Multifunctional field management machine and method for hilly and mountainous areas based on intelligent crop identification

Abstract

The invention discloses a multifunctional field management machine and method for hilly and mountainous areas based on intelligent crop identification, comprising a crawler chassis; a frame and a control system are installed at the bottom of the crawler chassis, a grain separating and supporting device, a topping device, a lifting device, a plant spacing identification device, and a bud suppression device are installed at the front of the frame, and a plant protection device is installed at the rear; the topping device, the lifting device, the plant spacing identification device, and the bud suppression device are all connected to the control system; through the mutual cooperation between the grain separating and supporting device, the topping device, the lifting device, the plant spacing identification device, and the bud suppression device, topping and bud suppression on the same management machine are realized synchronously.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural implements, and in particular to a multifunctional field management machine and method for hilly and mountainous areas based on intelligent crop identification. Background Art

[0002] At present, after the topping of tall crops such as cotton, corn, and tobacco is completed, the next step is to remove branches and suppress buds. These processes must be completed on the day of topping, but most of the existing mechanical equipment has only achieved topping. For example, patent CN202210909246.5 discloses a field management device based on a bionic walking mechanism, which only includes a topping system. After topping is completed, it is generally necessary to manually apply a bud inhibitor through a bud inhibitor applicator, which is inefficient and has an impact on human health. That is, the existing field management devices have relatively few functions. In order to achieve the functions of topping, plant protection, and bud suppression, different agricultural machinery is required, resulting in very high operating costs. Therefore, how to effectively combine the functions of topping, plant protection, and bud suppression to achieve mutual coordination and cooperation among the topping device, the plant protection device, and the bud suppression device is a problem to be solved. Summary of the invention

[0003] The purpose of the present invention is to address the defects of existing topping and sprout suppression equipment and provide a multifunctional field management machine and method for hilly and mountainous areas based on intelligent crop identification, which can complete topping and precise application of sprout suppressants at one time and has plant protection functions.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] The first object of the present invention is to provide a multifunctional field management machine for hilly and mountainous areas based on intelligent crop identification, which adopts the following technical scheme: comprising a crawler chassis; a frame and a control system are installed at the bottom of the crawler chassis, a separating and supporting device, a topping device, a lifting device, a plant spacing identification device, and a bud suppression device are installed at the front of the frame, and a plant protection device is installed at the rear; the topping device, the lifting device, the plant spacing identification device, and the bud suppression device are all connected to the control system;

[0006] The topping device comprises a base, a motor, a topping blade, and a height recognition radar. The motor is installed on the base, the motor drives the topping blades located on both sides of the base to rotate, and the height recognition radar is arranged on the base;

[0007] The separating and supporting device is installed at the front end of the base;

[0008] The sprout suppressing device comprises a slide rail and a multi-hole full-cone nozzle; the multi-hole full-cone nozzle is arranged on the slide rail for spraying the sprout suppressing agent;

[0009] The front end of the lifting device is connected to the base of the topping device, and the rear end is connected to the slide rail of the bud suppression device, and the lifting and lowering of the topping device and the bud suppression device are controlled at the same time;

[0010] The plant spacing identification device is arranged below the lifting device and behind the topping device. It is used to detect the plant spacing when the light beam is interrupted and collect the forward speed of the chassis, and then send a signal to the control system. The control system will adjust the position of the bud suppression device according to the signal, and the bud suppression device will perform bud suppression operations.

[0011] As a further technical solution, the plant spacing identification device includes an adjusting bracket, an infrared transmitter and an infrared receiver; the adjusting bracket is arranged below the lifting device, and the infrared transmitter and infrared receiver are arranged relatively on the adjusting bracket; the infrared light emitted by the infrared transmitter is lower than the plants before topping, and at the same time higher than the infrared light of the plants after topping.

[0012] As a further technical solution, the plant spacing identification device also includes a driver, and the driver is used to identify the speed of the crawler chassis and send the signal to the control system.

