Agricultural unmanned dosing vehicle based on multiple sensors and dosing method

Abstract

The invention discloses an agricultural unmanned dosing vehicle based on multiple sensors and a dosing method.The dosing vehicle body comprises a butt joint device, a self-propelled device, a liquid medicine conveying device and a sensing positioning device, the butt joint device comprises a butt joint mechanical arm and a rotating assembly, and a medicine storage box is arranged on the self-propelled device; the liquid medicine conveying device is used for conveying liquid medicine in the medicine storage box into a to-be-added medicine box of the boom sprayer; the liquid medicine conveying device comprises a liquid medicine conveying pipeline and a butt joint assembly. The sensing positioning device comprises a first positioning identification assembly and a second positioning identification assembly; according to the multi-sensor-based agricultural unmanned pesticide adding vehicle and the pesticide adding method, positioning and navigation are performed through the sensing positioning device, the vehicle travels to a preset position through the self-walking device, and then accurate butt joint of the butt joint mechanical arm and a pesticide adding opening of a spraying machine pesticide box is achieved through the sensing positioning device; finally, the pesticide liquid conveying device conveys the pesticide liquid in the pesticide storage box into a pesticide box of the boom sprayer, and unmanned pesticide liquid supplementing operation of the boom sprayer is completed.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural engineering, and in particular to an agricultural unmanned dosing vehicle and a dosing method based on multiple sensors. Background Art

[0002] Large boom sprayers are highly efficient agricultural machinery used for spraying pesticides, liquid fertilizers and plant growth regulators on large farmlands. Large boom sprayers have large medicine tank capacity and wide spray width. Usually, the effective medicine load reaches more than 3,000 liters, and the effective spray width can reach 20 to 30 meters. They can quickly complete the spraying operation of large farmlands, and can integrate advanced technologies such as precision control, path planning, and unmanned driving. However, for such large boom sprayers in farmlands, it is usually difficult and inefficient to dosing the pesticides back and forth, and there is the problem of seedling damage. For example, the manual method of adding pesticides to large sprayers is inefficient, and pesticides are toxic and have a certain impact on health. With the gradual maturity of unmanned driving technology and the gradual rise of unmanned farms, the use of drone-based dosing vehicles to dosing large boom sprayers at fixed points is an efficient and safe way to replenish liquid medicine. Summary of the invention

[0003] Purpose of the invention: To provide an agricultural unmanned dosing vehicle and dosing method based on multiple sensors, so as to solve the problems of the existing technology that the round-trip dosing of large-scale boom sprayers is difficult and inefficient, and there is a certain risk of manual dosing in farmland, while supporting the application of unmanned farms.

[0004] Technical solution:

[0005] An agricultural unmanned drug adding vehicle based on multiple sensors comprises a docking device, a self-propelled device, a drug liquid conveying device and a sensor positioning device, wherein the docking device comprises a docking mechanical arm and a rotating assembly, wherein the docking mechanical arm is mounted on the self-propelled device through the rotating assembly, wherein a drug storage box is arranged on the self-propelled device, wherein the drug storage box is connected to the drug liquid conveying device, and wherein the drug liquid conveying device transfers the drug liquid in the drug storage box to a drug-to-be-added box of a boom sprayer;

[0006] The liquid medicine delivery device comprises a liquid medicine delivery pipeline and a docking assembly, wherein the liquid medicine delivery pipeline is arranged on the docking mechanical arm, and the docking mechanical arm is used to adjust the position of the pipeline docking interface of the liquid medicine delivery pipeline, so that the liquid medicine delivery pipeline completes the docking operation with the medicine box to be added through the docking assembly arranged on the pipeline docking interface;

[0007] The sensor positioning device includes a first positioning and identification component and a second positioning and identification component. The first positioning and identification component is arranged on the medicine storage box to locate and identify the position of the box to be added with medicine, and the second positioning and identification component is arranged on the docking robot arm to identify the position of the medicine adding port on the box to be added with medicine.

