stirring mother silo, and the weighing module is arranged at the lower end thereof, which weighs different fertilizers released by the fertilizer silo module;

The liquid foliar fertilization or pesticide module is arranged in the middle of the fertilizer and soil mixing and stirring mother silo, and the foliar fertilization is fertilized or the pesticide is sprayed on the foliar by using a nozzle;

The soil bin module is arranged at the rear of the fertilizer and soil mixing and stirring mother bin, and the soil cutting and leveling device and the weighing module are arranged at the lower end of the soil bin module. The soil released by the soil bin module is weighed;

The fertilizer/soil mixing and stirring module is arranged at the bottom of the fertilizer and soil mixing and stirring mother warehouse, and the fertilizer and soil are mixed and stirred;

The robot control center is arranged at the rear end of the fertilizer and soil mixing and stirring mother silo, is electrically connected with each component of the multifunctional agricultural robot, and controls the robot;

The mixed fertilizer discharge port is arranged below the fertilizer and soil mixing and stirring mother silo.

Preferably, the lower end of the soil bin module is provided with two independent soil outlets; the fertilizer bin module is provided with a plurality of, and the lower end of each fertilizer bin module is provided with a fertilizer outlet; the weighing module comprises: a soil scale A weight module and a fertilizer weighing module, the soil weighing module is arranged below the soil outlet of the soil bin module, the lower end of the soil weighing module is provided with an outlet, and the fertilizer weighing module is arranged in the fertilizer bin module Below the fertilizer outlet of the fertilizer weighing module, an outlet is provided at the lower end of the fertilizer weighing module.

Preferably, the sealed soil upward transportation pipeline is connected to one end of the sealed soil horizontal transportation pipeline arranged inside the fertilizer and soil mixing mother silo, and the other end of the sealed soil horizontal transportation pipeline extends to the end of the soil silo module. Above; a soil outlet set at the lower end of the soil bin module is connected to one end of the covered topsoil conveying pipeline, and the other end of the covered topsoil conveying pipeline is connected to the soil blanking and leveling device.

Preferably, the liquid foliar fertilization or pesticide module includes: a nozzle guide rail, a liquid conveying hose and a nozzle, the nozzle guide rail and the liquid conveying hose pass through the upper surface of the fertilizer and soil mixing and stirring mother silo, and the nozzle The nozzle can move along the XYZ axis under the guidance of the nozzle guide rail, and one end of the liquid delivery hose is connected to the liquid foliar fertilization or pesticide module, and the other end is connected to the nozzle.

Preferably, an infrared spectrum sensor and a light source are arranged on the top of the soil bin module, the light source illuminates the soil inside the soil bin module, the infrared spectrum sensor collects the diffusely reflected light reflected by the soil, and collects the The soil spectral data is transmitted to the robot control center.

Preferably, the robot control center is provided with a communication device, which can wirelessly communicate with the cloud expert database by means of 4G and 5G.

Preferably, an operation method for operating the above-mentioned multifunctional agricultural robot:

1) Select a drive module for the multi-functional agricultural robot according to the needs of field operations, and add corresponding fertilizers to each fertilizer bin module of the multi-functional agricultural robot respectively, and choose to add liquid fertilizer in the liquid foliar fertilizer or pesticide module. fertilizer or pesticide, start the multifunctional agricultural robot;

2) The rotary digging bucket digs a strip-shaped ditch during the forward movement of the multifunctional agricultural robot, and the excavated soil is passed through the sealed soil upward transportation soil pipeline and the sealed soil horizontal transportation pipeline, and the excavated soil is excavated. The soil is sent to the soil bin module;

3) The light source in the soil bin module irradiates the soil, the infrared spectrum sensor collects the diffuse reflection light reflected by the soil, and transmits the collected soil spectrum data to the robot control center, and performs edge detection locally. The combination of computing, 4G or 5G and cloud expert database data communication technology, according to the actual situation of different types of soil, combined with the crop identification RFID tags read by the multi-functional agricultural robot while traveling, to interpret the fertilization history of crops, plan excavation Formulate different fertilization strategies in depth; open a soil outlet of the soil bin module, drop part of the soil into the soil weighing module for weighing, and after weighing, open the outlet and drop it to the soil to the fertilizer and soil mixing and stirring module ; Open the fertilizer outlet of the corresponding fertilizer bin module according to the fertilization strategy, drop the fertilizer into the fertilizer weighing module, and open the outlet after weighing and fall into the fertilizer and soil mixing and stirring module;

