Agricultural intelligent unmanned trolley

Abstract

The invention discloses an agricultural intelligent unmanned vehicle, and relates to the technical field of agricultural equipment, and the agricultural intelligent unmanned vehicle comprises a positioning and navigation module which is responsible for providing global positioning information and is used for positioning and path planning; the visual perception module is responsible for collecting information of a farmland environment and a plant growth state in real time; the image processing and recognition module is responsible for processing and analyzing the image and video data acquired by the visual perception module; the intelligent decision-making module is responsible for deciding the optimal pesticide spraying amount and spraying mode according to the result of the image processing and recognition module and a preset pesticide spraying strategy, and when the pesticide and water stored in the liquid storage tank need to be stirred, a stirring control motor is started, and the stirring control motor is started; and a stirring control motor finally drives a third rotating shaft and a second stirring rod to reversely rotate at the same time, so that the interior of the liquid storage tank is sufficiently stirred, pesticides are sufficiently mixed, and the expected prevention and treatment effect is guaranteed to be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural equipment, and in particular to an intelligent unmanned vehicle for agriculture. Background Art

[0002] Unmanned driving technology is the key to realizing autonomous driving of intelligent unmanned agricultural vehicles. This includes high-precision navigation systems, environmental perception systems, path planning systems, and autonomous obstacle avoidance systems. These technologies enable unmanned vehicles to accurately locate, navigate autonomously, and drive safely in complex farmland environments.

[0003] After searching, the Chinese patent number CN214229277U discloses an intelligent unmanned vehicle for agriculture, which belongs to the field of unmanned vehicles. The intelligent unmanned vehicle for agriculture includes a vehicle body, a rotating mechanism, a spraying mechanism and an intelligent control cabinet. The rotating mechanism is fixed on the upper surface of the vehicle body, and a spray head is fixed on the rotating end above the rotating mechanism. A solution tank is provided on one side of the rotating mechanism, and the solution tank is fixed on the upper surface of the vehicle body. A hydraulic pump is provided inside the solution tank. The spraying mechanism is connected to the hydraulic pump through a hose. The intelligent control cabinet is installed in the vehicle body, and the intelligent control cabinet is electrically connected to the spraying mechanism, the rotating mechanism, the hydraulic pump and the vehicle body. This patent has a simple structure and flexible operation. It can be controlled by remote wireless operation to reduce labor intensity. Its spraying mechanism rotates in multiple directions with the rotating mechanism, spraying accurately and effectively while saving resources, which meets the needs of agricultural development.

[0004] However, in actual use, the above-mentioned device is difficult to stir when it is necessary to spray pesticides on crops, and it is difficult to fully mix the pesticides. This may cause the pesticide concentration in some areas to be too high, while the concentration in other areas is insufficient. Areas with too high concentrations may cause crop damage, while areas with insufficient concentrations cannot achieve the expected prevention and control effects. Therefore, it is necessary to propose an intelligent unmanned vehicle for agricultural use. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art that it is difficult to stir the pesticides when spraying them on crops, making it difficult to fully mix the pesticides, which may result in excessively high pesticide concentrations in some areas and insufficient concentrations in other areas. Areas with excessively high concentrations may cause crop damage, while areas with insufficient concentrations cannot achieve the expected prevention and control effects. An intelligent unmanned vehicle for agricultural use is proposed to solve the problems.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] An intelligent unmanned agricultural vehicle, comprising:

[0008] Positioning and navigation module: responsible for providing global positioning information for positioning and path planning;

[0009] Visual perception module: responsible for collecting information on farmland environment and plant growth status in real time;

[0010] Image processing and recognition module: responsible for processing and analyzing the image and video data collected by the visual perception module;

[0011] Intelligent decision-making module: responsible for deciding the best pesticide spraying amount and spraying method based on the results of the image processing and recognition modules and the preset pesticide spraying strategy;

[0012] Pesticide spraying module: responsible for accurately controlling the amount and spraying position of pesticide spray;

