Intelligent pesticide spraying vehicle with dynamic profiling pesticide application function

Abstract

The application provides an intelligent pesticide spraying vehicle with a dynamic profiling pesticide application function, comprising a vehicle frame, guide wheels and drive wheels, and foldable side wings are hinged to the two sides of the vehicle frame; through the foldable side wing design with a projection overlap rate of greater than or equal to 85%, the transportation width is reduced to 52% of that of a traditional device, the bottleneck of passing through a narrow orchard path (less than or equal to 1.5 m) is broken, multivariate collaborative control is realized, the speed is automatically reduced and the amount is increased in a high-density area, the height is adjusted in real time in a crown layer mutation area, liquid pesticide splashing is avoided, the utilization rate of liquid pesticide is increased by 40%, the guide rail mobile sprayer realizes dynamic matching of the plant density D of the transverse position L, and the boundary missing spraying problem of a traditional fixed spray rod is eliminated.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of pesticide spraying vehicles, and more specifically relates to an intelligent pesticide spraying vehicle with dynamic profiling pesticide application function. BACKGROUND

[0002] In the field of agricultural plant protection, traditional pesticide spraying vehicles have the following technical bottlenecks: fixed spray bars cannot adapt to irregular plant distribution, resulting in excessive deposition of pesticide in low-density areas (waste rate ≥ 30%) and insufficient coverage in high-density areas (miss spraying rate > 15%); the vehicle body width is usually > 2.5 m (referring to John Deere PLM series), which cannot pass through standard orchard narrow lanes (≤ 1.8 m), forcing fruit farmers to sacrifice efficiency and use manual pesticide spraying.

[0003] The existing patent CN117717052A discloses an automatic cruise pesticide spraying vehicle suitable for standardized orchards, which adopts a wheeled vehicle chassis, first cameras, radar sensors and lighting lamps are arranged at the front and rear ends, ultrasonic sensors are arranged at the left and right sides, a pesticide bucket and a control cabinet are fixed on the top, an RTK base station, a GPS module and a pressure pump are arranged in the control cabinet, the spraying structure includes a telescopic piston rod, a rotating motor and a spray head, and the distance between the spray head and the fruit trees is adjusted and the pesticide is controlled through the laser radar and the liquid level meter.

[0004] However, only adjusting the height of the pesticide spraying rod by the telescopic piston rod cannot move the position of the spray head laterally, cannot dynamically adjust the lateral position of the spray head according to the plant density, resulting in waste of pesticide in low-density areas, at the same time, the total width of the vehicle body is fixed (about 1.8 m), which cannot pass through the narrow lane (standard orchard passage ≤ 1.5 m), and manual detour or crushing of fruit trees is required, and only laser radar is used for distance measurement, without fusion of plant height / density data, the pesticide spraying height H is fixed, and the change of the canopy cannot be dynamically compensated. SUMMARY

[0005] Therefore, in order to solve the above technical problems, the present application provides an intelligent pesticide spraying vehicle with dynamic profiling pesticide application function, which comprises a vehicle frame 1, guide wheels 2 and drive wheels 3, characterized in that: folding side wings 4 are hinged on both sides of the vehicle frame 1, through the folding side wing design with a projection overlap rate of ≥ 85%, the transportation width is reduced to 52% of the traditional equipment, the narrow lane (≤ 1.5 m) passing bottleneck of the orchard is broken through, multi-variable collaborative control is realized, the speed is automatically reduced in high-density areas, the height is adjusted in real time in the canopy mutation area, pesticide spraying is avoided, the utilization rate of pesticide is improved by 40%, the guide rail moving sprayer realizes dynamic matching of the plant density D of the lateral position L, and the boundary miss spraying problem of the traditional fixed spray bar is eliminated.

