An intelligent plant protection control system for simultaneous mowing and pesticide application

Abstract

The application belongs to the technical field of intelligent plant protection control, and discloses an intelligent plant protection control system for simultaneous mowing and pesticide application, which comprises a working state sensing module, a grass damage stubble identification module, a cutting state determination module, a contact pesticide application control module, a mowing and application synchronous linkage module and a anti-dripping closed-loop correction module. The effective cutting state of the mowing equipment is identified by using the working state multi-source sensing and cutting load determination principle, so that the micro-flow pump is prevented from being mistakenly started. The pesticide is directly applied to the stubble area by using the post-cutting stubble identification and contact targeting pesticide application principle, so that the pesticide drift and non-target pollution are reduced. The precise pesticide application, leakage compensation and shutdown pressure relief are realized by using the mowing and application synchronous delay control and anti-dripping closed-loop correction principle, so that the herbicide utilization rate and the root killing effect are improved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent plant protection control technology, and in particular relates to an intelligent plant protection control system that enables simultaneous mowing and pesticide application. Background Technology

[0002] In landscaping, farmland boundaries, orchard rows, and weed control operations on barren slopes, simply using mowing equipment to remove the above-ground portion of weeds leaves the root system still alive. The cut stubble can regrow quickly. If subsequent manual application of herbicides is used for root eradication, it increases the number of operations, labor intensity, and plant protection costs. Furthermore, during manual herbicide application, the herbicide solution easily diffuses into non-target crops, the soil surface, and the surrounding air. Especially when operating between orchard rows, at farmland boundaries, and near crop protection zones, herbicide drift can cause phytotoxicity to surrounding crops, leading to leaf burn, stunted growth, or localized wilting.

[0003] Existing mowing equipment typically relies solely on manual operation to complete mechanical cutting, lacking comprehensive sensing of factors such as cutting motor current, cutting motor speed, mowing head posture, post-cut stubble area, and application head contact pressure. This makes it difficult to accurately determine whether the mowing operation is in an effective cutting state, and also makes it difficult to control the micro-flow pump for drug delivery in a timely manner based on the post-cut stubble location. This results in a time discrepancy between the mowing and application actions, easily leading to problems such as missed application, uneven application, and insufficient killing of the stubble.

[0004] Existing spray application methods primarily rely on atomizing nozzles to spray herbicides onto weedy areas. To reduce the risk of pesticide drift, protective covers are typically installed in practice, and the nozzles are sprayed close to the ground surface. However, these covers limit the spraying angle and operating range, making operation inconvenient when encountering weeds of varying heights, uneven ground, or narrow crop row spacing. Furthermore, in high winds, pesticide residue may still escape from the edges of the protective cover, making it difficult to consistently prevent phytotoxicity to non-target crops. Existing contact application equipment largely relies on a fixed flow rate, lacking closed-loop control that adjusts the dosage based on stubble area, weed density, travel speed, application head contact pressure, and pipeline pressure. Additionally, residual pressure in the pipeline during shutdown can easily cause pesticide dripping, leading to pesticide waste, non-target contamination, and increased risk of crop phytotoxicity.

[0005] Therefore, there is a need for an intelligent plant protection control system that allows for simultaneous mowing and herbicide application. This system would apply herbicide to the cut stubble during the mowing process, achieving simultaneous control of physical cutting and herbicide root eradication, and reducing the impact of herbicides on non-target crops. Summary of the Invention

[0006] To address the above issues and overcome the shortcomings of existing technologies, this invention provides an intelligent plant protection control system for simultaneous mowing and pesticide application. Utilizing multi-source sensing of operational status and cutting load determination principles, it identifies the effective cutting status of the mowing equipment, preventing the micro-flow pump from malfunctioning during idling, displacement, or shutdown. By employing non-target crop protection area identification, post-cut stubble identification, and contact-targeted pesticide application principles, the pesticide solution is directly applied to the post-cut stubble area, reducing herbicide spray drift, herbicide damage to surrounding crops, and non-target contamination. Furthermore, by utilizing simultaneous mowing and pesticide application delay control and anti-drip closed-loop correction principles, it achieves simultaneous pesticide application after mowing, compensation for missed applications, pressure relief during shutdown, and parameter updates for the next operational zone, thereby improving herbicide utilization and stubble kill efficacy.

