CN115363008A

CN115363008A - Intelligent pesticide applying equipment and system for agricultural plant protection

Info

Publication number: CN115363008A
Application number: CN202211083039.5A
Authority: CN
Inventors: 孙玉海
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-09-06
Filing date: 2022-09-06
Publication date: 2022-11-22

Abstract

The invention discloses intelligent pesticide application equipment and system for agricultural plant protection, which comprise a supporting plate, a traveling assembly, auxiliary obstacle crossing assemblies, pneumatic hedging type pesticide discharging mechanisms and an intelligent identification module, wherein the traveling assembly is arranged at the bottom of the supporting plate, the auxiliary obstacle crossing assemblies are symmetrically arranged on the supporting plate, the pneumatic hedging type pesticide discharging mechanisms are arranged on the supporting plate, and the intelligent identification module is arranged on the supporting plate. The invention belongs to the technical field of plant protection, and particularly relates to intelligent pesticide application equipment and system for agricultural plant protection, which realize the technical effects of being prepared for use and accurately spraying weeds, and solve the problems that the pesticide application speed is improved (so as to improve the efficiency) and cannot be improved (the pesticide application accuracy is reduced and the pesticide is wasted) in the prior art and the technical problems that the pesticide is remained or insufficient in the prior art are difficult to solve.

Description

Intelligent pesticide applying equipment and system for agricultural plant protection

Technical Field

The invention belongs to the technical field of plant protection, and particularly relates to intelligent pesticide application equipment and system for agricultural plant protection.

Background

In the process of planting crops, in order to avoid the situation that weeds and crops compete for nutrients, the herbicides are often required to be sprayed to ensure the normal growth of the crops, the prior art often adopts a mode of applying the pesticides by using a manual knapsack sprayer or a mode of applying the pesticides by using a large-scale pesticide spraying device to carry out pesticide application, when the mode of applying the pesticides by using the manual knapsack sprayer is adopted, the pesticides can be accurately sprayed on the weeds, but the efficiency is low, the pesticide application speed is low, in order to improve the pesticide application speed, the prior art often adopts the large-scale pesticide spraying device to carry out large-scale pesticide application, when the mode is adopted, the pesticide application speed is high, the efficiency is high, the weeds cannot be accurately applied, the waste of the herbicides can be caused, the contradictory problem which is difficult to solve in the prior art is solved, meanwhile, some herbicides can seriously damage certain crops, the large-scale pesticide application cannot be carried out by using the large-scale pesticide spraying device, the mode of applying the pesticides by using the manual knapsack sprayer only can be accurately applied to the weeds, and the pesticide application speed is influenced.

Before the pesticide is applied, the pesticide needs to be configured in advance, the configured pesticide is injected into the pesticide barrel, the mode of manually configuring the pesticide is often adopted in the prior art, when the mode is adopted, the configuration amount of the pesticide cannot be accurately controlled, so that the situation that pesticide residue or insufficient pesticide often occurs in the pesticide application process is caused, when the pesticide is configured more, the situation that pesticide residue occurs, the waste of the pesticide is caused, when the pesticide is configured less, the situation that the pesticide is insufficient can occur, the machine is required to be stopped and the pesticide needs to be reconfigured, the pesticide application progress is influenced, and the technical problem which is difficult to solve in the prior art is solved.

Disclosure of Invention

Aiming at the situation and overcoming the defects of the prior art, the invention provides intelligent pesticide application equipment and system for agricultural plant protection, aiming at the problem of contradiction that the pesticide application speed needs to be improved (for improving the efficiency) and cannot be improved (the accuracy of pesticide application is reduced and pesticide is wasted) in the prior art, the scheme realizes the technical effect of quickly and accurately spraying the weeds by quickly and accurately identifying the weeds through the FastRCNN network module and the RPN network module in the intelligent identification module and matching with a pneumatic hedging type pesticide outlet mechanism, and solves the problem of contradiction that the pesticide application speed needs to be improved (for improving the efficiency) and cannot be improved (the accuracy of pesticide application is reduced and pesticide is wasted) which is difficult to solve in the prior art.

Aiming at the technical problems of pesticide residue or insufficient pesticide easily caused by the existing pesticide preparation mode, the scheme can accurately control the preparation amount of the pesticide by matching the air pressure type hedging type quantitative pesticide discharging component with the intermittent trigger component, thereby realizing the technical effect of the existing preparation, and solving the technical problems of pesticide residue or insufficient pesticide which are difficult to solve in the prior art.

