Multifunctional blueberry intelligent plant protection trolley and operation method

Abstract

A multifunctional blueberry intelligent plant protection trolley is integrated with a root injection mechanism, a swing spraying mechanism, a space upper and internal spraying mechanism, a film recycling mechanism, a residual film recycling mechanism, an auxiliary balance mechanism, an intelligent induction balancer, a wheel track telescopic adjuster, a multi-stage telescopic unit, a solar panel, a patrol camera, a medicine storage box and a storage battery on the frame assembly, realizes the integration of multidirectional three-dimensional spraying, mulch recycling and intelligent balance adjustment, and overcomes the problems of poor spraying dead angle, passability and stability of the traditional blueberry spraying trolley.

Description

Technical Field

[0001] This invention relates to the field of agricultural plant protection machinery technology, specifically to a multi-functional intelligent blueberry plant protection vehicle and its operation method that integrates multi-directional three-dimensional spraying, mulch film recycling and intelligent balance adjustment. Background Technology

[0002] Traditional blueberry sprayers can only spray horizontally or vertically, making it difficult to cover the top of the blueberry plant, the inner branches, and the soil layer around the roots, resulting in blind spots in pest and disease control.

[0003] Secondly, traditional plastic film recycling devices mostly adopt a structure of "cylindrical winding + fixed sickle", which results in incomplete recycling and a large amount of residual film fragments.

[0004] In addition, traditional cars lack flexible wheel track adjustment and body balance compensation mechanisms when facing the uneven ground and wide rows of blueberry fields, resulting in poor passability and stability.

[0005] To address the aforementioned problems, this invention provides an integrated and intelligent multi-directional work vehicle, which solves all the problems by completely redesigning the work vehicle. Summary of the Invention

[0006] To address the technical problems existing in the background art, the present invention provides a multifunctional intelligent blueberry plant protection vehicle and its operation method.

[0007] The technical solution of this invention is as follows: A multifunctional intelligent plant protection vehicle for blueberries includes a frame assembly, which comprises an upper frame and a lower frame. Root injection mechanisms are respectively provided on the left and right sides of the lower frame, and the direction of the injection needles of the root injection mechanisms is adjustable for injecting pesticides into different locations in the root soil layer.

[0008] A film recycling mechanism is connected to the front of the underframe. The connection is detachable. When film recycling is required, the film recycling mechanism is connected to the front of the underframe.

[0009] A spraying mechanism is installed on the top of the upper frame. The spraying mechanism includes a first arm, a second arm, a first spraying unit, a telescopic unit, and a second spraying unit.

[0010] The pesticide spraying part is the core design of this invention. Compared with the traditional manual spraying method, this application adopts a combination of spraying mechanism and root injection mechanism to fully cover the top of the blueberry plant, the internal branches and the soil layer of the roots, and spray without dead angles. Moreover, the entire spraying process can be completed automatically by a trolley, saving manpower.

[0011] Specifically, the lower end of the first arm in the spraying mechanism is rotatably connected to the top of the upper frame, and the upper part is connected to one end of the second arm through a power mechanism. The angle between the first and second arms is adjustable to accommodate blueberry plants of different heights. Several first spraying units are arranged along the length of the first arm. The first spraying units can perform circumferential oscillating spraying, mainly for spraying the longitudinal vertical surface of the blueberry plants.

[0012] The second arm is equipped with a telescopic unit along its length. The end of the telescopic unit is connected to the second spraying unit. The second spraying unit includes a water reservoir at the top, and several hoses are connected to the lower end of the water reservoir. The lower end of the hoses is connected to a rotating column, and the rotating column is connected to a second nozzle. The second nozzle is equipped with multiple nozzles on the bottom and sides, as well as a small pressure pump. It mainly performs lateral spraying of the top canopy and internal branches of the blueberry plant. In conjunction with the first spraying unit, it can spray the above-ground parts of the blueberry plant comprehensively.

[0013] In one embodiment, the first arm includes two parallel plates, both connected at the bottom to a rotating base. The area between the two parallel plates is used to house a motor and wiring.

[0014] The first spraying unit includes a square frame with a first nozzle at its center. The first nozzle is rotatably connected to two opposite sides of the square frame via movable columns. A U-shaped frame is connected to the outside of the square frame via rotating columns, with the rotating columns and movable columns having different sides. One end of the U-shaped frame is connected to the first nozzle via a curved plate, and the other end is connected to a motor. The middle section of the U-shaped frame is fixedly connected to two parallel plates, with the motor located between the two parallel plates. The motor's output shaft is fixedly connected to one end of the curved plate, and the other end of the curved plate is rotatably connected to a rotating rod extending from the center of one end of the first nozzle. When the motor operates, the rotation of the curved plate causes the first nozzle to rotate, and the square frame rotates relative to the U-shaped frame while clamping the first nozzle.

[0015] In one embodiment, the telescopic unit includes a primary slide rail, a secondary slide rail, and a tertiary slide rail that are sequentially connected from back to front.

[0016] All slide rails are U-shaped, with a motor fixed at the rear of the first-stage slide rail and a rotating bolt connected to the front of the motor.

[0017] A baffle is provided at the rear of the secondary slide rail, and a first rotating slide ring is provided on the baffle. A secondary semi-hollow rotating bolt is connected to the front end of the first rotating slide ring. The secondary semi-hollow rotating bolt is a semi-circular tube with both external and internal threads. A baffle is installed at the rear of the three-stage slide rail, and a second rotating slide ring is installed on the baffle. The second-stage semi-hollow rotating bolt can pass through the second rotating slide ring. The front of the second rotating slide ring is connected to a third-stage semi-hollow rotating bolt. The third-stage semi-hollow rotating bolt is a semi-circular tube arranged opposite to the opening of the second-stage semi-hollow rotating bolt and has internal threads.

[0018] The primary rotating bolt can pass through the first rotating slip ring, the secondary semi-empty rotating bolt, the second rotating slip ring, and the tertiary semi-empty rotating bolt in sequence under the action of the motor.

