A precision pesticide application system and method for crops

Abstract

This invention discloses a precision pesticide application system and method for crops, belonging to the field of agricultural machinery technology. The system has a pesticide application device mounted on its frame, a lifting device for controlling the frame height below the frame, and a walking device below the lifting device. The control device includes a walking control module, a lifting control module, a pesticide application identification module, and a precision pesticide application module. The walking control module is used for the system to move in a straight line and turn around in the field. The lifting control module is used to acquire crop height information and adjust the frame height above the crop. The pesticide application identification module is used to obtain a top-down view of the crop, analyze the pesticide application position, and generate a position signal. The precision pesticide application module is used to receive the position signal generated by the pesticide application identification module and control the pesticide outlet of the application device to the application position. The power supply device makes reasonable use of clean energy; the positioning device enables remote monitoring of the pesticide application progress. This invention achieves precise application of solid pesticides.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically relating to a precision pesticide application system and method for crops. Background Technology

[0002] The information disclosed in this background section is intended only to enhance understanding of the overall background of the invention and is not necessarily to be construed as an admission or in any way implying that such information constitutes prior art known to those skilled in the art.

[0003] Currently, precision pesticide application for crops is mainly done manually. While manual methods allow for accurate identification of pests and diseases and precise control of pesticide dosage, they suffer from outdated equipment, significant pesticide loss, long processing times, and frequent cases of agricultural poisoning. There is a growing demand for advanced precision pesticide application machinery. Current pesticide application machines use liquid spraying, which, while efficient and covering large areas, suffer from significant pesticide waste and unclear target locations. Drones are costly, carry limited pesticide loads, and have low efficiency. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a precision pesticide application system and method for crops. This invention designs a precision pesticide application system for crops using solid pesticides. The system adjusts the vehicle height according to the plant height. During operation, it can analyze and identify the pesticide application location required by the crop. After the application port moves to the application location, the amount of pesticide is controlled by the valve to achieve precise application.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] A first aspect of the present invention provides a precision pesticide application system for crops, comprising a frame, a control device, a pesticide application device, a walking device, and a lifting device, wherein:

[0007] The vehicle frame is equipped with a spraying device, and a lifting device for controlling the height of the vehicle frame is located below the vehicle frame. A walking device is located below the lifting device. The spraying device, the walking device, and the lifting device are respectively connected to the control device. The control device includes: a binocular camera located on the top of the vehicle frame, a walking control module, a lifting control module, a spraying recognition module, and a precision spraying module.

[0008] The walking control module is used to control the precision crop spraying system to walk in a straight line and turn around in the field.

[0009] The lifting control module is used to acquire crop height information and adjust the vehicle frame height to be higher than the crop.

[0010] The pesticide application recognition module is used to obtain a top view of the crop and to calibrate and correct the binocular camera. First, the pesticide application target is identified in real time using the YOLOv5 algorithm. Then, the coordinates of the center position of the pesticide application target are calculated in real time based on the output coordinate point values, and the pesticide is applied to it accurately.

[0011] The precision drug delivery module is used to receive the position signal generated by the drug delivery identification module, and control the drug outlet of the drug delivery device to the drug delivery position to achieve precise drug delivery and control the amount of drug delivered.

[0012] In some embodiments of the present invention, the walking control module is also used to provide walking drive for the precision crop spraying system, wherein each walking device of the precision crop spraying system is driven separately without linkage coupling.

[0013] In some embodiments of the present invention, the drug delivery device includes a medicine tank, a drug delivery pipe, a solenoid valve, a ball valve, and a gear and rack mechanism;

[0014] The medicine tank is located inside the vehicle frame. A delivery tube is connected to the bottom of the medicine tank, and a solenoid valve is installed on the delivery tube. A ball valve is installed at the end of the delivery tube. The gear and rack mechanism is located at the front end of the vehicle frame and above the lifting device. The ball valve is connected to a gear and is mounted on the gear and rack mechanism, cooperating with the mechanism to achieve lateral movement of the ball valve. That is, the position of the ball valve (i.e., the application port) is controlled by the rotation of the gear and rack.