The technical scheme adopted by the invention is as follows: the invention provides intelligent pesticide applying equipment for agricultural plant protection, which comprises a supporting plate, a traveling assembly, auxiliary obstacle crossing assemblies, pneumatic hedging type pesticide discharging mechanisms and an intelligent identification module, wherein the traveling assembly is arranged at the bottom of the supporting plate, the auxiliary obstacle crossing assemblies are symmetrically arranged on the supporting plate, the pneumatic hedging type pesticide discharging mechanisms are arranged on the supporting plate, and the intelligent identification module is arranged on the supporting plate.

As a further improvement of the scheme, the advancing assembly comprises an advancing fixing frame, an advancing wheel, an advancing driving motor, a driving bevel gear and a driven bevel gear, the advancing fixing frame is symmetrically arranged at the bottom of the supporting plate, the advancing wheel is rotatably arranged at the lower end of the advancing fixing frame, the advancing driving motor is arranged on the advancing fixing frame, the driving bevel gear is coaxially and fixedly connected with the output end of the advancing driving motor, the driven bevel gear is rotatably arranged on the advancing fixing frame, the driven bevel gear is meshed with the driving bevel gear, and the driven bevel gear is coaxially and fixedly connected with the advancing wheel.

As a further improvement of the scheme, the auxiliary obstacle crossing assembly comprises an obstacle crossing fixing frame, an obstacle crossing control rotating shaft, an obstacle crossing fixing plate, an obstacle crossing fixing sleeve, an obstacle crossing fixing loop bar, an obstacle crossing auxiliary wheel, an obstacle crossing fixing rod, a conveying cylinder, an obstacle crossing adjusting motor, an obstacle crossing adjusting driving bevel gear, an obstacle crossing adjusting driven bevel gear, an obstacle crossing control motor, an obstacle crossing control driving wheel, an obstacle crossing control driving belt and an obstacle crossing control screw rod, wherein the obstacle crossing fixing frame is symmetrically arranged on a supporting plate, the obstacle crossing control rotating shaft is rotatably arranged on the obstacle crossing fixing frame, the obstacle crossing fixing plate is symmetrically arranged at two ends of the obstacle crossing control rotating shaft, the obstacle crossing fixing sleeve is arranged on the obstacle crossing fixing plate, the obstacle crossing fixing sleeve is arranged in a cavity with an opening at the upper end, the obstacle crossing fixing loop bar is connected on the obstacle crossing fixing sleeve in a sliding and inserting manner, the obstacle crossing auxiliary wheel is arranged on the obstacle crossing fixing loop bar, the obstacle crossing fixed rod is arranged on the obstacle crossing fixed sleeve rod, the conveying cylinder is communicated with the obstacle crossing fixed sleeve, the obstacle crossing adjusting motor is arranged on the supporting plate, the obstacle crossing adjusting drive bevel gear is coaxially and fixedly connected with the output end of the obstacle crossing adjusting motor, the obstacle crossing adjusting driven bevel gear is arranged on the obstacle crossing control rotating shaft, the obstacle crossing adjusting driven bevel gear is meshed with the obstacle crossing adjusting drive bevel gear, the obstacle crossing control motor is arranged in the obstacle crossing fixed sleeve, the obstacle crossing control driving wheel is rotatably arranged in the obstacle crossing fixed sleeve, the obstacle crossing control driving wheel is coaxially and fixedly connected with the output end of the obstacle crossing control motor, the obstacle crossing control driving belt is wound on the obstacle crossing control driving wheel, the obstacle crossing control driving belt is arranged in the conveying cylinder, the obstacle crossing control screw rod is rotatably arranged in the obstacle crossing fixed sleeve, and the obstacle crossing control screw rod is coaxially and fixedly connected with the obstacle crossing control driving wheel, the obstacle crossing control screw rod and the obstacle crossing fixing sleeve rod are in threaded connection.

As a further improvement of the scheme, the pneumatic type hedging type medicine discharging mechanism comprises a pneumatic type hedging type quantitative medicine discharging assembly, a medicine spraying control assembly and an intermittent type triggering assembly, the pneumatic type hedging type quantitative medicine discharging assembly is arranged on the supporting plate, the medicine spraying control assembly is arranged on the bottom wall of the supporting plate, and the intermittent type triggering assembly is arranged on the pneumatic type hedging type quantitative medicine discharging assembly.

