A precise pesticide spraying weed-removal robot waterway system and a control method thereof

Abstract

The application relates to a precision pesticide spraying and weeding robot water system and a control method thereof, and relates to the field of fluid control of plant protection equipment. The application solves the problem that, when the existing precision pesticide spraying and weeding robot water system stops spraying or stops working in an emergency, water hammer impact and nozzle dripping are caused due to the fact that residual pressure in a spraying rod and a pipeline cannot be released in time. A diaphragm pump and multiple branch electromagnetic valves are arranged on a liquid supply circuit, the branch electromagnetic valves are respectively connected with corresponding spraying rod sections, a backflow balance valve is arranged on a backflow circuit, a spraying rod drainage valve is arranged on each spraying rod drainage pipeline and is connected between a spraying rod section and the backflow circuit; a controller independently opens the branch electromagnetic valves according to a working instruction to realize target pesticide spraying, opens corresponding spraying rod drainage valves to release residual pressure when stopping working, closes the branch electromagnetic valves and stops the diaphragm pump. Through multi-path independent control, pressure and flow closed-loop regulation and a stopping working pressure releasing strategy, the application realizes precision variable pesticide spraying and reduces the risk of water hammer and dripping.

Description

Technical Field

[0001] This invention relates to the field of fluid control for plant protection equipment, specifically to a water system and control method for a precision spraying and weeding robot. Background Technology

[0002] Weed control in farmland is a crucial step in ensuring crop yield and quality. As a precision spraying device, the spraying consistency, system stability, and anti-drip performance of spraying robots directly impact operational effectiveness and safety during field operations. Existing spraying robots, in practical operation, suffer from at least the following problems:

[0003] 1. The spraying function is relatively simple, and the spraying path and nozzle spacing are difficult to adjust flexibly according to crop row spacing, weed distribution and operation mode, resulting in insufficient system adaptability;

[0004] 2. When switching between operation and standby, especially when closing valves under high pressure, residual pressure in the water system may not be released in time, resulting in water hammer / pressure buildup. This leads to impact on valves and pipelines, increased noise, and reduced lifespan. At the same time, residual pressure will force the liquid to continue dripping at the nozzle, causing waste of liquid and potentially causing damage to non-target areas.

[0005] 3. Insufficient coordination between the water system and the robot control system; lack of unified control logic for pressure regulation, flow distribution and multi-channel switching, making it difficult to achieve precise variable spraying; specifically, when some spray booms are opened independently according to the weed distribution area, the system pressure is prone to fluctuation and cannot be quickly stabilized to the target spraying pressure or flow rate.

[0006] 4. Nozzles, valves, and pipelines are prone to clogging due to chemical residue, crystallization, or dust, resulting in frequent maintenance and affecting operational continuity. Furthermore, the existing system uses fixed connections for most components, making disassembly and cleaning difficult and further increasing maintenance time and costs.

[0007] Therefore, it is necessary to design a water system and control method for a precision spraying weeding robot to solve the above-mentioned technical problems, achieve segmented controllability of the spraying process, stable pressure, anti-drip when the machine stops and depressurizes, and convenient maintenance. Summary of the Invention

[0008] The purpose of this invention is to solve the problem of water hammer and nozzle leakage caused by the inability to release residual pressure in the spray boom and pipeline when the existing water circuit system of the precision spraying weeding robot is completed or when the robot is stopped in an emergency. The invention provides a water circuit system and control method for the precision spraying weeding robot, which achieves precise variable spraying and reduces the risk of water hammer and leakage by means of multi-channel independent control, pressure / flow closed-loop regulation and shutdown pressure relief strategy.

[0009] The technical solution of this invention is:

[0010] This invention provides a water system for a precision spraying and weeding robot, comprising:

[0011] Medicine tank 1;

[0012] A liquid level sensor 2 is installed in the medicine tank 1 and is used to output a liquid level signal that characterizes the liquid level state in the medicine tank 1.

[0013] Multiple spray bar segments together form a spray bar 15, and each spray bar segment is provided with at least one nozzle 16;

[0014] Multiple spray bar segments are connected to each other, with the outlet of each segment connected to the inlet of the corresponding segment.

[0015] The liquid supply circuit has its inlet connected to the outlet of the liquid tank 1. The liquid supply circuit is provided with a one-way valve 7, a diaphragm pump 6 and a control valve group 14 in sequence along the direction of liquid flow.

[0016] The control valve group 14 includes multiple branch solenoid valves arranged in parallel, and the outlets of the multiple branch solenoid valves are respectively connected to the inlets of the multiple spray bar segment pipelines.

[0017] The reflux circuit has its inlet connected to the liquid supply circuit between the diaphragm pump 6 and the control valve group 14, and its outlet connected to the liquid tank 1. A reflux balance valve 18 is provided on the reflux circuit.

[0018] Multiple spray bar drain pipes, each spray bar drain pipe is equipped with a spray bar drain valve 17, and the spray bar drain pipes are connected between a spray bar segment and the return circuit;

[0019] The controller 19 is connected to the control terminals of the branch solenoid valve, the spray bar drain valve 17, the return balance valve 18, and the diaphragm pump 6, respectively.