4) Through the binocular vision sensor installed on the low-cost multi-axis stabilizer, the image analysis of the crop growth situation is collected, combined with the fertilization strategy, the liquid foliar fertilization or pesticide module is opened and the position and angle of the nozzle are adjusted, Spray the foliar fertilizers required by the crops on the move, or spray the backside of the leaves with precise pesticides;

5) Stir and mix the soil and various fertilizers evenly in the fertilizer and soil mixing module;

6) After the mixing is completed, open the feeding port of the mixed loam, drop the mixed loam into the excavated strip ditch, finally open another outlet of the soil bin module, and transport the remaining soil through the covered topsoil The pipeline is conveyed to the soil cutting and leveling device, covering the surface layer of the fertilized strip trench.

The beneficial effects of the present invention are:

1. Integrate fertilizer science, machine learning, Internet of Things, big data, etc. with the crop growth system, and customize the fertilization plan for the crop according to the type of crops to realize trenching, real-time nutrient detection and analysis, compound fertilizer, compound fertilizer, The whole process of fertilization and automatic backfilling is completed at one time.

2. It can realize the operation of different terrains and soil qualities such as orchards, small pieces of land, tea gardens, hills, mountains, etc. that large-scale machinery cannot enter.

3. Interpret the fertilization history of crops, plan the excavation depth, etc., and use infrared spectrum sensors to detect soil nutrients to analyze what fertilizers need to be supplemented and the amount needed to provide crops with the most suitable amount of fertilizer, which can be based on the different growth of crops. It is necessary to send mixed fertilizers to the roots of crops, which improves the nutrient absorption capacity of crops and the utilization rate of fertilizers.

4. Using the robot's image recognition technology to accurately spray pesticides on crops not only reduces the waste of pesticides, but also eliminates the drawbacks that drone spraying has poor killing effect on the underside of leaves.

5. It ensures the uniform distribution of the fertilizer at the root of the crop in the soil, avoiding the disadvantage of uneven distribution of fertilizer and burning the roots; eliminating the hidden danger of the crop root system floating up due to the traditional fertilization method, which leads to the reduction of the drought resistance and disease resistance of the crop.

6. The robot of the present invention has many advantages, such as fast analysis speed, simple operation, no waste, no pollution, etc., plus the original fertile soil mixing and distribution technology, it has huge advantages and development potential in smart agriculture and other aspects, and the application prospect is very broad.

Description of drawings

FIG. 1 is a schematic diagram of the multifunctional agricultural robot of the present invention.

Figure 2 is a schematic diagram of the internal structure of the fertilizer and soil mixing and stirring mother silo of the present invention.

Figure 3 is a schematic diagram of the soil bin module of the present invention.

FIG. 4 is a schematic diagram of soil spectral data collection according to the present invention.

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

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

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

FIG. 8 is a schematic diagram of the edge computing flow of the present invention.

Fig. 9 is the flow chart of multi-source sensor fusion obstacle avoidance and route planning of the present invention

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements or elements having the same or similar functions. The described embodiments are some, but not all, of the embodiments of the present invention. The embodiments and directional words described below with reference to the accompanying drawings are all exemplary, and are intended to be used to explain the present invention, but should not be construed as limiting the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

The present invention is further described with reference to accompanying drawings 1-5.

A multifunctional agricultural robot, comprising: a fertilizer and soil mixing and stirring mother bin 1 and a driving module, and the fertilizer and soil mixing and stirring mother bin 1 is installed above the driving module through a quick locking device;

The drive module is a wheel-type or crawler-type drive chassis 2, and uses a gasoline engine, a diesel engine or a battery pack as a power source;

The fertilizer and soil mixing and stirring mother silo 1 includes: a rotating bucket 3, a closed soil upper conveyor belt 4, a human body proximity safety sensor 5, a laser radar/RFID/visual recognition system 6, a fertilizer silo module 7, liquid foliar fertilization Or pesticide module 8, soil bin module 9, fertilizer/soil mixing and stirring module 21, robot control center 10, soil cutting and leveling device 11, weighing module 12 and mixed fertilizer discharge port 13;

