A precise spraying device for pineapple plants

Abstract

The present invention relates to a pineapple plant precision spraying device, comprising a vehicle body, a detection device arranged on the vehicle body for detecting the position of the plant core of the pineapple plant, and a spraying device for spraying the plant core of the pineapple plant; the spraying device comprises a medicine box, a spraying module and a spraying driving module; the spraying module is connected to the medicine box through a liquid medicine delivery module; the detection device comprises a bracket, a swing rod arranged on the bracket, and an angle detection mechanism for detecting the swing angle of the swing rod; the upper end of the swing rod is rotatably connected to the bracket, and the lower end is a free end; the free end of the swing rod is provided with a sensing module for sensing whether a pineapple leaf contacts the free end of the swing rod. Through the above improvements, the pineapple plant precision spraying device of the present invention can realize precise spraying of the plant core of the pineapple plant.

Description

Technical Field

[0001] The invention relates to the technical field of pineapple planting, and in particular to a precise pesticide spraying device for pineapple plants. Background Art

[0002] Pineapple is a famous tropical fruit that has been cultivated in China for more than 400 years. It is loved by consumers for its attractive fragrance and unique taste. China's pineapple production ranks sixth in the world, and China is one of the top ten pineapple producing countries in the world. Spraying pineapples to promote flowering is a very important process in the cultivation and management of pineapples. Its important purpose is to control the flowering and fruiting period of pineapples, so that pineapples planted in the same period can bloom and bear fruit in batches, which is conducive to unified field management and improved production efficiency. Spraying pineapples to promote flowering requires spraying pesticides on the core of the pineapple plants. At present, in the main production areas in China, such as Xuwen, the spraying of pineapples to promote flowering still mainly relies on manual spraying, which is not only time-consuming and labor-intensive, but also extremely inefficient. In addition, it is difficult to spray the liquid medicine accurately to the core of the plant. It can only be sprayed in a large-scale coverage manner, resulting in a waste of liquid medicine, and the amount of spraying for each plant cannot be consistent.

[0003] Using a tractor to pull an automatic sprayer to promote pineapple flowering can replace manual spraying and improve work efficiency. In order to achieve precise drug delivery and avoid wasting liquid medicine, it is required to be able to accurately and precisely deliver drug to the core of the pineapple plant. To achieve this function, the automatic sprayer needs to accurately know the core position of the pineapple plant during the spraying process. In order to adapt to mechanized farming, although pineapples are planted according to the set row spacing and plant spacing, the automatic sprayer still cannot accurately determine the core position of each pineapple during the spraying process. Therefore, the positioning of the pineapple core is a key technical link in realizing the automation of precise drug delivery for promoting pineapple flowering.

[0004] Therefore, there is an urgent need for a pineapple plant precision spraying device for realizing precise spraying of the plant core of the pineapple plant. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a pineapple plant precision spraying device, which can realize precise spraying of the plant core of the pineapple plant.

[0006] The technical solution of the present invention to solve the above technical problems is:

[0007] A precise spraying device for pineapple plants comprises a vehicle body, a detection device arranged on the vehicle body for detecting the position of the plant core of the pineapple plant, and a spraying device for spraying the plant core of the pineapple plant, wherein:

[0008] The medicine spraying device comprises a medicine box, a medicine spraying module and a medicine spraying driving module for driving the medicine spraying module to move on a horizontal plane along a moving direction parallel to the vehicle body, wherein the medicine spraying module is connected to the medicine box through a medicine liquid conveying module;

[0009] The detection device includes a bracket, a swing rod arranged on the bracket, and an angle detection mechanism for detecting the swing angle of the swing rod, wherein the upper end of the swing rod is rotatably connected to the bracket, and the lower end is a free end; a sensing module for sensing whether a pineapple leaf is in contact with the free end of the swing rod is provided on the free end of the swing rod; when the sensing module contacts the pineapple leaf, the sensing module sends a detection signal to the control system, and the control system controls the detection device to detect the core position of the pineapple plant.

[0010] Preferably, the swing arm is arc-shaped, a rotating shaft is disposed at the upper end of the swing arm, and both ends of the rotating shaft are respectively hinged on the bracket.