[0019] Preferably, the lengths of the first-stage slide rail, the second-stage slide rail, and the third-stage slide rail decrease sequentially, and the length of the first-stage rotating bolt is greater than the length of the first-stage slide rail.

[0020] As a further preferred option, the top of the slide rail is slidably connected to the bottom of the second arm to facilitate the deployment of the telescopic unit.

[0021] The telescopic unit of this invention achieves long-distance telescopic extension by using a combination of a primary rotating bolt in a primary slide rail, a secondary semi-hollow rotating bolt with both internal and external threads in a secondary slide rail, and a tertiary semi-hollow rotating bolt with internal threads in a tertiary slide rail. Moreover, the force is shared among the slide rails, which is something that ordinary telescopic cylinders cannot achieve.

[0022] In one implementation, the upper frame has a rectangular structure with an internal cavity, at the rear of which the battery and pesticide storage tank are placed. Conversely, the spraying mechanism is located slightly forward of the center of the upper frame to keep the plant protection vehicle's center of gravity as close as possible to its center of gravity.

[0023] An intelligent sensor-based balancer is installed between the upper and lower frames. This balancer can intelligently adjust the tilt angle of the upper frame based on the tilt angle of the lower frame. For example, the intelligent sensor-based balancer can use electrically controlled telescopic push rods, with both ends hinged to the upper and lower frames respectively. An angle sensor is installed on the top of the lower frame, which can intelligently control the extension and retraction stroke of multiple electrically controlled telescopic push rods according to the tilt degree of the lower frame, thereby adjusting the tilt angle of the upper frame. This ensures the smooth operation of the trolley when moving on uneven ground.

[0024] Furthermore, a drive wheel is connected to the lower part of the lower frame, and auxiliary balancing mechanisms are installed at the front of both sides of the lower frame. The first auxiliary wheel at the end of the auxiliary balancing mechanism is located outside the drive wheel, and a second auxiliary wheel is installed at the rear of both sides of the lower frame. Thus, when the spraying mechanism rotates, the frame assembly will experience some shaking. In areas where the intelligent sensor balancer alone cannot effectively ensure the stable operation of the vehicle, the auxiliary balancing mechanism and the second auxiliary wheel can be used. Of course, the auxiliary balancing mechanism and the second auxiliary wheel can also be used from the beginning, with the intelligent sensor balancer used as an auxiliary device.

[0025] Furthermore, the auxiliary balancing mechanism includes a base connected to the lower frame, a large support arm rotatably connected to one side of the base, the large support arm rotating in a vertical plane, a small support arm rotatably connected to its end, the small support arm rotating in a plane perpendicular to the length direction of the large support arm, and a first auxiliary wheel connected to its end.

[0026] The large support arm can rotate in the vertical plane and assists the balancing mechanism. When not in use, it can be retracted to one side of the chassis assembly to reduce the footprint. The small support arm is used to find the most suitable support point on the side of the vehicle body. Together with the balancer on the chassis, it effectively prevents the vehicle from tipping over due to a shift in the center of gravity when the spraying mechanism rotates.

[0027] In one embodiment, the root injection mechanism includes a fixed seat connected to the lower frame, and a support rod is rotatably connected to the end of the fixed seat. The relative angle between the support rod and the fixed seat is adjusted by an angle adjustment device.

[0028] For example, the angle adjustment device can be a ball screw installed along the length of the fixed base, with a slider on the screw. The top of the slider is connected to the support rod through a movable rod. The angle position of the support rod can be controlled by driving the screw to rotate by a motor.

[0029] Furthermore, a cam is connected to the end of the support rod away from the fixed base, and a guide needle sleeve is provided at the end closer to the fixed base. An injection needle is inserted into the guide needle sleeve. The small end of the cam is hinged to the upper part of the injection needle through a connecting rod. The upper part of the injection needle is a rigid fluid transport tube, the top of which is connected to an infusion tube, and the lower part is a conical head. A high-pressure nozzle is provided at the upper part of the conical head. The cam is rotated by a motor to adjust the injection needle depth.

[0030] Preferably, the nozzle at the top of the conical head is arranged facing upwards, which, compared to existing designs, can effectively prevent the traditional pinholes from being blocked by moist soil or the liquid from being submerged and absorbed by soil particles, ensuring that the liquid reaches the root surface.

[0031] In one embodiment, the film recycling mechanism includes an inclined upper plate and two side plates on both sides, with two spiral rods rotating in opposite directions connected side by side at the bottom of the two side plates, and a harvesting sickle provided at the outer end of the spiral rod.

[0032] Several transfer cylinders for transferring film are provided at the upper part between the two screw rods. The transfer cylinders are conveying cylinders and are arranged parallel to the direction of the screw rods between the two side plates. A film collection box is provided behind the transfer cylinders.

[0033] A residual film recycling mechanism is also connected to the rear of the lower frame. The residual film recycling mechanism includes support frames connected to both sides of the rear of the lower frame. A recycling cylinder is horizontally connected between the two support frames. Several recycling sickles are provided at the bottom of the recycling cylinder extending forward and downward.

[0034] By using the front film recycling mechanism and the rear residual film recycling mechanism together, the residual film rate can be minimized.

[0035] In one implementation, a camera is installed at the front top of the upper frame, and a solar panel is installed at the rear top. Wheelbase extenders are installed between the drive wheels on both sides of the lower frame. When the vehicle enters a narrow blueberry furrow, the extenders retract inward, narrowing the distance between the left and right wheels for easier passage; when entering a wider working area, the extenders extend outward, widening the wheelbase to improve the lateral stability of the vehicle. This adjustment can respond in real time to external road conditions.