[0007] The technical solution adopted in this invention is as follows: an intelligent plant protection control system for simultaneous mowing and pesticide application, including an operation status sensing module, a weed damage and stubble breakage identification module, a cutting status determination module, a contact pesticide application control module, a simultaneous mowing and pesticide application linkage module, and an anti-drip closed-loop correction module.

[0008] The operation status sensing module collects data on the lawnmower's travel speed, cutting motor current, cutting motor speed, cutting head posture, medicine tank level, medicine delivery pipeline pressure, application head contact pressure, and ambient wind speed to generate lawn mowing and medicine application operation status data.

[0009] The weed stubble breakage identification module extracts non-target crop protection areas, weed distribution areas, grass stem cutting trajectories, post-cut stubble breakage areas, and pesticide application target areas from images in front of and behind the mowing head, generating weed stubble breakage target data.

[0010] The cutting status determination module generates effective cutting control data based on the cutting motor current, cutting motor speed, and grass stem cutting trajectory.

[0011] The contact application control module controls the start / stop, pumping frequency, and pumping pulse width of the micro-flow pump based on the target data of weed breakage, the contact pressure of the application head, the pressure of the delivery pipeline, the liquid level of the storage tank, and the effective control data of cutting, so that the liquid medicine enters the penetrating application part through the delivery pipeline and is applied to the post-cut stubble area.

[0012] The mowing and coating synchronization linkage module calculates the coating trigger delay based on the structural distance between the cutting baseline of the mowing head and the action center of the penetrating coating component, the mower's travel speed, cutting response time, pumping response time, and contact pressure of the coating head. Based on the coating trigger delay, it controls the penetrating coating component to complete contact coating when it passes the action center of the penetrating coating component in the stubble area after cutting.

[0013] The anti-drip closed-loop correction module generates re-coating control data, pump stop and pressure relief control data, and parameter update data for the next work area based on the effective cutting control data, drug delivery pipeline pressure, drug storage tank level, application head contact pressure, and the image behind the mowing head.

[0014] Furthermore, the operation status sensing module includes a motor status acquisition unit, a travel status acquisition unit, a pesticide status acquisition unit, an application contact acquisition unit, and an environmental status acquisition unit. The motor status acquisition unit acquires the cutting motor current and cutting motor speed; the travel status acquisition unit acquires the lawnmower's travel speed, the mower head posture, and the mower head acceleration; the pesticide status acquisition unit acquires the pesticide tank level, the micro-flow pump operating current, and the pesticide delivery pipeline pressure; the application contact acquisition unit acquires the contact pressure of the penetrating application component on the ground stubble; and the environmental status acquisition unit acquires the ambient wind speed, temperature, and humidity.

[0015] Furthermore, the weed stubble identification module includes a forward-looking identification unit, a backward-looking verification unit, a crop protection zone generation unit, a stubble target extraction unit, and a pesticide application target mapping unit. The forward-looking identification unit acquires an image in front of the mowing head and obtains a forward-looking vegetation segmentation image. The crop protection zone generation unit generates a non-target crop protection area and a weed operation area based on the forward-looking vegetation segmentation image. The stubble target extraction unit generates data on the weeds to be cut. The backward-looking verification unit generates the post-cut stubble area. The pesticide application target mapping unit maps the post-cut stubble area to the contact width range of the penetrating smear and generates a pesticide application target area.

[0016] Furthermore, the cutting state determination module includes a reference state calibration unit, a cutting load calculation unit, an effective cutting determination unit, and a cutting trajectory recording unit. The reference state calibration unit generates no-load reference data. The cutting load calculation unit calculates the cutting load index based on the cutting motor current, cutting motor speed, cutting motor no-load current, and cutting motor no-load speed. The effective cutting determination unit generates effective cutting control data based on the cutting load index and the grass stem cutting trajectory. The cutting trajectory recording unit records the cutting time, the position of the cutting head, and the grass stem cutting trajectory.