[0011] Preferably, the detection device also includes a blocking mechanism for preventing multiple pineapple leaves from contacting the free end of the swing rod at the same time; the blocking mechanism includes a mounting frame, a swing rod arranged on the mounting frame, and a blocking drive mechanism for driving the swing rod to rotate, wherein the mounting frame is located on the outside of the swing rod, and the mounting frame is composed of a vertical section and an arc section; the upper end of the vertical section is mounted on the rotating shaft, and the lower end is connected to the arc section; the curvature of the arc section is the same as the curvature of the swing rod; the swing rod is rotatably connected to the end of the mounting frame; the blocking drive mechanism is composed of a swing motor, the swing motor is mounted on the swing rod, and the main shaft of the swing motor is connected to the mounting frame; when the free end of the swing rod contacts the pineapple blade, the swing motor drives the swing rod to rotate to the other side of the pineapple blade.

[0012] Preferably, the spraying module includes a movable frame and a nozzle arranged on the movable frame.

[0013] Preferably, the spray drive module includes a slide rail, a slider arranged on the slide rail, and a linear drive mechanism for driving the movable frame to perform linear motion, wherein the slide rail is divided into two groups, and the two groups of slide rails extend linearly along the movement direction of the vehicle body; correspondingly, the slider is also divided into two groups, and the two groups of sliders are respectively installed on the two groups of slide rails; and the movable frame is installed on the two groups of sliders.

[0014] Preferably, guide blocks are also provided at the bottom of the bracket, and the guide blocks are in two groups, and the two groups of guide blocks are installed on two groups of slide rails and locked by screws.

[0015] Preferably, the detection device and the spraying device are each in two groups.

[0016] Preferably, it also includes a driving device for driving two groups of detection devices and two groups of spray devices to move toward each other or in the opposite direction, wherein the driving device includes a guide rail, a guide seat arranged on the guide rail, and a driving module for driving the guide seat to move, wherein the guide rails are in two groups, the two groups of guide rails are respectively arranged at the two ends of the two groups of slide rails, and extend in a straight line perpendicular to the extension direction of the slide rails; both sides of the slide rails are installed on the guide seat; the driving module includes a driving motor and a screw transmission mechanism, wherein the driving motor is installed between the two groups of detection devices and the two groups of spray devices, and the screw transmission mechanism includes a screw and a screw nut arranged on the screw, wherein the extension direction of the screw is the same as the extension direction of the guide rail; the screw nut is installed on the guide seat.

[0017] Preferably, the angle detection mechanism includes an angle detection sensor; and the sensing module includes a pressure sensor.

[0018] Preferably, the vehicle body includes a frame, a wheel frame arranged at the lower end of the frame, and running wheels arranged on the wheel frame, wherein a height adjustment mechanism for adjusting the height of the frame is arranged between the frame and the wheel frame, and the height adjustment mechanism is two groups or four groups, wherein two groups of height adjustment mechanisms are arranged at two diagonal corners of the frame, or four groups of height adjustment mechanisms are arranged at four corners of the frame.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] (1) The pineapple plant precision spraying device of the present invention detects the plant core position of the pineapple plant through a detection device. When the plant core position of the pineapple plant is detected, the spray driving module drives the spray module to move to the position, thereby realizing precise spraying of the plant core position of the pineapple plant.

[0021] (2) The pineapple plant precision spraying device of the present invention can realize precise spraying of the core of the pineapple plant, thereby saving liquid medicine and reducing the cost of spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1-Figure 3 The diagrams are structural schematic diagrams of the pineapple plant precision spraying device of the present invention from three different perspectives.

[0023] Figure 4-Figure 5 The diagram is a schematic structural diagram of the pineapple plant precision spraying device of the present invention from two different perspectives (excluding the medicine box).

[0024] Figure 6 and Figure 7 Schematic diagrams of the structures of the detection device and the spraying device from two different perspectives.

[0025] Figure 8 This is a schematic diagram of the structure of the perception module.

