Methods, systems, and motorcycles for spraying pesticides and fertilizers using dual-purpose land and air manned unmanned flying motorcycles.

Abstract

This invention discloses a method, system, and motorcycle for spraying pesticides and fertilizers using a dual-purpose (land and air) manned unmanned flying motorcycle, relating to the interdisciplinary fields of agricultural plant protection and aircraft technology. The system includes land-air travel, manned operation, pesticide and fertilizer spraying, environmental perception, central control, and energy modules. The land-air travel module achieves seamless switching between land and air modes within ≤8 seconds and withstands winds of ≥6 levels. The central control module supports three modes: manned manual operation, remote control, and autonomous operation, and can dynamically adjust spraying parameters based on real-time environmental data. The energy module uses a hybrid power source (oil and electricity) to ensure long-term continuous operation. The method includes four stages: preparation, travel, spraying / fertilizing, and completion. Intelligent path planning and dynamic adjustment improve operational accuracy. This invention solves the problems of poor terrain adaptability, limited control modes, and insufficient accuracy of existing equipment, achieving integrated personnel transportation and precise operation. It boasts a ≥95% passability rate in complex terrain and a pesticide drift rate of ≤5%, significantly improving operational efficiency and reducing costs. It is suitable for agricultural plant protection operations in various complex terrains.

Description

Technical Field

[0001] This invention relates to the field of cross-technology of agricultural plant protection equipment and land-air dual-purpose aircraft, specifically to a method, system and motorcycle for spraying pesticides and fertilizers using a land-air dual-purpose manned unmanned flying motorcycle, which is suitable for spraying pesticides and fertilizers on crops in complex terrains such as plains, hills and mountains. Background Technology

[0002] In agricultural plant protection operations, the efficiency, accuracy, and terrain adaptability of pesticide and fertilizer application directly affect crop yield and ecological security. Currently, mainstream plant protection equipment faces significant technical bottlenecks: 1. Ground-based spraying and fertilization equipment: It relies on flat roads for driving, and is prone to getting stuck or slipping in complex terrains such as hills, terraces, and swamps. The wheels can also damage crops. In addition, it requires a reserved operating channel, resulting in low land utilization. The spraying height is fixed and cannot be adapted to crops of different heights, which can easily lead to missed spraying or overspraying.

[0003] 2. Aerial agricultural drones: Although they can overcome terrain limitations, they have drawbacks such as short flight time and limited payload. Mainstream models have a flight time of ≤30 minutes and a payload of ≤50kg. For farmland of thousands of acres, they need to return frequently to refill pesticides, resulting in low operational efficiency. Furthermore, they cannot carry personnel to observe crop growth in real time, leading to delays in identifying sudden local pests and diseases and untimely precise respraying. They also have weak wind resistance, with pesticide drift exceeding 20% ​​in winds of force 4 or above, which can easily cause pesticide waste and environmental pollution.

[0004] 3. Existing land-air dual-purpose aircraft: Most of them are designed with manned transportation as their core function, and no special modules are designed for agricultural plant protection scenarios. They lack pesticide storage and spraying systems, crop avoidance structures, and agricultural parameter recognition functions. Moreover, most of them only support a single control mode and cannot flexibly switch between manned inspection and unmanned operation, making it difficult to meet the collaborative needs of "personnel-agricultural materials-operations" in agricultural production.

[0005] 4. Flying motorcycle equipment: Existing technologies mostly focus on realizing land and air travel functions, without integrating spraying and fertilization systems, and the control modes are limited, making it impossible to take into account both manned real-time operations and unmanned autonomous operations. There are obvious shortcomings in terrain adaptability and operational functionality.

[0006] Therefore, there is an urgent need for a device that integrates "land and air travel, manned observation, unmanned operation, and precision fertilization" to solve the problems of poor terrain adaptability, insufficient accuracy, fragmented functions, and single control mode of existing technologies. Summary of the Invention

[0007] In view of the shortcomings of existing technologies, this invention aims to solve the following core problems: 1. Enhance terrain adaptability: Enable seamless switching between land and air modes in complex terrains, avoiding problems such as ground equipment getting stuck, crops being trampled, and blind spots in drone terrain coverage; 2. Optimized control mode: It takes into account both manned real-time observation operations and unmanned autonomous operations, improving the ability to respond to emergencies and the efficiency of large-scale operations; 3. Improve the accuracy of pesticide and fertilizer application: Combine real-time environmental perception and dynamic parameter adjustment to reduce pesticide drift rate and adapt to the growth needs of different crops; 4. Integrate work processes: Achieve integrated personnel transportation, agricultural material carrying, and precision operations, shortening the work cycle and reducing labor costs.