[0015] In some embodiments of the present invention, the binocular camera is mounted on the top of the vehicle frame to obtain a top-down view of the crop and transmit this view to the control device. After receiving the position signal generated by the pesticide application recognition module, the precision application module controls the rack and pinion mechanism to rotate, thereby controlling the ball valve to move to a designated position. Upon reaching the designated position, the solenoid valve opens, and the pesticide falls through the delivery tube to the ball valve, which then opens, completing the application.

[0016] In some embodiments of the present invention, the lifting device includes an electric push rod, an infrared scanner, and a support frame; the support frame supports the vehicle frame and is disposed at the bottom of the vehicle frame; the electric push rod is disposed within the support frame and is used to lift the support frame, thereby driving the vehicle frame to lift; the infrared scanner is disposed on the support frame and identifies obstacles by infrared light to adjust the vehicle height. A control device transmits a signal to the electric push rod, which drives the support frame to lift.

[0017] In some embodiments of the present invention, the walking device includes a drive shaft, a coupling, a reducer, a stepper motor, a shock-absorbing spring, and track wheels; the track wheels are provided with a drive wheel and a driven wheel; the track wheels are located below the lifting device, the drive shaft, coupling, reducer, and stepper motor are mounted on the track wheels, the shock-absorbing spring connects the frame and the track wheels, and the power generated by the stepper motor is transmitted to the drive wheel in sequence through the reducer and coupling, so that the drive wheel rotates to drive the driven wheel to achieve smooth movement of the precision crop spraying system.

[0018] In some embodiments of the present invention, the precision crop spraying system further includes a centimeter-level positioning module and an external mushroom antenna, which is attached to the vehicle frame for remote monitoring of the geographical location of the precision crop spraying system.

[0019] In some embodiments of the present invention, the precision crop spraying system further includes a solar charging panel, which is mounted on the vehicle frame and is used to convert solar energy into electrical energy, store the electrical energy in a battery, and then supply power to the precision crop spraying system.

[0020] A second aspect of the present invention provides a method for applying pesticides using the above-described precision pesticide application system for crops, comprising the following steps:

[0021] A camera is used to obtain an aerial view of the crops, and an infrared scanner is used to further obtain information on the height of the crops.

[0022] Based on the crop height information obtained from the lifting control module, the lifting device adjusts the frame height to be higher than the crop height.

[0023] The application location information is obtained from the application identification module and then transmitted to the precision application module.

[0024] The precision application module controls the ball valve of the application device to the designated application position based on the received application location information, thereby achieving precise application.

[0025] In some embodiments of the present invention, the method further includes: using a solenoid valve and a ball valve to control the dosage and complete multi-requirement drug application. Specifically, after receiving the drug application location information transmitted by the drug application identification module, the core controller connects to a driver via an I / O port. The driver drives and controls the ball valve motor to apply the drug to the application location. A D / A converter controls the opening and closing of the solenoid valve, which acts as the master switch. When the solenoid valve opens, the drug begins to be transported. The dosage is controlled by the linkage between the driver controlling the ball valve motor and the D / A converter controlling the electric valve. The core controller connects to the D / A converter, which converts the digital signal from the core controller into an analog signal and controls the opening of the ball valve by the high and low levels of the analog voltage. The ball valve opening and the duration of maintaining the opening are determined according to the required dosage. After the duration, the ball valve automatically closes.

[0026] In some embodiments of the present invention, the method further includes: remotely monitoring the application process based on the mushroom antenna signal.