[0013] As a further technical solution, the plant dividing and supporting device includes two symmetrically arranged plant dividing and supporting components, each of which is a bent rod. The gap formed between the two bent rods first becomes larger, reaches the smallest at the bent part, and then becomes larger again, so that the plant can remain upright and be guided to the topping blade position of the topping device.

[0014] As a further technical solution, the lifting device includes a lifting motor, a commutator, a coupling, a screw, a linear motion pair and a base; the lifting motor is connected to the commutator, the commutator is connected to the screw through the coupling, the screw is connected to the linear motion pair, and a base is set at the bottom of the screw.

[0015] As a further technical solution, the front end of the linear motion pair is connected to the base of the topping device, and the rear end is connected to the slide rail of the bud suppression device.

[0016] As a further technical solution, the porous full-cone nozzle is controlled by a normally closed solenoid valve, which mainly controls the flow rate of the bud inhibitor (start or stop), allowing the bud inhibitor to flow through the port or close it without leakage through the plunger. When the power is not turned on, the plunger is in the lower position and the valve is closed. When the power is turned on, the plunger rises to allow the bud inhibitor to flow.

[0017] As a further technical solution, the plant protection device includes a hydraulic telescopic rod, a spray rod and a spray head. The spray head is located on the vertical spray rod. The vertical spray rod is fixed to the tail of the hydraulic telescopic rod through a transverse support rod, and its height can be adjusted by the hydraulic telescopic rod.

[0018] Another object of the present invention is to provide a method for accurately applying a sprout inhibitor to a target, using the device for accurately applying a sprout inhibitor to a target as described above, comprising the following steps:

[0019] (1) The crawler chassis can accurately guide the ridge body by relying on the base of the plant;

[0020] (2) When the chassis moves along tall crops, the separating and supporting device keeps the plants upright at all times, and then they are guided to the topping device;

[0021] (3) The control system controls the lifting device to automatically adjust the position of the topping device and the high-precision sprayer according to the data measured by the height recognition radar to ensure that they match the height of the inflorescence at the top of the plant; so that the cutting knife is located below the inflorescence at the top of the tall crop to perform the topping operation;

[0022] (4) After the plants are interrupted, the infrared receiver of the plant spacing identification device generates a pulse and transmits it to the control system. The control system controls the driving device of the bud suppression device to drive the multi-hole full-conical nozzle to move at a speed matching the ground speed of the self-propelled chassis to achieve accurate positioning of the plants. Then the solenoid valve of the bud suppression device is energized to start the bud suppression operation.

[0023] The plant protection machine can perform topping and bud suppression operations simultaneously. Since bud suppression is performed during the topping process, the device significantly reduces labor demand and work intensity. In addition, due to the use of electric ball screws and sliding guides, the device can be used for crop plants of different heights and different row spacings (plant spacings). It aims to improve the topping and bud suppression effects, reduce spraying costs, and greatly reduce the amount of chemicals discharged into the environment. The crawler chassis is equipped with a ridge guide device, which can guide the ridge body with the help of the base of the tobacco rod. At the same time, a plant protection device is equipped at the rear of the gantry to achieve multi-functional integration.

[0024] The bud inhibition device accurately determines the position of the stem incision based on the signal feedback from the plant spacing identification device, and sprays the bud inhibitor directly on the top of the stem. This operation method is not only efficient and reliable, but can effectively kill axillary buds and avoid possible burning of the top leaves.

[0025] Compared with the prior art, the advantages and positive effects of the present disclosure are:

[0026] (1) The multifunctional field management machine for hilly and mountainous areas based on intelligent crop identification proposed in the present invention realizes simultaneous topping and bud suppression on the same management machine through the mutual cooperation between the separating and supporting device, the topping device, the lifting device, the plant spacing identification device, and the bud suppression device; specifically, when the chassis moves along the tall crops, the separating and supporting device keeps the plants in an upright state at all times, and then guides them to the topping device; the control system controls the lifting device to automatically adjust the positions of the topping device and the high-precision sprayer according to the data measured by the height identification radar to ensure that they match the height of the inflorescence at the top of the plant; so that the cutting knife is located below the inflorescence at the top of the tall crop to perform the topping operation; after the plant is broken, the infrared receiver of the plant spacing identification device generates a pulse and transmits it to the control system, and the control system controls the driving device of the bud suppression device to drive the multi-hole full-conical nozzle to move at a speed matching the ground speed of the self-propelled chassis to achieve accurate positioning of the plant, and then the solenoid valve of the bud suppression device is energized to start the bud suppression operation. It has brought significant advantages and conveniences to agricultural production, greatly improved operating efficiency, reduced reliance on large numbers of workers in large-scale operations, and improved the mechanization level and planting scale of the tall crop planting industry; the simultaneous operation function of the device can also achieve more integrated production management. Topping and bud suppression are interrelated field management techniques, and simultaneous operations can better coordinate operations to achieve more comprehensive and efficient crop growth regulation.

[0027] (2) The radar height recognition device can emit radar waves and receive the reflected signals. The growth height of the tobacco plant will affect the characteristics of the reflected radar waves. The radar height recognition device can be used to accurately identify and measure the height of the tobacco plant. The radar height recognition device cooperates with the lifting device. The lifting device adjusts the positions of the topping device and the bud suppression device according to the tobacco plant height determined by the front-end radar recognition device, thereby achieving accurate topping and bud suppression operations.

[0028] (3) The plant spacing identification device installed at the front end of the bud suppression device uses an infrared transmitter and an infrared sensor to accurately locate the tobacco plants that have completed topping. Once the positioning is completed, the device sends a pulse signal to the bud suppression device, instructing it to move to the top of the tobacco plant to suppress the buds; the plant spacing identification device is connected to the crawler chassis through a driver, and can adjust the movement speed of the bud suppression device in time according to the forward speed of the chassis. The bud suppression device accurately locates the position of the stem cut according to the signal fed back by the plant spacing identification device, and sprays the bud suppressant directly on the top of the stem. This operation method is not only efficient and reliable, and can effectively kill axillary buds, but also can avoid the possible burning of the leaves at the top of tall crops.

[0029] (4) The high-precision sprayer uses a multi-hole full-cone nozzle, which includes seven independent spray holes. This design ensures that the spray pattern is uniform, round and full, and generates small-sized droplets, allowing the high-precision sprayer to more accurately control the growth direction and stem end growth point of the tobacco plant, thereby maximizing the growth and development of the crop. At the same time, the high-precision sprayer uses a solenoid valve to achieve intermittent operation, which helps reduce the use of pesticides, reduce damage to the environment and tobacco farmers, and meet the requirements of sustainable agricultural development.

[0030] (5) The crawler chassis has unique advantages on hilly and mountainous areas. It has strong passability and can adapt to changing terrain and complex road conditions. It has high stability and can maintain balance on inclined terrain. It has low ground pressure and reduces damage to the soil. At the same time, it has good traction and can cope with muddy, slippery or rugged roads. It has strong adaptability and can work in various adverse weather and terrain conditions. In addition, the ridge guidance system of the crawler chassis can use the base of the plant to guide the ridge. By accurately identifying the position and direction of the plant, it can accurately guide and control the forward direction of the chassis, thereby ensuring the efficiency and accuracy of the operation process.

[0031] (6) The plant protection device can be used alone for spraying, achieving multiple uses of one machine. The lifting, unfolding and folding of the spray boom can be controlled by operating the hydraulic cylinder, which is easy to operate and labor-saving. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their description are used to explain the present invention and do not constitute improper limitations on the present invention.