Further, the pneumatic hedging type quantitative medicine discharging component comprises a liquid mixing box, a control box, a transmission box, an extruding cylinder, an extruding transmission connecting rod, a liquid mixing control connecting rod, a transmission control connecting rod, an air outlet cover body, fan blades, a transmission rotating shaft, a liquid mixing rotating shaft, a medicine discharging driving motor, a medicine discharging driving gear, a medicine discharging driven gear, a medicine discharging driving wheel, a medicine discharging driven driving wheel, a medicine discharging driving belt, a wind power driving wheel, a wind power driven driving wheel, a wind power adjusting driving belt, a wind power driving bevel gear, a wind power driven bevel gear, a flexible elastic bending injection pipe, a medicine discharging pipe, a liquid inlet hole, a storage cylinder, a medicine liquid communicating pipe, a water communicating pipe and a mixing hole, wherein the liquid mixing box is arranged at the bottom wall of the supporting plate, the control box is arranged below the liquid mixing box, a partition plate is arranged in the control box, and the transmission box is arranged below the control box, the extrusion cylinder is arranged in the control box in a sliding contact manner, the top of the extrusion cylinder is provided with a top sliding hole, the bottom of the extrusion cylinder is provided with a bottom sliding hole, two sides of the extrusion cylinder are provided with side sliding holes, one end of the extrusion cylinder, which is close to the partition plate, is provided with an extrusion head, one end of the extrusion transmission connecting rod is rotatably arranged at one end, which is far away from the partition plate, in the extrusion cylinder, the mixed liquid control connecting rod is rotatably arranged at one end, which is close to the partition plate, on the extrusion transmission connecting rod, the mixed liquid control connecting rod is arranged above the extrusion transmission connecting rod, the transmission control connecting rod is rotatably arranged at one end, which is close to the partition plate, on the extrusion transmission connecting rod, the transmission control connecting rod is arranged below the extrusion transmission connecting rod, the air outlet cover body is arranged on the outer side wall of the transmission box, a plurality of air outlet holes are arranged on the air outlet cover body, the fan blades are rotatably arranged in the air outlet cover body, one end of the transmission rotating shaft is rotatably arranged in the transmission box, the other end of the transmission rotating shaft penetrates through a bottom sliding hole in a sliding mode and is rotatably arranged at one end, close to the partition plate, of the transmission control connecting rod, the upper end of the liquid mixing rotating shaft is rotatably arranged in the liquid mixing box, the lower end of the liquid mixing rotating shaft penetrates through a top sliding hole in a sliding mode and is rotatably arranged at one end, close to the partition plate, of the liquid mixing control connecting rod, a plurality of groups of liquid mixing blades are distributed at the upper end of the liquid mixing rotating shaft in an array mode, the liquid medicine discharging driving motor is arranged in the transmission box, the liquid medicine discharging driving gear is coaxially and fixedly connected with the output end of the liquid medicine discharging driving motor, the liquid medicine discharging driven gear is arranged in the transmission box and is arranged on one group of transmission rotating shafts close to the liquid medicine discharging driving motor, the liquid medicine discharging driven gear is meshed with the liquid medicine discharging driving gear, the liquid medicine discharging driving gear is coaxially and fixedly connected with the output end of the liquid medicine discharging driving motor, and is arranged in the transmission box, the medicine discharging driven transmission wheel is arranged on a group of transmission rotating shafts far away from the medicine discharging driving motor, the medicine discharging transmission belt is wound on the medicine discharging driving transmission wheel and the medicine discharging driven transmission wheel, the wind power driving transmission wheel is arranged in the transmission box, the wind power driving transmission wheel is arranged on a group of transmission rotating shafts far away from the medicine discharging driving motor, the wind power driven transmission wheel is rotatably arranged in the transmission box, the wind power adjusting transmission belt is wound on the wind power driving transmission wheel and the wind power driven transmission wheel, the wind power driving bevel gear is rotatably arranged in the transmission box, the wind power driving bevel gear is coaxially fixedly connected with the wind power driven transmission wheel, the wind power driven bevel gear is rotatably arranged in the transmission box, the wind power driven bevel gear is meshed with the wind power driving bevel gear, the wind power driven bevel gear is coaxially fixedly connected with the fan blades, and the flexible elastic bending injection pipe is communicated with the air outlet cover body, the flexible elastic bending spray pipe is internally provided with an air inlet cavity, a compression cavity and a medicine outlet cavity which are sequentially communicated, the compression cavity is gradually reduced from the air inlet cavity to the cross-sectional area of the medicine outlet cavity, the cross-sectional area of the air inlet cavity is equal to the cross-sectional area of the compression cavity close to one end of the air inlet cavity, the cross-sectional area of the medicine outlet cavity is equal to the cross-sectional area of the compression cavity close to one end of the medicine outlet cavity, one end of the medicine outlet pipe is communicated with one end of the medicine outlet cavity close to the compression cavity, the other end of the medicine outlet pipe is communicated with the liquid mixing box, the liquid inlet hole is communicated with the space between the control box and the transmission box, the storage cylinder is arranged on the top wall of the support plate, the storage cylinder is provided with a cylinder cover, the storage cylinder is provided with a transparent observation window, the liquid medicine storage cavity and the water storage cavity are arranged in the storage cylinder, the liquid medicine storage cavity is communicated with one end of the liquid medicine communication pipe, the other end of the liquid medicine is communicated with the liquid inlet hole close to the air outlet cover body, the liquid mixing box is communicated with the liquid mixing hole, and the liquid mixing hole is communicated with the electromagnetic valve.