[0036] This invention also provides a method for operating a multifunctional intelligent blueberry plant protection vehicle, using the above-mentioned plant protection vehicle, with the following specific steps: Step 1: Install the film recycling mechanism, root injection mechanism, or spraying mechanism according to the operation requirements; Step 2: Retract the auxiliary balancing mechanism to the side of the frame assembly and drive the plant protection vehicle to the blueberry planting area; Step 3: When it is necessary to clean the plastic film, start the film recycling mechanism. If the vehicle tilts due to uneven ground during the trolley's movement, start the auxiliary balancing mechanism to flip it over until it contacts the ground. Step 4: When pests and diseases need to be controlled, the root injection mechanism is activated for the root soil layer. First, the position of the support rod is adjusted, and then the injection needle is made to complete the repeated injection process of "insertion and lifting" by rotating the cam. When spraying pesticides on blueberry plants, the first and second spraying units of the spraying mechanism are activated simultaneously. The first spraying unit sprays the blueberries longitudinally by circumferentially swinging, while the second spraying unit inserts into the blueberry plant from top to bottom to achieve lateral spraying of the top canopy and inner branches of the blueberry plant.

[0037] The beneficial effect of this invention is that it provides a multifunctional intelligent blueberry plant protection vehicle that integrates multiple innovative mechanisms to achieve all-round precision operation.

[0038] The root injection mechanism drives the injection needle to move up and down via a cam linkage, and adjusts the injection angle with a ball screw. The needle has a built-in high-pressure nozzle and rigid liquid delivery tube, which can spray the liquid directly into the roots after drilling into the soil, avoiding soil blockage.

[0039] The first spraying unit in the spraying mechanism is a swing spraying mechanism. It can use a motor to drive the elbow and the relative movement of the semi-square frame and the square frame, so that the nozzle can swing and spray in a 360° circle like radar. Combined with the hose connection and easily rotating column in the second spraying unit that sprays from above and inside the space, the nozzle can automatically rotate to avoid obstacles when it touches the branches and leaves, realizing multi-directional application of medicine from the side, above and inside the plant. At the same time, the internal nozzle is equipped with multiple nozzles on the bottom and side and a small pressure pump to further enhance the spraying effect.

[0040] The film recycling mechanism uses a double helix rotating in opposite directions. With the help of the helical curved surface and a small harvesting sickle, it drags the film on the ground upward and automatically collects it into the collection box through a conveyor cylinder. The residual film recycling mechanism then uses the sickle on the recycling cylinder to perform secondary centralized cleaning of the remaining film.

[0041] The auxiliary balancing mechanism consists of a retractable large support arm and a small support arm that can rotate 360°. Together with the intelligent sensor balancer on the frame, it actively extends the first auxiliary wheel and adjusts the frame height when it detects that the vehicle is tilted, effectively preventing rollover.

[0042] The telescopic unit connected below the second arm is a multi-stage telescopic mechanism. It uses the internal and external threads of the first-stage rotating bolt and the second and third-stage semi-hollow rotating bolts to drive the multi-stage slide rails sequentially with a single motor. It can be used to adjust the lateral spraying range and can also be linked with the wheel track extension device to actively adjust the wheel track according to the width of the blueberry ridges, thereby improving the passage capacity and stability.

[0043] The chassis assembly employs an omnidirectional drive system with four independently driven drive wheels that can rotate 360° to achieve forward, backward, lateral, and stationary turning. Two rear auxiliary wheels are height-adjustable via a lifting motor to assist in traversing uneven surfaces. Furthermore, the vehicle is equipped with solar panels for supplemental power and a monitoring camera to track plant growth in real time. Rotary motors are also located at key components, such as the film recycling and spraying mechanisms, to further improve adjustment precision.

[0044] The collaborative work of all the aforementioned mechanisms enables this vehicle to overcome the shortcomings of traditional plant protection equipment, such as limited spraying range, inability to apply pesticides to the roots, incomplete film recovery, and poor terrain adaptability. It achieves comprehensive, precise, and efficient blueberry plant protection operations from roots to branches and leaves, and from the ground to the ground. Attached Figure Description

[0045] In the attached diagram: Figure 1 A 3D view of the Blueberry Smart Plant Protection Vehicle; Figure 2 Rear view of the Blueberry Smart Plant Protection Vehicle; Figure 3 for Figure 1 A magnified view of the central X position; Figure 4 for Figure 1 A magnified view of the Y-position in the middle; Figure 5 for Figure 2 A magnified view of the Z-position in the middle; Figure 6 This is a schematic diagram of the root injection mechanism; Figure 7 This is a schematic diagram of the spraying mechanism; Figure 8 This is a schematic diagram of the structure of the first spraying unit; Figure 9 This is a schematic diagram of the telescopic unit. Figure 10 for Figure 9 A magnified view of the area at position W in the middle; Figure 11 This is a partial schematic diagram showing the position of the second nozzle of the second spraying unit; Figure 12 This is a schematic diagram of the film recycling mechanism; Figure 13 A cross-sectional view of the film recycling facility; Figure 14 This is a schematic diagram of the auxiliary balancing mechanism; Figure 15 This is a schematic diagram of the residual film recycling mechanism; The components represented by the various reference numerals in the diagram are: 1. Frame assembly; 11. Upper frame; 12. Lower frame; 13. Drive wheel; 14. Second auxiliary wheel; 15. Battery; 16. Medicine tank; 17. Wheelbase extension device; 2. Root injection mechanism; 21. Fixed seat; 22. Movable rod; 23. Support rod; 24. Slider; 25. Cam; 26. Connecting rod; 27. Injection needle; 18. Guide needle sleeve; 3. Spraying mechanism; 31. First support arm; 32. Second support arm; 33. First spraying unit; 331. Square frame; 332. U-shaped frame; 333. First nozzle; 334. Curved plate; 335. Movable column; 34. Telescopic unit; 341. Primary slide rail; 342. Secondary slide rail; 343. Tertiary slide rail; 344. Primary rotation. Bolt; 345, Secondary semi-aerial rotating bolt; 346, Tertiary semi-aerial rotating bolt; 347, First rotating slip ring; 348, Second rotating slip ring; 35, Second spraying unit; 351, Water reservoir; 352, Hose; 353, Rotating column; 354, Second nozzle; 4, Film recycling mechanism; 41, Upper plate; 42, Spiral rod; 43, Side plate; 44, Collection box; 45, Harvesting sickle; 46, Conveyor cylinder; 5, Auxiliary balancing mechanism; 51, Base; 52, Large support arm; 53, Small support arm; 54, First auxiliary wheel; 6, Intelligent sensor balancer; 7, Inspection camera; 8, Solar panel; 9, Residual film recycling mechanism; 91, Recycling cylinder; 92, Recycling sickle; 93, Support frame. Detailed Implementation

[0046] Example 1 Combination Figure 1-5This embodiment provides a multifunctional intelligent plant protection vehicle for blueberries, including a frame assembly 1. The frame assembly 1 includes an upper frame 11 and a lower frame 12. Root injection mechanisms 2 are respectively provided on the left and right sides of the lower frame 12, and the direction of the injection needle 27 of the root injection mechanism 2 is adjustable for injecting pesticides into different positions of the root soil layer.