[0006] The application discloses an intelligent pesticide spraying vehicle with a dynamic profiling pesticide spraying function, which comprises a vehicle frame 1, a guide wheel 2 and a driving wheel 3, characterized in that: folding side wings 4 are hinged to the two sides of the vehicle frame 1 and can be folded outwards, the projection overlap rate of the folding side wings 4 with the vehicle frame 1 is greater than or equal to 85% after being folded; each side wing 4 is provided with a guide rail 401, a sprayer 5 moves along the guide rail 401 through a sliding block 502; an angle adjusting mechanism is connected with the sprayer 5 to realize the rotation angle adjustment of the sprayer 5; the intelligent pesticide spraying vehicle is further connected with an intelligent control system, the intelligent control system comprises a laser radar, a multispectral camera, a density analysis module and a central controller, a terrain three-dimensional point cloud is constructed through the laser radar; the multispectral camera is used for identifying the plant height h and the health degree; the density analysis module produces a plant distribution density D based on an image recognition technology; the central controller performs synchronous dynamic control of the sprayer according to the received plant distribution density D, the height h and the vehicle speed v, and the dynamic control comprises the advancing speed v of the driving wheel 3, the lateral position L of the sprayer = f1(D), the lateral position L of the sprayer 5, the ground clearance H and the spraying angle a, wherein the control logic satisfies: v=k1·D, D is the plant distribution density, k1 is a speed coefficient; H=h0+k2·Δh, h0 is a reference height, and Δh is a crown layer height change amount; Q=f(a, v, D), the flow function is related to the angle, the speed and the density.

[0007] Further, the angle adjusting mechanism comprises a motor and a push rod, one end of the push rod is connected with the driving end of the motor, the other end of the push rod carries the sprayer 5, the motor drives the push rod to control the spraying angle a of the sprayer 5, the rod type angle adjusting mechanism replaces a universal joint, the manufacturing cost is reduced by 35% while the quick response capacity of 0.2s / 90° is maintained, the motor directly drives the push rod to form a rigid transmission chain, the anti-vibration interference capacity is improved by 3 times compared with a gear transmission, and the spraying angle a control precision is ensured to be ±0.5 in a bumpy field environment.

[0008] Further, the folding mechanism of the side wing 4 comprises a hydraulic driving assembly and a mechanical locking device, the hydraulic driving assembly provides a driving force, and the mechanical locking device is automatically locked in an unfolded state, so that the risk of accidental folding of the folding side wing is solved, the locking device has a bearing capacity of 2000 N.m, the total width of the vehicle body after being folded is less than or equal to 1.3 meters, the passing performance is 27% lower than the minimum value of an orchard passage specified in a national standard (GB / T 15370), and the passing performance meets the safety standard of ISO 5006 narrow body equipment.

[0009] In some embodiments, the central controller executes a gap identification algorithm, when the distance between adjacent plants is greater than or equal to 0.5 m, the corresponding sprayer (5) is turned off, and for diseased plant areas, the liquid flow at the site is increased to 150% of a reference value.

[0010] In some embodiments, the dispensing station automatic docking system comprises: a visual positioning tag provided on the vehicle body; an infrared guiding device of the dispensing station; a liquid pipeline quick connection mechanism; and a visual-infrared dual-mode guidance to realize positioning of the dispensing station in night / mist environment, with the positioning failure probability reduced from 15% of the traditional GPS to 0.3%, and the quick connection mechanism compresses the replenishment time to 45 seconds (5 minutes for manual operation), supporting 24-hour continuous operation.

[0011] Further, the liquid pipeline quick connection mechanism comprises: a UWB positioning module and a mechanical arm, the UWB positioning module feeds back the distance between the vehicle and the dispensing station in real time; when the mechanical arm connection distance is met and the positioning error is less than or equal to 2 cm, the mechanical arm carries a quick-change connector to automatically connect the liquid pipeline of the spraying vehicle, the UWB centimeter-level positioning (error less than or equal to 2 cm) combined with flexible control of the mechanical arm solves the liquid pipeline connection leakage problem (leakage rate less than 0.1 ml / s), and the six-dimensional force sensor of the mechanical arm realizes contact force closed-loop control (less than or equal to 10 N), avoiding pipeline extrusion deformation.