[0008] In a further embodiment, the self-propelled device comprises a support platform and an electric crawler-type self-propelled assembly, the electric crawler-type self-propelled assembly is installed on the lower surface of the support platform, and the rotating assembly and the medicine storage box are both arranged on the upper surface of the support platform;

[0009] A storage slot is provided on the medicine storage box on one side parallel to the rotating assembly, and the storage slot is used to accommodate the docking mechanical arm in a folded state. A medicine injection port is provided on the medicine storage box; the docking mechanical arm can be stored and protected when the vehicle body is idle or moving;

[0010] An industrial computer is arranged on the supporting platform, and the industrial computer is electrically connected to the sensor identification device, the liquid medicine conveying device, the docking robot arm and the electric crawler self-propelled assembly.

[0011] In a further embodiment, the rotating assembly includes a hollow slewing bearing and a slewing drive assembly, the hollow slewing bearing is rotatably arranged on the supporting platform, the slewing drive assembly is used to drive the hollow slewing bearing to rotate, and the slewing drive assembly includes a slewing motor; the direction of the docking robot arm can be adjusted according to the position of the medicine box to be added.

[0012] In a further embodiment, the docking mechanical arm comprises a supporting arm, a docking arm and a power assembly, the supporting arm and the docking arm are both hollow structures, and the power assembly comprises an arm drive assembly and an arm drive assembly;

[0013] The bottom end of the supporting big arm is rotatably arranged on the hollow slewing bearing through the big arm driving assembly, and the top end of the supporting big arm is rotatably connected with the docking small arm through the small arm driving assembly.

[0014] In a further embodiment, the drug delivery device further comprises a submersible infusion pump built into the drug storage box, and the submersible infusion pump is connected to the drug delivery pipeline;

[0015] The medicine delivery pipeline includes a flexible pipeline and a docking bellows. One end of the flexible pipeline passes through the hollow slewing bearing and is connected to the liquid outlet end of the submersible infusion pump. The other end of the flexible pipeline passes through the supporting arm and the docking arm in sequence and is connected to one end of the docking bellows.

[0016] In a further embodiment, the docking assembly is disposed on the end of the docking bellows that is not connected to the flexible pipe, and the docking assembly includes an electromagnetic suction port, and the electromagnetic suction port is adsorbed and matched with the drug addition port.

[0017] In a further embodiment, the power assembly also includes a bellows drive assembly, which is disposed on an end of the docking small arm that is not connected to the supporting large arm, and the bellows drive assembly is used to drive the docking bellows to rotate, so that the angle between the docking bellows and the flexible pipe changes.

[0018] In a further embodiment, the first positioning and identifying component includes a first identifying antenna disposed on the medicine storage box, the first identifying antenna receives a position signal sent by a second identifying antenna, the industrial computer is used to process the position signal, and control the self-propelled device to move to a corresponding position according to the position signal;

[0019] There are three second identification antennas, and the three second identification antennas are arranged on the medicine box to be added around the medicine adding port.

[0020] In a further embodiment, a visual identification mark is provided on the surface of the medicine-adding box, and the visual identification mark surrounds the periphery of the medicine-adding port for identification by the second positioning identification component;

[0021] A liquid one-way valve is provided in the drug adding port, and the second positioning and identifying component includes a depth camera, which is provided on the docking robot arm; the position of the drug adding port can be further accurately determined.

[0022] A method for adding medicine using the agricultural unmanned dosing vehicle based on multiple sensors comprises the following steps:

[0023] Step 1: The first positioning component identifies the position information of the medicine box to be added of the boom sprayer, processes the position information through the industrial computer, and controls the self-propelled device to move to the position of the medicine box to be added according to the position information of the medicine box to be added;

[0024] Step 2: The second positioning and identification component locates the position information of the dosing port of the medicine-to-be-dosed box, and the docking mechanical arm drives the liquid medicine conveying device to move according to the position information of the dosing port, so that the liquid medicine conveying device docks with the medicine-to-be-dosed box to complete the connection between the medicine storage box and the medicine-to-be-dosed box;

[0025] Step 3: The liquid medicine delivery device is turned on, and an appropriate amount of liquid medicine in the medicine storage box is added to the medicine box to be added, completing the medicine replenishment operation;

[0026] Step 4: When the liquid level in the medicine adding tank of the spray boom sprayer reaches the position of the liquid level probe, the liquid level probe sensor sends a signal to the industrial computer to stop the liquid delivery action of the liquid delivery device and complete the liquid replenishment.