[0020] The controller 19 independently controls at least one of the branch solenoid valves to open according to the operation instructions to achieve target spraying. When it receives the spraying end or shutdown command, it opens the spray bar drain valve 17 corresponding to the branch solenoid valve or adjusts the return balance valve 18 to the depressurization state to release the residual pressure in the spray bar segment. Then it closes the branch solenoid valve and stops the diaphragm pump 6.

[0021] Furthermore, it also includes a jet stirring circuit, which includes a jet stirrer 3 and a stirring solenoid valve 4;

[0022] The inlet of the jet stirring circuit is connected to the liquid supply circuit on the outlet side of the diaphragm pump 6, and the outlet of the jet stirring circuit is connected to the inside of the medicine tank 1.

[0023] The jet stirrer 3 is located at the outlet of the jet stirring circuit and below the liquid level of the liquid in the liquid tank 1, and is used to generate a jet to stir the liquid.

[0024] The stirring solenoid valve 4 is installed on the pipeline of the jet stirring circuit and connected to the control output terminal of the controller 19, and is used to control the on / off state of the jet stirring circuit.

[0025] Furthermore, it also includes a pressure regulating component, which is disposed on the liquid supply circuit between the diaphragm pump 6 and the control valve assembly 14;

[0026] The pressure regulating assembly includes: a main valve 9, a safety valve 8, a flow sensor 11, a pressure regulating proportional valve 12, and a pressure sensor 13;

[0027] Along the direction of liquid flow, the main valve 9, the safety valve 8, the flow sensor 11, and the pressure regulating proportional valve 12 are sequentially arranged on the liquid supply circuit.

[0028] The pressure sensor 13 is installed on the liquid supply circuit connected to the liquid outlet of the control valve group 14.

[0029] The control output terminal of the controller 19 is connected to the main valve 9, the safety valve 8, the flow sensor 11, the pressure sensor 13, and the pressure regulating proportional valve 12, respectively.

[0030] Furthermore, during the spraying process, the controller 19, based on the feedback signals from the pressure sensor 13 and the flow sensor 11, adjusts the opening of the pressure regulating proportional valve 12 and the output of the diaphragm pump 6 in a closed loop to ensure that the liquid supply circuit meets the target spraying pressure or the target spraying flow rate.

[0031] Furthermore, the liquid supply circuit is also equipped with a first filter 5 and a second filter 10;

[0032] The first filter 5 is installed in the liquid supply circuit between the medicine tank 1 and the one-way valve 7;

[0033] The second filter 10 is disposed in the liquid supply circuit between the safety valve 8 and the flow sensor 11.

[0034] Furthermore, multiple spray boom segments are arranged horizontally from left to right along a direction perpendicular to the weeding robot's travel direction, and the spraying range of multiple spray boom segments together covers a continuous working area;

[0035] The multiple nozzles 16 provided on each spray bar segment are arranged sequentially and evenly along the length of the spray bar segment.

[0036] Furthermore, quick-release connectors are provided between the outlet of the liquid tank 1 and the inlet of the liquid supply circuit, between the outlet of the diaphragm pump 6 and the inlet of the pressure regulating component, and between the outlet of the control valve group 14 and the inlet of the spray bar segment pipeline.

[0037] The present invention also provides a water circuit control method for a precision spraying and weeding robot based on the water circuit system, comprising the following steps:

[0038] Step 1: Mixing Pretreatment

[0039] The controller 19 opens the stirring solenoid valve 4 and drives the diaphragm pump 6 at a preset pump speed, so that the liquid medicine enters the jet stirrer 3 through the return loop; the controller 19 determines whether the working liquid level threshold is met based on the signal from the liquid level sensor 2.

[0040] Step 2, Preparation for spraying:

[0041] The controller 19 opens the main valve 9, controls the diaphragm pump 6 to start, and adjusts the pressure regulating proportional valve 12 to the preset initial opening degree; when the pressure sensor 13 detects that the system pressure has reached the preset set-off pressure, the spraying stage begins.

[0042] Step 3: Spraying the target / segment:

[0043] The controller 19 independently opens the corresponding branch solenoid valve according to the work instruction, so that the corresponding spray bar segment pipeline is connected; at the same time, the controller 19 uses a closed-loop control strategy to adjust the opening of the pressure regulating proportional valve 12 and the output of the diaphragm pump 6 based on the feedback of the pressure sensor 13 and the flow sensor 11, so that the actual pressure and flow track the target pressure and flow, and realize variable spraying.

[0044] Step 4: Shut down the machine, release pressure, and prevent dripping.

[0045] When a spraying end or emergency stop command is received, the controller 19 first opens the boom drain valve 17 and puts the return balance valve 18 in a depressurized state. After a preset time, it closes the branch solenoid valve, closes the main valve 9, and stops the diaphragm pump 6. Then, it closes the boom drain valve 17. Through the above sequence, water hammer is reduced and nozzle 16 dripping is suppressed.

[0046] Furthermore, in the shutdown, depressurization, and anti-drip step, the opening duration of the spray bar drain valve 17 is t, where t = 0.2s - 5s.