Further, intermittent type formula triggers the subassembly including triggering fixed slide bar, triggering the fixed plate, triggering the slide bar, triggering the ball, triggering slide and trigger spring, trigger fixed slide bar and locate on the interior roof of transmission case, trigger fixed slide bar and locate in the liquid medicine intercommunication pipe and in the water intercommunication pipe, trigger the fixed plate and locate the bottom that triggers fixed slide bar, trigger the lower extreme slip plug of slide bar and connect and locate on triggering the fixed plate, trigger the upper end of slide bar and run through the feed liquor hole and extend to the control box in, trigger the ball and locate the upper end that triggers the slide bar, trigger the slide and locate on triggering the slide bar, trigger the slide and trigger fixed slide bar and be sliding connection setting, trigger the spring cover and locate on triggering fixed slide bar, trigger spring locates and triggers between fixed plate and the trigger slide.

Preferably, spout medicine control assembly including spout medicine driving motor, spout medicine control drive wheel, spout medicine control drive belt and spout the medicine head, spout the diapire that medicine driving motor located the backup pad, spout the diapire that medicine control drive wheel symmetry rotated and located the backup pad, spout the coaxial rigid coupling of medicine control drive wheel and the output that spouts medicine driving motor, spout medicine control drive belt around locating on spouting medicine control drive wheel, spout the medicine head and locate on spouting medicine control drive belt, it is the intercommunication setting with gentle elastically bending injection pipe to spout the medicine head.

Preferably, the intelligent recognition module includes controller, signal transceiver, image acquisition camera and control end, the controller is located in the backup pad, signal transceiver locates in the backup pad, signal transceiver is connected with the controller, the diapire of backup pad is located to the image acquisition camera, the image acquisition camera is connected with the controller, control end and signal transceiver wireless connection, the control end sends control information to signal transceiver, signal transceiver receives the control information who comes from the control end to forward the information to the controller, the image acquisition camera acquires sample picture information, and sends sample picture information to the controller.

The technical scheme adopted by the invention is as follows: the invention provides an intelligent pesticide applying system for agricultural plant protection, which comprises a FastRCNN network module, an RPN network module and any one of the intelligent pesticide applying devices for agricultural plant protection, wherein the FastRCNN network module is arranged in a controller, the RPN network module is arranged in the controller, the FastRCNN network module is connected with the controller, the RPN network module is connected with the FastCNN network module, the FastCNN network module comprises a shared convolution layer, a special convolution layer, a Rol pooling layer, a full-connection layer III, a classification score and a bbox regression, the controller receives and processes sample picture information from an image acquisition camera and sends the sample picture information to the shared convolution layer, the shared convolution layer receives the sample picture information from the controller, processes the sample picture information into a first characteristic graph, and sends a first characteristic graph to the special convolution layer and the RPN network module, the special convolutional layer receives a first feature diagram from the shared convolutional layer, processes the first feature diagram into a second feature diagram and sends the second feature diagram to the Rol pooling layer, the RPN network module comprises a sliding window layer, a first full-connection layer, a second full-connection layer, a region suggestion and a region score, the sliding window layer receives and processes the first feature diagram from the shared convolutional layer and sends processed information to the first full-connection layer, the first full-connection layer receives and processes information from the sliding window layer and sends the processed information to the second full-connection layer, the second full-connection layer receives and processes information from the first full-connection layer to obtain the region suggestion and the region score and sends the region suggestion to the Rol pooling layer, the Rol pooling layer receives and processes the region suggestion from the second full-connection layer and the second feature diagram of the special convolutional layer, and sending the processed information to a third full-connection layer, receiving and processing the information from the Rol pooling layer by the third full-connection layer, and outputting a classification score and bbox regression.