[0027] Beneficial effects of the present invention:

[0028] (1) Using an unmanned dosing vehicle to replenish the large boom sprayer with liquid can achieve efficient liquid replenishment while avoiding the risk of pesticide poisoning caused by manual dosing;

[0029] (2) By setting up an electric crawler-type self-propelled device, the device can move independently in the farmland or at the head of the field, making it convenient to go back and forth without being affected by the farmland space, thereby eliminating the need for a large-scale boom sprayer to go back and forth to perform the replenishment operation, thereby reducing the risk of seedling damage;

[0030] (3) By arranging a docking mechanical arm on the self-propelled device, the docking mechanical arm can flexibly adjust the transmission position angle of the liquid medicine conveying device to meet the position requirements of the medicine boxes to be added on the spray boom sprayers at different positions, so as to facilitate the operation of replenishing medicine. The flexibility is good, and no manual addition of medicine is required during this process. While improving the efficiency of replenishing medicine, it also ensures human health, and the practicality and safety are effectively improved;

[0031] (4) The RTK navigation system is integrated by setting the first identification and positioning component and the second identification and positioning component to locate the boom sprayer and the medicine box to be added and the vehicle distance control, so that the self-propelled device can move to the position of the medicine box to be added in time, and the docking robot arm can accurately dock with the medicine box to be added. The visual system on the second identification and positioning component can ensure the precise sealing docking of the electromagnetic suction port and the medicine adding port, so that the liquid medicine delivery device can add the liquid medicine in the medicine storage box to the medicine box to be added, ensuring the accurate and safe liquid medicine supply of the boom sprayer and realizing timely liquid medicine spraying operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of the working state of docking between the unmanned docking vehicle of the present invention and the medicine box to be added.

[0033] Figure 2 It is a schematic diagram of the docking mechanical arm structure of the present invention.

[0034] Figure 3 It is a structural schematic diagram of the unmanned docking vehicle of the present invention in a non-working state.

[0035] Figure 4 It is a schematic diagram of the overall structure of the medicine box to be added of the present invention.

[0036] Figure 5 It is a schematic diagram of the internal structure of the medicine box to be added of the present invention.

[0037] Figure 6 It is a control flow chart of the present invention.

[0038] The accompanying drawings are marked as follows: docking robot arm 1, self-propelled device 2, supporting platform 21, electric crawler self-propelled component 22, industrial computer 23, medicine storage box 3, first positioning and identification component 31, first identification antenna 311, second identification antenna 312, medicine injection port 32, storage slot 33, medicine box 4, medicine adding port 41, liquid one-way valve 411, liquid level probe 42, gas one-way valve 43, docking component 5, electromagnetic suction port 51, rotating component 6, hollow slewing bearing 61, slewing drive component 62, medicine liquid conveying device 7, flexible pipe 71, docking bellows 72, bellows drive component 73, docking forearm 8, forearm drive component 81, supporting arm 9, arm drive component 91, second positioning and identification component 10, depth camera 101, visual recognition mark 102. DETAILED DESCRIPTION

[0039] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0040] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0041] Reference Figure 1-6, is an agricultural unmanned drug adding vehicle based on multiple sensors disclosed in the present invention, comprising a docking device, a self-propelled device 2, a drug liquid conveying device 7 and a sensor positioning device, wherein the docking device comprises a docking mechanical arm 1 and a rotating assembly 6, wherein the docking mechanical arm 1 is mounted on the self-propelled device 2 through the rotating assembly 6, wherein a drug storage box 3 is provided on the self-propelled device 2, wherein the drug storage box 3 is connected to the drug liquid conveying device 7, wherein the drug liquid conveying device 7 transfers the drug liquid in the drug storage box 3 to a drug box 4 to be added of a boom sprayer, wherein the drug box 4 to be added is fixed on the boom sprayer; wherein the drug liquid conveying device 7 comprises a drug liquid conveying pipeline and a docking assembly 5, wherein the drug liquid conveying pipeline is arranged at On the docking robot arm 1, the docking robot arm 1 is used to adjust the position of the pipe docking interface of the liquid medicine delivery pipeline, so that the liquid medicine delivery pipeline completes the docking operation with the medicine box 4 to be added through the docking component 5 set on the pipe docking interface; the sensing positioning device includes a first positioning and identification component 31 and a second positioning and identification component 10, the first positioning and identification component 31 is arranged on the medicine storage box 3 for locating and identifying the position of the medicine box 4 to be added, so that the self-propelled device 2 moves to the position of the medicine box 4 to be added, and the second positioning and identification component 10 is arranged on the docking robot arm 1 for identifying the position of the medicine adding port 41 on the medicine box 4 to be added.