[0008] To achieve the above objectives, the present invention provides the following technical solution: The land-air dual-use manned unmanned flying motorcycle spraying and fertilizing system includes a land-air driving module, a manned module, a spraying and fertilizing module, an environmental perception module, a central control module, and an energy module, with each module electrically connected. The land-air driving module includes a land driving unit, a flight power unit, and a mode switching unit; the land driving unit has a three-wheel layout with hub motors on the rear wheels; the flight power unit includes four foldable carbon fiber propellers, symmetrically distributed on the front and rear sides of the vehicle body, each propeller is equipped with a high-speed brushless motor; the mode switching unit adopts electromagnetic drive, with a switching time of ≤8 seconds and a flight mode wind resistance level of ≥6. The manned module is equipped with a sealed cabin, safety protection devices, an operation console and a high-definition display screen, which can accommodate 1-2 people and supports manual operation. The spraying and fertilizing module includes a pesticide and fertilizer storage tank, a booster pump group, an adjustable nozzle group, and a flow sensor; the adjustable nozzle group is symmetrically distributed in two groups on both sides of the vehicle body, and each nozzle is equipped with an electric angle adjustment mechanism, an ultrasonic atomization component, and an electromagnetic control valve. The environmental perception module includes a Beidou differential positioning component, a 360° lidar, a 4K high-definition camera, a wind speed sensor, and a crop height sensor. The central control module integrates path planning algorithm, mode switching control algorithm and spraying and fertilization parameter adjustment algorithm, and supports switching between three modes: manual operation, remote control and autonomous operation. The energy module is a hybrid electric system, including a lithium iron phosphate battery pack and a range extender.

[0009] Furthermore, the fertilizer and pesticide storage tank has a capacity of 100-200L, is made of corrosion-resistant food-grade stainless steel, and is equipped with a liquid level sensor and an anti-overflow valve; the booster pump group includes a hydraulic pump and a pneumatic pump, with a pressure adjustment range of 0.3-1.2MPa.

[0010] Furthermore, the adjustable nozzle assembly has an electric angle adjustment range of 30°-120°, an adjustable ultrasonic atomization particle diameter of 50-150μm, and an electromagnetic control valve response time of ≤0.1 seconds; the nozzle assembly is equipped with a foldable protective cover.

[0011] Furthermore, the positioning accuracy of the Beidou differential positioning component is ≤0.5m; the high-definition camera is equipped with a pest and disease identification algorithm with an identification accuracy of ≥92%; and the wind speed sensor has a measurement range of 0-20m / s.

[0012] Furthermore, the energy module's lithium iron phosphate battery pack has a specification of 48V / 600Ah, providing a pure electric flight range of ≥50 minutes; the range extender has a displacement of 1.8L, providing a continuous operating time of ≥8 hours in hybrid mode.

[0013] A land-air dual-use manned unmanned flying motorcycle includes a main body, which integrates the spraying and fertilizing system for the land-air dual-use manned unmanned flying motorcycle as described in any one of claims 1-5; the main body is made of T700 grade carbon fiber composite material and is equipped with a center of gravity adjustment mechanism and a protective structure.

[0014] Furthermore, the center of gravity adjustment mechanism is an electrically movable seat that adaptively adjusts the vehicle's center of gravity in conjunction with the liquid level of the fertilizer and pesticide storage tank; the protective structure includes a 3mm thick aluminum alloy skid plate at the bottom of the vehicle body and a propeller anti-collision sensing device.

[0015] A method for spraying pesticides and fertilizers using a land-air dual-purpose manned unmanned flying motorcycle, applied to the system described in any one of claims 1-5, includes the following steps: (1) Preparation stage: Inject pesticides or fertilizers, input operation parameters, the system generates an initial operation plan and completes self-check; (2) Driving phase: Select the control mode according to the operation requirements, and automatically switch between land and air modes according to the terrain to drive to the operation area; (3) Spraying / fertilizing stage: Start the spraying and fertilizing module, and dynamically adjust the nozzle angle, atomized particle size and flow rate based on real-time collected data on driving speed, wind speed and crop height; manual intervention for supplementary spraying is possible in manned mode, and automatic identification of pest and disease areas and supplementary spraying is possible in unmanned mode; (4) End stage: Close the spraying and fertilization module, generate an operation report, and return to the docking point.