[0047] Furthermore, it also includes a rinsing step:

[0048] The controller 19 determines the risk of blockage based on the combined characteristics of increased pressure and decreased flow rate. In the case of blockage risk, it closes all branch solenoid valves, opens the boom drain valve 17 and the regulating return balance valve 18, and drives the diaphragm pump 6 to run, forming a return flush.

[0049] Compared with the prior art, the present invention has the following advantages:

[0050] 1. This invention achieves segmented independent control of the spray boom through a branch solenoid valve assembly, adapting to different operating modes and improving the ability to spray pesticides onto targets. Specifically, the controller 19 can independently control at least one branch solenoid valve to open based on operating instructions, such as signals from visual recognition of weed distribution areas, allowing the spray boom in the weed-prone area to perform spraying operations segment by segment. Compared to existing single or simple branch structures, this invention achieves segmented independent on / off control of the spray boom 15, significantly improving the accuracy of target spraying, reducing pesticide waste, and meeting the operational requirements of precision agriculture.

[0051] 2. This invention improves the stability of spraying pressure and the consistency of variable-rate spraying by forming a closed-loop regulation through the pressure sensor 13, flow sensor 11, pressure regulating proportional valve 12, and diaphragm pump 6. The pressure sensor 13 is installed on the supply circuit connected to the outlet of the control valve assembly 14 to detect the actual spraying pressure in real time; the flow sensor 11 is used to detect the flow rate of the supply circuit in real time. Based on the feedback signals from the pressure sensor 13 and flow sensor 11, the controller 19 adjusts the opening of the pressure regulating proportional valve 12 and the output of the diaphragm pump 6 in a closed loop, ensuring that the supply circuit always meets the target spraying pressure or target spraying flow rate. This closed-loop control strategy effectively suppresses system pressure fluctuations caused by the independent opening or closing of different spray boom segments, ensuring the consistency and stability of variable-rate spraying.

[0052] 3. This invention reduces water hammer impact and prevents dripping by controlling the shutdown and depressurization sequence, allowing for either venting or recirculation depressurization before valve closure and pump shutdown. When a spraying completion or emergency shutdown command is received, the controller 19 first opens the boom vent valve 17 corresponding to the currently or most recently opened branch solenoid valve, allowing residual pressure at the boom segment and nozzle 16 to be released to the recirculation circuit via the boom vent pipeline. After the residual pressure is released, the branch solenoid valve is closed and the diaphragm pump 6 is stopped. This control sequence effectively avoids water hammer impact caused by directly closing the valve and stopping the pump, reducing the risk of damage to pipelines and valves. It also fundamentally solves the problem of pesticide dripping from the nozzle 16 after shutdown due to residual pressure, preventing pesticide waste and damage to non-target areas.

[0053] 4. This invention improves the uniformity of the drug solution and reduces the risk of clogging through a jet stirring circuit and a filtration / rinsing strategy. On one hand, after the controller 19 opens the stirring solenoid valve 4, the diaphragm pump 6 drives a portion of the drug solution through the jet stirring circuit into the jet stirrer 3, forming jet stirring in the drug solution tank 1, effectively preventing drug solution sedimentation or stratification and ensuring the consistency of the spray concentration. On the other hand, the supply circuit is equipped with a first filter 5 and a second filter 10, forming a two-stage filtration scheme, effectively intercepting larger particulate impurities and fine crystals in the drug solution. At the same time, when the controller 19 determines that there is a risk of clogging based on the combined characteristics of the pressure sensor 13 and the flow sensor 11, such as increased pressure and decreased flow, it can close all branch solenoid valves, open the spray bar drain valve 17 and the regulating return balance valve 18, and drive the diaphragm pump 6 to run, forming a return rinsing circuit, further reducing the probability of clogging.

[0054] 5. This invention reduces maintenance difficulty and shortens fault recovery time through quick-release pipeline interfaces. Quick-release connectors are provided between the outlet of the liquid tank 1 and the inlet of the liquid supply circuit, between the outlet of the diaphragm pump 6 and the inlet of the pressure regulating component, and between the outlet of the control valve group 14 and the inlet of the spray bar segment pipeline. When a component becomes blocked or malfunctions, operators can quickly disassemble and replace it without special tools, significantly shortening troubleshooting time and improving the continuity and maintainability of the robot's field operations. Attached Figure Description

[0055] Figure 1 This is a schematic diagram of the water system of a precision spraying and weeding robot according to the present invention.

[0056] In the diagram: 1-Medicine tank; 2-Level sensor; 3-Jet agitator; 4-Agitator solenoid valve; 5-First filter; 6-Diaphragm pump; 7-Check valve; 8-Safety valve; 9-Main valve; 10-Second filter; 11-Flow sensor; 12-Pressure regulating proportional valve; 13-Pressure sensor; 14-Control valve assembly; 15-Spray bar; 16-Nozzle; 17-Spray bar drain valve; 18-Return balance valve; 19-Controller. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0058] It should be noted that, in this invention, relational terms such as “first” and “second” are used only to distinguish one entity or component from another entity or component, and do not necessarily require or imply any such actual relationship or order between these entities or components.