[0047] The front of the lower frame 12 is connected to a film recycling mechanism 4, which is detachable. When film recycling is required, the film recycling mechanism 4 is connected to the front of the lower frame 12.

[0048] A spraying mechanism 3 is provided on the top of the upper frame 11. The spraying mechanism 3 includes a first support arm 31, a second support arm 32, a first spraying unit 33, a telescopic unit 34, and a second spraying unit 35.

[0049] The pesticide spraying part is the core design of this invention. Compared with the traditional manual spraying method, this application adopts a combination of spraying mechanism 3 and root injection mechanism 2 to fully cover the top of the blueberry plant, the internal branches and the soil layer of the roots, and spray without dead angles. Moreover, the entire spraying process can be completed automatically by a trolley, saving manpower.

[0050] Specifically, in the spraying mechanism 3, the lower end of the first arm 31 is rotatably connected to the top of the upper frame 11, and the upper part is connected to one end of the second arm 32 through a power mechanism. The angle between the first arm 31 and the second arm 32 is adjustable to accommodate blueberry plants of different heights. Several first spraying units 33 are arranged along the length of the first arm 31. The first spraying units 33 can perform circumferential oscillating spraying, mainly for spraying the longitudinal vertical surface of the blueberry plants.

[0051] A telescopic unit 34 is provided along the length of the second arm 32. The end of the telescopic unit 34 is connected to a second spraying unit 35. The second spraying unit 35 includes a water reservoir 351 connected to the top of the telescopic unit 34. Several hoses 352 are connected to the lower end of the water reservoir 351. A rotating column 353 is connected to the lower end of each hose 352. A second nozzle 354 is connected to the rotating column 353. The second nozzle 354 has multiple nozzles on its bottom and sides, as well as a small pressure pump. (See attached image) Figure 11 As shown, the main purpose is to spray the top canopy and inner branches of the blueberry plant horizontally. In conjunction with the first spraying unit 33, the above-ground parts of the blueberry plant can be sprayed comprehensively.

[0052] Regarding the frame assembly 1, the upper frame 11 has a rectangular structure with an internal cavity. The battery 15 and the pesticide storage tank 16 are placed at the rear of the cavity. In contrast, the spraying mechanism 3 is located in the middle and slightly forward of the upper frame 11, so that the center of gravity of the plant protection vehicle is as close to the center of gravity as possible.

[0053] The top of the lower frame 12 is flat. Intelligent sensor balancers 6 are installed at the four corners between the upper frame 11 and the lower frame 12. These intelligent sensor balancers 6 can intelligently adjust the tilt angle of the upper frame 11 based on the tilt angle of the lower frame 12. In this embodiment, the intelligent sensor balancers 6 can be electrically controlled telescopic rods, with both ends hinged to the upper frame 11 and the lower frame 12 respectively. An angle sensor and a control chip are installed on the top of the lower frame 12. The extension and retraction strokes of multiple electrically controlled telescopic rods can be intelligently controlled according to the tilt degree of the lower frame 12, thereby adjusting the tilt angle of the upper frame 11. This ensures stable operation of the vehicle when moving on uneven ground. For example, when the control chip detects in real time, based on feedback signals from the angle sensor, that the vehicle body is in an unbalanced state (left higher than right or front higher than rear), the intelligent sensor balancers 6 will automatically extend and retract according to the tilt angle data—for the lower side, the balancer extends to lift the frame; for the higher side, the balancer retracts to lower the frame, thereby forcibly adjusting the entire frame to a horizontal state.

[0054] Furthermore, drive wheels 13 are connected to the lower left and right sides of the lower frame 12 via connecting arms. A motor is installed at the lower end of the connecting arm to drive the drive wheels 13 to rotate 360 ​​degrees in the horizontal plane. In this embodiment, a total of 4 drive wheels 13 are provided, symmetrically distributed on the lower left and right sides of the lower frame 12.

[0055] A root injection mechanism 2 is provided extending outward between the front and rear drive wheels 13 on the lower frame 12. An auxiliary balancing mechanism 5 is provided between the front drive wheel 13 and the root injection mechanism 2. The first auxiliary wheel 54 at the end of the auxiliary balancing mechanism 5 is located outside the drive wheel 13 during operation. A rear connecting arm is also connected to the rear drive wheel 13 of the lower frame 12 via a motor, and a second auxiliary wheel 14 is provided at the end of the rear connecting arm. In this way, it can be used in conjunction with the intelligent sensor balancer 6. When the spraying mechanism 3 rotates, the frame assembly 1 will produce a certain amount of shaking. Where the intelligent sensor balancer 6 alone cannot effectively ensure the stable operation of the vehicle, the auxiliary balancing mechanism 5 and the second auxiliary wheel 14 can be used. Of course, the auxiliary balancing mechanism 5 and the second auxiliary wheel 14 can also be used from the beginning, and the intelligent sensor balancer 6 can be used as an auxiliary device.

[0056] In addition, regarding the use of the second auxiliary wheel 14, when a pothole or a slight slope is detected ahead, the second auxiliary wheel 14 can adjust its ground clearance or support angle by raising the motor, which can help the vehicle body pass smoothly through complex terrain and avoid the chassis bottoming out.