[0013] Inspection module: responsible for inspecting farmland and recording plant growth and pest distribution information;

[0014] The pesticide spraying module includes a stirring control unit, an angle control unit and a height control unit, wherein the stirring control unit is arranged on the upper part of the first support plate, a stirring control motor is fixedly installed on the upper part of the first support plate, a first rotating shaft is arranged at the output end of the stirring control motor, the first rotating shaft is fixedly connected with a first spur gear set, the first spur gear set is fixedly connected with a third rotating shaft, the third rotating shaft is rotationally connected to the first support plate, the third rotating shaft is fixedly connected with a plurality of second stirring rods for stirring, the first rotating shaft is fixedly connected with a second spur gear set, the second spur gear set is fixedly connected with a fourth rotating shaft, the fourth rotating shaft is rotationally connected to the first support plate, the fourth rotating shaft is fixedly connected with a first gear, one side of the first gear is meshed with a second gear, the second gear is fixedly connected with the second rotating shaft, the second rotating shaft and the third rotating shaft are rotationally connected, the second rotating shaft is fixedly connected with a plurality of first stirring rods for stirring, and a liquid storage tank is fixedly connected to the lower part of the first support plate.

[0015] The above technical solution further includes:

[0016] The first rotating shaft is rotationally connected to the first support plate, the third rotating shaft is rotationally connected to the liquid storage tank, the fourth rotating shaft is rotationally connected to the liquid storage tank, and the second rotating shaft is rotationally connected to the liquid storage tank.

[0017] A spraying angle control motor is fixedly installed on one side of the first support plate, and a threaded rod is provided at the output end of the spraying angle control motor. The threaded rod is rotatably connected to the first support plate, and a slide is threadedly connected to the threaded rod. The side of the slide away from the spraying angle control motor is fixedly connected to the first fixing rod.

[0018] The first fixing rod is fixedly connected with a sliding sleeve, the upper part of the sliding sleeve is rotatably connected with a first connecting plate, and the first connecting plate is rotatably connected with a rotating disk at a side away from the sliding sleeve.

[0019] A second fixed rod is fixedly connected to the side of the slide plate away from the spraying angle control motor, the second fixed rod is slidably connected to a fixed sleeve, the upper part of the fixed sleeve is rotatably connected to a second connecting plate, the second connecting plate is rotatably connected to the rotating disk, the lower part of the rotating disk is fixedly connected to a rotating hollow column, and the rotating hollow column is rotatably connected to the first support plate.

[0020] A liquid inlet for adding liquid is arranged on one side of the liquid storage tank, a spray pipe is fixedly connected to one side of the liquid storage tank close to the rotating disk, the spray pipe runs through the rotating hollow column, and a pump body is arranged at the connection between the spray pipe and the rotating disk.

[0021] A plurality of telescopic rods are fixedly connected to the lower portion of the first support plate, a side of the telescopic rod away from the first support plate is fixedly connected to the second support plate, a height control cylinder is fixedly installed on the upper portion of the second support plate, an air rod is provided at the output end of the height control cylinder, the air rod is fixedly connected to the first support plate, a plurality of fixed plates for limiting are fixedly connected to the air rod, a side of the fixed plate away from the air rod is fixedly connected to the telescopic rod, and a plurality of universal wheels for movement are fixedly connected to the lower portion of the second support plate.

[0022] The stirring control unit is responsible for stirring the inside of the liquid storage tank to ensure that the pesticide is fully mixed, the angle control unit is responsible for adjusting the spraying angle of the spray pipe, and the height control unit is responsible for adjusting the spraying height of the spray pipe.

[0023] The positioning and navigation module uses the A* algorithm for path planning, and its formula is:

[0024] f(n)=g(n)+h(n)

[0025] Among them, f(n) is the valuation function from the initial node to any node n, which represents the estimated total cost from the starting point through node n to the end point;

[0026] g(n) is the actual cost from the initial node to node n;

[0027] h(n) is the estimated cost from node n to the end point.