[0027] The beneficial effects of this invention are as follows:

[0028] This invention's precision pesticide application system for crops utilizes a binocular camera and infrared scanner to monitor road conditions during automatic application, allowing for timely adjustments to the vehicle's height to suit different plant types. The application port, a ball valve connected to gears, works in conjunction with a rack and pinion mechanism to achieve lateral movement for precise application. This system identifies and locates crops to determine the application position, and simultaneously identifies crop height to adjust the vehicle's height. This addresses the shortcomings of current agricultural machinery and advances the development of modern agricultural engineering. Furthermore, the system's versatility allows it to adapt to various crops and different stages of the same crop, reducing manual labor, improving application efficiency, minimizing pesticide waste, offering economic benefits, high tolerance for error, and excellent cost-effectiveness. Attached Figure Description

[0029] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0030] Figure 1 This is a schematic diagram of the structure of the precision pesticide application system for crops according to an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the track wheel structure in an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the lifting device in an embodiment of the present invention;

[0033] Figure 4This is the structural design intent of the drug delivery device in the embodiments of the present invention;

[0034] Figure 5 This is a schematic diagram of the structure of the binocular camera in an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the precision drug delivery module in an embodiment of the present invention;

[0036] Figure 7 This is a framework diagram of the YOLOv5 algorithm.

[0037] Among them, 1-frame, 2-medicine box, 3-medicine delivery tube, 4-solenoid valve, 5-ball valve, 6-gear and rack mechanism, 7-lifting device, 701-electric push rod, 702-infrared scanner, 703-support frame, 8-walking device, 801-track wheel, 802-drive wheel, 803-driven wheel, 9-mushroom antenna, 10-solar charging panel, 11-binocular camera. Detailed Implementation

[0038] A precision pesticide application system for crops is provided according to an embodiment of the present invention, such as... Figure 1 As shown, it includes a frame 1, a control device, a spraying device, a walking device 8, a lifting device 7, a solar charging panel 10, and a mushroom-shaped antenna 9, wherein:

[0039] The vehicle frame 1 is equipped with a pesticide application device. The solar charging panel 10 is located at the rear upper part of the vehicle frame 1. The mushroom antenna 9 is located on the top of the vehicle frame 1 and adjacent to the solar charging panel 10. A lifting device 7 for controlling the height of the vehicle frame 1 is provided below the vehicle frame 1. A walking device 8 is provided below the lifting device 7. The pesticide application device, the walking device 8 and the lifting device 7 are respectively connected to the control device. The control device includes: a binocular camera 11, a walking control module, a lifting control module, a pesticide application recognition module and a precision pesticide application module, which are installed on the top of the vehicle frame 1.

[0040] The walking control module is used to control the precision crop spraying system to walk in a straight line and turn around in the field.

[0041] The lifting control module is used to obtain crop height information and adjust the frame height to be higher than the crop.

[0042] The pesticide application recognition module is used to acquire a top-down view of the crop and uses a binocular camera 11 to obtain the location of the pesticide application target. First, the binocular camera 11 needs to be calibrated. By calibrating the intrinsic parameters of the binocular camera, the transformation relationship from the image pixel coordinate system to the camera coordinate system is obtained, thereby obtaining the distance from the camera to the pesticide application target. The transformation relationship from the image pixel coordinate system to the camera coordinate system is as follows:

[0043]

[0044] In the formula:

[0045] — Coordinates in pixel coordinate system, in pixels;

[0046] ---focal length;

[0047] ———Image center pixel coordinates, in pixels;

[0048] —Coordinates in the camera coordinate system.

[0049] To obtain more accurate image coordinates, it is also necessary to eliminate distortions caused by lens imaging and installation errors, and to perform binocular camera calibration, namely:

[0050]

[0051]

[0052] in

[0053] In the formula

[0054] —Coordinates before correction;

[0055] ———Corrected coordinates;

[0056] ———Radial distortion coefficient;

[0057] — Tangential distortion coefficient.

[0058] In addition to calibrating the intrinsic parameters of the binocular camera, the coordinate system is translated to the application port using the extrinsic rotation and translation matrices to obtain the transformation relationship between the camera coordinate system and the application port coordinate system, thereby obtaining the distance from the application port to the application target.

[0059] The coordinate system of a stereo camera is defined with its origin located at the optical center of the left camera. At this point, the Z-axis points directly in front of the camera, and the X-axis is parallel to the baseline and points to the right of the lens. The angles α, θ, and β of the rotation from the camera coordinate system to the application port coordinate system around the X, Y, and Z axes are represented by a 3 × 3 rotation matrix R. The distances Δx, Δy, and Δz of the translation along the X, Y, and Z axes from the origin of the camera coordinate system to the origin of the application port coordinate system are represented by a 3 × 1 translation vector T. The mathematical model for the transformation from the camera coordinate system to the application port coordinate system is:

[0060]

[0061] In the formula:

[0062] ———Coordinates of the application port;

[0063] ———Camera coordinate system coordinates.