[0057] Further, see Figure 14The auxiliary balancing mechanism 5 includes a base 51 connected to the lower frame 12. A large support arm 52 is rotatably connected to the base 51 via a lifting motor. The large support arm 52 rotates in a vertical plane. A small support arm 53 is rotatably connected to its end via a rotary motor. The small support arm 53 rotates in a plane perpendicular to the length direction of the large support arm 52. First auxiliary wheels 54 are connected to both sides of its end. The direction of movement of the first auxiliary wheels 54 after landing is consistent with the direction of movement of the drive wheel 13.

[0058] Among them, the large support arm 52 can rotate in the vertical plane to assist the balancing mechanism 5 in storage when it is not in operation. Specifically, by lifting the motor, the large support arm 52 is rotated upward to a vertical position and close to the side of the vehicle body. At this time, the rotating motor can rotate the small support arm 53 to be parallel to the vehicle body, so as to retract it with minimal space occupation.

[0059] When the vehicle body is likely to tilt, the lifting motor rotates in the opposite direction to lower the large support arm 52 downwards. Then, the rotary motor starts, driving the small support arm 53 to rotate 360° in the horizontal plane to find the most suitable support point on the side of the vehicle body, such as adjusting the first auxiliary wheel 54 to the outermost position in the tilt direction. After adjustment, the first auxiliary wheel 54 contacts the ground, providing additional support for the vehicle body. Together with the intelligent sensor balancer 6 on the frame assembly 1, this effectively prevents the vehicle from tipping over due to the shift in the center of gravity when the spraying mechanism 3 rotates.

[0060] The following is combined Figure 6 Let's introduce the root injection mechanism 2.

[0061] In this embodiment, three connecting plates extend outward from both sides of the lower frame 12. The root injection mechanism 2 includes a fixed seat 21 connected to the connecting plate of the lower frame 12. The fixed seat 21 is arranged perpendicular to the length of the trolley and has an internal slot. Its end is rotatably connected to a support rod 23. The support rod 23 is adjusted relative to the fixed seat 21 by an angle adjustment device.

[0062] For example, the angle adjustment device can be a ball screw installed along the length direction inside the fixed seat 21, with a motor installed on the side near the lower frame 12, and a slider 24 installed on the screw. The top of the slider 24 is hinged to the support rod 23 through the movable rod 22. The angle position of the support rod 23 can be controlled by driving the screw to rotate by the motor.

[0063] Furthermore, a cam 25 is connected to the end of the support rod 23 away from the fixed base 21. The cam 25 is driven to rotate by an adjusting motor. The cam 25 and the motor are located on the inner and outer sides of the support rod 23, respectively.

[0064] A guide needle sleeve 18 is provided at the lower end of the support rod 23 near the fixed base 21. An injection needle 27 is inserted into the guide needle sleeve 18. The small end of the cam 25 is hinged to the upper part of the injection needle 27 through the connecting rod 26. The upper part of the injection needle 27 is a rigid fluid transport tube, the top of which is used to connect to the infusion tube, and the lower part is a conical head. A high-pressure nozzle is provided at the upper part of the conical head. The cam 25 is rotated by a motor to adjust the depth of the injection needle 27.

[0065] In practical use, the motor connected to cam 25 is activated, causing cam 25 to perform a uniform circular motion. During rotation, the protruding part of cam 25 drives the connecting rod 26 to oscillate, which in turn transmits this oscillation to the injection needle 27. Since the needle body of injection needle 27 is inserted into the fixed guide sleeve 18, the limiting effect of the guide sleeve 18 forces injection needle 27 to move only vertically. Thus, the rotational power provided by the motor is converted into the vertical reciprocating motion of the needle tip. Each full rotation of the cam completes one complete "insertion-lift" injection cycle.

[0066] To better align the blueberry roots at different insertion angles, this mechanism employs a ball screw adjustment method. Specifically, the adjusting motor drives the screw to rotate, which in turn drives the slider 24 mounted on it to slide linearly back and forth along the screw axis. The back and forth movement of the slider 24 pushes the support rod 23 hinged to it, causing the entire injection needle 27 to tilt, thereby precisely changing the tilt angle of the needle when it enters the soil.

[0067] Because the injection needle 27 integrates a small high-pressure nozzle and a rigid liquid delivery tube at its tip, once the needle penetrates the soil to the preset root depth, the liquid medication does not flow out from the needle tip opening as in existing technologies. Instead, it is delivered through the rigid liquid delivery tube to the high-pressure nozzle on the side of the needle, where it is sprayed into the root soil as a high-pressure jet. This design effectively avoids the traditional method of the needle hole being blocked by moist soil or the liquid medication being absorbed by soil particles, ensuring that the liquid medication reaches the root surface.

[0068] The following is combined Figures 7-11 Let's introduce the specific structure of the spraying mechanism.

[0069] In this embodiment, the first support arm 31 includes two parallel plates, both connected at the bottom to a rotating base. The area between the two parallel plates is used to arrange a motor and wiring.

[0070] See Figure 8The first spraying unit 33 includes a square frame 331 with a first nozzle 333 at its center. The first nozzle 333 is rotatably connected to two opposite sides of the square frame 331 via movable columns 335. A U-shaped frame 332 is connected to the outside of the square frame 331 via a rotating column. The rotating column and the movable column 335 have different sides. One end of the U-shaped frame 332 is connected to the first nozzle 333 via a bent plate 334, and the other end is connected to a motor. The middle section of the U-shaped frame 332 is fixedly connected to two parallel plates, and the motor is located in the area between the two parallel plates. The output shaft of the motor is fixedly connected to one end of the bent plate 334, and the other end of the bent plate 334 is rotatably connected to a rotating rod extending from the center of one end of the first nozzle 333. When the motor operates, the rotation of the bent plate 334 drives the first nozzle 333 to rotate, and the square frame 331 rotates relative to the U-shaped frame 332 while clamping the first nozzle 333.

[0071] After the motor is powered on, it drives the bending plate 334 to perform circular motion. The bending plate 334 drives the first nozzle 333 to rotate around the axis of the movable column 335. At this time, since there is a relative rotational degree of freedom between the U-shaped frame 332 and the square frame 331, and there is also a relative rotational degree of freedom between the first nozzle 333 and the movable column 335, the rotation axis of the first nozzle 333 is not completely fixed. When the motor continues to rotate, these two relative rotational degrees of freedom are coupled with each other, so that the spraying direction of the first nozzle 333 will continuously change its orientation in three-dimensional space, like a radar antenna scanning or a dormitory ceiling fan rotating, thereby achieving a 360° circular oscillating spray without dead angles, greatly expanding the lateral coverage area of ​​the pesticide application.