[0042] The self-propelled device 2 includes a support platform 21 and an electric crawler self-propelled component 22, the electric crawler self-propelled component 22 is installed on the lower surface of the support platform 21, the rotating component 6 and the medicine storage box 3 are both arranged on the upper surface of the support platform 21, the electric crawler self-propelled component 22 has a high load-bearing capacity and can achieve on-the-spot steering in a narrow field; a storage groove 33 is provided on one side of the medicine storage box 3 parallel to the rotating component 6, the storage groove 33 is used to accommodate the docking mechanical arm 1 in a folded state, the medicine storage box 3 is provided with a medicine injection port 32, the docking mechanical arm 1 in the folded state is a docking small arm 8 and a support large arm 9 rotated to fit to a first preset angle, and the support large arm 9 is rotated to a second preset angle. When the hollow slewing bearing 61 is in the preset return position, the supporting arm rotated to the second preset angle can drive the docking arm 8 to fold and shrink into the storage groove 33. An industrial computer 23 is provided on the support platform 21. The industrial computer 23 is electrically connected to the sensor recognition device, the liquid medicine conveying device 7, the docking mechanical arm 1 and the electric crawler self-propelled component 22, and is used to control the autonomous walking, precise positioning and automatic dosing of the dosing vehicle. The industrial computer 23 receives and processes the position signal sent by the sensor recognition device, and controls the operation of the liquid medicine conveying device 7, the docking mechanical arm 1 and the electric crawler self-propelled component 22 according to the position signal.

[0043] The rotating assembly 6 includes a hollow slewing bearing 61 and a slewing driving assembly 62. The hollow slewing bearing 61 is rotatably disposed on the supporting platform 21. The slewing driving assembly 62 is used to drive the hollow slewing bearing 61 to rotate. The slewing driving assembly 62 includes a slewing motor.

[0044] The docking robot arm 1 includes a supporting arm 9, a docking arm 8 and a power assembly. The supporting arm 9 and the docking arm 8 are both hollow structures. The power assembly includes an arm drive assembly 91 and an arm drive assembly 81. The arm drive assembly 91 includes an arm motor, and the arm drive assembly 81 includes an arm motor. The hollow structure is used to insert a flexible pipe 71 to transmit liquid medicine, and can be folded and retracted into the storage slot 33 on the medicine box, so as to save space when moving. The bottom end of the supporting arm 9 is rotatably arranged on the hollow slewing bearing 61 through the arm drive assembly 91, and the top end of the supporting arm 9 is rotatably connected to the docking arm 8 through the arm drive assembly 81. The connecting robot arm 1 is connected to the hollow slewing bearing 61 through a bottom mounting plate with a reserved pipe hole, and the arm motor is used to lift and store the supporting arm 9. A arm hollow support plate is installed in the supporting arm 9 to insert part of the flexible pipe 71 and improve the force on the robot arm, wherein the arm flexible pipe 71 is connected to a fixed pipe at the bottom, the fixed pipe is connected and fixed to the delivery end of the submersible infusion pump, and is connected to the elbow of the docking arm 8 at the top, and the docking arm 8 and the supporting arm 9 are rotatably connected through the arm elbow, the arm motor is used to lift and store the docking arm 8, and the arm elbow is used to change the direction of the pipe to facilitate the transmission of the liquid medicine, and a arm hollow support plate is installed on the docking arm 8, and its structure is hollow for inserting part of the flexible pipe 71.