[0064] After calibrating the binocular camera 11, the target for pesticide application is first identified in real time using the YOLOv5 algorithm. The center coordinates of the target are then calculated in real time based on the output coordinate points, enabling precise pesticide application.

[0065] Specifically, after calibrating the binocular camera 11, multiple target data from a top-down view of the crop are collected to train a YOLOv5 network model, resulting in a detection model for the pesticide application target. The YOLOv5 detection model identifies the pesticide application target in real time and outputs the coordinates of the upper left and lower right corners of the target, forming a target detection box. The coordinates of the center point within the detection box are determined by the coordinates of the upper left and lower right corners; these coordinates are the coordinates of the center position of the pesticide application target. The pesticide application target is set according to the crop type; for example, when applying pesticides to corn plants, the trumpet-shaped opening on the corn plant can be used as the pesticide application target.

[0066] The precision drug delivery module is used to receive the position signal generated by the drug delivery identification module and control the drug outlet of the drug delivery device to the drug delivery position to achieve precision drug delivery.

[0067] Specifically, data is collected by the binocular camera 11 to identify the target for application in real time, calculate the center position coordinates of the target, and then calculate the actual corresponding position of the application position by combining the position and angle of the binocular camera. Finally, the application port (i.e., ball valve) is moved to the position.

[0068] The binocular camera 702 is the eye of this precision crop spraying system. This precision crop spraying system uses the binocular camera 702 for identification. It is mounted on the vehicle frame and has a wide field of view, which is conducive to the system's identification of the spraying location.

[0069] Furthermore, the drug application device includes a medicine tank 2, a drug delivery pipe 3, a solenoid valve 4, a ball valve 5, and a gear and rack mechanism 6.

[0070] The medicine box 2 is located inside the frame 1. The bottom of the medicine box 2 is connected to a medicine delivery pipe 3. The medicine delivery pipe 3 is equipped with a solenoid valve 4 and a ball valve 5 at the end of the medicine delivery pipe 3. The gear and rack mechanism 6 is located at the front end of the frame 1 and is mounted on the support frame 703 of the lifting device. The ball valve 5 is connected to a gear. The ball valve 5 and the gear and rack mechanism 6 cooperate to realize the lateral movement of the ball valve 5. Specifically, the rotation of the gear and rack controls the ball valve 5 to move to a designated position.

[0071] The application device is the core of this precision pesticide application system. The pesticide tank 2 is directly connected to the frame 1. A well-sealed pesticide outlet is located on the upper side of the frame 1 to facilitate pesticide placement and replenishment, and also to some extent maintains the dryness inside the tank, reducing the likelihood of solid pesticides becoming damp, sticky, or clumping. The delivery pipe 3 is a flexible pipe connected to the pesticide tank 1 at a fixed angle, and it can also undergo a certain degree of elastic deformation to meet the requirements of lateral changes in the application position (i.e., ball valve 5). The fixed-angle installation allows the pesticide to fall under its own weight, reducing the possibility of blockage inside the pipe. The solenoid valve 4 is connected to the upper part of the delivery pipe 3 to control the start and end of the operation and the amount of pesticide delivered. The opening and closing of the ball valve 5 delivers the pesticide, and the gear and rack mechanism 6 drives the ball valve 5 to move laterally, improving the accuracy of the application.

[0072] Furthermore, after receiving the position signal generated by the application identification module, the precision application module controls the gear rack to rotate, thereby controlling the ball valve to move to the designated position. The wheel controls the forward and backward movement, moving the application port to the appropriate forward or backward position; then, based on the application position identification, it controls the gear motor to rotate, and the gear rotation enables the application port to move left and right.