One end of the closed soil upper conveyor belt 4 is connected to the front end of the fertilizer and soil mixing and stirring mother silo 1, and the other end of the closed soil upper conveyor belt 4 is connected to the rotating bucket 3. The bucket 3 is arranged below the front end of the fertilizer and soil mixing and stirring mother warehouse 1, and the rotating bucket 3 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 mother warehouse 1, and the lidar/RFID/visual recognition system 6 is arranged at the front end of the fertilizer and soil mixing and stirring mother warehouse 1. The human body proximity safety sensor 5 and the lidar/RFID/visual recognition system 6 jointly realize the determination of obstacles, targets, positions, dimensions, speeds and orientations, and transmit the relevant data to the fertilizer and soil mixing master warehouse. 1 The robot control center 10 at the back end is used to plan objects, obstacles and routes;

The fertilizer bin module 7 is arranged inside 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 thereof, which weighs 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 warehouse 1, and the nozzle 15 is used to fertilize the foliar surface or spray the pesticide on the foliar surface;

The soil bin module 9 is arranged at the rear 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 cutting and leveling device 11 and the weighing module 12. 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 and soil mixing and stirring mother warehouse 1, and the fertilizer and soil are mixed and stirred;

The robot control center 10 is arranged at the rear end of the fertilizer and soil mixing and stirring mother silo 1, and is electrically connected to each component of the multifunctional agricultural robot, and controls the robot;

The mixed fertile soil feeding port 13 is arranged below the mother silo 1 for mixing and stirring the fertilizer and soil.

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, and the lower end of each fertilizer bin module 7 is provided with a fertilizer outlet 24; the weighing module 12 includes: 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 soil weighing module The lower end of 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 said sealed soil upward transportation pipeline 4 is connected to one end of the sealed soil horizontal transportation pipeline 19 arranged in the said fertilizer and soil mixing mother silo 1, and the other end of the shown sealed soil horizontal transportation pipeline 19 extends to the said soil silo module 9; a soil outlet 16 provided at the lower end of the soil bin module 9 is connected to one end of the covered topsoil conveying pipe 20, and the other end of the covered topsoil conveying pipe 20 is connected to the soil blanking and leveling device 11.

The liquid foliar fertilization or pesticide module 8 includes: a nozzle guide rail 25, a liquid delivery hose 26 and a nozzle 15, and the nozzle guide rail 25 and the liquid delivery hose 26 pass through the upper surface of the fertilizer and soil mixing and stirring mother bin 1. , the nozzle 15 can move along the XYZ axis under the guidance of the nozzle guide rail 25, the liquid delivery hose 26 is connected to the liquid foliar fertilization or pesticide module 8 at one end, and the other end is connected to the Nozzle 15.

The interior top of the soil bin module 9 is provided with an infrared spectrum sensor 14 and a light source 18, the light source 18 illuminates the soil inside the soil bin module 9, the infrared spectrum sensor 14 collects the diffusely reflected light reflected by the soil, and The collected soil spectral data is transmitted to the robot control center 10 .

The robot control center 10 is provided with a communication device, which can wirelessly communicate with the cloud expert database through 4G and 5G.

According to Figures 1-8, the working process of the present invention is introduced

An operation method for operating the above-mentioned multifunctional agricultural robot:

1) Select a drive module for the multi-functional agricultural robot according to the needs of field operations, and add corresponding fertilizers to each fertilizer bin module 7 of the multi-functional agricultural robot respectively, and select from the liquid foliar fertilizer or pesticide module 8 Add liquid fertilizer or pesticide, and start the multifunctional agricultural robot;

2) The rotary bucket 3 digs strip-shaped ditches during the forward movement of the multi-functional agricultural robot, and the excavated soil is transported through the sealed soil upward soil pipeline 4 and the sealed soil horizontal transport pipeline 19, Send the excavated soil to the soil bin module 9;

3) The light source 18 in the soil bin module 9 illuminates the soil, the infrared spectrum sensor 14 collects the diffusely reflected light reflected by the soil, and transmits the collected soil spectrum data to the robot control center 10, Through local edge computing, the combination of 4G or 5G and cloud expert database data communication technology, according to the actual conditions of different types of soil, combined with the crop identification RFID tags read by the multi-functional agricultural robot while traveling, to interpret the fertilization history of crops 2. Plan the excavation depth and formulate different fertilization strategies; open a soil outlet 17 of the soil bin module 9, drop part of the soil into the soil weighing module 12-1 for weighing, and open the outlet 23 after the weighing is completed. The soil-to-fertilizer and soil mixing and stirring module 21; according to the fertilization strategy, open the fertilizer outlet 24 of the corresponding fertilizer bin module 7, drop the fertilizer into the fertilizer weighing module 12-2, and open the outlet 22 after weighing fall into the fertilizer and soil mixing module 21;