[0026] In the figure: 1-body; 101-frame; 102-wheel frame; 2-medicine box; 3-height adjustment mechanism; 301-motor; 302-screw transmission mechanism; 4-sensing module; 401-rotating shaft; 402-swing rod; 403-mounting frame; 404-swing rod; 405-swing motor; 406-bracket; 5-traveling wheel; 6-spraying drive module; 601-motor; 602-screw transmission mechanism; 603-slide rail; 7-driving device; 701-driving motor; 702-screw transmission mechanism; 703-guide seat; 704-guide rail; 8-movable frame; 9-nozzle; 10-delivery pump. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0028] See also Figure 1-Figure 8 The pineapple plant precision spraying device of the present invention comprises a vehicle body 1, a detection device arranged on the vehicle body 1 for detecting the position of the plant core of the pineapple plant, and a spraying device for spraying the plant core of the pineapple plant, wherein the spraying device comprises a medicine box 2, a spraying module, and a spraying driving module 6 for driving the spraying module to move on a horizontal plane along a moving direction parallel to the vehicle body 1, wherein the spraying module is connected to the medicine box 2 through a liquid medicine delivery module; the spraying module comprises a moving frame 8 and a nozzle 9 arranged on the moving frame 8; the liquid medicine delivery module comprises a delivery pump 10 and a delivery pipeline, In which, the delivery pump 10 delivers the medicine solution to the nozzle 9 on the mobile frame 8 through the delivery pipeline; the detection device includes a bracket 406, a swing rod 402 arranged on the bracket 406, and an angle detection mechanism for detecting the swing angle of the swing rod 402, wherein the upper end of the swing rod 402 is rotatably connected to the mobile frame 8, and the lower end is a free end; a sensing module 4 is provided on the free end of the swing rod 402 for sensing whether the pineapple leaf is in contact with the free end of the swing rod 402, wherein the angle detection mechanism is an angle detection sensor; the sensing module 4 is a pressure sensor.

[0029] In this embodiment, the pineapple plant precision spraying device of the present invention is towed by a towing device (such as a tractor). When moving along the planting row of pineapples, the free end of the swing arm 402 will contact the leaves of the pineapple plant. At this time, the pressure sensor detects the pressure and sends a signal to the control system. The control system controls the detection device to start monitoring the swing angle of the swing arm 402, thereby calculating the corresponding core position of the pineapple plant, so that the spraying device can spray the core of the pineapple plant.

[0030] See also Figure 1-Figure 8 The swing arm 402 is arc-shaped, and a rotating shaft 401 is provided at the upper end of the swing arm 402, and the two ends of the rotating shaft 401 are respectively hinged on the bracket 406; by setting the swing arm 402 as an arc structure, it has the following advantages: the center of gravity of the swing arm 402 with an arc structure will cause the free end of the swing arm 402 to be in a horizontal state, so that when the vehicle body 1 moves, the free end of the swing arm 402 will first contact the pineapple leaves relative to its bracket 406. In this way, when the core position of the pineapple plant is detected, since the bracket 406 is not directly above the core position of the pineapple plant, the spray module can be moved to directly above the core position of the pineapple plant, that is, the spray module will not interfere with the bracket 406, thereby completing the precise spraying of the core of the pineapple plant.

[0031] See also Figure 1-Figure 8, the detection device also includes a blocking mechanism for preventing multiple pineapple leaves from contacting the free end of the swing rod 402; the blocking mechanism includes a mounting frame 403, a swing rod 404 arranged on the mounting frame 403, and a blocking drive mechanism for driving the swing rod 404 to rotate, wherein the mounting frame 403 is located on the outside of the swing rod 402, and the mounting frame 403 is composed of a vertical section and an arc section; the upper end of the vertical section is mounted on the rotating shaft 401, and the lower end is connected to the arc section; the curvature of the arc section is the same as that of the swing rod 402; the swing rod 404 is rotatably connected to the end of the mounting frame 403; the blocking drive mechanism is composed of a swing motor 405, and the swing motor 405 is installed on the swing rod 404, and the main shaft of the swing motor 405 is connected to the mounting frame 403; when the free end of the swing rod 402 contacts the pineapple blade, the swing motor 405 drives the swing rod 404 to rotate to the other side of the pineapple blade; due to the obstruction of the swing rod 404, multiple pineapple blades can be prevented from contacting the pressure sensor on the free end of the swing rod 402 at the same time during the continuous movement of the vehicle body 1, that is, other pineapple blades are blocked by the swing rod 404, so it can be ensured that only one pineapple blade contacts the pressure sensor on the free end of the swing rod 402 during detection, thereby ensuring that the detection device can accurately detect the core position of the pineapple plant.