[0073] Furthermore, the lifting device 7 includes an electric push rod 701, an infrared scanner 702, and a support frame 703; the support frame 703 is used to support the vehicle frame 1 and is located at the bottom of the vehicle frame 1; the electric push rod 701 is provided inside the support frame 703, and the electric push rod 701 is used to lift the support frame 703; the infrared scanner 702 is placed on the support frame 703 and uses infrared recognition to identify obstacles in order to adjust the vehicle height.

[0074] Furthermore, the walking device 8 includes a drive shaft, a coupling, a reducer, a stepper motor, a shock-absorbing spring, and track wheels 801; the track wheels 801 are provided with a drive wheel 802 and a driven wheel 803; the track wheels 801 are located below the lifting device 7, the drive shaft, coupling, reducer, and stepper motor are mounted on the track wheels 801, the shock-absorbing spring connects the frame 1 and the track wheels 801, and the power generated by the stepper motor is transmitted to the drive wheel 802 in sequence through the reducer and coupling, so that the drive wheel 802 rotates and drives the driven wheel 803 to achieve smooth movement of the precision crop spraying system.

[0075] The walking device 8, as an important component of this precision crop spraying system, mainly includes a frame, drive shaft, coupling, reducer, stepper motor, shock-absorbing springs, drive wheels, driven wheels, and track wheels, and can be adjusted to adapt to various terrain conditions. The shock-absorbing springs under the frame 1 can deform according to the undulations of the terrain, achieving the effects of support and shock absorption. The track wheels 801 increase the contact area with the ground, reduce the pressure on the ground, enhance the system's obstacle-crossing and ditch-crossing capabilities, and ensure smoother operation without slippage, while also improving load capacity to adapt to soft ground.

[0076] Furthermore, the precision crop spraying system also includes a centimeter-level positioning module and an external mushroom antenna 9, which is mounted on the vehicle frame 1 and used to remotely monitor the position of the precision crop spraying system.

[0077] Furthermore, the precision crop application system also includes a solar charging panel 10, which is mounted on the frame 1 and is used to convert solar energy into electrical energy, supply the electrical energy to the precision crop application system and store it, thereby saving energy.

[0078] The present invention also provides a method for applying pesticides using the above-mentioned precision pesticide application system for crops, comprising the following steps:

[0079] A camera is used to obtain an aerial view of the crops, and an infrared scanner is used to further obtain information on the height of the crops.

[0080] Based on the crop height information obtained from the lifting control module, the lifting device adjusts the frame height to be higher than the crop height.

[0081] The application location information is obtained from the application identification module and then transmitted to the precision application module.

[0082] The precision application module controls the drug outlet (i.e., ball valve) of the application device to the designated application location based on the received application location information, thereby achieving precise application.

[0083] In some embodiments, during operation, the frame straddles the crops, and the power generated by the stepper motor is transmitted to the drive wheel through the reducer and coupling, causing the drive wheel to rotate and thus moving the frame along the crops.

[0084] When a row of crops is sprayed, the speed of one drive wheel can be lower than that of the other drive wheel, so that the two track wheels have a speed difference, and the turning can be completed. This can be repeated to achieve spraying of multiple rows.

[0085] In some embodiments, the method further includes: using a solenoid valve and a ball valve to control the dosage and complete multiple application requirements. After moving the application port (i.e., the ball valve), the core controller opens the solenoid valve to allow solid drug to enter the pipeline, and then closes the solenoid valve; then, the core controller opens the electric ball valve, determines the dosage by timing with an internal timer, and closes the electric ball valve after the dosage is sufficient.

[0086] In some embodiments, such as Figure 6 As shown, after receiving the drug application location information from the binocular recognition system, the core controller connects to the driver via the I / O port. The driver drives the ball valve motor to apply the drug to the application location. The D / A converter controls the opening and closing of the electric valve, which acts as the master switch; when the electric valve opens, drug delivery begins. The linkage between the driver controlling the ball valve motor and the D / A converter controlling the electric valve allows for control of the drug application rate. The core controller connects to the D / A converter, which converts the digital signal from the core controller into an analog signal and controls the ball valve opening based on the analog voltage level. The required drug application rate is determined by the ball valve opening and the duration of holding that opening (e.g., 300 milliseconds). After the required time, the valve automatically closes.