[0033] Figure 1 is an isometric schematic diagram of the present invention according to one or more embodiments;

[0034] Figure 2 is a front schematic diagram of the present invention according to one or more embodiments;

[0035] Figure 3 is a schematic top view of the present invention according to one or more embodiments;

[0036] Figure 4 is a schematic diagram of a plant protection device according to one or more embodiments of the present invention;

[0037] Figure 5 is a schematic diagram of a topping device according to one or more embodiments of the present invention;

[0038] Figure 6 is a schematic diagram of a lifting device according to one or more embodiments of the present invention;

[0039] Figure 7is a schematic diagram of a plant spacing identification device according to one or more embodiments of the present invention;

[0040] Figure 8 is a schematic diagram of a sprout suppression device according to one or more embodiments of the present invention;

[0041] Fig. 9 is a schematic diagram of a separation-supporting device according to one or more embodiments of the present invention;

[0042] In the figure: 1. crawler chassis, 2. grain separation and support device, 3. topping device, 4. lifting device, 5. plant spacing identification device, 6. bud suppression device, 7. plant protection device;

[0043] 11. Gantry, 12. Ridge guiding system, 13. Battery, 14. Water tank, 15. Range extender, 16. Control box;

[0044] 31. Base, 32. Altitude identification radar, 33. Permanent magnet DC motor, 34. Topping knife;

[0045] 41. lifting motor, 42. commutator, 43. coupling, 44. lead screw, 45. linear motion pair, 46. base;

[0046] 51. Adjustment bracket, 52. Infrared transmitter, 53. Infrared receiver;

[0047] 61. Slide rail, 62. Gantry plate, 63. 12V DC normally closed solenoid valve, 64. Multi-hole full cone nozzle.

[0048] 71. Hydraulic telescopic rod, 72. Spray rod, 73. Spray head. DETAILED DESCRIPTION

[0049] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present disclosure belongs.

[0050] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or their combinations;

[0051] For the convenience of description, if the words "up", "down", "left" and "right" appear in the present disclosure, they only indicate that they are consistent with the up, down, left and right directions of the drawings themselves, and do not limit the structure. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present disclosure.

[0052] In view of the above problems, the present invention proposes a multifunctional field management machine and method for hilly and mountainous areas based on intelligent crop identification.

[0053] Example

[0054] In a typical embodiment of the present invention, Figure 1-Figure 3 As shown in the figure, a multifunctional field management machine based on intelligent crop identification is proposed for hilly and mountainous areas.

[0055] The equipment integrates ridge guidance, radar height recognition, lifting device and plant spacing recognition technology, and can perform topping and bud suppression operations at the same time, bringing significant advantages and convenience to the field management of tall crops. First, the ridge guidance device has an automatic walking function based on the bottom of the plant. By accurately sensing and identifying the bottom of the plant, it realizes intelligent navigation and precise movement between ridges; secondly, through the transmission and reception of radar waves, combined with signal processing algorithms and model building, it realizes accurate recognition and measurement of plant height. The lifting device adjusts the position of the topping device and high-precision sprayer according to this information, thereby realizing accurate topping and bud suppression operations. Finally, the plant spacing recognition device installed at the front end of the bud suppression device uses infrared technology to locate the plants that have completed topping, and then sends instructions to the bud suppression device to suppress buds. At the same time, the driver connected to the crawler chassis adjusts the moving speed of the slider according to the forward speed of the chassis; the above-mentioned field management machine realizes the simultaneous topping and bud suppression on the same management machine through the mutual cooperation between the dividing-grass-supporting device, topping device, lifting device, plant spacing recognition device, and bud suppression device.

[0056] The plant protection machine can perform topping and bud suppression operations at the same time. Since bud suppression is carried out during the topping process, the device significantly reduces labor demand and work intensity. In addition, due to the use of electric ball screws and sliding guides, the device can be used for crop plants of different heights and different row spacings (plant spacing). It aims to improve the topping and bud suppression effect, reduce spraying costs, and greatly reduce the amount of chemicals discharged into the environment. The crawler chassis is equipped with a ridge guide device, which can guide the ridge with the help of the base of the tobacco rod. At the same time, a plant protection device is equipped at the rear of the frame to achieve multi-functional integration.