[0032] See also Figure 1-Figure 8 The spray driving module 6 includes a slide rail 603, a slider arranged on the slide rail 603, and a linear driving mechanism for driving the movable frame 8 to move, wherein the slide rail 603 is divided into two groups, and the two groups of slide rails 603 extend linearly along the movement direction of the vehicle body 1; correspondingly, the slider is also divided into two groups, and the two groups of sliders are respectively installed on the two groups of slide rails 603; the movable frame 8 is installed on the two groups of sliders; the linear driving mechanism can adopt a driving method combining a motor 601 and a screw transmission mechanism 602, and the movable frame 8 and the spray module arranged on the movable frame 8 are driven by the linear driving mechanism to move, thereby adjusting the position of the spray module, so that the spray module can move to the core position of the pineapple plant, thereby realizing precise spraying of the core of the pineapple plant.

[0033] See also Figure 1-Figure 8 A guide block is also provided at the bottom of the bracket 406. The guide blocks are divided into two groups. The two groups of guide blocks are installed on two groups of slide rails 603 and are locked by screws. Through the above structure, the position of the sensing module 4 can be adjusted. The specific adjustment method is: loosen the screws, move the guide blocks to adjust the position of the sensing module 4, and when it is adjusted to the appropriate position, lock the screws.

[0034] See also Figure 1-Figure 8, the detection device and the spraying device are both in two groups; in order to adjust the spacing between the two detection devices and the two spraying devices, the pineapple plant precision spraying device of the present invention is also provided with a driving device 7 for driving the two detection devices and the two spraying devices to move toward or in the opposite direction, wherein the driving device 7 includes a guide rail 704, a guide seat 703 arranged on the guide rail 704, and a driving module for driving the guide seat 703 to move, wherein the guide rail 704 is in two groups, and the two groups of guide rails 704 are respectively arranged on the two groups of slide rails 60 3, and extend in a straight line perpendicular to the extension direction of the slide rail 603; both sides of the slide rail 603 are mounted on the guide seat 703; the drive module includes a drive motor 701 and a screw transmission mechanism 702, wherein the drive motor 701 is installed between two groups of detection devices and two groups of spray devices, the screw transmission mechanism 702 includes a screw and a screw nut arranged on the screw, wherein the extension direction of the screw is the same as the extension direction of the guide rail 704; the screw nut is installed on the guide seat 703.

[0035] In this embodiment, the driving motor 701 and the screw transmission mechanism 702 are both two groups, and each group of the driving motor 701 and the screw transmission mechanism 702 is used to drive a group of detection devices and spraying devices to move, that is, the two groups of driving motors 701 drive the two groups of screw transmission mechanisms 702 to work respectively, thereby driving the two groups of detection devices and the two groups of spraying devices to move toward each other or in the opposite direction, so as to adjust the distance between the two groups of detection devices and the two groups of spraying devices; or, the driving motor 701 is a group, the driving motor 701 adopts a dual-output motor, the two groups of screw transmission mechanisms 702 are respectively arranged on both sides of the dual-output motor, and the screws or screw nuts in the two groups of screw transmission mechanisms 702 have opposite spiral directions, so that the screws in the two groups of screw transmission mechanisms 702 can be driven to rotate by one group of driving motors 701, thereby driving the two groups of detection devices and the two groups of spraying devices to move toward each other or in the opposite direction, so as to adjust the distance between the two groups of detection devices and the two groups of spraying devices.

[0036] See also Figure 1-Figure 8 The vehicle body 1 includes a frame 101, a wheel frame 102 arranged at the lower end of the frame 101, and a running wheel 5 arranged on the wheel frame 102, wherein a height adjustment mechanism for adjusting the height of the frame 101 is arranged between the frame 101 and the wheel frame 102, and the height adjustment mechanism is two groups or four groups, wherein two groups of height adjustment mechanisms are arranged at two diagonal positions of the frame 101, or four groups of height adjustment mechanisms are arranged at four corners of the frame 101.