4) Through the binocular vision sensor installed on the low-cost multi-axis stabilizer, the image analysis of the crop growth situation is collected, combined with the fertilization strategy, the liquid foliar fertilization or pesticide module 8 is opened and the position and the position of the nozzle 15 are adjusted. Angle, spray the foliar fertilizer required by the crops on the move, or spray the pesticide precisely on the back of the leaves;

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

6) After the mixing is completed, open the mixed fertile soil feeding port 13, drop the mixed fertile soil into the excavated strip ditch, finally open another outlet 16 of the soil bin module 9, and pass the remaining soil through the described The topsoil conveying pipeline 20 is transported to the soil cutting and leveling device 11 to cover the surface layer of the fertilized strip ditch.

According to Figures 1-8, the calculation process of the present invention is introduced

A rotating bucket 3 is installed at the front end of the robot to excavate strip-shaped ditches. The excavated soil is transported to the soil bin module 9 through the closed soil conveyor belt 4. There are two automatically openable and closed bottom of the soil bin module 9. The soil outlets 16 and 17 can execute the instructions issued by the robot control center 10 to open and close the soil outlets respectively.

The real-time soil nutrient detection and analysis system is realized by infrared spectrum detection technology. As a fast, cost-effective, environment-friendly, and non-destructive analysis technology, infrared spectroscopy is uniquely used in multi-functional fertilization robots. The soil infrared spectroscopy analysis is based on the following principles: molecular vibrations and electronic transitions related to soil components interact with radiation. While absorbing light, many soil properties can be directly calibrated to near-infrared (NIR) and mid-infrared (MIR) spectra because the spectral signatures respond to mineral and organic composition in the soil.

By reading the crop identification RFID tag during the process of traveling, interpreting the fertilization history of the crop, planning the excavation depth, etc., and using the infrared spectrum sensor to detect soil nutrients, it can analyze what fertilizers need to be supplemented and the quantity needed by the crops, so as to provide the crops with the best fertilizer. A suitable amount of fertilizer can deliver the mixed fertilizer to the root of the crop according to the different needs of crop growth, which improves the nutrient absorption capacity of the crop and the utilization rate of the fertilizer.

The soil bin module 9 is designed as a dark room with closed light, and is provided with LED or other light sources. When detecting, the light is projected on the soil sample. The infrared spectrum sensor 14 receives the diffuse reflection light irradiated on the soil, and collects the spectral data of the soil. , and then compare it with the soil spectral data stored by the robot to judge the fertility of the soil.

We will capture the reflection spectrum of the soil and input it into the robot control center 10 for edge computing, use artificial intelligence technologies such as deep learning to analyze and process crop growth and soil nutrients in real time, and then compare with the cloud expert database through 4G or 5G wireless communication network. pair analysis.

Through the soil real-time infrared spectrum analysis, crop image recognition technology to perform local edge computing, the combination of 4G or 5G and cloud expert database data communication and other technologies, different fertilization strategies can be formulated according to the actual conditions of different types of soil;

The robot has multiple fertilizer bin modules 7 (such as nitrogen, phosphorus, potassium, organic fertilizer, etc.). After obtaining the optimal fertilization formula according to the robot's analysis of soil nutrients, the corresponding fertilizer bin modules 7 are respectively opened to weigh the fertilizer. The fertilizer is dropped into the mixing bin and mixed with the soil, and the mixture is evenly mixed to supplement the nutrients required by the crops in a targeted manner. What elements are lacking in crops can be supplemented with as many elements as needed, so as to achieve a balanced supply of various nutrients, meet the needs of crops, and solve the problem of increasing crop yields by applying a large amount of chemical fertilizers. Solve the contradiction between nutrient demand and soil nutrient supply during crop growth. In this way, there is almost no waste of fertilizer, which greatly reduces agricultural costs, and robots proficient in fertilizer science also know how to apply fertilizer to minimize the impact on the environment, which can fundamentally change the status quo of extensive agriculture in my country.

The original fertile soil mixing application technology transports the soil generated during the process of digging trenches to the soil bin. According to the fertilization plan formulated by the robot, the soil and fertilizer are mixed and mixed in the mixing bin. The material opening 13 is placed in the ditch, and finally the ditch is filled and leveled by the soil blanking and leveling device 11 at the rear of the robot.