[0017] Furthermore, the contact application control module includes a dosage demand calculation unit, a contact state correction unit, a pumping pulse control unit, and a penetration application saturation management unit. The dosage demand calculation unit calculates the target pumping dosage based on the post-cut stubble exposed area, weed density, mower travel speed, and environmental conditions. The contact state correction unit corrects the target pumping dosage based on the application head contact pressure. The pumping pulse control unit controls the start / stop, pumping frequency, and pumping pulse width of the micro-flow pump based on the corrected target pumping dosage. The penetration application saturation management unit estimates the saturation of the application solution in the penetration application unit and adjusts the pumping pulse width of the micro-flow pump based on the micro-flow pump operating current, the delivery pipeline pressure, and the application head contact pressure.

[0018] Furthermore, the simultaneous cutting and coating linkage module includes a structural spacing calibration unit, a response time calibration unit, a coating trigger delay calculation unit, and a cutting and coating linkage execution unit. The structural spacing calibration unit generates cutting and coating spacing data, the response time calibration unit calibrates the cutting response time and the pumping response time, the coating trigger delay calculation unit calculates the coating trigger delay based on the cutting and coating spacing data, the mower's travel speed, the cutting response time, and the pumping response time, and the cutting and coating linkage execution unit controls the micro-flow pump to start and maintain the set saturation of the penetrating coating component based on the effective cutting control data and the coating trigger delay.

[0019] Furthermore, the anti-drip closed-loop correction module includes a shutdown anti-drip control unit, a missed coating identification unit, a re-coating decision unit, and a parameter update unit. The shutdown anti-drip control unit shuts down the micro-flow pump and releases the residual pressure in the delivery pipeline when the effective cutting control data disappears and continues until the pump stop confirmation time is reached. The missed coating identification unit calculates the coverage ratio and center offset of the liquid contact mark area relative to the post-cut stubble area based on the image behind the mowing head. The re-coating decision unit calculates the missed coating score and generates re-coating control data based on the coverage ratio, center offset, and residual pressure in the delivery pipeline. The parameter update unit updates the operation parameters based on the target pumped amount of liquid, coating trigger delay, missed coating score, coverage ratio of the liquid contact mark area, and center offset within the continuous operation interval.

[0020] Furthermore, the contact application control module is connected to the adaptive contact application head, which is installed on the side and rear of the mower head splash guard. The adaptive contact application head includes an elastic fitting bracket and a penetrating application component. The elastic fitting bracket changes the contact height and contact angle of the penetrating application component relative to the post-cut stubble area according to the undulation of the ground. The penetrating application component receives the liquid medicine output from the delivery pipeline and maintains the liquid medicine saturation.

[0021] The beneficial effects of this invention are as follows: (1) By using multi-source sensing of the working status and cutting load determination, the speed of the lawnmower, the current of the cutting motor, the speed of the cutting motor, the posture of the cutting head, the pressure of the drug delivery pipeline and the contact pressure of the smearing head are collected, and the effective cutting control data are generated according to the cutting load index. This achieves the effect of automatic identification of the actual cutting status of the lawnmower operation, and solves the technical problems of existing lawnmower equipment that it is difficult to distinguish between the idling state and the effective cutting state, and the micro-flow pump is prone to accidental drug delivery.

[0022] (2) By using non-target crop protection area identification, post-cut stubble identification and contact targeted application, non-target crop protection area, weed operation area, post-cut stubble area and application target area are extracted by the images in front of the mowing head and the images behind the mowing head. The target pumping amount is calculated based on the exposed area of ​​the post-cut stubble, weed density, travel speed and application head contact pressure. This achieves the technical effect of direct contact application of pesticide solution to the post-cut stubble area and solves the technical problems of pesticide drift, non-target crop phytotoxicity, non-target pollution and low herbicide utilization rate that are easy to occur when manual spraying or spraying.

[0023] (3) By utilizing the synchronous delay control of cutting and coating and the closed-loop correction for anti-drip, the coating trigger delay is calculated based on the structural distance between the cutting baseline of the mowing head and the center of action of the penetrating coating component, the speed of the mower, the cutting response time and the pumping response time. Based on the missed coating score, the residual pressure of the delivery pipeline and the coverage ratio of the area of ​​the contact trace of the herbicide, the technical effects of accurate drug administration, missed coating compensation and anti-drip when the stubble reaches the center of action after cutting are achieved. This solves the technical problems of asynchronous cutting and coating, inability to compensate for missed coating, leakage of herbicide when the machine stops and accidental contact of herbicide with surrounding crops in existing equipment. Attached Figure Description

[0024] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the invention and do not constitute a limitation thereof.