[0037] In this embodiment, the height adjustment mechanism is also composed of a motor 301 and a screw transmission mechanism 302, wherein the motor 301 is mounted on the frame 101, and the screw nut in the screw transmission mechanism 302 is mounted on the wheel frame 102; in order to improve the adjustment accuracy, the height adjustment mechanism can be provided with a corresponding guide mechanism, and the guide mechanism can be a guide rod and a guide sleeve, wherein the guide rod and the guide sleeve are respectively mounted on the frame 101 and the wheel frame 102; by providing the above-mentioned height adjustment mechanism, the height of the sensing module 4 can be adjusted, thereby realizing the detection and spraying of the plant core of pineapple plants at different periods (i.e., different heights).

[0038] Implementation case 1:

[0039] The pineapple plant precision spraying device of the present invention is towed by a towing device (such as a tractor). When moving along the planting row of pineapples, the free end of the swing rod 402 will contact the leaves of the pineapple plant. At this time, the pressure sensor detects the pressure and sends a signal to the control system, and the control system controls the detection device to start working; at this time, the towing device continues to tow the pineapple plant precision spraying device of the present invention to move, and the pineapple leaves produce resistance to the swing rod 402, causing the swing rod 402 to swing upward, and the angle sensor detects the swing signal of the swing rod 402, thereby determining the relative position relationship between the swing rod 402 and the pineapple leaves in contact with it, and then obtaining the position of the pineapple plant core relative to the pineapple plant precision spraying device of the present invention based on the position relationship between the pineapple leaves and the pineapple plant core.

[0040] Specifically: the leaf in contact with the swing rod 402 is the uppermost leaf in the pineapple; when the swing rod 402 contacts the pineapple leaf and the angle sensor detects that the swing rod 402 is swinging, the position of the swing rod 402 in the pineapple plant precision spraying device of the present invention is recorded at this time, and this position is the so-called position of the pineapple leaf. According to the positional relationship between the leaf and the plant core, the position of the plant core relative to the pineapple plant precision spraying device of the present invention is determined.

[0041] The principle of the above detection is: in pineapple planting, the growth of pineapples in the same batch is not much different, so when the pineapple plant precision spraying device of the present invention is in operation, the growth height of the pineapple can be determined according to the current growth stage of the pineapple, and the leaves of the pineapple grow outward from the plant core in a divergent manner and are arranged in layers from bottom to top, so by adjusting the height of the swing rod 402, the swing rod 402 can be in contact with the top leaf of the pineapple during the movement; and in the current growth stage of the pineapple, the relative distance between the top leaf and the plant core is within an exact numerical range, so the position of the plant core can be determined within the error range. In the operation of drug administration and flower induction of the pineapple plant core, since the liquid medicine sprayed by the nozzle 9 is conical and has a certain width, when the plant core position is determined by the above method and the nozzle 9 is driven to the position to spray the medicine according to the position, the liquid medicine can cover the pineapple plant core position, thereby achieving precise drug administration.

[0042] Implementation case 2:

[0043] The pineapple plant precision spraying device of the present invention is towed by a towing device (such as a tractor). When moving along the planting row of pineapples, the free end of the swing rod 402 will contact the leaves of the pineapple plant. At this time, the pressure sensor detects the pressure and sends a signal to the control system, and the control system controls the detection device to start working; at this time, the towing device continues to tow the pineapple plant precision spraying device of the present invention to move, and the pineapple leaves produce resistance to the swing rod 402, causing the swing rod 402 to swing upward, and the angle sensor detects the swing signal of the swing rod 402, thereby determining the relative position relationship between the swing rod 402 and the pineapple leaves in contact with it, and then obtaining the position of the pineapple plant core relative to the pineapple plant precision spraying device of the present invention based on the position relationship between the pineapple leaves and the pineapple plant core.