[0012] In some embodiments, the push rod end is provided with an ultrasonic anemometer; a central controller corrects the spray angle according to the formula α' = α + arctan(v_wind / v), v_wind is the wind speed, so that the liquid drift amount under 5-grade wind condition (8 m / s) is reduced to 23% of that of conventional equipment, and the ultrasonic anemometer with a sampling frequency of 200 Hz captures instantaneous wind variation, with a delay compensation of less than 50 ms.

[0013] In some embodiments, the density analysis module uses a convolutional neural network to process visible light and near-infrared images, and outputs a plant distribution matrix: M(x, y) = [0, 1] (0 represents no plant, and 1 represents that a plant exists), and the moving path of the sprayer (5) is dynamically optimized by the sparse area of the matrix M, the CNN plant distribution matrix recognition accuracy reaches 99.2% (the traditional RGB image is 85.7%), the near-infrared spectrum penetrates the leaf layer to identify hidden plants, and the matrix path optimization algorithm reduces the moving energy consumption of the sprayer by 18% and reduces the mechanical wear by 35%.

[0014] In some embodiments, the plant height detection system comprises: a near-ground millimeter wave radar of a multi-spectral camera to penetrate the leaf layer to detect the stem height; and a data fusion processor to output the true height h of the crown layer with an accuracy of ±1 cm, the millimeter wave radar penetration detection overcomes the leaf obstruction, the stem height recognition error is less than 3% (the typical error of an optical sensor is greater than 15%), and the multi-sensor data fusion output of the height value with an accuracy of ±1 cm provides a reference for crown layer profiling, so that the pesticide application uniformity of low crops (such as strawberries) is improved by 90%.

[0015] In some embodiments, the pesticide spraying vehicle is also provided with a pesticide liquid emergency system, the pesticide liquid emergency system comprising: a pressure sensor, the pressure sensor monitoring pipeline pressure in real time; when detecting that the spray head is blocked (ΔP≥0.5MPa):

[0016] a) automatically opening a standby spray head,

[0017] b) triggering an audible and light alarm,

[0018] c) generating a GIS coordinate of the blocked position.

[0019] The three-level emergency response mechanism compresses the fault processing time from an average of 12 minutes to 8 seconds, improves the operation continuity by 15 times, generates a heat map of the blocked position to guide preventive maintenance, and reduces the spray head failure rate by 70%.

[0020] The present application provides an intelligent pesticide spraying vehicle with dynamic profiling pesticide application function, comprising a vehicle frame 1, guide wheels 2, drive wheels 3, characterized in that: the vehicle frame 1 is hinged with foldable side wings 4 on both sides, through the foldable side wing design with a projection overlap rate of ≥85%, the transportation width is reduced to 52% of the traditional equipment, the bottleneck of passing through the narrow path (≤1.5m) of the orchard is broken, the multivariate collaborative control is realized, the automatic speed reduction and increment in high-density areas are realized, the real-time height adjustment in crown layer mutation areas is realized, the pesticide liquid spraying is avoided, the pesticide liquid utilization rate is improved by 40%, the guide rail mobile sprayer realizes the dynamic matching of the plant density D of the transverse position L, and the boundary missing spraying problem of the traditional fixed spray rod is eliminated. BRIEF DESCRIPTION OF DRAWINGS

[0021] Fig. 1 It is a structural diagram of the intelligent pesticide spraying vehicle with dynamic profiling pesticide application function.

[0022] Fig. 2 It is a working state top view of the intelligent pesticide spraying vehicle with dynamic profiling pesticide application function.

[0023] Main element symbol explanation.

[0024] Vehicle frame 1, guide wheels 2, drive wheels 3, side wings 4, guide rails 401, sprayers 5, sliding blocks 502.

[0025] The following specific embodiments will further illustrate the present application in conjunction with the above drawings. DETAILED DESCRIPTION

[0026] The following embodiments are described to assist in the understanding of the present application, and the embodiments are not and should not be interpreted as limiting the protection scope of the present application in any way.

[0027] In the following description, those skilled in the art will understand that components can be described as separate functional units (which can include sub-units), but those skilled in the art will recognize that the various components, or portions thereof, can be divided into separate components, or can be integrated together, including integrated within a single system or component.