[0016] Furthermore, in step (3), the central control module adjusts the flow rate using the formula q=k×v, where q is the flow rate, v is the driving speed, and k is a coefficient associated with the crop type; and adjusts the nozzle angle using the formula θ=arctan(h / l), where θ is the angle, h is the crop height, and l is the horizontal distance from the nozzle to the crop.

[0017] Furthermore, in step (3), when the wind speed is greater than 3 m / s, the system automatically reduces the diameter of the atomized particles and shortens the spraying time of a single set of nozzles to control the pesticide drift rate to ≤5%.

[0018] Compared with the prior art, the present invention has the following significant advantages: 1. Leapfrog improvement in terrain adaptability: Through seamless switching between land and air modes, the passability rate of complex terrain is increased from 30% of traditional ground equipment to over 95%, eliminating the need to reserve operating channels and increasing land utilization by 10%-15%; 2. Flexible and diverse control modes: It can accommodate both manned real-time observation operations and unmanned autonomous operations, which not only solves the problem of drones' delayed response to emergencies, but also improves the efficiency of large-area operations and reduces labor costs by 40%-60%; 3. High precision in spraying pesticides and fertilizers: Combining multi-sensor dynamic adjustment and intelligent algorithms, the pesticide drift rate is controlled within 5%, the unit area application error is ≤3%, the pesticide utilization rate is increased by more than 25%, and environmental pollution is reduced; 4. Integrated operation process: It integrates personnel transportation, agricultural material carrying and precision operation functions, shortening the operation cycle by 30%-50%, and is especially suitable for mountainous and hilly areas with inconvenient transportation; 5. Excellent endurance and payload performance: The hybrid power system ensures long-term continuous operation, solving the pain point of frequent return to refueling of traditional agricultural drones, and improving the efficiency of operation in thousands of acres of farmland by more than 2 times. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the land-air dual-purpose manned unmanned flying motorcycle of the present invention (land mode). Figure 2 This is a schematic diagram of the structure (flight mode) of the dual-purpose land and air manned unmanned flying motorcycle of the present invention. Figure 3 This is a schematic diagram of the module connection of the spraying and fertilizing system of the present invention; Figure 4 This is a schematic diagram of the spraying and fertilization method of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] The present invention provides a method, system, and motorcycle for spraying pesticides and fertilizers using a dual-purpose land-air manned unmanned flying motorcycle, characterized in that: Dual-purpose land and air manned unmanned flying motorcycle spraying and fertilization system The system includes a land and air driving module, a manned module, a spraying and fertilizing module, an environmental sensing module, a central control module, and an energy module. These modules are electrically connected to form a collaborative control system. 1. The land-air driving module includes a land driving unit, a flight power unit, and a mode switching unit; The land-based vehicle unit features a three-wheel layout with two front wheels and a single rear wheel. The front wheels are equipped with a high-end independent suspension system using oil springs or a mixture of oil and air, providing high damping and a long travel to effectively absorb impacts. The suspension components are also reinforced for improved sealing and wear resistance, allowing for prolonged high-intensity use and preventing issues such as oil leaks and jamming. The rear wheels are the drive wheels and are equipped with hub motors. As the core