[0044] Specifically, when the swing rod 402 contacts the leaves of the pineapple, as the swing rod 402 is continuously pulled forward, the leaves are gradually pulled upward from an outwardly bent state and gradually become straight. In this process, the swing rod 402 also continuously swings upward. When the leaves are pulled from a bent state to a straight state, the swing rod 402 is continuously pulled forward, and then the leaves bend in the opposite direction, so that the swing rod 402 swings upward at a maximum angle and then swings downward in the opposite direction. The moment when the swing rod 402 swings upward to the maximum angle is detected by an angle sensor, and the position of the swing rod 402 on the precise spraying device for pineapple plants of the present invention is recorded at this time, thereby obtaining the position of the leaves when the leaves are pulled from a bent state to a straight state, and determining the position of the plant core relative to the precise spraying device for pineapple plants of the present invention according to the positional relationship between the leaves in the straight state and the plant core at this time.

[0045] The principle of the above detection is: under the natural state, the leaves of the pineapple grow outward from the core of the plant, and the leaves are outward and downward. When the swing rod 402 contacts the leaves, it is equivalent to the swing rod 402 hanging on the leaves. As the swing rod 402 continues to move forward, the swing rod 402 will pull the leaves forward. At this time, the leaves will be pulled from the bent state to the straight state. The contact part between the swing rod 402 and the leaves is taken as the observation object, which is equivalent to moving upward with the root of the leaves as the center. In this process, since the contact part between the swing rod 402 and the leaves remains unchanged, the swing rod 402 will also move upward with the leaves, which is manifested as the swing rod 402 rotating upward, thereby being detected by the angle sensor. sensed; and when the blade becomes straight, the part where the swing rod 402 contacts the blade reaches the highest point, and if it is pulled continuously, the blade will bend in the opposite direction, and the height of the part will decrease, and the corresponding height of the swing rod 402 will also decrease, and then be sensed by the angle sensor. Therefore, the time point when the blade changes from a bent state to a straight state can be known, and then the position of the swing rod 402 in the precise spraying device for pineapple plants of the present invention can be known, and then the current position of the blade can be obtained. According to the positional relationship between the blade and the plant core when the blade becomes straight, the positional relationship can be determined by an empirical value, which is also a numerical range within the allowable error range, and the position of the plant core relative to the precise spraying device for pineapple plants of the present invention can be determined.

[0046] In addition to the above method, when the blade changes from a bent state to a straight state, the position relationship of the plant core can be calculated using the geometric relationship between the blade, the swing rod 402, and the plant core. For example, when the blade changes from a bent state to a straight state, the blade, the swing rod 402 and the plant core have an exact position geometric relationship. By establishing a mathematical model, the position of the plant core can be calculated. The plant core position calculated by this method is more accurate, and more accurate fixed-point flower-inducing drug administration can be achieved.

[0047] Implementation case three:

[0048] The pineapple plant precision spraying device of the present invention is towed by a towing device (such as a tractor). When moving along the planting row of pineapples, the free end of the swing rod 402 will contact the leaves of the pineapple plant. At this time, the pressure sensor detects the pressure and sends a signal to the control system, and the control system controls the detection device to start working; at this time, the towing device continues to tow the pineapple plant precision spraying device of the present invention to move, and the pineapple leaves produce resistance to the swing rod 402, causing the swing rod 402 to swing upward, and the angle sensor detects the swing signal of the swing rod 402, thereby determining the relative position relationship between the swing rod 402 and the pineapple leaves in contact with it, and then obtaining the position of the pineapple plant core relative to the pineapple plant precision spraying device of the present invention based on the position relationship between the pineapple leaves and the pineapple plant core.

[0049] Specifically: when the swing rod 402 contacts the leaves of the pineapple, as the swing rod 402 is continued to be pulled forward, the leaves are gradually pulled upward from the outward bent state and gradually become straight. In this process, the swing rod 402 also continues to swing upward; when the leaves are pulled from the bent state to the straight state, the swing rod 402 is continued to be pulled forward, and then the leaves are bent in the opposite direction, so that the swing rod 402 swings upward at a maximum angle and then begins to swing downward in the opposite direction; when the swing rod 402 passes over the leaves and enters the core position of the pineapple, the swing angle of the swing rod 402 will decrease to a minimum value. At this time, the position of the operating equipment when the swing angle of the swing rod 402 is at the minimum value is recorded, and the position of the pineapple core relative to the operating equipment is determined based on the relative position relationship between the swing rod 402 and the operating equipment.