[0072] See Figure 9 and Figure 10 The telescopic unit 34 includes a first-level slide rail 341, a second-level slide rail 342, and a third-level slide rail 343 that are sequentially connected from back to front.

[0073] All slide rails are U-shaped structures. The motor is fixed at the rear of the first-stage slide rail 341, and the front end of the motor is connected to the first-stage rotating bolt 344.

[0074] A baffle is provided at the rear of the secondary slide rail 342, and a first rotating slide ring 347 is provided on the baffle. A secondary semi-hollow rotating bolt 345 is connected to the front end of the first rotating slide ring 347. The secondary semi-hollow rotating bolt 345 is a semi-circular tube with both external and internal threads. A baffle is provided at the rear of the three-stage slide rail 343, and a second rotating slide ring 348 is provided on the baffle. The second-stage semi-hollow rotating bolt 345 can pass through the second rotating slide ring 348. A three-stage semi-hollow rotating bolt 346 is connected to the front of the second rotating slide ring 348. The three-stage semi-hollow rotating bolt 346 is a semi-circular tube arranged opposite to the opening of the second-stage semi-hollow rotating bolt 345 and has internal threads.

[0075] The primary rotating bolt 344 can pass through the first rotating slip ring 347, the secondary semi-empty rotating bolt 345, the second rotating slip ring 348, and the tertiary semi-empty rotating bolt 346 in sequence under the action of the motor.

[0076] Preferably, the lengths of the first-stage slide rail 341, the second-stage slide rail 342, and the third-stage slide rail 343 decrease sequentially, and the length of the first-stage rotating bolt is greater than the length of the first-stage slide rail 341.

[0077] As a further preferred option, the top of the slide rail is slidably connected to the bottom of the second support arm 32 to facilitate the deployment of the telescopic unit 34.

[0078] The telescopic unit 34 of this invention achieves long-distance telescopic extension and retraction through the coordinated use of a primary rotating bolt 344 in a primary slide rail 341, a secondary semi-hollow rotating bolt 345 with both internal and external threads in a secondary slide rail 342, and a tertiary semi-hollow rotating bolt 346 with internal threads in a tertiary slide rail 343. Moreover, each slide rail shares the force, which is something that ordinary telescopic cylinders cannot achieve.

[0079] In practical use, the first-stage extension action is as follows: the motor starts, driving the first-stage rotating bolt 344 to rotate. The outer thread of the first-stage rotating bolt 344 engages with the inner thread of the second-stage semi-empty rotating bolt 345. Since the second-stage semi-empty rotating bolt 345 and the first rotating slip ring 347 are fixed to each other, and the slip ring and the second-stage slide rail 342 can rotate relative to each other but cannot move axially, when the first-stage rotating bolt 344 rotates, it drives the second-stage semi-empty rotating bolt 345 to move forward in a straight line. Therefore, the second-stage semi-empty rotating bolt 345 will perform rotational motion and linear movement. The second-stage semi-empty rotating bolt 345 drives the second-stage slide rail 342 to extend forward through the first rotating slip ring 347.

[0080] The second-stage extension action: When the second-stage semi-empty rotating bolt 345 moves forward until its external thread engages with the internal thread of the third-stage semi-empty rotating bolt 346, the third-stage semi-empty rotating bolt 346 begins to be driven to rotate. Similarly, since the second rotating slip ring 348 is connected to the third-stage slide rail 343, the rotation and forward movement of the third-stage semi-empty rotating bolt 346 will drive the third-stage slide rail 343 to extend forward through the second rotating slip ring 348.

[0081] Retraction action: When it is necessary to shorten, the motor reverses and the above transmission proceeds in reverse. The first-stage rotating bolt 344 reverses and drives the second-stage half-empty rotating bolt 345 to retract. The second-stage retraction releases the drive of the third stage and pulls the third-stage slide rail 343 to retract synchronously, realizing multi-stage sequential retraction.

[0082] The process requires only one motor to control the three-stage slide rail structure to extend and retract sequentially, thereby precisely adjusting the horizontal working length of the end nozzle.

[0083] The telescopic unit 34 is connected to a second spraying unit 35 at its end for lateral spraying of the top canopy and inner branches of the blueberry plant. The second spraying unit 35 of this invention employs an adaptive contour-following design; the liquid in the water reservoir 351 flows through a hose 352 to the second nozzle 354. When the trolley moves and the second nozzle 354 extends into the dense foliage of the blueberry plant, if the second nozzle 354 touches a branch or fruit, it will deflect or rotate accordingly due to the flexible hose 352 and the easily rotating rotating column 353 connecting it to the second nozzle 354. This smoothly avoids obstructing or damaging the plant while ensuring that the second nozzle 354 can penetrate deep into the core area of ​​the vegetation.

[0084] The structure of the second nozzle 354 at the bottom of the second spraying unit 35 is shown in the figure. Figure 11 As shown, it consists of a bottom nozzle, side nozzles, a small pressure pump at the top, and a rotating column 353. The bottom nozzle sprays the vegetation vertically downwards, responsible for applying pesticides to the leaves above the blueberry plants; the side nozzles are multi-directional, enabling multi-directional spraying, responsible for applying pesticides to the branches and the undersides of the leaves inside the plant; the small pressure pump further enhances the spraying effect. The rotating column 353 is used because it rotates very easily. When the cart is moving, if the multi-directional nozzles encounter blueberry vegetation, they will rotate accordingly, thus reducing the obstruction caused by the blueberry vegetation.

[0085] Regarding the working area of ​​the second spraying unit 35, the small support arm 53 is driven by a motor to swing up and down, and the multi-stage telescopic unit 34 can control the lateral extension length. The two work together to ensure that the second nozzle 354 is accurately positioned on the target area above or in the blueberries.