[0045] The medicine delivery device 7 also includes a submersible infusion pump built into the medicine storage box 3, and the submersible infusion pump is connected to the medicine delivery pipeline; the medicine delivery pipeline includes a flexible pipe 71 and a docking bellows 72, one end of the flexible pipe 71 passes through the hollow slewing bearing 61 and is connected to the liquid outlet end of the submersible infusion pump, and the other end of the flexible pipe 71 passes through the supporting arm 9 and the docking arm 8 in turn and is connected to one end of the docking bellows 72, the flexible pipe 71 can be adaptively adjusted according to various states such as rotation, bending and folding of the supporting arm 9 and the docking arm 8, and will not affect the normal transmission of the medicine, the docking bellows 72 is flexible, so that it can compensate for a certain angle during the docking process and can make the whole set of equipment more stable when following the vehicle.

[0046] The docking component 5 is arranged on the end of the docking bellows 72 that is not connected to the flexible pipe 71. The docking component 5 includes an electromagnetic suction port 51. The electromagnetic suction port 51 is adsorbed and matched with the dosing port 41. The electromagnetic suction port 51 integrates an electromagnet and a joint sensor to achieve a low-loss connection, which is used to determine whether the suction is successful.

[0047] The power assembly also includes a bellows drive assembly 73, which is arranged on the end of the docking arm 8 that is not connected to the supporting arm 9. The bellows drive assembly 73 is used to drive the docking bellows 72 to rotate, so that the angle between the docking bellows 72 and the flexible pipe 71 changes. The bellows drive assembly 73 includes an end drive motor and an end actuator elbow arranged at the end of the docking arm 8. The connection position between the flexible pipe 71 and the docking bellows 72 is arranged on the end actuator elbow. The end drive motor is used to drive the synchronous belt to drive the synchronous pulley to rotate. The synchronous pulley is connected to the end actuator elbow. When the end drive motor is running, the end actuator elbow is driven to rotate, thereby changing the direction of the docking bellows 72.

[0048] The first positioning and identification component 31 includes a first identification antenna 311 arranged on the medicine storage box 3, and the first identification antenna 311 receives a position signal sent by a second identification antenna 312. The industrial computer 23 is used to process the position signal and control the self-propelled device 2 to move to a corresponding position according to the position signal. The first identification antenna 311 and the second identification antenna 312 are both RTK antennas; there are three second identification antennas 312, and the three second identification antennas 312 are arranged around the medicine adding port 41 on the medicine adding box 4, and the three second identification antennas are distributed at 120 degrees, and are used to locate the center of the medicine adding port 41.

[0049] A visual identification mark 102 is provided on the surface of the medicine box 4 to be added, and the visual identification mark 102 surrounds the periphery of the medicine adding port 41 for identification by the second positioning identification component 10, and the visual identification mark 102 includes a brightly colored visual identification auxiliary sticker attached to the outer circle of the medicine adding port 41; a liquid one-way valve 411 is provided in the medicine adding port 41, and the second positioning identification component 10 includes a depth camera 101, and the depth camera 101 is provided on the docking robot arm 1, and the depth camera 101 is provided on the elbow of the end effector. A gas one-way valve 43 is provided on the medicine box 4 to balance the air pressure in the medicine box when adding medicine, and a liquid level probe 42 is provided in the medicine box 4 to detect the liquid level position and transmit a stop adding medicine signal to the medicine adding vehicle, and the liquid one-way valve 411 can be automatically opened during drug delivery and automatically closed at the end of drug delivery to prevent the liquid in the medicine box from being contaminated or overflowing.

[0050] A method for adding medicine using the agricultural unmanned dosing vehicle based on multiple sensors comprises the following steps:

[0051] Step 1: The first positioning component 31 identifies the position information of the medicine box 4 to be added, processes the position information through the industrial computer 23, and controls the self-propelled device 2 to move to the position of the medicine box 4 to be added according to the position information of the medicine box 4 to be added, and the first identification antenna 311 receives the position signal sent by the second identification antenna 312, and controls the electric crawler self-propelled component 22 to move to the medicine box 4 to be added of the spray boom sprayer after processing by the industrial computer 23;