[0025] Figure 1 This is a flowchart of the simultaneous mowing and pesticide application control operation proposed in this invention; Figure 2 This is a flowchart illustrating the synchronous feedback and update process for mowing and applying pesticides proposed in this invention. Detailed Implementation

[0026] Example 1, see Figures 1-2 The present invention provides an intelligent plant protection control system for simultaneous mowing and pesticide application, comprising an operation status sensing module, a weed damage and stubble breakage identification module, a cutting status determination module, a contact pesticide application control module, a mowing and pesticide application synchronization linkage module, and an anti-drip closed-loop correction module.

[0027] The operation status sensing module collects data on the lawnmower's travel speed, cutting motor current, cutting motor speed, cutting head posture, medicine tank level, medicine delivery pipeline pressure, application head contact pressure, and ambient wind speed to generate lawnmower application status data.

[0028] The weed stubble breakage identification module extracts crop protection areas, weed distribution areas, grass stem cutting trajectories, post-cut stubble breakage areas, and pesticide application target areas from the images in front of and behind the cutting head, generating weed stubble breakage target data.

[0029] The cutting status determination module determines whether the mowing operation is in an effective cutting state based on the cutting motor current, cutting motor speed, and grass stem cutting trajectory, and generates effective cutting control data.

[0030] The contact application control module controls the start / stop, pumping frequency, and pumping pulse width of the micro-flow pump based on the target data of weed damage, the contact pressure of the application head, the pressure of the delivery pipeline, the liquid level of the storage tank, and the effective control data of cutting, so that the liquid medicine enters the penetrating application part through the delivery pipeline and is applied to the post-cut stubble area.

[0031] The synchronous linkage module for cutting and coating calculates the coating trigger delay based on the structural distance between the cutting baseline of the mowing head and the center of action of the penetrating coating component, the speed of the mower, the cutting response time, the response time of the micro-flow pump, and the contact pressure of the coating head, and enables the penetrating coating component to complete contact coating when it passes through the center of action of the coating component in the stubble area after cutting.

[0032] The anti-drip closed-loop correction module determines the status of missed coating, off-center coating, and dripping during shutdown based on the effective cutting control data, drug delivery pipeline pressure, drug storage tank liquid level, coating head contact pressure, and the image behind the mowing head. It also generates recoating control data, pump stop and pressure relief control data, and parameter update data for the next work area.

[0033] Example 2: This example is based on all the above examples. The operation status sensing module specifically includes a motor status acquisition unit, a travel status acquisition unit, a liquid status acquisition unit, an application contact acquisition unit, and an environmental status acquisition unit.

[0034] The motor status acquisition unit is connected to the cutting motor. The motor status acquisition unit acquires the cutting motor current and cutting motor speed, and sends the cutting motor current and cutting motor speed to the cutting status determination module.

[0035] The travel status acquisition unit is installed at at least one of the following mounting positions: the lawnmower support rod, the walking wheel frame, and the backpack frame. The travel status acquisition unit collects the lawnmower's travel speed, the mowing head posture, and the mowing head acceleration, and generates travel status data.

[0036] The liquid status acquisition unit is connected to the storage tank, the micro-flow pump and the delivery pipeline. The liquid status acquisition unit acquires the liquid level in the storage tank, the operating current of the micro-flow pump and the pressure in the delivery pipeline, and generates liquid status data.

[0037] The smearing contact acquisition unit is set between the adaptive contact smearing head and the elastic bonding bracket. The smearing contact acquisition unit collects the contact pressure of the penetrating smearing part on the ground stubble and generates smearing contact status data.

[0038] The environmental status acquisition unit is located near the operating handle. The environmental status acquisition unit collects ambient wind speed, temperature and humidity, and generates environmental status data.

[0039] Example 3: This example is based on all the above examples. The weed damage stubble break identification module specifically includes a forward identification unit, a backward verification unit, a crop protection zone generation unit, a stubble break target extraction unit, and a pesticide application target mapping unit.

[0040] The forward-looking recognition unit acquires an image in front of the mower head, performs brightness equalization, edge enhancement, and vegetation region segmentation on the image in front of the mower head, and obtains a forward-looking vegetation segmentation image.

