The present invention discloses a heterogeneous collaborative intelligent
pesticide applicator structure for cash crops in hilly areas and a
path tracking method thereof. It belongs to the field of
agricultural machinery technology. It comprises a
pesticide applicator body 1, a lifting frame 2 fixed at the front end of the
pesticide applicator, a foldable pesticide applicator rod 4 fixed on the lifting frame, a
medicine box bracket 9 fixed at the rear end of the pesticide applicator, and a
medicine box 8 fixed on the bracket. The pesticide applicator body adopts a crawler-type double-layer platform design, including a crawler-type mobile
chassis 11, a double-layer bracket 12, and a central controller and drive circuit control board 6, a water pump 7, a
data acquisition and communication module 3, a
drone 5 and a
drone wireless charging platform 10 are fixed on the bracket; the
data acquisition and communication module includes a
laser radar 32, a visual sensor 31, a Beidou
satellite antenna 33 and a
radio receiver 34. The present invention designs corresponding structures and
path tracking methods for
pesticide application operations in hilly areas, and ultimately realizes precise
pesticide application and
path tracking of heterogeneous collaborative intelligent pesticide applicators.