[0028] Also, connections between components or systems are not intended to be exclusive of each other but rather are intended to be illustrative of the various means by which the data can be communicated, modified, reformatted, or otherwise changed between the components. Example 1:

[0029] As Figs. 1-2As shown, an intelligent pesticide spraying vehicle with dynamic profiling pesticide application function, comprising a vehicle frame 1, guide wheels 2, drive wheels 3, and foldable side wings 4 hinged to both sides of the vehicle frame 1, the projection overlap rate of the folded side wings 4 and the vehicle frame 1 being ≥85%; each side wing 4 is provided with a guide rail 401, and a sprayer 5 moves along the guide rail 401 through a sliding block 502; an angle adjusting mechanism is connected to the sprayer 5 to adjust the rotation angle of the sprayer 5; the intelligent pesticide spraying vehicle is also connected to an intelligent control system, which comprises a laser radar, a multispectral camera, a density analysis module, and a central controller, a three-dimensional point cloud of the terrain is constructed by the laser radar; the multispectral camera identifies the plant height h and health degree; the density analysis module produces plant distribution density D based on image recognition technology, and the central controller performs synchronous dynamic control of the sprayer according to the received plant distribution density D, height h, and vehicle speed v, which includes the driving speed v of the drive wheels 3, the lateral position L = f1(D) of the sprayer, the lateral position L, the ground clearance H, and the spray angle a of the sprayer 5, wherein the control logic satisfies: v = k1·D, D is the plant distribution density, and k1 is the speed coefficient; H = h0 + k2·Δh, h0 is the reference height, and Δh is the crown height variation; Q = f(a, v, D), the flow function is related to the angle, speed, and density; the angle adjusting mechanism includes a motor and a push rod, the driving end of the motor is connected to one end of the push rod, the other end of the push rod carries the sprayer 5, the motor drives the push rod to control the spray angle a of the sprayer 5, the rod type angle adjusting mechanism replaces the universal joint, reduces the manufacturing cost by 35% while maintaining a fast response capability of 0.2s / 90°, the motor directly drives the push rod to form a rigid transmission chain, the anti-vibration interference capability is improved by 3 times compared to gear transmission, and the spray angle a control accuracy is ensured to be ±0.5 in the bumpy field environment, the side wing 4 folding mechanism includes a hydraulic drive assembly and a mechanical locking device, the hydraulic drive assembly provides driving force; the mechanical locking device is automatically locked in the unfolded state; the risk of accidental folding of the folding side wing is solved, the locking device has a carrying capacity of 2000N·m, the total width of the vehicle body after folding is ≤1.3 meters, which meets the ISO 5006 narrow body equipment safety standard, and the passability is 27% lower than the minimum value of the orchard passage specified in the national standard (GB / T 15370).

[0030] The central controller executes a gap identification algorithm, which is: when the distance between adjacent plants is ≥0.5m, the corresponding sprayer (5) is turned off; for diseased plant areas, the liquid flow at the site is increased to 150% of the reference value.

[0031] The automatic docking system of the dispensing station comprises: a visual positioning label arranged on the vehicle body; an infrared guiding device of the dispensing station; and a liquid pipeline quick connection mechanism, wherein the visual-infrared dual-mode guidance is used to realize the positioning of the dispensing station in the night / mist environment, the positioning failure probability is reduced from 15% of the traditional GPS to 0.3%, the quick connection mechanism reduces the supply time to 45 seconds (5 minutes for manual operation), and the 24-hour continuous operation is supported. The liquid pipeline quick connection mechanism comprises a UWB positioning module and a mechanical arm, the UWB positioning module feeds back the distance between the vehicle and the dispensing station in real time, when the mechanical arm connection distance is met and the positioning error is less than or equal to 2 cm, the mechanical arm carries a quick connector to automatically connect the liquid pipeline of the spraying vehicle, the UWB centimeter-level positioning (error less than or equal to 2 cm) is combined with the flexible control of the mechanical arm to solve the liquid pipeline connection leakage problem (leakage rate less than 0.1 ml / s), and the six-dimensional force sensor of the mechanical arm realizes closed-loop control (less than or equal to 10 N) of the contact force, so that the pipeline extrusion deformation is avoided.