[0059] Unless otherwise expressly specified and limited, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0060] Specific implementation method one: Combining Figure 1 This embodiment describes a water system for a precision spraying and weeding robot, comprising:

[0061] Medicine tank 1;

[0062] A liquid level sensor 2 is installed in the medicine tank 1 and is used to output a liquid level signal that characterizes the liquid level state in the medicine tank 1.

[0063] Multiple spray bar segments together form a spray bar 15, and each spray bar segment is provided with at least one nozzle 16;

[0064] Multiple spray bar segments are connected to each other, with the outlet of each segment connected to the inlet of the corresponding segment.

[0065] The liquid supply circuit has its inlet connected to the outlet of the liquid tank 1. The liquid supply circuit is provided with a one-way valve 7, a diaphragm pump 6 and a control valve group 14 in sequence along the direction of liquid flow.

[0066] The control valve group 14 includes multiple branch solenoid valves arranged in parallel, and the outlets of the multiple branch solenoid valves are respectively connected to the inlets of the multiple spray bar segment pipelines.

[0067] The reflux circuit has its inlet connected to the liquid supply circuit between the diaphragm pump 6 and the control valve group 14, and its outlet connected to the liquid tank 1. A reflux balance valve 18 is provided on the reflux circuit.

[0068] Multiple spray bar drain pipes, each spray bar drain pipe is equipped with a spray bar drain valve 17, and the spray bar drain pipes are connected between a spray bar segment and the return circuit;

[0069] The controller 19 is connected to the control terminals of the branch solenoid valve, the spray bar drain valve 17, the return balance valve 18, and the diaphragm pump 6, respectively.

[0070] The controller 19 independently controls at least one of the branch solenoid valves to open according to the operation instructions to achieve target spraying. When it receives the spraying end or shutdown command, it opens the spray bar drain valve 17 corresponding to the branch solenoid valve or adjusts the return balance valve 18 to the depressurization state to release the residual pressure in the spray bar segment. Then it closes the branch solenoid valve and stops the diaphragm pump 6.

[0071] The controller 19 independently opens the corresponding branch solenoid valves according to the operation instructions to realize the segmented on / off of the spray boom, and adjusts the pump output and the opening of the pressure regulating valve based on pressure and flow feedback closed loop, thereby realizing target spraying or variable spraying; when stopping, it first releases the pressure and then closes the valve to stop the pump, reducing water hammer and preventing dripping, and supports quick disassembly maintenance and online flushing.

[0072] Specifically, when the spraying is finished or the machine is stopped, the controller 19 first opens the spray bar drain valve 17 and puts the return balance valve 18 in a depressurized state to release the residual pressure of the spray bar 15, then closes the branch solenoid valve, closes the main valve 9 and stops the diaphragm pump 6, thereby reducing water hammer and suppressing nozzle 16 dripping.

[0073] The number of branch solenoid valves is N, where N≥2 and N is a positive integer; each spray bar segment pipeline corresponds to at least one branch solenoid valve.

[0074] The liquid level sensor 2 is used to output a liquid level signal, and the controller 19 performs liquid shortage protection and alarm control based on the liquid level signal.

[0075] The return circuit is equipped with a return balance valve 18, which is used to adjust the return damping or return flow rate, thereby forming a pressure stabilization and flushing circuit. The spray bar drain valve 17 connects each spray bar section to the return circuit, and is used to quickly release the residual pressure in the corresponding spray bar section pipeline when the spraying is stopped.

[0076] Specific Implementation Method Two: Combining Figure 1 This embodiment further includes a jet stirring circuit, which includes a jet stirrer 3 and a stirring solenoid valve 4.

[0077] The inlet of the jet stirring circuit is connected to the liquid supply circuit on the outlet side of the diaphragm pump 6, and the outlet of the jet stirring circuit is connected to the inside of the medicine tank 1.

[0078] The jet stirrer 3 is located at the outlet of the jet stirring circuit and below the liquid level of the liquid in the liquid tank 1, and is used to generate a jet to stir the liquid.

[0079] The stirring solenoid valve 4 is installed on the pipeline of the jet stirring circuit and connected to the control output terminal of the controller 19, and is used to control the on / off state of the jet stirring circuit.

[0080] With this configuration, after the controller 19 activates the stirring solenoid valve 4, the diaphragm pump 6 drives a portion of the liquid medicine through the jet stirring circuit into the jet stirrer 3, forming jet stirring within the liquid medicine tank 1. This effectively prevents the liquid medicine from settling or separating, ensuring the consistency of the spray concentration. Other components and connections are the same as in Specific Embodiment 1.

[0081] The jet stirrer 3 is installed inside the medicine tank 1; the stirring solenoid valve 4 is installed on the jet stirring circuit to control the return medicine driven by the diaphragm pump 6 to enter the jet stirrer 3 to form jet stirring, so as to improve the uniformity of medicine mixing.

[0082] Specific implementation method three: Combining Figure 1 This embodiment further includes a pressure regulating component, which is disposed in the liquid supply circuit between the diaphragm pump 6 and the control valve group 14.

[0083] The pressure regulating assembly includes: a main valve 9, a safety valve 8, a flow sensor 11, a pressure regulating proportional valve 12, and a pressure sensor 13;

[0084] Along the direction of liquid flow, the main valve 9, the safety valve 8, the flow sensor 11, and the pressure regulating proportional valve 12 are sequentially arranged on the liquid supply circuit.