[0041] The crop protection zone generation unit extracts crop row boundaries from the forward-looking vegetation segmentation image and generates non-target crop protection zones and weed control zones based on these boundaries. The non-target crop protection zone defines the crop growth area where herbicides are prohibited, while the weed control zone is located outside the non-target crop protection zone or between adjacent crop rows.

[0042] The stubble cut target extraction unit extracts the center line of the grass stem, the width of the grass crown, the density of weeds, and the expected cutting position in the weed operation area, and generates target data of the weeds to be cut based on the expected cutting position.

[0043] The rear-view verification unit acquires images behind the mowing head, extracts the stubble outline, stubble center point, and exposed stubble area from the images behind the mowing head, and generates the stubble area.

[0044] The pesticide application target mapping unit maps the post-cut stubble area to the contact width range of the penetrating coating component, generates the pesticide application target area, and sends the pesticide application target area to the contact application control module and the cutting and application synchronization linkage module, so that the pesticide solution is applied to the post-cut stubble area and avoids non-target crop protection areas.

[0045] Example 4: This example is based on all the above examples. The cutting state determination module specifically includes a reference state calibration unit, a cutting load calculation unit, an effective cutting determination unit, and a cutting trajectory recording unit.

[0046] The reference state calibration unit collects the no-load current and no-load speed of the cutting motor when the mower head is idling, and generates no-load reference data.

[0047] The cutting load calculation unit calculates the cutting load index based on the cutting motor current, cutting motor speed, cutting motor no-load current, and cutting motor no-load speed. The cutting load index is calculated according to Formula 1:

[0048] In Formula 1, To cut the load index, To cut the motor current, To cut the no-load current of the motor, To cut the motor speed, To cut the no-load speed of the motor, Weighted by current, The rotational speed weight is used.

[0049] The effective cutting determination unit will cut the load index. Compared with the cutting load threshold, when the cutting load index When the cutting load exceeds the cutting load threshold and the grass stem cutting trajectory is within the weed operation area, effective cutting control data is generated.

[0050] The cutting trajectory recording unit records the cutting time, mowing head position, and grass stem cutting trajectory corresponding to the effective cutting control data, and sends the cutting time, mowing head position, and grass stem cutting trajectory to the cutting-painting synchronization linkage module.

[0051] Example 5: This example is based on all the above examples. The contact application control module specifically includes a drug dosage calculation unit, a contact state correction unit, a pumping pulse control unit, and a penetration application saturation management unit.

[0052] The pesticide dosage calculation unit calculates the target pumping dosage based on data such as the exposed stubble area after cutting, weed density, mower speed, and environmental conditions. The target pumping dosage is calculated according to Formula 2:

[0053] In Formula 2, To achieve the target pumped drug volume, The standard pesticide application rate coefficient per unit stubble area. The area of ​​the stubble exposed after cutting. This is the weed density coefficient. This is a correction factor for travel speed. This is the environmental correction factor.

[0054] The contact state correction unit adjusts the target pumped drug quantity based on the contact pressure of the application head. Increase the target pumped drug volume when the contact pressure of the application head is below the lower limit of the contact pressure. When the contact pressure of the applicator head exceeds the upper limit of the contact pressure, reduce the target pumped drug volume. .

[0055] The pumping pulse control unit adjusts the target pumping volume accordingly. Controlling the start / stop, pumping frequency, and pumping pulse width of the micro-flow pump allows the drug solution to enter the penetrating coating component through the drug delivery pipeline.

[0056] The penetration coating saturation management unit estimates the drug saturation of the penetration coating component based on the micro-flow pump operating current, drug delivery pipeline pressure, and coating head contact pressure. When the drug saturation is below the lower limit, the pumping pulse width is extended, and when the drug saturation is above the upper limit, the pumping pulse width is shortened.

[0057] Regarding parameter adjustments: When the exposed area of ​​the stubble after cutting... When the amount of pesticide applied per unit area of ​​stubble is continuously increased, the standard pesticide application rate coefficient should be increased. When the lawnmower's travel speed increases, the travel speed correction factor is increased. When the ambient wind speed increases, reduce the amount of liquid overflowing from the surface of the penetrating coating and increase the contact coating ratio. When the contact pressure of the coating head is lower than the lower limit of the contact pressure, increase the downward pressure compensation of the elastic bonding bracket and extend the pumping pulse width of the micro-flow pump.