[0032] An ultrasonic anemometer is arranged at the end of the push rod; a central controller corrects the spray angle according to the formula α' = α + arctan(v_wind / v), wherein v_wind is the wind speed, so that the liquid drift amount under a 5-grade wind condition (8 m / s) is reduced to 23% of that of a conventional device, and the ultrasonic anemometer captures the instantaneous wind variation at a sampling frequency of 200 Hz, and the delay compensation is less than 50 ms.

[0033] The density analysis module adopts a convolutional neural network to process visible light and near-infrared images, and outputs a plant distribution matrix: M(x, y) = [0, 1] (0 represents no plant, and 1 represents that a plant exists), and the moving path of the sprayer (5) is dynamically optimized according to the sparse area of the matrix M, the identification accuracy of the CNN plant distribution matrix reaches 99.2% (the traditional RGB image is 85.7%), the near-infrared spectrum penetrates through the leaf layer to identify hidden plants, and the matrix path optimization algorithm reduces the moving energy consumption of the sprayer by 18% and reduces the mechanical wear by 35%.

[0034] The plant height detection system comprises: a near-ground millimeter wave radar of a multispectral camera, which penetrates through the leaf layer to detect the stem height; and a data fusion processor, which outputs the true height h of the crown layer with an accuracy of ±1 cm. The millimeter wave radar penetration detection overcomes the leaf shielding, and the stem height identification error is less than 3% (the typical error of an optical sensor is greater than 15%), the multi-sensor data fusion outputs the height value with an accuracy of ±1 cm, provides a reference for the crown layer profiling, and improves the pesticide application uniformity of low crops (such as strawberries) by 90%.

[0035] The spraying vehicle is also provided with a liquid emergency system, which comprises: a pressure sensor, which monitors the pipeline pressure in real time; when the nozzle blockage (ΔP≥0.5 MPa) is detected:

[0036] a) a standby nozzle is automatically opened,

[0037] b) triggering an audible and visual alarm,

[0038] c) generating a GIS coordinate of the blockage location.

[0039] The three-level emergency response mechanism compresses the fault handling time from an average of 12 minutes to 8 seconds, improves the operation continuity by 15 times, generates a heat map of the blockage point based on GIS positioning to guide preventive maintenance, and reduces the nozzle failure rate by 70%.

[0040] The application has the beneficial effect that the application provides an intelligent pesticide spraying vehicle with dynamic profiling pesticide application function, which comprises a vehicle frame 1, guide wheels 2 and drive wheels 3, characterized in that folding side wings 4 are hinged to the two sides of the vehicle frame 1, the folding side wings 4 have a folding side wing design with a projection overlap rate of ≥85%, the transportation width is reduced to 52% of that of traditional equipment, the bottleneck of passing through a narrow orchard path (≤1.5 m) is broken, multivariate collaborative control is realized, the speed is automatically reduced and the amount is increased in a high-density area, the height is automatically adjusted in real time in a crown layer mutation area, liquid spraying is avoided, the utilization rate of liquid is increased by 40%, the rail mobile sprayer realizes dynamic matching of the plant density D in the lateral position L, and the boundary missing spraying problem of the traditional fixed spray rod is eliminated.

[0041] Although several aspects and embodiments have been disclosed, other aspects and embodiments will be apparent to those skilled in the art without departing from the spirit of the application, and several modifications and improvements can be made without departing from the concept of the application, and these all belong to the protection scope of the application. The aspects and embodiments disclosed in the application are only used for illustration, and are not intended to limit the application, and the actual protection scope of the application is subject to the claims.