[0085] The pressure sensor 13 is installed on the liquid supply circuit connected to the liquid outlet of the control valve group 14.

[0086] The control output terminal of the controller 19 is connected to the main valve 9, the safety valve 8, the flow sensor 11, the pressure sensor 13, and the pressure regulating proportional valve 12, respectively.

[0087] With this configuration, the flow sensor 11 is used to detect the flow rate of the liquid supply circuit in real time, the pressure sensor 13 is used to detect the actual spraying pressure at the outlet of the control valve group 14 in real time, the pressure regulating proportional valve 12 is used to regulate the pressure and flow rate of the liquid supply circuit, and the controller 19 can perform closed-loop control of the pressure regulating proportional valve 12 and the diaphragm pump 6 based on the feedback signals from the flow sensor 11 and the pressure sensor 13, thereby ensuring the stability of the spraying pressure and flow rate. Other components and connections are the same as in specific embodiments one or two.

[0088] Among them, safety valve 8 is used for overpressure relief; main valve 9 is used to control the overall on / off state of the liquid supply circuit; flow sensor 11 and pressure sensor 13 are used to acquire real-time flow and real-time pressure, respectively; and pressure regulating proportional valve 12 is used to adjust the pressure and flow distribution status of the liquid supply circuit.

[0089] The controller 19 adjusts the opening of the pressure regulating proportional valve 12 and the output of the diaphragm pump 6 based on feedback from the pressure sensor 13 and the flow sensor 11, so that the liquid supply circuit meets the target spraying pressure or target spraying flow rate. The controller 19 uses a closed-loop control strategy to adjust the opening of the pressure regulating proportional valve 12 and the output of the diaphragm pump 6 based on the deviation between the target spraying pressure and the actual pressure output by the pressure sensor 13. The flow sensor 11 provides flow constraints or flow verification for the closed-loop control process. The controller 19 determines the clogging risk state based on the combined characteristics of the pressure sensor 13 and the flow sensor 11. When a clogging risk state is determined, a flushing process is executed, which includes at least: closing the branch solenoid valve, opening the spray bar drain valve 17 and the return flow balance valve 18, and driving the diaphragm pump 6 to form a return flow flush.

[0090] Specific implementation method four: Combination Figure 1 In this embodiment, the controller 19, during the spraying process, adjusts the opening of the pressure regulating proportional valve 12 and the output of the diaphragm pump 6 in a closed loop based on the feedback signals from the pressure sensor 13 and the flow sensor 11, so that the liquid supply circuit meets the target spraying pressure or target spraying flow rate.

[0091] With this configuration, when the spray boom is opened in sections according to the weed distribution area, the pressure in the liquid supply circuit is prone to fluctuation. The controller 19, through closed-loop adjustment of the opening of the pressure regulating proportional valve 12 and the output of the diaphragm pump 6, can quickly stabilize the actual pressure or flow rate to the target value, effectively suppressing system pressure fluctuations and ensuring the consistency and stability of variable-rate spraying. Other components and connections are the same as in specific embodiments one, two, or three.

[0092] Specific Implementation Method Five: Combining Figure 1 This embodiment is described in detail. The liquid supply circuit of this embodiment is further provided with a first filter 5 and a second filter 10.

[0093] The first filter 5 is installed in the liquid supply circuit between the medicine tank 1 and the one-way valve 7;

[0094] The second filter 10 is disposed in the liquid supply circuit between the safety valve 8 and the flow sensor 11.

[0095] In this configuration, the first filter 5 acts as a coarse filtration component, used to intercept larger particulate impurities in the liquid medicine; the second filter 10 acts as a fine filtration component, used to intercept fine crystals and residues in the liquid medicine, thereby improving the anti-clogging capability of the nozzle 16. This two-stage filtration scheme effectively reduces the probability of clogging of the nozzle 16 and valves such as branch solenoid valves and pressure regulating proportional valves 12, extending the system's service life. Other components and connections are the same as in specific embodiments one, two, three, or four.

[0096] Specific Implementation Method Six: Combination Figure 1 In this embodiment, the multiple spray bar segments are arranged horizontally from left to right along the direction of travel of the weeding robot, and the spraying range of the multiple spray bar segments together covers a continuous working area.

[0097] The multiple nozzles 16 provided on each spray bar segment are arranged sequentially and evenly along the length of the spray bar segment.

[0098] With this configuration, multiple spray booms are arranged horizontally side by side in segments, and their spraying ranges are interconnected, forming a continuous and uninterrupted spraying surface and avoiding missed areas. Simultaneously, the nozzles 16 on each spray boom segment are evenly distributed, ensuring uniform spraying within the corresponding segment. Other components and connections are the same as in specific implementation methods one, two, three, four, or five.

[0099] Specific implementation method seven: Combination Figure 1 In this embodiment, quick-release connectors are provided between the outlet of the liquid tank 1 and the inlet of the liquid supply circuit, between the outlet of the diaphragm pump 6 and the inlet of the pressure regulating component, and between the outlet of the control valve group 14 and the inlet of the spray bar segment pipeline.