[0058] Example 6: This example is based on all the above examples. The cutting and coating synchronous linkage module specifically includes a structural spacing calibration unit, a response time calibration unit, a coating trigger delay calculation unit, and a cutting and coating linkage execution unit.

[0059] The structural spacing calibration unit calibrates the structural spacing between the cutting baseline of the mower head and the center of action of the penetrating coating component, and generates cutting-coating spacing data.

[0060] The response time calibration unit calibrates the cutting motor from the cutting load index. The cutting response time from exceeding the cutting load threshold to forming a post-cut stubble area was determined, and the pumping response time of the micro-flow pump from receiving the start command to reaching the lower limit of coating saturation on the surface of the coated part was calibrated.

[0061] The pesticide application trigger delay calculation unit calculates the pesticide application trigger delay based on the mower-to-apply spacing data, mower travel speed, cutting response time, and pumping response time. The pesticide application trigger delay is calculated according to Formula 3:

[0062] In Formula 3, To delay the application of the medication, The structural spacing between the cutting baseline of the lawn mower head and the center of action of the penetrating coating component. The speed at which the lawnmower travels. To cut the response time, This refers to the pumping response time.

[0063] The cutting-coating linkage execution unit uses effective cutting control data and coating trigger delay to determine the cutting process. Control the micro-flow pump to start, and ensure that the penetrating coating maintains the set solution saturation level when the penetrating coating passes through the center of action of the penetrating coating in the post-cut stubble area.

[0064] Regarding parameter adjustments: When the lawnmower travels at... When elevated, the application trigger delay is shortened. Furthermore, the pumping frequency of the micro-flow pump is increased, and the coating trigger delay is extended when the structural spacing Ls increases. And increase the lead time for pesticide application, when the pump response time When increasing the flow rate, send a micro-flow pump start command in advance, and the cutting response time will be [not specified]. When increased, the trigger time for applying the medication is delayed and the maximum speed limit of the lawnmower is reduced.

[0065] Example 7: This example is based on all the above examples. The anti-drip closed-loop correction module specifically includes a shutdown anti-drip control unit, a leak identification unit, a recoating decision unit, and a parameter update unit.

[0066] The shutdown anti-drip control unit determines the mowing operation status based on the effective cutting control data. When the effective cutting control data disappears and continues until the pump shutdown confirmation time is reached, the micro-flow pump is turned off and the residual pressure in the drug delivery pipeline is released.

[0067] The missing coating identification unit extracts the stubble area and pesticide contact trace area from the image behind the mower head, and calculates the coverage ratio and center offset of the pesticide contact trace area relative to the stubble area.

[0068] The recoating decision unit calculates the missed coating score based on the coverage ratio and center offset. The missed coating score is calculated according to Formula 4:

[0069] In Formula 4, Scoring for missed areas. This refers to the coverage ratio of the area marked by pesticide contact with the stubble relative to the area cut off after harvesting. The center offset, This is the residual pressure in the drug delivery pipeline. For coverage ratio weight, As the center offset weight, This represents the residual pressure weight.

[0070] The touch-up decision unit scores the missed coating. When the score exceeds the missed coating threshold, recoating control data is generated and sent to the contact coating control module, which then performs recoating on the missed areas.

[0071] The parameter update unit updates the target pumped dosage within the continuous operation interval. Application delay Missing coating score Coverage ratio of areas with traces of drug contact and center offset Update the benchmark pesticide dosage coefficient per unit stubble area Pumping frequency, pumping pulse width, and drug application trigger delay And the time to confirm pump shutdown.