[0028] The specific steps of the intelligent decision-making module are:

[0029] Data integration: Integrate the results of the image processing and recognition modules with other sensor data;

[0030] Growth model application: Use plant growth models or expert systems to comprehensively evaluate plant growth based on integrated data;

[0031] Demand determination: Based on the assessment results, determine the amount of pesticides required by the plants, the priority and urgency of spraying;

[0032] Spraying plan formulation: Develop a detailed pesticide spraying plan based on the actual conditions of the farmland.

[0033] The present invention has the following beneficial effects:

[0034] 1. In the present invention, when it is necessary to stir the pesticide and water stored in the liquid storage tank, the stirring control motor is started, and the stirring control motor will eventually drive the third rotating shaft and the second stirring rod to rotate in the opposite direction at the same time, so as to fully stir the inside of the liquid storage tank and fully mix the pesticide, thereby ensuring that the expected prevention and control effect is achieved.

[0035] 2. In the present invention, the visual perception module can be used to collect information on the farmland environment and plant growth status, including plant height, leaf color, pest and disease conditions, etc., and ultimately achieve accurate spraying of medicine on plants in different areas to ensure plant generation and growth. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of the structure of an intelligent unmanned agricultural vehicle proposed by the present invention;

[0037] Figure 2 It is a schematic diagram of the first structure of the present invention;

[0038] Figure 3 It is a second structural schematic diagram of the present invention;

[0039] Figure 4 for Figure 1 A schematic diagram of the structure enlargement in the middle;

[0040] Figure 5 for Figure 1 A magnified schematic diagram of the structure at B in the middle;

[0041] Figure 6 It is a system block diagram of the present invention.

[0042] In the figure: 1. first support plate; 2. spray angle control motor; 3. threaded rod; 4. slide plate; 5. telescopic rod; 6. second support plate; 7. universal wheel; 8. liquid storage tank; 9. spray pipe; 10. liquid inlet; 11. pump body; 12. rotating disk; 13. rotating hollow column; 14. first fixed rod; 15. second fixed rod; 16. sliding sleeve; 17. fixed sleeve; 18. first connecting plate; 19. second connecting plate; 20. stirring control motor; 21. first rotating shaft; 22. first gear; 23. second gear; 24. second rotating shaft; 25. third rotating shaft; 26. first stirring rod; 27. second stirring rod; 28. first spur gear set; 29. ​​second spur gear set; 30. fourth rotating shaft; 31. height control cylinder; 32. fixed plate; 33. gas rod. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] like Figure 1-Figure 6 As shown, an intelligent unmanned agricultural vehicle includes:

[0045] Positioning and navigation module: responsible for providing global positioning information for positioning and path planning;

[0046] Visual perception module: responsible for collecting information on farmland environment and plant growth status in real time;

[0047] Image processing and recognition module: responsible for processing and analyzing the image and video data collected by the visual perception module;

[0048] Intelligent decision-making module: responsible for deciding the best pesticide spraying amount and spraying method based on the results of the image processing and recognition modules and the preset pesticide spraying strategy;

[0049] Pesticide spraying module: responsible for accurately controlling the amount and spraying position of pesticide spray;

[0050] Inspection module: responsible for inspecting farmland and recording plant growth and pest distribution information;