[0057] Specifically, the device is composed of a crawler chassis 1, a plant separation and support device 2, a topping device 3, a lifting device 4, a plant spacing identification device 5, a bud suppression device 6, a plant protection device 7 and a control system (not shown in the figure);

[0058] Among them, the plant separation and support device 2, the topping device 3, the lifting device 4, the plant spacing identification device 5, the bud suppression device 6 and the plant protection device 7 are installed on the frame of the crawler chassis 1; when the mobile chassis moves along the plant, the plant is received by the plant separation and support device, so that it always remains upright, and then is guided to the topping device; when the plant is guided to the topping device, the topping knife cuts off the top of the plant; the plant spacing identification device is connected to the crawler chassis through a driver, and the control system can adjust the position of the bud suppression device in time according to the forward speed of the chassis. The bud suppression device accurately determines the position of the stem incision according to the signal fed back by the plant spacing identification device, and sprays the bud suppression agent directly on the top of the stem. This operation method is not only efficient and reliable, can effectively kill the axillary buds, but also can avoid the possible burning of the top leaves.

[0059] Furthermore, the crawler chassis 1 is equipped with a ridge body guiding system, a battery, a water tank, a range extender and a control box, etc., which are respectively installed on both sides of the chassis. Among them, the ridge body guiding system uses the base of the plant to guide the ridge body, and accurately identifies the position and direction of the plant to achieve accurate guidance and control of the ridge body, thereby ensuring the efficiency and accuracy of the operation process.

[0060] Furthermore, the separating and supporting device 2 is located at the front end of the entire management machine, and is fixed on the topping device 3. Fig. 9 As shown, the dividing-grain-supporting device 2 has two symmetrically arranged dividing-grain-supporting parts, each of which is a bent rod, and the gap formed between the two bent rods first increases, reaches the minimum at the bent part, and then increases again, so that the plant can remain upright and be guided to the topping blade position of the topping device. When the mobile chassis moves along the plant, the plant is received by the dividing-grain-supporting device, so that it always remains upright, and is then guided to the topping device 3; further, the dividing-grain-supporting device 2 is fixed to the front end of the base 31 of the topping device 3.

[0061] like Figure 5 As shown, the topping device 3 is composed of a base 31, a permanent magnet DC motor 33, a topping blade 34, a height recognition radar 32, etc. The permanent magnet DC motor 33 is installed on the base 31, and the driving shaft of the permanent magnet DC motor 33 passes through the base 31 and is connected to the topping blade 34; the topping blade 34 is driven to rotate, and a height recognition radar 32 is also arranged on the base 31. When the plant is guided to the topping device 3, the height recognition radar 32 locates the height of the plant, and then the permanent magnet DC motor 33 drives the topping blade 34 to cut off the top of the plant.

[0062] Specifically, the height recognition radar 32 is installed at both ends of the top of the base. After the plant is guided into the topping device by the dividing-supporting device, the height recognition radar first measures the height of the plant, and then the lifting device adjusts the topping device to an appropriate height; the topping knife is a "seven"-shaped sheet structure, and the topping knife rotates around the axis under the drive of the permanent magnet DC motor to topping the tobacco buds. The topping knife is installed on the power output shaft of the permanent magnet DC motor, and the permanent magnet DC motor and the topping knife are fixed on the moving pair slider of the lifting device through the base.

[0063] Furthermore, the lifting device is as follows: Figure 6 As shown, it includes a lifting motor 41, a commutator 42, a coupling 43, a lead screw 44, a linear motion pair 45 and a base 46;

[0064] The lifting motor 41 is connected to the commutator 42 , the commutator 42 is connected to the lead screw 44 through the coupling 43 , the lead screw 44 is connected to the linear motion pair 45 , and a base 46 is provided at the bottom of the lead screw 44 ; the linear motion pair 45 is connected to the above-mentioned base 31 .

[0065] Furthermore, the plant spacing identification device 5 is as follows Figure 7 As shown, it includes an adjusting bracket 51, a driver, an infrared transmitter 52 and an infrared receiver 53; wherein the plant spacing identification device is connected to the crawler chassis through the driver; the adjusting bracket includes two parallel parts, which are respectively installed on both sides of the bottom of the front end of the fixed bracket; the infrared transmitter 52 and the infrared receiver 53 are respectively fixed on both sides of the adjusting bracket 51, and can be adjusted axially and laterally, and the top of the adjusting bracket 51 is connected to the base 46 of the lifting device.