[0086] The following is combined Figure 12 and Figure 13 Let's introduce the film recycling organization 4.

[0087] In this embodiment, the film recycling mechanism 4 includes an inclined upper plate 41 and side plates 43 on both sides. The upper plate 41 is lower in the front and higher in the back, and its rear part is detachably connected to the lower frame 12. Two spiral rods 42 with opposite rotation directions are connected side by side at the bottom of the two side plates 43. Small harvesting sickles 45 are provided at the outer ends of the spiral rods 42. The front and rear spiral rods 42 are driven independently by motors. The front one rotates clockwise and the rear one rotates counterclockwise. The two rotation directions are opposite, but the spiral blade rotation design makes the friction force generated by both on the film point towards the upper gap between the two spiral rods 42.

[0088] As the auger 42 rotates, its helical surface, like the threads of a screw, continuously contacts the film on the ground, generating an upward thrust. Simultaneously, small harvesting sickles mounted on the auger 42 periodically hook onto the edges of the film as it rotates, preventing slippage. Through the combined effects of continuous lifting by the helical surface and precise hooking by the sickles, the film laid flat on the ground is smoothly peeled off and dragged upwards.

[0089] Several transfer cylinders 46 for transferring film are provided at the upper part between the two spiral rods 42. The transfer cylinders are conveying cylinders and are arranged parallel to the spiral rods 42 between the two side plates 43. A film collection box 44 is provided behind the transfer cylinders. The film dragged to the top of the spiral rods 42 is clamped by a small conveying cylinder with a small motor and conveyed backward, and finally falls into the collection box 44 for temporary storage, completing the recycling operation.

[0090] After the aforementioned film recycling mechanism 4 has finished its work, a small amount of broken corner film may still remain on the ground. To further reduce the film residue rate, a residual film recycling mechanism 9 is also connected to the rear of the lower frame 12. The residual film recycling mechanism 9 includes support frames 93 connected to both sides of the rear of the lower frame 12. A recycling cylinder 91 is horizontally connected between the two support frames 93. Several recycling sickles 92 are provided at the bottom of the recycling cylinder 91 extending forward and downward.

[0091] In use, the motor drives the recycling cylinder 91 to rotate 360°. Small residual film collection sickles 92, fixed to the surface of the cylinder 91, rotate accordingly, gathering and scraping up scattered residual film. Once collected to a certain size, it is manually removed from the sickles for cleaning. This process effectively supplements the main recycling mechanism, ensuring that the residual film rate is minimized.

[0092] See Figure 1 In this embodiment, a camera is installed at the upper front of the upper frame 11, which can capture real-time images of plant growth and transmit the images back. A solar panel 8 is installed at the upper rear of the upper frame 11, which continuously replenishes the battery 15.

[0093] A wheelbase extension device 17 is installed between the two drive wheels 13 on both sides of the lower frame 12. When the trolley enters a narrow blueberry furrow, the extension device retracts inward to narrow the distance between the left and right wheels, facilitating smooth passage. When entering a wider working area, the extension device extends outward to widen the wheelbase and improve the lateral stability of the vehicle. This adjustment can respond in real time according to external road conditions.

[0094] Example 2 This invention also provides a method for operating a multifunctional intelligent plant protection vehicle for blueberries, using the plant protection vehicle of Example 1, with the following specific steps: Step 1: Install the film recycling mechanism 4 or the root injection mechanism 2 and the spraying mechanism 3 according to the operation requirements; Step 2: Attach the auxiliary balancing mechanism 5 to the side of the frame assembly 1 and drive the plant protection vehicle to the blueberry planting area. Step 3: When it is necessary to clean up the plastic film, start the film recycling mechanism 4 and the residual film recycling mechanism 9. If the vehicle body tilts due to uneven ground during the trolley's movement, start the auxiliary balancing mechanism 5 to flip it to contact the ground. When pests and diseases need to be controlled, the root injection mechanism 2 is activated for the root soil layer. First, the position of the support rod 23 is adjusted, and then the injection needle 27 is made to complete the repeated injection process of "insertion and lifting" by rotating the cam 25. When spraying pesticides on blueberry plants, the first spraying unit 33 and the second spraying unit 35 of the spraying mechanism 3 are activated simultaneously. The first spraying unit 33 sprays the blueberries longitudinally by circumferential oscillating spraying, while the second spraying unit 35 inserts into the blueberry plant from top to bottom to achieve lateral spraying of the top canopy and inner branches of the blueberry plant.

Claims

1. A multifunctional intelligent plant protection vehicle for blueberries, characterized in that, The vehicle includes a frame assembly (1), which includes an upper frame (11) and a lower frame (12). Root injection mechanisms (2) are respectively provided on the left and right sides of the lower frame (12), and the direction of the injection needle (27) of the root injection mechanism (2) is adjustable. The front of the lower frame (12) is connected to a film recycling mechanism (4); The top of the upper frame (11) is provided with a spraying mechanism (3), which includes a first arm (31), a second arm (32), a first spraying unit (33), a telescopic unit (34), and a second spraying unit (35). The lower end of the first support arm (31) is rotatably connected to the top of the upper frame (11), and the upper part is connected to one end of the second support arm (32) through a power mechanism. The angles of the first support arm (31) and the second support arm (32) are adjustable. Several first spraying units (33) are provided on the first support arm (31) along the length direction. The first spraying unit (33) can perform circumferential oscillating spraying. The second arm (32) is provided with a telescopic unit (34) along its length. The end of the telescopic unit (34) is connected to the second spraying unit (35). The second spraying unit (35) includes a water reservoir (351) at the top. The lower end of the water reservoir (351) is connected to several hoses (352). The lower end of the hoses (352) is connected to a rotating column (353). The rotating column (353) is connected to a second nozzle (354).