[0051] The pesticide spraying module includes a stirring control unit, an angle control unit and a height control unit. The stirring control unit is arranged on the upper part of the first support plate 1. A stirring control motor 20 is fixedly installed on the upper part of the first support plate 1. The output end of the stirring control motor 20 is provided with a first rotating shaft 21. The first rotating shaft 21 is fixedly connected with a first straight gear set 28. The first straight gear set 28 is fixedly connected with a third rotating shaft 25. The third rotating shaft 25 is rotatably connected to the first support plate 1. The third rotating shaft 25 is fixedly connected with a plurality of second stirring rods 27 for stirring. The first rotating shaft 21 is fixedly connected with a first straight gear set 28. The first straight gear set 28 is fixedly connected with a third rotating shaft 25. The shaft 21 is fixedly connected with a second spur gear set 29, the second spur gear set 29 is fixedly connected with a fourth rotating shaft 30, the fourth rotating shaft 30 is rotationally connected to the first support plate 1, the fourth rotating shaft 30 is fixedly connected with a first gear 22, one side of the first gear 22 is meshingly connected with a second gear 23, the second gear 23 is fixedly connected with a second rotating shaft 24, the second rotating shaft 24 and the third rotating shaft 25 are rotationally connected, the second rotating shaft 24 is fixedly connected with a plurality of first stirring rods 26 for stirring, and the lower part of the first support plate 1 is fixedly connected with a liquid storage tank 8.

[0052] The working principle of an intelligent unmanned agricultural vehicle proposed by the present invention is that the intelligent vehicle can be positioned and path planned through the positioning and navigation module, and then the visual perception module of the intelligent vehicle collects data such as plant height, leaf color, and pest and disease conditions. The intelligent decision-making module will make decisions on the best pesticide spraying amount and spraying method based on the processing results of the acquired data and the preset pesticide spraying strategy. At the same time, the driving path of the unmanned vehicle can be planned according to the visual navigation information, and the vehicle can be controlled to move along the path. The inspection module is convenient for inspecting the farmland while completing the pesticide spraying task, recording information such as plant growth conditions and pest and disease distribution, and providing data support for subsequent agricultural production management;

[0053] When the inside of the liquid storage tank 8 needs to be stirred, the stirring control motor 20 is started, and the stirring control motor 20 drives the first rotating shaft 21 set at the output end to rotate. The rotation of the first rotating shaft 21 causes the first spur gear set 28 and the second spur gear set 29 to rotate at the same time. The rotation of the first spur gear set 28 causes the third rotating shaft 25 to rotate. The rotation of the third rotating shaft 25 drives the multiple second stirring rods 27 to rotate. The rotation of the second spur gear set 29 drives the fourth rotating shaft 30 to rotate.

[0054] The rotation of the fourth rotating shaft 30 will drive the fixedly connected first gear 22 to rotate. The rotation of the first gear 22 will cause the second gear 23 meshingly connected on one side to rotate. The rotation of the second gear 23 can drive the fixedly connected second rotating shaft 24 to rotate. The second rotating shaft 24 and the third rotating shaft 25 are rotationally connected. The third rotating shaft 25 runs through the second rotating shaft 24, and the second rotating shaft 24 and the third rotating shaft 25 rotate in opposite directions, that is, the second rotating shaft 24 will drive the multiple fixedly connected first stirring rods 26 to rotate, so as to fully stir the inside of the liquid storage tank 8.

[0055] In one embodiment, for the above-mentioned first rotating shaft 21, the first rotating shaft 21 is rotationally connected to the first support plate 1, the third rotating shaft 25 is rotationally connected to the liquid storage tank 8, the fourth rotating shaft 30 is rotationally connected to the liquid storage tank 8, and the second rotating shaft 24 is rotationally connected to the liquid storage tank 8.

[0056] In one embodiment, for the above-mentioned first support plate 1, a spraying angle control motor 2 is fixedly installed on one side of the first support plate 1, and a threaded rod 3 is provided at the output end of the spraying angle control motor 2. The threaded rod 3 and the first support plate 1 are rotatably connected, and the threaded rod 3 is threadedly connected to a slide plate 4, and the slide plate 4 is fixedly connected to a first fixed rod 14 on the side away from the spraying angle control motor 2.

[0057] In one embodiment, for the first fixing rod 14 , the first fixing rod 14 is fixedly connected to a sliding sleeve 16 , the upper portion of the sliding sleeve 16 is rotatably connected to a first connecting plate 18 , and the first connecting plate 18 is rotatably connected to a rotating disk 12 at a side away from the sliding sleeve 16 .

