Izmajlov Andrej Yurevich (RU),Измайлов Андрей Юрьевич (RU),Marchenko Leonid Anatolevich (RU),Марченко Леонид Анатольевич (RU),Smirnov Igor Gennadievich (RU),Смирнов Игорь Геннадиевич (RU),Mochkova Tat
申请号：
RU2019127779
公开号：
RU0002731082C1
申请日:
2019.09.03
申请国别(地区):
RU
年份:
2020
代理人:
摘要：
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 on