2. The plant protection vehicle as described in claim 1, characterized in that, The first arm (31) includes two parallel plates, the lower part of which are connected to the rotating seat; The first spraying unit (33) includes a square frame (331) with a first nozzle (333) at its center. The first nozzle (333) is rotatably connected to the two opposite sides of the square frame (331) via movable columns (335). A U-shaped frame (332) is connected to the outside of the square frame (331) via a rotating column. The rotating column and the movable column (335) have different sides. One end of the U-shaped frame (332) is connected to the first nozzle (333) via a bent plate (334), and the other end is connected to a motor located in the area between two parallel plates.

3. The plant protection cart as described in claim 1, characterized in that, The telescopic unit (34) includes a first-level slide rail (341), a second-level slide rail (342) and a third-level slide rail (343) that are sequentially connected from back to front. All slide rails are U-shaped structures. A motor is fixed at the rear of the first-level slide rail (341), and a first-level rotating bolt (344) is connected to the front end of the motor. A baffle is provided at the rear of the secondary slide rail (342), and a first rotating slide ring (347) is provided on the baffle. A secondary semi-hollow rotating bolt (345) is connected to the front end of the first rotating slide ring (347). The secondary semi-hollow rotating bolt (345) is a semi-circular tube with both external and internal threads. A baffle is provided at the rear of the three-stage slide rail (343), and a second rotating slide ring (348) is provided on the baffle. The second-stage semi-hollow rotating bolt (345) can pass through the second rotating slide ring (348). A three-stage semi-hollow rotating bolt (346) is connected to the front of the second rotating slide ring (348). The three-stage semi-hollow rotating bolt is a semi-circular tube arranged opposite to the opening of the second-stage semi-hollow rotating bolt and has internal threads. The first-stage rotating bolt (344) can pass through the first rotating slip ring (347), the second-stage semi-empty rotating bolt, the second rotating slip ring (348), and the third-stage semi-empty rotating bolt in sequence under the action of the motor.

4. The plant protection vehicle as described in claim 1, characterized in that, The upper frame (11) is a rectangular structure with an internal cavity. The battery (15) and medicine storage box (16) are placed at the rear of the cavity. An intelligent sensor balancer (6) is provided between the upper frame (11) and the lower frame (12). The intelligent sensor balancer (6) can intelligently adjust the tilt angle of the upper frame (11) according to the tilt angle of the lower frame (12).

5. The plant protection cart as described in claim 1, characterized in that, The lower part of the lower frame (12) is connected to the drive wheel (13). The front part of the left and right sides of the lower frame (12) is provided with an auxiliary balancing mechanism (5). The first auxiliary wheel (54) at the end of the auxiliary balancing mechanism (5) is located outside the drive wheel (13). The rear part of the left and right sides of the lower frame (12) is provided with a second auxiliary wheel (14).

6. The plant protection cart as described in claim 5, characterized in that, The auxiliary balancing mechanism (5) includes a base (51) connected to the lower frame (12). A large support arm (52) is rotatably connected to one side of the base (51). The large support arm (52) rotates in a vertical plane, and a small support arm (53) is rotatably connected to its end. The small support arm (53) rotates in a plane perpendicular to the length direction of the large support arm (52), and a first auxiliary wheel (54) is connected to its end.

7. The plant protection vehicle as described in claim 1, characterized in that, The root injection mechanism (2) includes a fixed seat (21) connected to the lower frame (12), and a support rod (23) is rotatably connected to the end of the fixed seat (21). The support rod (23) is adjusted relative to the fixed seat (21) by an angle adjustment device. The support rod (23) is connected to a cam (25) at the end away from the fixed seat (21), and a guide needle sleeve (18) is provided at the end near the fixed seat (21). An injection needle (27) is inserted into the guide needle sleeve (18). The small end of the cam (25) is hinged to the upper part of the injection needle (27) through a connecting rod (26). The top of the injection needle (27) is connected to an infusion tube, and the lower part is a conical head with a nozzle at the top. The cam (25) is rotated by a motor to adjust the depth of the injection needle (27).

8. The plant protection cart as described in claim 1, characterized in that, The film recycling mechanism (4) includes an inclined upper plate (41) and side plates (43) on both sides. Two spiral rods (42) with opposite rotation directions are connected side by side at the bottom of the two side plates (43). A harvesting sickle (45) is provided at the outer end of the spiral rod. Several transfer cylinders (46) for transferring film are provided on the upper part between the two screw rods (42), and a film collection box (44) is provided behind the transfer cylinders (46). A residual film recycling mechanism (9) is also connected to the rear of the lower frame (12). The residual film recycling mechanism (9) includes a support frame (93) connected to both sides of the rear of the lower frame (12). A recycling cylinder (91) is horizontally connected between the two support frames (93). Several recycling sickles (92) are provided at the bottom of the recycling cylinder (91) extending forward and downward.

9. A plant protection cart as described in claim 1, characterized in that, A camera is installed at the front of the upper frame (11), a solar panel (8) is installed at the rear of the upper frame, and a wheelbase extension device (17) is installed between the two drive wheels (13) of the lower frame (12).

10. A method for operating a multifunctional intelligent plant protection vehicle for blueberries, characterized in that, The specific steps of using the plant protection vehicle according to any one of claims 1-9 are as follows: Step 1: Install the film recycling mechanism (4) or root injection mechanism (2) and spraying mechanism (3) according to the operation requirements. Step 2: Attach the auxiliary balancing mechanism (5) to the side of the frame assembly (1) and drive the plant protection vehicle to the blueberry planting area; Step 3: When it is necessary to clean the plastic film, start the film recycling mechanism (4). If the vehicle body tilts due to uneven ground during the trolley's movement, start the auxiliary balancing mechanism (5) to flip it to contact the ground. Step 4: When pests and diseases need to be controlled, the root injection mechanism (2) is activated for the root soil layer. First, the position of the support rod (23) is adjusted, and then the injection needle (27) is rotated by the cam (25) to complete the repeated injection process of "insertion-lift". When spraying pesticides on blueberry plants, the first spraying unit (33) and the second spraying unit (35) of the spraying mechanism (3) are activated simultaneously. The blueberries are sprayed longitudinally by the circumferential swing spray of the first spraying unit (33), and the blueberry plants are sprayed laterally by the second spraying unit (35) inserting from top to bottom into the blueberry plants.

Images