[0052] Step 2: The second positioning and identification component 10 locates the position information of the dosing port of the medicine box 4 to be added, and the docking mechanical arm 1 drives the liquid medicine conveying device 7 to move according to the position information of the dosing port, so that the liquid medicine conveying device 7 docks with the medicine box 4 to be added to complete the connection between the medicine storage box 3 and the medicine box 4 to be added, and the upper arm motor is started. After the supporting upper arm 9 is lifted, the lower arm motor is started to lift the docking small arm 8. At this time, according to the position angle of the identification antenna, the hollow slewing bearing 61 controls the docking mechanical arm 1 to turn to the target direction under the drive of the slewing motor; according to the second identification antenna 312 on the medicine box 4 to be added, the position of the dosing port 41 is roughly located for the pipeline docking interface, and then the depth camera 101 is used to accurately locate the pipeline docking interface, and according to the principle of forward and inverse kinematics of the mechanical arm, the docking bellows 72 is controlled to fit onto the medicine port 41 to be added, and the electromagnetic suction port 51 located on the docking bellows 72 is started, and then the interface sensor is used to determine whether the connection is successful. If the connection is not successful, re-positioning is performed, and if the connection is successful, the submersible infusion pump built into the medicine storage box 3 is started;

[0053] Step 3: The liquid medicine delivery device 7 is turned on, and a proper amount of liquid medicine in the medicine storage box 3 is added to the medicine box 4 to complete the medicine replenishment operation. The liquid medicine is injected into the medicine box 4 through the flexible pipe 71 and the docking bellows 72 through the medicine adding port 41 and the liquid one-way valve 411;

[0054] Step 4: When the liquid level of the medicine box 4 of the boom sprayer reaches the position of the liquid level probe 42, the liquid level probe sensor sends a signal to the industrial computer 23 to stop adding medicine. After the medicine transmission is completed, the electromagnetic suction port 51 is closed, and the arm motor drives to lift the docking arm 8. After the hollow slewing bearing 61 returns to the center, the arm motor starts to fold the docking arm 8, and then the arm motor starts to store the supporting arm 9 back into the storage slot 33 on the medicine storage box 3. At this point, the dosing process is completed, and the self-propelled device 2 searches for the next boom sprayer's medicine box 4 according to the positioning recognition signal.

[0055] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

[0056] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations can be made to the technical scheme of the present invention, and these equivalent transformations all belong to the protection scope of the present invention.

Claims

1. An agricultural unmanned pesticide dosing vehicle based on multiple sensors, characterized by: It includes a docking device, a self-propelled device, a liquid medicine conveying device and a sensor positioning device. The docking device includes a docking mechanical arm and a rotating assembly. The docking mechanical arm is installed on the self-propelled device through the rotating assembly. The self-propelled device is provided with a medicine storage box, and the medicine storage box is connected to the liquid medicine conveying device. The liquid medicine conveying device transfers the liquid medicine in the medicine storage box to the medicine box to be added to the boom sprayer; The liquid medicine delivery device comprises a liquid medicine delivery pipeline and a docking assembly, wherein the liquid medicine delivery pipeline is arranged on the docking mechanical arm, and the docking mechanical arm is used to adjust the position of the pipeline docking interface of the liquid medicine delivery pipeline, so that the liquid medicine delivery pipeline completes the docking operation with the medicine box to be added through the docking assembly arranged on the pipeline docking interface; The sensor positioning device includes a first positioning and identification component and a second positioning and identification component. The first positioning and identification component is arranged on the medicine storage box to locate and identify the position of the box to be added with medicine, and the second positioning and identification component is arranged on the docking robot arm to identify the position of the medicine adding port on the box to be added with medicine.

2. The multi-sensor-based agricultural unmanned pesticide dosing vehicle according to claim 1, characterized in that: The self-propelled device comprises a support platform and an electric crawler-type self-propelled assembly, wherein the electric crawler-type self-propelled assembly is installed on the lower surface of the support platform, and the rotating assembly and the medicine storage box are both arranged on the upper surface of the support platform; A storage groove is provided on one side of the medicine storage box parallel to the rotating assembly, and the storage groove is used to accommodate the docking mechanical arm in a folded state. A medicine injection port is provided on the medicine storage box; An industrial computer is arranged on the supporting platform, and the industrial computer is electrically connected to the sensor identification device, the liquid medicine conveying device, the docking robot arm and the electric crawler self-propelled assembly.