[0066] Further, such as Figure 8As shown, the sprout suppression device includes a slide rail 61, a gantry plate 62, a 12V DC normally closed solenoid valve 63, a multi-porous full-conical nozzle 64 and a driving device (not shown in the figure); wherein the slide rail 61 is installed on one side of the linear motion pair 45 of the lifting device through a slide rail fixing bracket, and the other side of the linear motion pair 45 is a topping device. This design is conducive to the lifting device to simultaneously adjust the operating height of the topping device and the sprout suppression device; the 12V DC normally closed solenoid valve 63 and the multi-porous full-conical nozzle 64 are fixed on the sliding gantry plate 62, and the gantry plate 62 is installed on the slide rail 61 through a slider, and the slider is connected to a driving device, and the driving device drives the slider to move along the slide rail, thereby realizing the movement of the gantry plate 62 along the slide rail 61, and a metal bracket fixes the normally closed solenoid valve with a multi-porous full-conical nozzle. The normally closed solenoid valve mainly controls the flow rate of the sprout inhibitor (start or stop), allowing the sprout inhibitor to flow through the port or close it without leakage through the plunger. When not powered, the plunger is in the lower position and the valve is closed. When powered, the plunger rises to allow the sprout inhibitor to flow. The multi-hole full cone nozzle 64 consists of 7 separate spray holes, which can provide a uniform, round and full spray pattern composed of small droplets.

[0067] Further, such as Figure 2 As shown, the plant protection device includes a hydraulic telescopic rod 71, a spray rod 72 and a spray head 73. The spray head 73 is located on the vertical spray rod 72, and the vertical spray rod 72 is fixed to the tail of the hydraulic telescopic rod 71 through a transverse support rod, and its height can be adjusted by the hydraulic telescopic rod.

[0068] Based on the above-mentioned management machine, the present invention also provides a method for accurately applying a sprout inhibitor to a target, comprising the following steps:

[0069] (1) The crawler chassis achieves precise guidance of the ridge body by relying on the base of the plant.

[0070] (2) The device for precisely applying sprout suppressants to targets is installed on the top of the self-propelled chassis. When the chassis moves along tall crops, the plant separation and support device keeps the plants upright at all times, and then they are guided to the topping device.

[0071] (3) According to the height of the inflorescence at the top of the plant measured by the height recognition radar, the lifting device automatically adjusts the position of the topping device and the high-precision sprayer to ensure that they match the height of the inflorescence at the top of the plant; the height position of the topping knife is adjusted so that the cutting knife is located below the inflorescence at the top of the tall crop to perform the topping operation.

[0072] (4) The plant spacing identification device is a measuring device consisting of an infrared transmitter and an infrared receiver. The sensing distance between the two parts is about 25 mm. When the light beam is interrupted by a plant that has completed the topping operation, the receiver will generate a pulse (the light beam is interrupted).

[0073] (5) When the infrared beam sensor detects that the plant has been toppled, the slide rail will move at a speed that matches the ground speed of the self-propelled chassis to achieve accurate positioning of the plant. Then the solenoid valve of the bud suppression device is energized to start the bud suppression operation.

[0074] The plant protection machine for the precise application of the sprout inhibitor to the target of the present invention can perform topping and sprout inhibition operations at the same time. Since the sprout inhibition is carried out during the topping process, the device significantly reduces the labor demand and work intensity. In addition, the device can be used for crop plants of different heights and different row spacings (plant spacings). It is intended to improve the topping and sprout inhibition effects, reduce spraying costs, and greatly reduce the amount of chemicals discharged into the environment. The crawler chassis is equipped with a ridge body guide device, which can guide the ridge body with the help of the base of the tobacco stem. At the same time, a plant protection device is installed at the rear of the gantry to achieve multi-functional integration. The sprout inhibition device accurately determines the position of the stem incision based on the signal fed back by the plant spacing recognition device, and sprays the sprout inhibitor directly on the top of the stem. This operation method is not only efficient and reliable, but can effectively kill the axillary buds, and can also avoid possible burns on the top leaves.

