MOBILE ROBOT-SPRAYER FOR PESTICIDE TREATMENT OF INTERTILLED VEGETABLE AND LOW-GROWING BERRY CROPS Russian patent published in 2020 - IPC A01M7/00 A01C23/00 A01B69/00 G05D1/02 

FIELD: agriculture.

SUBSTANCE: invention relates to the agriculture. Mobile robot-sprayer for pesticide treatment of tilled vegetable and low-growing berry crops comprises self-propelled four-wheel chassis in form of horizontal frame (1) with two guide front (2) and two driving rear (3) wheels, rear (5) and frontal (6) vertical rectangular frames with movable guides (7 and 8), rear (9) and frontal (10) horizontal bars with mechanisms (11 and 12) for lifting and lowering of rods (9 and 10), autonomous power supply system in the form of onboard accumulator batteries unit and solar battery panel (16) with multiple combined photocells (17 ), control and navigation system in the form of onboard computer (18), integrated navigation system module (20), chassis (4) electric drives control unit, technical vision system including installed on frontal bar (10) three-dimensional scanning laser optical range finder (23) and digital optoelectronic sensors (24), foaming and pesticide introduction system, including unit (25) for automatic control of supply, consumption and distribution of working solutions of pesticides and compressed air, ultrasonic sensors (32 and 33), tank (26) and mixer (27) for working solutions of pesticides, pump unit, compressed air source with pneumatic equipment, foaming modules (31) and pesticides introduction. Panel of solar battery (16) is made in form of half of surface of flattened spheroid of rotation, one of large axes of which lies in one vertical plane with longitudinal axis of symmetry of robot-sprayer, and small axis coincides with vertical axis passing through center of mass (M) of robot- sprayer. An antenna (22) of a satellite navigation system receiver is mounted on top of panel (16). Unit (20) of inertial navigation system is installed under frame (1). Unit (25) for automatic control of supply, consumption and distribution of working solutions of pesticides and compressed air on one side is connected by interface with central processor of onboard computer (18), on the other side – with hydraulic and pneumatic communications is connected with modules (31) of foaming and introduction of pesticides. Each foaming and pesticide introduction module (31) is equipped with at least three foam generators, two (40 and 41) of which are located horizontally with a common horizontal axis of symmetry and outlets directed towards each other, and one (42) is located vertically, with axis of symmetry, perpendicular to horizontal axis, and outlet hole directed downwards. Each of foaming and pesticide introduction modules (31) and each digital optoelectronic sensor (24) are equipped with self-contained drive mechanisms (34 and 35) with electric motors for translational movement of modules (31) and sensors (24) along horizontal rods (9 and 10). Longitudinal axes of symmetry of digital optoelectronic sensors (24) and longitudinal symmetry axes of foaming modules (31) and introduction of pesticides are constantly in one vertical plane perpendicular to axes of symmetry of rear horizontal bar (9) and axes of symmetry of frontal horizontal bar (10).

EFFECT: higher efficiency of action depending on phytosanitary conditions of plants, reduced standards of pesticides, minimized losses of pesticides, reduced risks of environmental pollution with pesticides, high efficiency of process.

1 cl, 4 dwg