[0100] With this configuration, when a component such as the diaphragm pump 6, valves or sensors in the pressure regulating assembly, branch solenoid valves in the control valve group 14, or spray boom segments become blocked or malfunction, operators can quickly disassemble and replace them without special tools. This significantly shortens troubleshooting time and improves the continuity and maintainability of the robot's field operations. Other components and connections are the same as in specific implementation methods one, two, three, four, five, or six.

[0101] The liquid supply circuit and the return circuit are provided with quick-release connectors at at least two modular connection positions; the modular connection positions include at least one between the liquid tank 1 and the liquid supply circuit, between the diaphragm pump 6 and the pressure regulating component, and between the control valve group 14 and the spray bar segment pipeline.

[0102] Specific implementation method eight: Combination Figure 1This embodiment of the invention also provides a waterway control method for a precision spraying and weeding robot based on the waterway system, comprising the following steps:

[0103] Step 1: Mixing Pretreatment

[0104] The controller 19 opens the stirring solenoid valve 4 and drives the diaphragm pump 6 at a preset pump speed, so that the liquid medicine enters the jet stirrer 3 through the return loop; the controller 19 determines whether the working liquid level threshold is met based on the signal from the liquid level sensor 2.

[0105] Step 2, Preparation for spraying:

[0106] The controller 19 opens the main valve 9, controls the diaphragm pump 6 to start, and adjusts the pressure regulating proportional valve 12 to the preset initial opening degree; when the pressure sensor 13 detects that the system pressure has reached the preset set-off pressure, the spraying stage begins.

[0107] Step 3: Spraying the target / segment:

[0108] The controller 19 independently opens the corresponding branch solenoid valve according to the work instruction, so that the corresponding spray bar segment pipeline is connected; at the same time, the controller 19 uses a closed-loop control strategy to adjust the opening of the pressure regulating proportional valve 12 and the output of the diaphragm pump 6 based on the feedback of the pressure sensor 13 and the flow sensor 11, so that the actual pressure and flow track the target pressure and flow, and realize variable spraying.

[0109] Step 4: Shut down the machine, release pressure, and prevent dripping.

[0110] When a spraying end or emergency stop command is received, the controller 19 first opens the boom drain valve 17 and puts the return balance valve 18 in a depressurized state. After a preset time, it closes the branch solenoid valve, closes the main valve 9, and stops the diaphragm pump 6. Then, it closes the boom drain valve 17. Through the above sequence, water hammer is reduced and nozzle 16 dripping is suppressed.

[0111] This configuration enables segmented, independent spraying based on weed distribution areas during the target spraying step, reducing pesticide waste. The pressure / flow regulation step achieves closed-loop stable control of the spraying process. The shutdown pressure relief and anti-drip step releases residual pressure in the spray boom segments via the boom drain valve 17 before closing the branch solenoid valve and stopping the diaphragm pump 6, effectively preventing water hammer and nozzle 16 dripping. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, or seven.

[0112] Specific Implementation Method Nine: Combining Figure 1 In this embodiment, during the shutdown, depressurization, and anti-drip step, the opening duration of the spray bar drain valve 17 is t, where t = 0.2s - 5s.

[0113] With this configuration, the spray bar drain valve 17 opens for 0.2s-5s, which is sufficient to release the residual pressure at the spray bar segments and nozzle 16 to a safe range, while avoiding excessive backflow of the medicine due to prolonged opening time. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, seven, or eight.

[0114] The spray bar drain valve 17 is an electrically controlled drain valve, and the controller 19 is used to open the electrically controlled drain valve for a preset time t when the shutdown command is triggered, and then close it.

[0115] Specific Implementation Method Ten: Combining Figure 1 This embodiment further includes a rinsing step:

[0116] The controller 19 determines the risk of blockage based on the combined characteristics of increased pressure and decreased flow rate. In the case of blockage risk, it closes all branch solenoid valves, opens the boom drain valve 17 and the regulating return balance valve 18, and drives the diaphragm pump 6 to run, forming a return flush.

[0117] With this configuration, when pressure sensor 13 detects an increase in pressure and flow sensor 11 detects a decrease in flow, controller 19 determines that the system has a risk of blockage. At this time, it closes all branch solenoid valves, opens the spray bar drain valve 17, and adjusts the return balance valve 18 to drive the diaphragm pump 6. This causes the liquid to flow back and flush through the spray bar drain pipe and return circuit, effectively removing crystals or impurities from the pipes and valves, reducing the probability of blockage and the frequency of manual maintenance. Other components and connections are the same as in embodiments one, two, three, four, five, six, seven, eight, or nine.

[0118] Working principle

[0119] Combination Figure 1 This invention explains the working principle of a precision spraying and weeding robot water system and its control method:

[0120] (a) Mixing and stirring of the medicine solution

[0121] The controller 19 activates the stirring solenoid valve 4 and drives the diaphragm pump 6 to run. After being coarsely filtered by the first filter 5, the liquid in the liquid tank 1 flows sequentially through the check valve 7 and the diaphragm pump 6. A portion of the liquid enters the jet stirrer 3 through the jet stirring circuit, forming jet stirring inside the liquid tank 1 to prevent the liquid from settling or separating, and to ensure the consistency of the spray concentration.