[0087] In some embodiments, the method further includes: remotely monitoring the application process based on the mushroom antenna signal.

[0088] In summary, the method of using the precision pesticide application system for crops according to the present invention is as follows: After the power is turned on, the camera collects image information, analyzes and converts the pesticide application position of the crop to form a position signal; at the same time, the infrared scanner determines that the crop is higher than the vehicle frame by the blocking of infrared light, and then controls the vehicle to rise. If it is not blocked, it is adjusted multiple times until the vehicle is slightly higher than the crop; after the identification is completed, the solenoid valve opens, and the solid pesticide begins to be transported along the delivery pipe to the ball valve position. The ball valve moves to the position determined by the position signal transmitted by the camera by the gear and rack mechanism. After the above two actions are completed, the ball valve opens, and the pesticide falls to the application position. During the application, the amount of pesticide can be controlled by mixing the solenoid valve and the ball valve to complete multiple application requirements; through the mushroom antenna, the application process can be remotely monitored and the application details can be adjusted.

[0089] After completing the current application, the vehicle moves along the field using its tracks. When one application is completed, at the end of the field, the vehicle slows down using one track while maintaining the original speed or a higher speed on the other track to achieve a differential turn. After turning around, the above actions are repeated until all applications are completed.

[0090] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A precision crop application system for solid state pesticides, characterized by, The application relates to a crop precision spraying system, which comprises a frame, a control device, a spraying device, a walking device and a lifting device. The spraying device is arranged on the frame, the lifting device for controlling the height of the frame is arranged below the frame, the walking device is arranged below the lifting device, and the spraying device, the walking device and the lifting device are connected with the control device; the control device comprises binocular cameras arranged on the top of the frame, a walking control module, a lifting control module, a spraying recognition module and a precision spraying module. The walking control module is used for controlling the straight-line walking and turning of the crop precision spraying system in a field. The lifting control module is used for obtaining crop height information and adjusting the height of the frame to be higher than crops. The spraying recognition module is used for obtaining a top view of crops, calibrating the binocular cameras, firstly identifying a spraying target in real time through a yolov5 algorithm, calculating the coordinate value of the center position of the spraying target in real time through the output coordinate point value, and accurately spraying the spraying target. The conversion relationship from an image pixel coordinate system to a camera coordinate system is obtained by calibrating the internal parameters of the binocular cameras, so that the distance from the camera to the spraying target is obtained. In order to obtain more accurate image coordinates, it is also necessary to eliminate the distortion caused by lens imaging and installation errors and calibrate the binocular cameras. In addition to calibrating the internal parameters of the binocular cameras, the conversion relationship from the camera coordinate system to the spraying port coordinate system is obtained by rotating and translating the coordinate system to the spraying port through the external rotation matrix and translation matrix, so that the distance from the spraying port to the spraying target is obtained. The precision spraying module is used for receiving the position signal generated by the spraying recognition module and controlling the drug outlet of the spraying device to reach the spraying position, so as to realize precision spraying. The spraying device comprises a medicine box, a medicine conveying pipe, an electromagnetic valve, a ball valve and a gear and rack mechanism. The medicine box is arranged in the frame, the bottom of the medicine box is connected with the medicine conveying pipe, the medicine conveying pipe is provided with the electromagnetic valve, and the end of the medicine conveying pipe is provided with the ball valve; the gear and rack mechanism is arranged at the front end of the frame and above the lifting device; the ball valve is connected with a gear, and the ball valve and the gear and rack mechanism are matched to realize the transverse movement of the ball valve. The lifting device comprises an electric push rod, an infrared scanner and a support frame; the support frame is used for supporting the frame and is arranged at the bottom of the frame; the electric push rod is arranged in the support frame and is used for lifting the support frame and the frame; the infrared scanner is arranged on the support frame and identifies obstacles through infrared identification to adjust the height of the vehicle body. The electromagnetic valve and the ball valve are used for controlling the spraying amount and completing multi-requirement spraying. Specifically, after receiving the administration position information transmitted by the administration identification module, the core controller connects the driver through the I / O port, the driver is used to drive the ball valve motor to control the drug to be applied to the administration position, and the D / A converter is used to control the opening and closing of the electromagnetic valve. The valve is a master switch, and the electromagnetic valve is opened, and the drug starts to be transported. The linkage of the driver controlling the ball valve motor and the D / A converter controlling the electric valve realizes the control of the administration amount. The core controller is connected with the D / A converter, the D / A converter converts the digital quantity given by the core controller into an analog quantity, and controls the opening degree of the ball valve through the high and low of the analog voltage. According to the required amount of drug, the opening degree of the ball valve and the time for keeping the opening degree are determined, and after the time, the ball valve is automatically closed.