Claims

1. An intelligent plant protection control system for simultaneous mowing and pesticide application, comprising an operation status sensing module, a weed damage and stubble breakage identification module, a cutting status determination module, a contact pesticide application control module, a simultaneous mowing and pesticide application linkage module, and an anti-drip closed-loop correction module. The operation status sensing module collects data on the lawnmower's travel speed, cutting motor current, cutting motor speed, cutting head posture, medicine tank level, medicine delivery pipeline pressure, application head contact pressure, and ambient wind speed to generate lawn mowing and medicine application operation status data. The weed damage stubble identification module extracts crop protection areas, weed distribution areas, grass stem cutting trajectories, post-cut stubble areas, and pesticide application target areas from images in front of and behind the cutting head, and generates weed damage stubble target data. The cutting status determination module generates effective cutting control data based on the cutting motor current, cutting motor speed, and grass stem cutting trajectory. The contact application control module controls the start and stop, pumping frequency and pumping pulse width of the micro-flow pump based on the target data of weed damage stubble breakage, the contact pressure of the application head, the pressure of the delivery pipeline, the liquid level of the storage tank and the effective control data of cutting, so that the liquid medicine enters the penetrating application part through the delivery pipeline and is applied to the stubble breakage area after cutting. The mowing and coating synchronization linkage module calculates the coating trigger delay based on the structural distance between the cutting baseline of the mowing head and the action center of the penetrating coating component, the mower's travel speed, cutting response time, pumping response time, and contact pressure of the coating head. Based on the coating trigger delay, it controls the penetrating coating component to complete contact coating when it passes through the action center of the penetrating coating component in the stubble area after cutting. The anti-drip closed-loop correction module generates re-coating control data, pump stop and pressure relief control data, and parameter update data for the next work area based on the effective cutting control data, drug delivery pipeline pressure, drug storage tank level, application head contact pressure, and the image behind the mowing head.

2. The intelligent plant protection control system for simultaneous mowing and pesticide application as described in claim 1, wherein the operation status sensing module includes a motor status acquisition unit, a travel status acquisition unit, a pesticide status acquisition unit, an application contact acquisition unit, and an environmental status acquisition unit; the motor status acquisition unit is connected to the cutting motor and acquires the cutting motor current and cutting motor speed; the travel status acquisition unit acquires the mower's travel speed, mowing head posture, and mowing head acceleration; the pesticide status acquisition unit is connected to the pesticide storage tank, the micro-flow pump, and the pesticide delivery pipeline and acquires the pesticide storage tank level, the micro-flow pump operating current, and the pesticide delivery pipeline pressure; the application contact acquisition unit is located between the adaptive contact application head and the elastic fitting bracket and acquires the contact pressure of the penetrating application part on the ground stubble; the environmental status acquisition unit acquires the ambient wind speed, temperature, and humidity.

3. The intelligent plant protection control system for simultaneous mowing and pesticide application according to claim 1, wherein the weed stubble identification module includes a forward-looking identification unit, a rear-looking verification unit, a crop protection zone generation unit, a stubble target extraction unit, and a pesticide application target mapping unit; the forward-looking identification unit acquires an image in front of the mowing head and obtains a forward-looking vegetation segmentation image; the crop protection zone generation unit extracts the crop row boundary line based on the forward-looking vegetation segmentation image and generates a crop protection area and a weed operation area based on the crop row boundary line; the stubble target extraction unit extracts the grass stem centerline, grass crown width, weed density, and expected cutting position in the weed operation area and generates target data for the weeds to be cut based on the expected cutting position; the rear-looking verification unit acquires an image behind the mowing head and extracts the post-cut stubble outline, stubble center point, and stubble exposed area to generate a post-cut stubble area; the pesticide application target mapping unit maps the post-cut stubble area to the contact width range of the penetrating application component to generate a pesticide application target area.

4. The intelligent plant protection control system for simultaneous mowing and pesticide application as described in claim 1, wherein the cutting state determination module includes a reference state calibration unit, a cutting load calculation unit, an effective cutting determination unit, and a cutting trajectory recording unit; The reference state calibration unit collects the no-load current and no-load speed of the cutting motor when the mower head is idling, and generates no-load reference data. The cutting load calculation unit calculates the cutting load index based on the cutting motor current, cutting motor speed, cutting motor no-load current, and cutting motor no-load speed; The effective cutting judgment unit compares the cutting load index with the cutting load threshold. When the cutting load index is greater than the cutting load threshold and the grass stem cutting trajectory is within the weed operation area, it generates effective cutting control data. The cutting trajectory recording unit records the cutting time, grass head position and grass stem cutting trajectory corresponding to the effective cutting control data, and sends the cutting time, grass head position and grass stem cutting trajectory to the cutting-coating synchronization linkage module.