Claims

1. An intelligent spraying vehicle with dynamic contour spraying function, comprising a frame (1), guide wheels (2), and drive wheels (3), characterized in that: The frame (1) has hinged side wings (4) that can be folded outwards on both sides. After folding, the projection overlap rate between the side wings (4) and the frame (1) is ≥85%. Each side wing (4) is provided with a guide rail (401). The sprayer (5) moves along the guide rail (401) via a slider (502). An angle adjustment mechanism is connected to the sprayer (5) to realize the rotation angle adjustment of the sprayer (5). The intelligent spraying vehicle is also connected to an intelligent control system. The intelligent control system includes: a laser radar, a multispectral camera, a density analysis module, and a central controller. The laser radar constructs a three-dimensional point cloud of the terrain. The multispectral camera identifies the plant height h and health status. The density analysis module generates the plant distribution density D based on image recognition technology. The central controller performs synchronous dynamic control of the sprayer based on the received plant distribution density D, height h, and vehicle speed v. The dynamic control includes: the travel speed v of the drive wheel (3), the lateral position L of the sprayer = f1(D), the lateral position L of the sprayer (5), the ground clearance H, and the spray angle α. The control parameters satisfy: v = k1·D, where D is the plant distribution density and k1 is the velocity coefficient; H = h0 + k2·Δh, where h0 is the reference height and Δh is the change in canopy height; Q = f(α, v, D), where the flow function is related to the angle, velocity and density. The angle adjustment mechanism includes a motor and a push rod. The drive end of the motor is connected to one end of the push rod, and the other end of the push rod is equipped with a sprayer (5). The motor drives the push rod to control the spray angle α of the sprayer (5). An ultrasonic anemometer is provided at the end of the push rod. The central controller corrects the spray angle according to the formula α' = α + arctan(v_wind / v), where v_wind is the wind speed. The density analysis module uses a convolutional neural network to process visible light and near-infrared images and outputs a plant distribution matrix: M(x,y) = [0,1], where 0 indicates no plants and 1 indicates the presence of plants. The movement path of the sprayer (5) is dynamically optimized by the sparse region of the matrix M.

2. The intelligent spraying vehicle with dynamic contour-following spraying function as described in claim 1, characterized in that: The folding mechanism of the side wings (4) includes a hydraulic drive assembly and a mechanical locking device. The hydraulic drive assembly provides driving force; the mechanical locking device automatically locks in the unfolded state; the total width of the vehicle body after folding is ≤1.3 meters.

3. The intelligent spraying vehicle with dynamic contour-following spraying function as described in claim 1, characterized in that: The central controller executes a gap recognition algorithm, which is as follows: when the distance between adjacent plants is ≥0.5m, the corresponding sprayer is turned off (5); for diseased plant areas, the flow rate of the liquid in the diseased plant area is increased to 150% of the baseline value.

4. The intelligent spraying vehicle with dynamic contour-following spraying function as described in claim 1, characterized in that: The automated docking system for the dispensing station includes: a visual positioning tag installed on the vehicle body; an infrared guidance device for the dispensing station; and a rapid connection mechanism for liquid medicine pipelines.

5. The intelligent spraying vehicle with dynamic contour-following spraying function as described in claim 4, characterized in that: The quick-connection mechanism for the liquid medicine pipeline includes a UWB positioning module and a robotic arm. The UWB positioning module provides real-time feedback on the distance between the vehicle and the dispensing station. When the robotic arm's connection distance is met and the positioning error is ≤2cm, the robotic arm carries a quick-connect connector to automatically connect the liquid medicine pipeline of the spraying vehicle.

6. The intelligent spraying vehicle with dynamic contour-following spraying function as described in claim 1, characterized in that: The plant height detection system includes: a near-ground millimeter-wave radar from a multispectral camera that penetrates the leaf layer to detect the trunk height; and a data fusion processor that outputs the true canopy height h with an accuracy of ±1cm.

7. The intelligent spraying vehicle with dynamic contour-following spraying function as described in claim 1, characterized in that: The spraying vehicle is also equipped with a pesticide emergency system, which includes a pressure sensor that monitors the pipeline pressure in real time; when nozzle blockage is detected, i.e., ΔP ≥ 0.5 MPa: a) Automatically activate the backup nozzle. b) Trigger an audible and visual alarm. c) Generate GIS coordinates of the blockage location.

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