component in contact with the ground, the wheelsets are widened and thickened, with the number and material of the spokes optimized for increased usage intensity. Some high-end configurations utilize carbon fiber or special aluminum alloys, combined with a scientifically designed spoke tension distribution to achieve a balance between lightweight and high strength. The tires feature an anti-slip off-road tread pattern, suitable for driving on complex terrains. The flight propulsion unit includes four foldable carbon fiber propellers, symmetrically distributed on the front and rear sides of the vehicle. Each propeller is equipped with a 25kW high-speed brushless motor. When the propeller blades are folded, they do not affect land driving. When unfolded, they provide vertical take-off and landing and flight propulsion. The mode switching unit adopts an electromagnetic drive switching mechanism to realize automatic switching between land mode and flight mode, with a switching time of ≤8 seconds and a wind resistance level of ≥6 in flight mode; 2. Manned module: It is equipped with a sealed cabin that can accommodate 1-2 people, and is equipped with a safety seat, safety belt and air filter (filtration efficiency ≥95%). A high-definition display screen is located in front of the cabin to display operation parameters, environmental data and navigation information; the operation console integrates manual control lever, mode switching button, spraying and fertilization start and stop switch, etc., and supports manual intervention in operation; 3. Spraying and fertilizing module: including pesticide and fertilizer storage tank, booster pump set, adjustable nozzle set, flow sensor and pipeline system; The pesticide and fertilizer storage box has a capacity of 100-200L, is located at the center of gravity of the vehicle, is made of corrosion-resistant food-grade stainless steel, and is equipped with a liquid level sensor and an anti-overflow valve, supporting the storage of pesticides, liquid fertilizers or granular fertilizers. The booster pump set includes a hydraulic pump and a pneumatic pump, which can be adapted to different media transportation needs, with a pressure adjustment range of 0.3-1.2MPa; The adjustable nozzle assembly has a total of 8 nozzles, symmetrically distributed in two groups on the lower sides of the vehicle body, with 4 nozzles evenly arranged longitudinally in each group; each nozzle is equipped with an electric angle adjustment mechanism (adjustment range 30°-120°), an ultrasonic atomization component (atomized particle diameter adjustable 50-150μm) and an electromagnetic control valve (response time ≤0.1 seconds). The nozzle assembly is equipped with a foldable protective cover, which can be folded up when driving on land to avoid bumps and knocks; 4. Environmental perception module: including Beidou differential positioning component (positioning accuracy ≤0.5m), 360° lidar (range measurement accuracy ±2cm), 4K high-definition camera (equipped with pest and disease identification algorithm, identification accuracy ≥92%), wind speed sensor (measurement range 0-20m / s) and crop height sensor; 5. Central Control Module: Equipped with an industrial-grade microcontroller, integrating path planning algorithms, mode switching control algorithms, and spraying and fertilization parameter adjustment algorithms; supports three modes: manual operation, remote control, and autonomous operation; can automatically generate the optimal operating path based on positioning data, with a row spacing error ≤0.3m; dynamically adjusts the nozzle angle, atomized particle size, and flow rate based on wind speed, travel speed, and crop height, with a unit area spraying error ≤3%; 6. Energy Module: It adopts a hybrid electric system, including a 48V / 600Ah lithium iron phosphate battery pack and a 1.8L range extender; the flight time in pure electric mode is ≥50 minutes, and the continuous operation time in hybrid mode is ≥8 hours. It supports fast charging and refueling.