[0122] (ii) Pressure and flow regulation

[0123] The liquid pesticide output from diaphragm pump 6 is filtered through main valve 9, safety valve 8, and second filter 10 before flowing through flow sensor 11 and pressure regulating proportional valve 12, and then into control valve assembly 14. Flow sensor 11 monitors the flow rate of the supply circuit in real time, and pressure sensor 13 is installed on the supply circuit connected to the outlet of control valve assembly 14 to monitor the actual spraying pressure in real time. Controller 19, based on the feedback signals from flow sensor 11 and pressure sensor 13, adjusts the opening of pressure regulating proportional valve 12 and the output of diaphragm pump 6 in a closed loop to ensure that the supply circuit always meets the target spraying pressure or target spraying flow rate.

[0124] (iii) Target spraying operations

[0125] According to the operation instructions, such as a signal from visual recognition of the weed distribution area, the controller 19 independently controls one or more branch solenoid valves in the control valve group 14 to open. The pesticide solution enters the corresponding spray boom segment pipeline through the opened branch solenoid valve, is then delivered to the corresponding spray boom segment, and is finally sprayed out by the nozzle 16, achieving precise target spraying only on the area where weeds are located. Multiple spray boom segments are arranged horizontally from left to right along the direction perpendicular to the weeding robot's travel direction, and the spraying range of multiple spray boom segments covers a continuous working area, avoiding missed spraying.

[0126] (iv) Recirculation voltage stabilization

[0127] When the number of open branch solenoid valves changes, the pressure in the supply circuit may fluctuate. At this time, the controller 19 can adjust the opening of the return balance valve 18 on the return circuit to draw part of the medicine back from the supply circuit between the diaphragm pump 6 and the control valve group 14 to the medicine tank 1, so as to help stabilize the system pressure.

[0128] (v) Stop the machine, release pressure, and prevent dripping.

[0129] Upon receiving a command to end spraying or to stop the machine urgently, controller 19 first opens the boom drain valve 17 corresponding to the currently or most recently opened branch solenoid valve. This releases the residual pressure at the boom segment and nozzle 16 through the boom drain line back to the return circuit for 0.2-5 seconds. After the residual pressure has been released, controller 19 closes the branch solenoid valve and stops the diaphragm pump 6. This control sequence effectively avoids water hammer caused by directly closing the valve and stopping the pump, and fundamentally solves the problem of pesticide leakage caused by residual pressure at nozzle 16 after shutdown.

[0130] (vi) Blockage detection and backflow flushing

[0131] During spraying, when the controller 19 detects a combination of increased pressure (detected by the pressure sensor 13) and decreased flow rate (detected by the flow sensor 11), it determines that the system is at risk of clogging. At this time, the controller 19 closes all branch solenoid valves, opens the spray boom drain valve 17, adjusts the return balance valve 18, and simultaneously drives the diaphragm pump 6 to continue running. This causes the pesticide solution to flow back and flush through the spray boom drain line and return circuit, removing crystals or impurities from the lines and valves, thus reducing the probability of clogging.

[0132] (vii) Quick-release maintenance

[0133] When a component becomes blocked or malfunctions, the operator can quickly disassemble and replace the faulty component without special tools by using quick-release connectors located between the outlet of the liquid tank 1 and the inlet of the liquid supply circuit, between the outlet of the diaphragm pump 6 and the inlet of the pressure regulating component, and between the outlet of the control valve group 14 and the inlet of the spray bar segment pipeline, which significantly shortens the troubleshooting time.

[0134] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A water system for a precision spraying and weeding robot, characterized in that, include: Medicine tank (1); A liquid level sensor (2) is installed in the liquid tank (1) to output a liquid level signal that characterizes the liquid level state in the liquid tank (1); Multiple spray bar segments together form a spray bar (15), and each spray bar segment is provided with at least one nozzle (16). Multiple spray bar segments are connected to each other, with the outlet of each segment connected to the inlet of the corresponding segment. The liquid supply circuit has its inlet connected to the outlet of the liquid tank (1). A one-way valve (7), a diaphragm pump (6) and a control valve group (14) are sequentially arranged along the liquid flow direction on the liquid supply circuit. The control valve group (14) includes multiple branch solenoid valves arranged in parallel, and the outlets of the multiple branch solenoid valves are respectively connected to the inlets of the multiple spray bar segment pipelines. The reflux circuit has its inlet connected to the liquid supply circuit between the diaphragm pump (6) and the control valve group (14), and its outlet connected to the medicine tank (1). A reflux balance valve (18) is provided on the reflux circuit. Multiple spray bar drain pipes, each spray bar drain pipe is equipped with a spray bar drain valve (17), and the spray bar drain pipes are connected between a spray bar segment and the return circuit; The controller (19) is connected to the control terminals of the branch solenoid valve, the spray bar drain valve (17), the return balance valve (18), and the diaphragm pump (6), respectively. The controller (19) independently controls at least one of the branch solenoid valves to open according to the operation instructions to achieve target spraying. When it receives the spraying end or shutdown instruction, it opens the spray bar drain valve (17) corresponding to the branch solenoid valve or adjusts the return balance valve (18) to the depressurization state to release the residual pressure in the spray bar segment. Then it closes the branch solenoid valve and stops the diaphragm pump (6).