[0058] In one embodiment, for the above-mentioned skateboard 4, a side of the skateboard 4 away from the spraying angle control motor 2 is fixedly connected to a second fixed rod 15, the second fixed rod 15 is slidably connected to a fixed sleeve 17, the upper part of the fixed sleeve 17 is rotatably connected to a second connecting plate 19, the second connecting plate 19 is rotatably connected to the rotating disk 12, the lower part of the rotating disk 12 is fixedly connected to a rotating hollow column 13, and the rotating hollow column 13 is rotatably connected to the first support plate 1.

[0059] The working principle of the intelligent unmanned agricultural vehicle proposed by the present invention is that when the spraying angle control motor 2 is started, the spraying angle control motor 2 will drive the threaded rod 3 set at the output end to rotate, and the rotation of the threaded rod 3 will cause the threaded slide plate 4 to slide outside the first support plate 1, and the sliding of the slide plate 4 will drive the first fixed rod 14 and the second fixed rod 15 to move at the same time, and when the first fixed rod 14 moves, the fixedly connected sliding sleeve 16 will move together, and the sliding sleeve 16 will drive the rotatably connected first connecting plate 18 to move, and the first connecting plate 18 will cause the rotatably connected rotating disk 12 to rotate;

[0060] When the second fixed rod 15 moves, will it drive the slidingly connected fixed sleeve 17 to move? When the rotating disk 12 rotates, it will drive the rotatably connected second connecting plate 19 to move, and the second connecting plate 19 moves in opposite directions to the first connecting plate 18. The second connecting plate 19 will drive the externally rotatably connected fixed sleeve 17 to slide on the second fixed rod 15, that is, the angle of the spraying pipe 9 arranged on the upper part of the rotating disk 12 can be adjusted, that is, the angle of spraying pesticides can be controlled.

[0061] In one embodiment, for the above-mentioned liquid storage tank 8, a liquid inlet 10 for adding liquid is provided on one side of the liquid storage tank 8, and a spray pipe 9 is fixedly connected to the side of the liquid storage tank 8 close to the rotating disk 12. The spray pipe 9 runs through the rotating hollow column 13, and a pump body 11 is provided at the connection between the spray pipe 9 and the rotating disk 12.

[0062] In one embodiment, for the above-mentioned first support plate 1, a plurality of telescopic rods 5 are fixedly connected to the lower portion of the first support plate 1, a second support plate 6 is fixedly connected to the side of the telescopic rod 5 away from the first support plate 1, a height control cylinder 31 is fixedly installed on the upper portion of the second support plate 6, and a gas rod 33 is provided at the output end of the height control cylinder 31, the gas rod 33 is fixedly connected to the first support plate 1, the gas rod 33 is fixedly connected to a plurality of fixed plates 32 for limiting, the fixed plate 32 is fixedly connected to the telescopic rod 5 on the side away from the gas rod 33, and a plurality of universal wheels 7 for movement are fixedly connected to the lower portion of the second support plate 6.

[0063] The working principle of the intelligent unmanned agricultural vehicle proposed by the present invention is that when the pump body 11 is started, the pump body 11 causes the pesticide and water mixture stored in the liquid storage tank 8 to be sprayed on the crops through the spray pipe 9, and the liquid inlet 10 is convenient for adding pesticides and water into the liquid storage tank 8. When the height control cylinder 31 is started, the height control cylinder 31 drives the gas rod 33 set at the output end to rise and fall, and the gas rod 33 drives the first support plate 1 fixedly connected to the outside to rise and fall;

[0064] The multiple telescopic rods 5 arranged between the first support plate 1 and the second support plate 6 are convenient for keeping the first support plate 1 stable when it is raised or lowered, and the fixed plate 32 fixedly connected to the outside of the gas rod 33 is fixedly connected to the telescopic rod 5, and the telescopic rods 5 are also fixedly connected by the fixed plate 32, that is, the multiple telescopic rods 5 can be raised or lowered at the same time, and the multiple universal wheels 7 fixedly connected to the lower part of the sliding sleeve 16 are convenient for moving the trolley.