[0022] Dual-purpose land and air manned unmanned flying motorcycle The motorcycle consists of a main body, which integrates the aforementioned land-and-air dual-purpose manned unmanned flying motorcycle spraying and fertilizing system. The specific structural design is as follows: 1. The main body of the vehicle is made of T700 grade carbon fiber composite material, with a weight of ≤350kg and a maximum load of ≤200kg (including personnel and agricultural materials); the vehicle length is 2.8-3.2m, the width is 1.2-1.5m, and the height is 1.1-1.4m (propeller folded state). 2. Center of gravity adjustment mechanism: The seat can be moved back and forth along the longitudinal direction of the vehicle body by electric drive, and in conjunction with the liquid level adaptive adjustment of the fertilizer and pesticide storage tank, it ensures the stability of the vehicle's center of gravity during land-air mode switching and flight. 3. Protective structure: The bottom of the vehicle body is equipped with a 3mm thick aluminum alloy guard plate, the propeller is equipped with an anti-collision sensing device, and the nozzle assembly protective cover is made of ABS engineering plastic to improve the equipment's impact resistance. 4. Cooling system: Both the engine and motor are equipped with independent cooling fans and cooling pipes to ensure stable operation in high-temperature environments.

[0023] Land and air dual-use manned unmanned flying motorcycle spraying and fertilization method The application of the above system and motorcycle includes the following steps: 1. Preparation stage: Inject pesticides or fertilizers into the pesticide and fertilizer storage box, and input the operation parameters (including crop type, operation area, dosage per unit area, operation height, etc.) through the operation console or remote terminal. The central control module generates an initial operation plan (including driving path and spraying parameters) based on the input parameters and the terrain data collected by the environmental perception module. The system automatically completes self-checks of each module, confirming that the land and air driving module, spraying and fertilizing module, energy module and other modules are working properly, and that components such as propellers and nozzles are in their initial state. 2. Driving phase: Select the control mode according to the terrain of the work area: for close-range complex terrain operations, a manual mode with a human operator driving a motorcycle can be used; for large open areas, an unmanned autonomous mode or a remote control mode can be used, which will automatically travel along the path planned by the central control module. During driving, the mode switching unit automatically switches between land and air modes according to changes in terrain: when encountering steep slopes, ditches, water bodies, or other areas where the ground is impassable, it automatically switches to flight mode; when entering flat ground areas, it automatically switches back to land mode; during the switching process, the central control module synchronously adjusts the center of gravity and power output to ensure smooth driving. 3. Spraying / fertilizing stage: Upon arrival at the work area, the system automatically starts the spraying and fertilization module, and the booster pump unit adjusts the output pressure according to the work parameters; The environmental perception module collects operational data in real time (including driving speed, wind speed, crop height, and distribution of pests and diseases) and transmits it to the central control module. The central control module dynamically adjusts spraying parameters through algorithms: It adjusts the nozzle flow rate based on the travel speed v using the formula q=k×v (q is the flow rate, k is a coefficient related to crop type); it adjusts the nozzle angle based on the crop height h using θ=arctan(h / l) (θ is the nozzle angle, l is the horizontal distance from the nozzle to the crop); when the wind speed is >3m / s, it automatically reduces the atomized particle diameter and shortens the spraying time of a single set of nozzles, controlling the pesticide drift rate to ≤5%. In manned mode, operators can observe the operation results in real time through the cockpit display screen. When they find areas that have been missed or where pests and diseases are concentrated, they can start the respraying mode by manually controlling the joystick. In unmanned mode, after the camera identifies areas where pests and diseases are concentrated, the system automatically plans the respraying path and executes the respraying. 4. End Phase: After the operation is completed, the system automatically shuts down the spraying and fertilization module and cleans up any residual media in the pipeline; The central control module generates an operation report, which includes information such as the operation area, actual usage, operation time, and distribution area of ​​pests and diseases. The system automatically returns to the docking point according to the initial settings, or the operator can drive / remotely control the return. Example