2. The water system for a precision spraying and weeding robot according to claim 1, characterized in that: It also includes a jet stirring circuit, which includes a jet stirrer (3) and a stirring solenoid valve (4). The inlet of the jet stirring circuit is connected to the liquid supply circuit on the outlet side of the diaphragm pump (6), and the outlet of the jet stirring circuit is connected to the inside of the liquid tank (1). The jet stirrer (3) is located at the outlet of the jet stirring circuit and below the liquid level of the liquid in the liquid tank (1), and is used to generate a jet to stir the liquid. The stirring solenoid valve (4) is installed on the pipeline of the jet stirring circuit and connected to the control output terminal of the controller (19) to control the on / off state of the jet stirring circuit.

3. The water system for a precision spraying and weeding robot according to claim 2, characterized in that: It also includes a pressure regulating component, which is disposed on the liquid supply circuit between the diaphragm pump (6) and the control valve group (14); The pressure regulating assembly includes: a main valve (9), a safety valve (8), a flow sensor (11), a pressure regulating proportional valve (12), and a pressure sensor (13). Along the direction of liquid flow, the main valve (9), the safety valve (8), the flow sensor (11), and the pressure regulating proportional valve (12) are sequentially arranged on the liquid supply circuit; The pressure sensor (13) is installed on the liquid supply circuit connected to the liquid outlet of the control valve group (14); The control output terminal of the controller (19) is connected to the main valve (9), the safety valve (8), the flow sensor (11), the pressure sensor (13), and the pressure regulating proportional valve (12), respectively.

4. The water system for a precision spraying and weeding robot according to claim 3, characterized in that: During the spraying process, the controller (19) adjusts the opening of the pressure regulating proportional valve (12) and the output of the diaphragm pump (6) in a closed loop based on the feedback signals of the pressure sensor (13) and the flow sensor (11) so that the liquid supply circuit meets the target spraying pressure or target spraying flow rate.

5. The water system for a precision spraying and weeding robot according to claim 4, characterized in that: The liquid supply circuit is also equipped with a first filter (5) and a second filter (10). The first filter (5) is installed on the liquid supply circuit between the liquid tank (1) and the one-way valve (7); The second filter (10) is located in the liquid supply circuit between the safety valve (8) and the flow sensor (11).

6. The water system of a precision spraying and weeding robot according to claim 5, characterized in that: Multiple spray boom segments are arranged horizontally from left to right along a path perpendicular to the weeding robot's direction of travel, and the spraying range of multiple spray boom segments together covers a continuous working area. The multiple nozzles (16) provided on each spray bar segment are arranged uniformly along the length of the spray bar segment.

7. The water system for a precision spraying and weeding robot according to claim 6, characterized in that: Quick-release connectors are provided between the outlet of the liquid tank (1) and the inlet of the liquid supply circuit, between the outlet of the diaphragm pump (6) and the inlet of the pressure regulating component, and between the outlet of the control valve group (14) and the inlet of the spray bar segment pipeline.

8. A water system control method for a precision spraying and weeding robot based on the water system described in claim 7, characterized in that, Includes the following steps: Step 1: Mixing Pretreatment The controller (19) opens the stirring solenoid valve (4) and drives the diaphragm pump (6) at a preset pump speed, so that the liquid enters the jet stirrer (3) through the return loop; the controller (19) determines whether the working liquid level threshold is met based on the signal of the liquid level sensor (2); Step 2, Preparation for spraying: The controller (19) opens the main valve (9), controls the diaphragm pump (6) to start, and adjusts the pressure regulating proportional valve (12) to the preset initial opening degree; when the pressure sensor (13) detects that the system pressure has reached the preset set pressure, the spraying stage begins; Step 3: Spraying the target / segment: The controller (19) independently opens the corresponding branch solenoid valve according to the work instruction, so that the corresponding spray bar segment pipeline is connected; at the same time, the controller (19) adjusts the opening of the pressure regulating proportional valve (12) and the output of the diaphragm pump (6) according to the feedback of the pressure sensor (13) and the flow sensor (11) using a closed-loop control strategy, so that the actual pressure and flow track the target pressure and flow, and realize variable spraying. Step 4: Shut down the machine, release pressure, and prevent dripping. When a spraying end or emergency stop command is received, the controller (19) first opens the spray bar drain valve (17) and puts the return balance valve (18) in the depressurization state. After a preset time, it closes the branch solenoid valve, closes the main valve (9) and stops the diaphragm pump (6); then closes the spray bar drain valve (17); the water hammer is reduced and the nozzle (16) dripping is suppressed through the above sequence.

9. The control method according to claim 8, characterized in that, In the shutdown, depressurization and anti-drip step, the opening duration of the spray bar drain valve (17) is t, t=0.2s-5s.

10. The control method according to claim 8 or 9, characterized in that, It also includes a rinsing step: The controller (19) determines the risk of blockage based on the combined characteristics of increased pressure and decreased flow rate. In the case of blockage risk, all branch solenoid valves are closed, the spray bar drain valve (17) and the regulating return balance valve (18) are opened, and the diaphragm pump (6) is driven to run to form a return flush.

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