1. Dig trenches

During the forward movement of the rotary bucket 3, the excavated soil is sent to the soil bin module 9 through the sealed upper soil transportation pipeline 4 and the sealed soil horizontal transportation pipeline 19;

2. Soil and fertilizer weighing

According to the real-time soil and fertilizer formula, open the soil outlet 17 of the soil bin module 9, drop the required soil into the soil weighing module 12-1 for weighing, open the outlet 23 after weighing and drop the soil to the fertilizer and soil mixing module 21;

The fertilizer outlet 24 of the fertilizer bin module 7 is opened, and the fertilizer is dropped into the fertilizer weighing module 12-2. After weighing, the outlet 22 is opened and dropped into the fertilizer and soil mixing module 21;

3. Mixing fertilizer

Stir and mix the soil and various fertilizers evenly in the fertilizer and soil mixing module 21;

4. Fertilization and topsoil

After the mixing is completed, open the mixed fertile soil feeding port 13, drop the mixed fertile soil into the excavated ditch, finally open the outlet 16 of the soil bin module 9, and cover the soil on the surface layer of the fertilized ditch by covering the topsoil conveying pipeline 20 .

By using the robot's fertilizer-soil mixed application method, the upper surface soil does not contain fertilizer, which ensures the uniform distribution of the fertilizer at the root of the crop in the soil, and avoids the disadvantage of uneven distribution of fertilizer and burning the roots; Floating, leading to the hidden danger of reducing the drought resistance and disease resistance of crops.

Fruit trees have large crowns and dense layers of leaves, and the mist is not easy to penetrate. It is impossible to ensure that every fruit tree is penetrated from top to bottom. Many pests will move on the back of leaves, and pesticides cannot be sprayed on the back of leaves. Due to the above reasons, The current popular drone spraying pesticides can't penetrate at all, so the effect is not as good as that of artificial ones, and it cannot kill the pests on the back of the crop leaves.

The robot can be replaced with a pesticide warehouse on the general chassis, and the robot's image recognition technology can be used to accurately spray pesticides on crops, which not only reduces the waste of pesticides, but also eliminates the disadvantage of drone spraying.

Through the binocular vision sensor installed on the low-cost multi-axis stabilizer, the image analysis of the crop growth situation is collected, and the foliar fertilizer required by the crop is sprayed on the road. The height of the foliar fertilizer nozzle can be moved vertically by itself to adapt to the height of different crops.

Adjust the position of the robot's visual recognition system in the vertical direction so that the insect pests on the back of the leaves can be seen, and control the nozzle 15 installed on the pesticide module to move up and down on the nozzle guide rail 25 (vertical direction) through insect pest identification and edge calculation analysis. Control the nozzle 15 to be lowered to the position below the back of the leaf, adjust the nozzle 15 that can spray in the XYZ three-axis directions, and accurately spray the insect-infested parts.

In the harvest season of crops, we replace the mother warehouse with weighing function, which can count the output of each crop, upload it to the cloud for summary, and establish a marketing plan in advance.

Safety measures: A human body proximity sensor is installed at the front end of the robot. When someone approaches the robot work area, it will automatically cut off the robot's travel and ditch work to protect the human body from harm.

The robot uses multi-source sensor fusion such as Beidou navigation, binocular recognition, and lidar for route planning and obstacle avoidance. Among them, the technology used by lidar is Time of Flight (TOF, Time of Flight), which calculates the relative distance between the target and itself according to the return time of the laser after encountering an obstacle. The laser beam can accurately measure the relative distance between the contour edge of the object in the field of view and the robot. These contour information form a so-called point cloud and draw a 3D environment map. Through the data analysis of the feasible area of the orchard, tree spacing information, tree coordinates, Comprehensive processing of tree outline size, robot forward speed information, etc., and output information such as category, time, dimension, speed, and position of target parameters.

The robot adopts a modular drive chassis. According to different needs, the power is driven by gasoline, diesel or battery, and the crawler or wheel travel mode is selected according to the use environment.

The robot using infrared spectrum soil detection has many advantages such as fast analysis speed, simple operation, no waste, no pollution, etc., coupled with the original fertile soil mixing technology, it has huge advantages and development potential in smart agriculture and other aspects, and the application prospect is very promising. broad.

Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements to some of the technical features; and these Modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (7)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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