[0024] In this embodiment, the specific parameter settings of the land-air dual-use manned unmanned flying motorcycle spraying and fertilizing system have been optimized through multiple rounds of simulation experiments and field tests. The selection of each parameter takes into account operational efficiency, safety, and economy. The specific settings are as follows: 1. Land and Air Travel Module: The propeller uses 1.2m diameter carbon fiber folding blades. This size has been optimized through fluid dynamics simulation. While ensuring that the lift meets the load requirements, the folded diameter of 0.4m allows the vehicle width to be controlled within 1.5m, making it suitable for travel on rural field roads. The mode switching time is set to 6 seconds, which is significantly shorter than the industry standard of 10 seconds. This allows for quick response to sudden terrain changes and avoids operation interruptions caused by switching delays. The maximum flight speed in flight mode is 60km / h, which ensures efficiency for large-area operations while limiting overspeed through the flight control system to ensure flight stability. The front wheel of the land-based unit is equipped with a high-end hybrid suspension system with an optimized damping coefficient of 800 N·s / m and a suspension travel of 120 mm. Tests have shown it can absorb over 85% of ground impact energy. The wheelset features carbon fiber spokes and a thickened 7075 aluminum alloy rim. The rim width is increased to 8 inches, the thickness to 8 mm, and the number of spokes is optimized to 28 with a cross-tension distribution. Compared to traditional wheelsets, this design reduces weight by 15% and increases impact resistance by 20%. The maximum speed in land mode is 80 km / h. The hub motor uses permanent magnet synchronous technology, providing smooth torque output and enabling constant speed driving on surfaces with a slope of ≤30° without frequent throttle adjustments. 2. Manned Module: The cabin dimensions are designed to be 1.5m × 1.2m × 1.0m. This size is based on ergonomic principles and can meet the seating comfort of 95% of adults, while reserving 15cm of operating space for operators to operate the control console. The air filtration device uses a HEPA H13 high-efficiency filter, which can not only filter pesticide droplets, but also intercept field dust, pollen and other impurities, with a filtration efficiency of 99.97%, ensuring the breathing safety of operators. The display screen is a 10.1-inch industrial-grade touch screen with anti-glare and water-splash functions. It can still clearly display information in direct sunlight or rainy conditions, and supports multi-touch operation, allowing operators to quickly switch parameter pages and operating modes. 3. Spraying and Fertilizing Module: The pesticide and fertilizer storage tank has a capacity of 150L, ​​which is suitable for segmented operations on farmland of thousands of acres, reducing the number of times pesticides need to be added midway. Combined with the vehicle's center of gravity design, the offset of the vehicle's center of gravity when the tank is full is ≤5cm, without affecting driving and flight stability. The booster pump uses a combination of a high-pressure plunger hydraulic pump and a pneumatic diaphragm pump. The hydraulic pump is suitable for conveying high-viscosity liquid fertilizers, while the pneumatic pump is suitable for conveying easily corrosive pesticides. The pressure adjustment range is 0.3-1.2MPa. It is designed to match the spraying needs of different crops. For example, low-pressure wide-width spraying of 0.3-0.5MPa is used for short-stalk crops such as wheat, while high-pressure directional spraying of 0.8-1.2MPa is used for tall crops such as fruit trees. The nozzle angle adjustment range is 30°-120°, which can achieve full coverage from horizontal to vertical spraying. The spraying width of a single-side nozzle group is adjustable from 0.8-1.5m. It is adjusted in conjunction with the driving speed through the central control module to ensure uniform spraying per unit area and avoid missed spraying and double spraying. 4. Environmental Perception Module: The Beidou differential positioning component adopts a dual-satellite positioning mode, integrating GPS signals to achieve multi-source positioning complementarity, with a positioning accuracy of 0.3m. It can accurately control the row spacing error to ≤0.3m, avoiding missed spraying between rows; the 360° lidar uses a 16-line lidar with a ranging accuracy of ±2cm and a scanning frequency of 10Hz. It can build a 3D terrain model of the work area in real time, providing data support for mode switching and path planning; the 4K high-definition camera is equipped with a pest and disease identification algorithm based on deep learning. Through a pre-trained sample library of 100+ common pests and diseases, the identification accuracy is ≥92%, enabling real-time monitoring and location of pests and diseases; the wind speed sensor uses an ultrasonic wind speed sensor with a measurement range of 0-20m / s, a measurement accuracy of ±0.1m / s, and a response time of ≤0.5 seconds. It can quickly capture wind speed changes and provide real-time data for adjusting spraying parameters; 5. Energy Module: The lithium battery pack uses a 48V / 600Ah lithium iron phosphate battery pack. This battery pack adopts a modular design, and the failure of a single battery does not affect the overall power supply. The capacity of 28.8kWh can meet the pure electric flight range of 55 minutes, covering the operation needs of 50 acres of farmland. The range extender uses a 1.8L four-stroke gasoline engine with a fuel consumption of 3.5L / h. Compared with diesel range extenders of the same power, it is lighter and quieter, making it suitable for field operation environments. In hybrid mode, the system adopts an intelligent energy management strategy. When the battery charge is ≥30%, electric power is used first. When the charge is <30%, the range extender automatically starts to charge the battery and assist in driving, ensuring a continuous working time of 8.5 hours. It can complete the spraying and fertilization operations of more than 200 acres of farmland. It supports both fast charging (fully charged in 2 hours) and refueling, adapting to the energy supply needs of different operation scenarios.