[0065] In one embodiment, for the above-mentioned stirring control unit, the stirring control unit is responsible for stirring the inside of the liquid storage tank 8 to ensure that the pesticide is fully mixed, the angle control unit is responsible for adjusting the spraying angle of the spray pipe 9, and the height control unit is responsible for adjusting the spraying height of the spray pipe 9.

[0066] In one embodiment, for the above positioning and navigation module, the positioning and navigation module uses the A* algorithm for path planning, and the formula is:

[0067] f(n)=g(n)+h(n)

[0068] Among them, f(n) is the valuation function from the initial node to any node n, which represents the estimated total cost from the starting point through node n to the end point;

[0069] g(n) is the actual cost from the initial node to node n;

[0070] h(n) is the estimated cost from node n to the end point.

[0071] In one embodiment, for the above intelligent decision-making module, the specific steps of the intelligent decision-making module are:

[0072] Data integration: Integrate the results of the image processing and recognition modules with other sensor data;

[0073] Growth model application: Use plant growth models or expert systems to comprehensively evaluate plant growth based on integrated data;

[0074] Demand determination: Based on the assessment results, determine the amount of pesticides required by the plants, the priority and urgency of spraying;

[0075] Spraying plan formulation: Develop a detailed pesticide spraying plan based on the actual conditions of the farmland.

[0076] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent unmanned vehicle for agricultural use, characterized in that: include: Positioning and navigation module: responsible for providing global positioning information for positioning and path planning; Visual perception module: responsible for collecting information on farmland environment and plant growth status in real time; Image processing and recognition module: responsible for processing and analyzing the image and video data collected by the visual perception module; Intelligent decision-making module: responsible for deciding the best pesticide spraying amount and spraying method based on the results of the image processing and recognition modules and the preset pesticide spraying strategy; Pesticide spraying module: responsible for accurately controlling the amount and spraying position of pesticide spray; Inspection module: responsible for inspecting farmland and recording plant growth and pest distribution information; The pesticide spraying module comprises a stirring control unit, an angle control unit and a height control unit, wherein the stirring control unit is arranged on the upper part of the first support plate (1), a stirring control motor (20) is fixedly mounted on the upper part of the first support plate (1), a first rotating shaft (21) is arranged at the output end of the stirring control motor (20), the first rotating shaft (21) is fixedly connected to a first spur gear set (28), the first spur gear set (28) is fixedly connected to a third rotating shaft (25), the third rotating shaft (25) is rotationally connected to the first support plate (1), the third rotating shaft (25) is fixedly connected to a plurality of second stirring rods (27) for stirring, the first rotating shaft (21) is fixedly connected to the first support plate (1), ) is fixedly connected to a second spur gear set (29), the second spur gear set (29) is fixedly connected to a fourth rotating shaft (30), the fourth rotating shaft (30) is rotationally connected to the first support plate (1), the fourth rotating shaft (30) is fixedly connected to a first gear (22), one side of the first gear (22) is meshingly connected to a second gear (23), the second gear (23) is fixedly connected to a second rotating shaft (24), the second rotating shaft (24) is rotationally connected to a third rotating shaft (25), the second rotating shaft (24) is fixedly connected to a plurality of first stirring rods (26) for stirring, and the lower part of the first support plate (1) is fixedly connected to a liquid storage tank (8).

2. The intelligent unmanned agricultural vehicle according to claim 1, characterized in that: The first rotating shaft (21) is rotatably connected to the first support plate (1), the third rotating shaft (25) is rotatably connected to the liquid storage tank (8), the fourth rotating shaft (30) is rotatably connected to the liquid storage tank (8), and the second rotating shaft (24) is rotatably connected to the liquid storage tank (8).