2. The precision application system for solid agricultural chemical according to claim 1, wherein After the precise administration module receives the position signal generated by the administration identification module, the rack and pinion mechanism is controlled to rotate, and then the ball valve is controlled to move to the specified position. When reaching the specified position, the electromagnetic valve is opened, the pesticide falls through the medicine delivery pipe to the ball valve, the ball valve is opened, and the administration is completed.

3. The precision application system for solid agricultural chemical according to claim 1, wherein The walking device comprises a transmission shaft, a shaft coupling, a speed reducer, a stepping motor, a damping spring and a track wheel; the track wheel is internally provided with a driving wheel and a driven wheel; the track wheel is arranged below the lifting device, the transmission shaft, the shaft coupling, the speed reducer and the stepping motor are arranged on the track wheel, the damping spring connects the vehicle frame and the track wheel, and the power generated by the stepping motor is transmitted to the driving wheel through the speed reducer and the shaft coupling in sequence, so that the driving wheel rotates to drive the driven wheel to realize the stable movement of the crop precise administration system.

4. The precision application system for solid agricultural chemical according to Claim 1, wherein The crop precise administration system further comprises a mushroom antenna arranged on the vehicle frame and used for remotely monitoring the position of the crop precise administration system.

5. The precision application system for solid agricultural chemical to crops according to claim 1, wherein The crop precise administration system further comprises a solar charging panel arranged on the vehicle frame and used for converting solar energy into electric energy and supplying the electric energy to the crop precise administration system and storing the electric energy.

6. A method for applying pesticides to crops using the system for precision application of solid pesticides to crops according to any one of claims 1 to 5, characterized in that, The method comprises the following steps: Obtaining the overhead view of the crops by using the camera, and further obtaining the height information of the crops by cooperating with the infrared scanner; Adjusting the height of the vehicle frame to be higher than the height of the crops according to the height information of the crops obtained by the lifting control module; Obtaining the administration position information according to the administration identification module, and transmitting the administration position information to the precise administration module; Controlling the ball valve of the administration device to the specified administration position according to the received administration position information, and realizing the precise administration.

7. The method of claim 6, wherein the medicament is administered to the subject by injection. Further comprising: Controlling the administration amount by using the electromagnetic valve and the ball valve, and completing the administration of multiple requirements; Specifically, after receiving the medicine administration position information transmitted by the medicine administration identification module, the core controller is connected with a driver through an I / O port, the driver is used to drive a ball valve motor to control the medicine to be applied to the medicine administration position, a D / A converter is used to control the opening and closing of an electromagnetic valve, the valve is a general switch, the electromagnetic valve is opened, and the medicine starts to be transported; the linkage of the driver controlling the ball valve motor and the D / A converter controlling the electric valve is used to control the medicine administration amount; the core controller is connected with the D / A converter, the D / A converter converts the digital quantity given by the core controller into an analog quantity, and controls the opening degree of the ball valve through the high and low of the analog quantity voltage; according to the required medicine amount, the opening degree of the ball valve is determined, and the time for keeping the opening degree is determined, after the time, the ball valve is automatically closed.

8. The application method as described in claim 6, characterized in that, Also includes: Remote monitoring of the medicine administration process according to the mushroom antenna signal.

Images