[0025] The spraying and fertilization operation process in this embodiment is as follows: 1. Preparation stage: Inject 150L of corn-specific insecticide into the pesticide and fertilizer storage box, input the operation parameters (dosage per unit area 15L / mu, operation height 1.2m), the system generates the operation path for cornfields in hilly areas, and completes the module self-check; 2. Driving Phase: Starting from the village, the motorcycle was driven in manual mode with a passenger. During the ride, the front-wheel hybrid suspension system quickly filtered out the bumps from the uneven road surface through its high damping characteristics. Combined with the optimized carbon fiber spoked wheelset, the driving stability on muddy sections was improved by 40%, and the body vibration was controlled within ±5cm. Within this range, the tire's anti-slip off-road tread pattern improves grip on muddy roads by 30%, ensuring a smooth ride. When driving on steep slopes with an angle of ≥25° at the edge of hills, the lidar of the environmental perception module detects terrain data in real time and transmits it to the central control module. The system automatically triggers a mode switching command, completing propeller deployment and power switching within 6 seconds. The flight altitude is set at 1.5m, which, after testing, effectively avoids collisions with the tops of crops while ensuring spray coverage. During flight, the center of gravity adjustment mechanism automatically adjusts the seat backward by 8cm based on changes in propeller power output. Combined with the liquid level data of the fertilizer and pesticide storage tank (at this time, the liquid level is approximately 120L), the vehicle's center of gravity is kept within the preset range, with a flight attitude stability error of ≤2°. The vehicle flies along the planned path to the cornfield work area with a path deviation of ≤0.3m. 3. Spraying Stage: Upon arrival at the work area, the operator confirms the start of the spraying module via the touchscreen. The central control module instructs the booster pump to adjust the pressure to 0.6MPa according to preset parameters, which is suitable for the spraying needs during the corn cultivation period. The environmental sensing module collects data in real time (driving speed 4m / s, wind speed 2.5m / s, corn height 1.2m). The central control module calculates the nozzle angle (60°), atomized particle diameter (80μm), and flow rate (60L / h) using a built-in algorithm. Tests show that the 80μm atomized particles can form a uniform film on the corn leaf surface with a drift rate ≤3%. During the operation, a 4K high-definition camera captures real-time footage. When images of corn leaves are captured and a localized area of ​​aphid infestation (approximately 20 square meters) is detected, the system automatically issues a warning on the display screen. The operator then manually activates the supplementary spraying mode using the joystick. The system quickly increases the flow rate of the nozzles in that area to 80 L / h, with a supplementary spraying time of 10 seconds. The edge of the supplementary spraying area overlaps with the normal operating area by 50 cm, ensuring no missed spraying and no overspraying. Simultaneously, a wind speed sensor monitors wind speed changes in real time. If a brief gust of wind of 3.2 m / s occurs, the system automatically reduces the diameter of the atomized particles to 60 μm, shortening the spraying time of a single nozzle by 0.2 seconds, keeping the pesticide drift rate below 5%. 4. Final Stage: After spraying 100 mu (approximately 6.7 hectares) of cornfield, the system automatically shuts down the spraying and fertilizing module and initiates a pipeline cleaning procedure. A booster pump reverses the flow of clean water to flush the pesticide and fertilizer storage tank, pipelines, and nozzles for 3 minutes to prevent pesticide residue from corroding components. After cleaning, the central control module generates a detailed operation report, including information such as the 100 mu (approximately 6.7 hectares) area treated, the actual usage of 1480L (loss rate 1.3%), the operation time of 2.5 hours, and 3 aphid-infested areas (with precise coordinates). The report can be wirelessly transmitted to the backend management system for archiving. Subsequently, the operator switches the motorcycle to land mode and drives back to the village. Throughout the operation, the energy module's battery level remained at approximately 45%, the range extender's activation time totaled 30 minutes, and fuel consumption was approximately 1.75L, demonstrating a 50% improvement in energy efficiency compared to traditional agricultural drones.

[0026] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A land-and-air dual-use manned unmanned flying motorcycle spraying and fertilizing system, characterized in that: It includes a land and air driving module, a manned module, a spraying and fertilizing module, an environmental sensing module, a central control module, and an energy module, with each module electrically connected; The land-air driving module includes a land driving unit, a flight power unit, and a mode switching unit; the land driving unit has a three-wheel layout with hub motors on the rear wheels; the flight power unit includes four foldable carbon fiber propellers, symmetrically distributed on the front and rear sides of the vehicle body, each propeller is equipped with a high-speed brushless motor; the mode switching unit adopts electromagnetic drive, with a switching time of ≤8 seconds and a flight mode wind resistance level of ≥6. The manned module is equipped with a sealed cabin, safety protection devices, an operation console and a high-definition display screen, which can accommodate 1-2 people and supports manual operation. The spraying and fertilizing module includes a pesticide and fertilizer storage tank, a booster pump group, an adjustable nozzle group, and a flow sensor; the adjustable nozzle group is symmetrically distributed in two groups on both sides of the vehicle body, and each nozzle is equipped with an electric angle adjustment mechanism, an ultrasonic atomization component, and an electromagnetic control valve. The environmental perception module includes a Beidou differential positioning component, a 360° lidar, a 4K high-definition camera, a wind speed sensor, and a crop height sensor. The central control module integrates path planning algorithm, mode switching control algorithm and spraying and fertilization parameter adjustment algorithm, and supports switching between three modes: manual operation, remote control and autonomous operation. The energy module is a hybrid electric system, including a lithium iron phosphate battery pack and a range extender.