[0050] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A pineapple plant precision spraying device, characterized in that: The vehicle comprises a vehicle body, a detection device arranged on the vehicle body for detecting the position of the plant core of the pineapple plant, and a spraying device for spraying the plant core of the pineapple plant, wherein: The medicine spraying device comprises a medicine box, a medicine spraying module and a medicine spraying driving module for driving the medicine spraying module to move on a horizontal plane along a moving direction parallel to the vehicle body, wherein the medicine spraying module is connected to the medicine box through a medicine liquid conveying module; The detection device comprises a bracket, a swing rod arranged on the bracket, and an angle detection mechanism for detecting the swing angle of the swing rod, wherein the upper end of the swing rod is rotatably connected to the bracket, and the lower end is a free end; a sensing module for sensing whether a pineapple leaf contacts the free end of the swing rod is arranged on the free end of the swing rod; when the sensing module contacts the pineapple leaf, the sensing module sends a detection signal to the control system, and the control system controls the detection device to detect the position of the plant core of the pineapple plant; The swing rod is arc-shaped, and a rotating shaft is arranged at the upper end of the swing rod, and both ends of the rotating shaft are respectively hinged on the bracket; The detection device also includes a blocking mechanism for preventing multiple pineapple leaves from contacting the free end of the swing rod at the same time; the blocking mechanism includes a mounting frame, a swing rod arranged on the mounting frame, and a blocking drive mechanism for driving the swing rod to rotate, wherein the mounting frame is located on the outer side of the swing rod, and the mounting frame is composed of a vertical section and an arc section; the upper end of the vertical section is mounted on the rotating shaft, and the lower end is connected to the arc section; the arc of the arc section is the same as the arc of the swing rod; the swing rod is rotatably connected to the end of the mounting frame; the blocking drive mechanism is composed of a swing motor, the swing motor is mounted on the swing rod, and the main shaft of the swing motor is connected to the mounting frame; when the free end of the swing rod contacts the pineapple leaf, the swing motor drives the swing rod to rotate to the other side of the pineapple leaf; The spraying module includes a moving frame and a nozzle arranged on the moving frame; the spraying driving module includes a slide rail, a slider arranged on the slide rail, and a linear driving mechanism for driving the moving frame to perform linear motion, wherein the slide rails are divided into two groups, and the two groups of slide rails extend linearly along the moving direction of the vehicle body; correspondingly, the sliders are divided into two groups, and the two groups of sliders are respectively installed on the two groups of slide rails; and the moving frame is installed on the two groups of sliders; It also includes a driving device for driving two groups of detection devices and two groups of spraying devices to move toward each other or in the opposite direction, wherein the driving device includes a guide rail, a guide seat arranged on the guide rail, and a driving module for driving the guide seat to move, wherein the guide rails are in two groups, the two groups of guide rails are respectively arranged at the two ends of the two groups of slide rails, and extend in a straight line perpendicular to the extension direction of the slide rails; both sides of the slide rails are installed on the guide seat; the driving module includes a driving motor and a screw transmission mechanism, wherein the driving motor is installed between the two groups of detection devices and the two groups of spraying devices, and the screw transmission mechanism includes a screw and a screw nut arranged on the screw, wherein the extension direction of the screw is the same as the extension direction of the guide rail; the screw nut is installed on the guide seat.

2. The pineapple plant precision spraying device according to claim 1, characterized in that: The bottom of the bracket is also provided with guide blocks, and the guide blocks are in two groups. The two groups of guide blocks are installed on two groups of slide rails and are locked by screws.

3. The pineapple plant precision spraying device according to claim 1, characterized in that: The angle detection mechanism includes an angle detection sensor; the perception module includes a pressure sensor.

4. The pineapple plant precision spraying device according to claim 1, characterized in that: The vehicle body includes a frame, a wheel frame arranged at the lower end of the frame, and running wheels arranged on the wheel frame, wherein a height adjustment mechanism for adjusting the height of the frame is arranged between the frame and the wheel frame, and the height adjustment mechanism is two groups or four groups, wherein two groups of height adjustment mechanisms are arranged at two diagonal corners of the frame, or four groups of height adjustment mechanisms are arranged at four corners of the frame.

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