Research And Development Of Autonomous Mobile Robot For Pesticide And Fertilizer Spraying

Drug and fertilizer spraying is a common plant protection operation in agricultural production.At present,the agriculture mostly adopts manual or mechanical operation mode.Inevitably,medicine and fertilizer will contact with the human body at work,which affects the health of the operator and increases the risk of the operator's illness.In order to solve the above problems,a dual-control mode fertilizer and medicine co-application robot was developed to achieve the goal of fertilizer and medicine co-application,man-machine separation and flexible control.The robot mainly consists of mobile chassis,remote control system,robot control system and variable spraying system.Its load capacity is more than 60 kg.The remote control distance is more than 2 km.The path error of autonomous navigation is less than 30 CM,and image transmission of visual monitoring system has no delay,which can meet the purpose of real-time control.According to the actual working environment,the chassis of the robot adopts the crawler structure and the electric drive working mode.With MEGA2560 as the core,the control system mainly completes the functions of robot motion control,attitude detection and analysis,variable target spraying control and data transmission.The robot adopts two control modes,which are remote control and autonomous movement.The remote control is mainly based on 4G network,through which the environment information around the vehicle is transmitted to the remote monitor by the car body camera,and the operator can control the robot movement remotely according to the image information.The autonomous mobile adopts the integrated navigation mode of satellite-inertial navigation system,and using GPS to obtain the position information and the attitude information from the inertial navigation module gyroscope to make the decision of the car body movement.According to the actual work needs of the orchard.The radar obstacle avoidance system is added to meet the security requirements.Based on the spraying requirement and infrared target detection technology,a flexible spraying arm and the point-controlled spraying system based on variable theory are designed,which realize the function of target spraying.