5. The intelligent plant protection control system for simultaneous mowing and pesticide application according to claim 1, wherein the contact pesticide application control module includes a pesticide dosage calculation unit, a contact state correction unit, a pumping pulse control unit, and a penetration application saturation management unit; The pesticide demand calculation unit calculates the target pumping amount of pesticide based on data such as the exposed area of ​​the stubble after cutting, the density of weeds, the speed of the mower, and environmental conditions. The contact state correction unit adjusts the target pumped drug quantity based on the contact pressure of the applicator head. When the contact pressure of the applicator head is lower than the lower limit of the contact pressure, the target pumped drug quantity is increased; when the contact pressure of the applicator head is higher than the upper limit of the contact pressure, the target pumped drug quantity is decreased. The pumping pulse control unit controls the start / stop, pumping frequency, and pumping pulse width of the micro-flow pump according to the corrected target pumping volume, so that the drug solution enters the penetrating coating component through the drug delivery pipeline; the penetrating coating saturation management unit estimates the drug solution saturation of the penetrating coating component based on the micro-flow pump operating current, drug delivery pipeline pressure, and coating head contact pressure, and adjusts the pumping pulse width of the micro-flow pump according to the drug solution saturation.

6. The intelligent plant protection control system for simultaneous mowing and pesticide application as described in claim 1, wherein the simultaneous mowing and pesticide application linkage module includes a structural spacing calibration unit, a response time calibration unit, a pesticide application trigger delay calculation unit, and a mowing and pesticide application linkage execution unit; the structural spacing calibration unit calibrates the structural spacing between the cutting baseline of the mowing head and the action center of the penetrating pesticide application component, generating mowing and pesticide application spacing data; the response time calibration unit calibrates the cutting response time of the cutting motor from when the cutting load index exceeds the cutting load threshold to when the post-cut stubble area is formed, and calibrates the pumping response time of the micro-flow pump from when it receives the start command to when the surface of the penetrating pesticide application component reaches the lower limit of the application saturation; the pesticide application trigger delay calculation unit calculates the pesticide application trigger delay based on the mowing and pesticide application spacing data, the mowing machine travel speed, the cutting response time, and the pumping response time; the mowing and pesticide application linkage execution unit controls the micro-flow pump to start based on the effective cutting control data and the pesticide application trigger delay, and ensures that the penetrating pesticide application component maintains the set pesticide saturation when passing through the action center of the penetrating pesticide application component in the post-cut stubble area.

7. The intelligent plant protection control system for simultaneous mowing and pesticide application as described in claim 1, wherein the anti-drip closed-loop correction module includes a shutdown anti-drip control unit, a leak identification unit, a re-application decision unit, and a parameter update unit; the shutdown anti-drip control unit determines the mowing operation status based on the effective cutting control data, and when the effective cutting control data disappears and continues to reach the pump stop confirmation time, it shuts down the micro-flow pump and releases the residual pressure in the pesticide delivery pipeline; the leak identification unit extracts the stubble area and pesticide contact trace area from the image behind the mowing head, and calculates the coverage ratio and center offset of the pesticide contact trace area relative to the stubble area; the re-application decision unit calculates the leak score based on the coverage ratio, center offset, and residual pressure in the pesticide delivery pipeline, and generates re-application control data when the leak score is greater than the leak score threshold; the parameter update unit updates the benchmark pesticide amount per unit stubble area, pumping frequency, pumping pulse width, pesticide trigger delay, and pump stop confirmation time based on the target pumped pesticide amount, pesticide application trigger delay, leak score, pesticide contact trace area coverage ratio, and center offset within the continuous operation interval.

8. The intelligent plant protection control system for simultaneous mowing and pesticide application according to claim 1, wherein the contact pesticide application control module is connected to an adaptive contact application head, the adaptive contact application head is installed on the side and rear of the mowing head splash guard, the adaptive contact application head includes an elastic fitting bracket and a penetrating application component; the elastic fitting bracket changes the contact height and contact angle of the penetrating application component relative to the post-cut stubble area according to the ground undulation; the penetrating application component receives the pesticide solution output from the delivery pipeline and maintains the pesticide solution saturation; the operation status sensing module collects the contact pressure of the penetrating application component, the contact pesticide application control module adjusts the pumping pulse of the micro-flow pump according to the contact pressure, and the mowing and pesticide application synchronization linkage module adjusts the pesticide application trigger delay according to the structural distance between the action center of the penetrating application component and the cutting baseline of the mowing head.

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