3. The intelligent unmanned agricultural vehicle according to claim 1, characterized in that: A spraying angle control motor (2) is fixedly mounted on one side of the first support plate (1); a threaded rod (3) is provided at the output end of the spraying angle control motor (2); the threaded rod (3) is rotatably connected to the first support plate (1); the threaded rod (3) is threadedly connected to a slide plate (4); and a first fixing rod (14) is fixedly connected to the side of the slide plate (4) away from the spraying angle control motor (2).

4. The intelligent unmanned agricultural vehicle according to claim 3, characterized in that: The first fixed rod (14) is fixedly connected to a sliding sleeve (16), the upper part of the sliding sleeve (16) is rotatably connected to a first connecting plate (18), and the first connecting plate (18) is rotatably connected to a rotating disk (12) at a side away from the sliding sleeve (16).

5. The intelligent unmanned agricultural vehicle according to claim 3, characterized in that: A second fixed rod (15) is fixedly connected to a side of the slide plate (4) away from the spraying angle control motor (2); the second fixed rod (15) is slidably connected to a fixed sleeve (17); the upper part of the fixed sleeve (17) is rotatably connected to a second connecting plate (19); the second connecting plate (19) is rotatably connected to the rotating disk (12); the lower part of the rotating disk (12) is fixedly connected to a rotating hollow column (13); the rotating hollow column (13) is rotatably connected to the first support plate (1).

6. The intelligent unmanned agricultural vehicle according to claim 1, characterized in that: A liquid inlet (10) for adding liquid is provided on one side of the liquid storage tank (8), a spray pipe (9) is fixedly connected to the side of the liquid storage tank (8) close to the rotating disk (12), the spray pipe (9) passes through the rotating hollow column (13), and a pump body (11) is provided at the connection between the spray pipe (9) and the rotating disk (12).

7. The intelligent unmanned agricultural vehicle according to claim 1, characterized in that: A plurality of telescopic rods (5) are fixedly connected to the lower part of the first support plate (1); a second support plate (6) is fixedly connected to the side of the telescopic rod (5) away from the first support plate (1); a height control cylinder (31) is fixedly installed on the upper part of the second support plate (6); an air rod (33) is provided at the output end of the height control cylinder (31); the air rod (33) is fixedly connected to the first support plate (1); the air rod (33) is fixedly connected to a plurality of fixed plates (32) for limiting position; a side of the fixed plate (32) away from the air rod (33) is fixedly connected to the telescopic rod (5); and a plurality of universal wheels (7) for movement are fixedly connected to the lower part of the second support plate (6).

8. The intelligent unmanned agricultural vehicle according to claim 1, characterized in that: The stirring control unit is responsible for stirring the interior of the liquid storage tank (8) to ensure that the pesticide is fully mixed, the angle control unit is responsible for adjusting the spraying angle of the spraying pipe (9), and the height control unit is responsible for adjusting the spraying height of the spraying pipe (9).

9. The intelligent unmanned agricultural vehicle according to claim 1, characterized in that: The positioning and navigation module uses the A* algorithm for path planning, and its formula is: f(n)=g(n)+h(n) Among them, f(n) is the valuation function from the initial node to any node n, which represents the estimated total cost from the starting point through node n to the end point; g(n) is the actual cost from the initial node to node n; h(n) is the estimated cost from node n to the end point.

10. The intelligent unmanned agricultural vehicle according to claim 1, characterized in that: The specific steps of the intelligent decision-making module are: Data integration: Integrate the results of the image processing and recognition modules with other sensor data; Growth model application: Use plant growth models or expert systems to comprehensively evaluate plant growth based on integrated data; Demand determination: Based on the assessment results, determine the amount of pesticides required by the plants, the priority and urgency of spraying; Spraying plan formulation: Develop a detailed pesticide spraying plan based on the actual conditions of the farmland.

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