[0075] The radar height recognition device can emit radar waves and receive the reflected signals. The growth height of the tobacco plant will affect the characteristics of the reflected radar waves. The radar height recognition device can be used to accurately identify and measure the height of the tobacco plant. The radar height recognition device is combined with a lifting device. The lifting device adjusts the positions of the topping device and the bud suppression device according to the tobacco plant height determined by the front-end radar recognition device, thereby achieving accurate topping and bud suppression operations.

[0076] The plant spacing identification device installed at the front end of the bud suppression device uses an infrared transmitter and an infrared sensor to accurately locate the tobacco plants that have completed topping. Once the positioning is completed, the device sends a pulse signal to the bud suppression device, instructing it to move to the top of the tobacco plant to suppress the buds; the plant spacing identification device is connected to the crawler chassis through a driver, and can adjust the movement speed of the bud suppression device in time according to the forward speed of the chassis. The bud suppression device accurately locates the position of the stem incision based on the signal fed back by the plant spacing identification device, and sprays the bud inhibitor directly on the top of the stem. This operation method is not only efficient and reliable, and can effectively kill axillary buds, but also can avoid possible burns on the leaves at the top of tall crops.

[0077] The high-precision sprayer uses a multi-hole full-cone nozzle, which includes seven independent spray holes. This design ensures that the spray pattern is uniform, round and full, and generates small-sized droplets, allowing the high-precision sprayer to more accurately control the growth direction and stem end growth point of the tobacco plant, maximizing the growth and development of the crop. At the same time, the high-precision sprayer uses a solenoid valve to achieve intermittent operation, which helps reduce the use of pesticides, reduce damage to the environment and tobacco farmers, and meet the requirements of sustainable agricultural development.

[0078] The crawler chassis has unique advantages on hilly and mountainous areas. It has strong passability and can adapt to changing terrain and complex road conditions. It has high stability and can maintain balance on inclined terrain. It has low ground pressure and reduces damage to the soil. It has good traction and can cope with muddy, slippery or rugged roads. It has strong adaptability and can work in various adverse weather and terrain conditions. The ridge guidance system of the crawler chassis can use the base of the plant for ridge guidance, and by accurately identifying the position and direction of the plant, it can accurately guide and control the forward direction of the chassis, thereby ensuring the efficiency and precision of the operation process.

[0079] The present invention can use the plant protection device to spray pesticides alone, thus realizing multiple uses of one machine. The lifting, unfolding and folding of the spraying rod can be controlled by operating the hydraulic cylinder, which is convenient and labor-saving to operate.

Claims

1. A multifunctional field management machine for hilly and mountainous areas based on intelligent crop identification, comprising a crawler chassis; characterized in that: A frame and a control system are installed at the bottom of the crawler chassis, a plant separation and support device, a topping device, a lifting device, a plant spacing identification device, and a bud suppression device are installed at the front of the frame, and a plant protection device is installed at the rear; the topping device, the lifting device, the plant spacing identification device, and the bud suppression device are all connected to the control system; When the crawler chassis moves along the plants, the plants are received by the separating and supporting device, so that they always remain upright, and then are guided to the topping device; when the plants are guided to the topping device, the topping knife cuts off the top of the plants; the plant spacing identification device is connected to the crawler chassis through a driver, and the control system timely adjusts the position of the bud suppression device according to the forward speed of the crawler chassis; the bud suppression device accurately determines the position of the stem incision according to the signal fed back by the plant spacing identification device, and sprays the bud suppression agent directly on the top of the stem; The crawler chassis is equipped with a ridge body guidance system, a battery, a water tank, a range extender and a control box, which are respectively installed on both sides of the chassis; wherein the ridge body guidance system uses the base of the plant to guide the ridge body; The topping device comprises a base, a motor, a topping blade, and a height recognition radar. The motor is installed on the base, the motor drives the topping blades located on both sides of the base to rotate, and the height recognition radar is arranged on the base; The separating and supporting device is installed at the front end of the base; The sprout suppressing device comprises a slide rail, a slider, a driving device, and a multi-hole full-cone nozzle; the slider is arranged on the slide rail, and the multi-hole full-cone nozzle is arranged on the slider for spraying the sprout suppressing agent, and the driving device drives the slider to move along the slide rail; The front end of the lifting device is connected to the base of the topping device, and the rear end is connected to the slide rail of the bud suppression device, and the lifting and lowering of the topping device and the bud suppression device are controlled at the same time; The plant spacing identification device is arranged below the lifting device and behind the topping device, and is used to send a signal to the control system after the light beam is interrupted. The control system will adjust the position of the bud suppression device according to the signal, and the bud suppression device performs the bud suppression operation.