3. The multi-sensor-based agricultural unmanned pesticide dosing vehicle according to claim 1, characterized in that: The rotating assembly includes a hollow slewing bearing and a slewing drive assembly. The hollow slewing bearing is rotatably arranged on the supporting platform. The slewing drive assembly is used to drive the hollow slewing bearing to rotate. The slewing drive assembly includes a slewing motor.

4. The multi-sensor-based agricultural unmanned pesticide adding vehicle according to claim 1, characterized in that: The docking mechanical arm comprises a supporting arm, a docking arm and a power assembly, the supporting arm and the docking arm are both hollow structures, and the power assembly comprises a large arm driving assembly and a small arm driving assembly; The bottom end of the supporting big arm is rotatably arranged on the hollow slewing bearing through the big arm driving assembly, and the top end of the supporting big arm is rotatably connected with the docking small arm through the small arm driving assembly.

5. The agricultural unmanned pesticide adding vehicle based on multiple sensors according to claim 1 is characterized in that: The liquid medicine delivery device also includes a submersible infusion pump built into the medicine storage box, and the submersible infusion pump is connected to the liquid medicine delivery pipeline; The medicine delivery pipeline includes a flexible pipeline and a docking bellows. One end of the flexible pipeline passes through the hollow slewing bearing and is connected to the liquid outlet end of the submersible infusion pump. The other end of the flexible pipeline passes through the supporting arm and the docking arm in sequence and is connected to one end of the docking bellows.

6. The multi-sensor-based agricultural unmanned pesticide adding vehicle according to claim 5, characterized in that: The docking assembly is arranged on the end of the docking bellows that is not connected to the flexible pipe. The docking assembly includes an electromagnetic suction port, and the electromagnetic suction port is adsorbed and matched with the drug adding port.

7. The multi-sensor-based agricultural unmanned pesticide adding vehicle according to claim 6, characterized in that: The power assembly also includes a bellows drive assembly, which is arranged on the end of the docking small arm that is not connected to the supporting large arm. The bellows drive assembly is used to drive the docking bellows to rotate, so that the angle between the docking bellows and the flexible pipe changes.

8. The multi-sensor-based agricultural unmanned pesticide adding vehicle according to claim 2, characterized in that: The first positioning and identifying component includes a first identifying antenna disposed on the medicine storage box, the first identifying antenna receives a position signal sent by a second identifying antenna, the industrial computer is used to process the position signal, and control the self-propelled device to move to a corresponding position according to the position signal; There are three second identification antennas, and the three second identification antennas are arranged on the medicine box to be added around the medicine adding port.

9. The agricultural unmanned pesticide adding vehicle based on multiple sensors according to claim 1, characterized in that: A visual identification mark is provided on the surface of the medicine-adding box, and the visual identification mark surrounds the periphery of the medicine-adding port for identification by the second positioning identification component; A liquid one-way valve is provided in the drug adding port, and the second positioning identification component includes a depth camera, which is provided on the docking robot arm.

10. A method for adding pesticides using the agricultural unmanned pesticide adding vehicle based on multiple sensors as claimed in any one of claims 1 to 9, characterized in that: The steps include: Step 1: The first positioning component identifies the position information of the medicine box to be added of the boom sprayer, processes the position information through the industrial computer, and controls the self-propelled device to move to the position of the medicine box to be added according to the position information of the medicine box to be added; Step 2: The second positioning and identification component locates the position information of the dosing port of the medicine-to-be-dosed box, and the docking mechanical arm drives the liquid medicine conveying device to move according to the position information of the dosing port, so that the liquid medicine conveying device docks with the medicine-to-be-dosed box to complete the connection between the medicine storage box and the medicine-to-be-dosed box; Step 3: The liquid medicine delivery device is turned on, and an appropriate amount of liquid medicine in the medicine storage box is added to the medicine box to be added, completing the medicine replenishment operation; Step 4: When the liquid level in the medicine adding tank of the spray boom sprayer reaches the position of the liquid level probe, the liquid level probe sensor sends a signal to the industrial computer to stop the liquid delivery action of the liquid delivery device and complete the liquid replenishment.

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