2. The land-air dual-purpose manned unmanned flying motorcycle spraying and fertilizing system according to claim 1, characterized in that, The fertilizer and pesticide storage tank has a capacity of 100-200L, is made of corrosion-resistant food-grade stainless steel, and is equipped with a liquid level sensor and an anti-overflow valve; the booster pump group includes a hydraulic pump and a pneumatic pump, with a pressure adjustment range of 0.3-1.2MPa.

3. The land-air dual-purpose manned unmanned flying motorcycle spraying and fertilizing system according to claim 1, characterized in that, The adjustable nozzle assembly has an electric angle adjustment range of 30°-120°, an ultrasonic atomization particle diameter adjustable from 50-150μm, and an electromagnetic control valve response time ≤0.1 seconds; the nozzle assembly is equipped with a foldable protective cover.

4. The land-air dual-purpose manned unmanned flying motorcycle spraying and fertilizing system according to claim 1, characterized in that, The Beidou differential positioning component has a positioning accuracy of ≤0.5m; the high-definition camera is equipped with a pest and disease identification algorithm with an identification accuracy of ≥92%; and the wind speed sensor has a measurement range of 0-20m / s.

5. The land-air dual-purpose manned unmanned flying motorcycle spraying and fertilizing system according to claim 1, characterized in that, The energy module has a lithium iron phosphate battery pack with specifications of 48V / 600Ah, providing a pure electric flight range of ≥50 minutes; the range extender has a displacement of 1.8L, providing a continuous operating time of ≥8 hours in hybrid mode.

6. A land-and-air dual-use manned unmanned flying motorcycle, characterized in that: The vehicle body includes a main body that integrates the land-air dual-use manned unmanned flying motorcycle spraying and fertilizing system as described in any one of claims 1-5; the main body is made of T700 grade carbon fiber composite material and is equipped with a center of gravity adjustment mechanism and a protective structure.

7. The land-air dual-purpose manned unmanned flying motorcycle according to claim 6, characterized in that, The center of gravity adjustment mechanism is an electrically movable seat that adaptively adjusts the vehicle's center of gravity in conjunction with the liquid level of the fertilizer and pesticide storage tank; the protective structure includes a 3mm thick aluminum alloy skid plate at the bottom of the vehicle body and a propeller anti-collision sensing device.

8. A method for spraying pesticides and fertilizers using a land-air dual-purpose manned unmanned flying motorcycle, applied to the system described in any one of claims 1-5, characterized in that, Includes the following steps: (1) Preparation stage: Inject pesticides or fertilizers, input operation parameters, the system generates an initial operation plan and completes self-check; (2) Driving phase: Select the control mode according to the operation requirements, and automatically switch between land and air modes according to the terrain to drive to the operation area; (3) Spraying / fertilizing stage: Start the spraying and fertilizing module, and dynamically adjust the nozzle angle, atomized particle size and flow rate based on real-time collected data on driving speed, wind speed and crop height; manual intervention for supplementary spraying is possible in manned mode, and automatic identification of pest and disease areas and supplementary spraying is possible in unmanned mode; (4) End stage: Close the spraying and fertilization module, generate an operation report, and return to the docking point.

9. The method for spraying pesticides and fertilizers using a dual-purpose land and air manned unmanned flying motorcycle according to claim 8, characterized in that, In step (3), the central control module adjusts the flow rate using the formula q=k×v, where q is the flow rate, v is the driving speed, and k is a coefficient associated with the crop type; and adjusts the nozzle angle using the formula θ=arctan(h / l), where θ is the angle, h is the crop height, and l is the horizontal distance from the nozzle to the crop.

10. The method for spraying pesticides and fertilizers using a dual-purpose land and air manned unmanned flying motorcycle according to claim 8, characterized in that, In step (3), when the wind speed is greater than 3 m / s, the system automatically reduces the diameter of the atomized particles and shortens the spraying time of a single set of nozzles to control the pesticide drift rate to ≤5%.

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