2. The multifunctional field management machine for hilly and mountainous areas based on intelligent crop identification according to claim 1, characterized in that: The plant spacing identification device includes an adjusting bracket, an infrared transmitter and an infrared receiver; the adjusting bracket is arranged below the lifting device, and the infrared transmitter and infrared receiver are arranged relatively on the adjusting bracket; the infrared light emitted by the infrared transmitter is lower than the plants before topping, and higher than the infrared light of the plants after topping.

3. The multifunctional field management machine for hilly and mountainous areas based on intelligent crop identification according to claim 1, characterized in that: The plant spacing identification device also includes a driver, which is used to identify the speed of the crawler chassis and send the signal to the control system.

4. The multifunctional field management machine for hilly and mountainous areas based on intelligent crop identification according to claim 1, characterized in that: The described plant separation and support device comprises two symmetrically arranged plant separation and support components, each of which is a bent rod. The gap formed between the two bent rods first increases, reaches the minimum at the bent part, and then increases again, so that the plant remains upright and is guided to the topping blade position of the topping device.

5. The multifunctional field management machine for hilly and mountainous areas based on intelligent crop identification according to claim 1, characterized in that: The lifting device includes a lifting motor, a commutator, a coupling, a lead screw, a linear motion pair and a base; the lifting motor is connected to the commutator, the commutator is connected to the lead screw through the coupling, the lead screw is connected to the linear motion pair, and a base is set at the bottom of the lead screw.

6. The multifunctional field management machine for hilly and mountainous areas based on intelligent crop identification according to claim 5, characterized in that: The front end of the linear motion pair is connected to the base of the topping device, and the rear end is connected to the slide rail of the bud suppression device.

7. The multifunctional field management machine for hilly and mountainous areas based on intelligent crop identification according to claim 1, characterized in that: The multi-hole full-cone nozzle is controlled by a normally closed electromagnetic valve.

8. The multifunctional field management machine for hilly and mountainous areas based on intelligent crop identification according to claim 1, characterized in that: The plant protection device comprises a hydraulic telescopic rod, a spray rod and a spray head. The spray head is located on the vertical spray rod. The vertical spray rod is fixed to the tail of the hydraulic telescopic rod through a transverse support rod, and its height can be adjusted through the hydraulic telescopic rod.

9. The application method of the multifunctional field management machine for hilly and mountainous areas based on intelligent crop identification according to any one of claims 1 to 8, characterized in that: The following steps are involved: (1) The crawler chassis can accurately guide the ridge body by relying on the base of the plant; (2) When the chassis moves along tall crops, the separating and supporting device keeps the plants upright at all times, and then they are guided to the topping device; (3) The control system controls the lifting device to automatically adjust the position of the topping device and the high-precision sprayer according to the data measured by the height recognition radar to ensure that they match the height of the inflorescence at the top of the plant; so that the cutting knife is located below the inflorescence at the top of the tall crop to perform the topping operation; (4) After the plants are interrupted, the infrared receiver of the plant spacing identification device generates a pulse and transmits it to the control system. The control system controls the driving device of the bud suppression device to drive the multi-hole full-conical nozzle to move at a speed matching the ground speed of the self-propelled chassis to achieve accurate positioning of the plants. Then the solenoid valve of the bud suppression device is energized to start the bud suppression operation.

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