The storage battery is arranged on the supporting plate and is electrically connected with the pesticide spraying driving motor, the electromagnetic valve, the pesticide discharging driving motor, the obstacle crossing adjusting motor, the obstacle crossing control motor, the advancing driving motor, the controller, the signal transceiver and the image acquisition camera.

The beneficial effects obtained by adopting the scheme are as follows:

(1) Aiming at the contradictory problems that the pesticide application speed needs to be improved (for improving the efficiency) and cannot be improved (the accuracy of pesticide application is reduced and pesticide is wasted) in the prior art, the scheme realizes the technical effect of quickly and accurately spraying the weeds by quickly and accurately identifying the weeds through the FastRCNN network module and the RPN network module in the intelligent identification module and matching with the pneumatic hedging type pesticide spraying mechanism, and solves the contradictory problems that the prior art cannot solve, the pesticide application speed needs to be improved (for improving the efficiency) and cannot be improved (the accuracy of pesticide application is reduced and pesticide is wasted).

(2) Aiming at the technical problems of pesticide residue or insufficient pesticide easily occurring in the existing pesticide configuration mode, the scheme can accurately control the configuration amount of pesticide by matching the air pressure type hedging type quantitative pesticide discharging assembly with the intermittent trigger assembly, realizes the technical effect of current configuration and use, and solves the technical problems of pesticide residue or insufficient pesticide which are difficult to solve in the prior art.

(3) To the technical problem that the equipment of giving medicine to poor free of charge that the in-process ground unevenness leads to is difficult to turn over, this scheme is provided with supplementary obstacle crossing assembly, when meetting the obstacle that the equipment of giving medicine to charge is difficult to turn over, supplementary obstacle crossing assembly can be convenient for this equipment to turn over the obstacle to the process of giving medicine to charge of being convenient for goes on smoothly.

Drawings

FIG. 1 is a schematic overall structure diagram of an intelligent pesticide application device for agricultural plant protection provided by the invention;

FIG. 2 is a bottom view of an intelligent pesticide application device for agricultural plant protection provided by the invention;

FIG. 3 is a top view of an intelligent pesticide application device for agricultural plant protection provided by the present invention;

FIG. 4 is a front view of an intelligent pesticide application device for agricultural plant protection provided by the present invention;

FIG. 5 is a right side view of an intelligent pesticide application device for agricultural plant protection provided by the present invention;

FIG. 6 is a plan sectional view of a portion a-a of FIG. 3;

FIG. 7 is a plan sectional view of portion b-b of FIG. 4;

FIG. 8 is a plan sectional view of portion c-c of FIG. 3;

FIG. 9 is a plan sectional view of portion d-d of FIG. 4;

FIG. 10 is a schematic view of the overall structure of the pneumatic impact type medicine discharging mechanism;

FIG. 11 is a top view of the pneumatic impact type dispensing mechanism;

FIG. 12 is a right side view of the pneumatic impact type dispensing mechanism;

FIG. 13 is a plan sectional view of section e-e of FIG. 11;

FIG. 14 is a plan sectional view of portion f-f of FIG. 11;

FIG. 15 is a plan sectional view of portion g-g of FIG. 12;

FIG. 16 is a plan sectional view of portion h-h of FIG. 12;

FIG. 17 is an enlarged partial view of portion A of FIG. 1;

FIG. 18 is an enlarged partial view of portion B of FIG. 2;

FIG. 19 is an enlarged partial view of portion C of FIG. 7;

FIG. 20 is an enlarged partial view of portion G of FIG. 14;

FIG. 21 is an enlarged partial view of portion D of FIG. 13;

FIG. 22 is an enlarged partial view of portion E of FIG. 14;

FIG. 23 is an enlarged partial view of portion F of FIG. 14;

FIG. 24 is an enlarged partial view of portion H of FIG. 15;

FIG. 25 is an enlarged partial view of portion I of FIG. 16;

fig. 26 is an overall structural view of the control terminal;

fig. 27 is a flowchart of the working process of the FastRCNN network module and the RPN network module of the intelligent pesticide application system for agricultural plant protection provided by the present invention.

Wherein, 1000, supporting plate, 2000, advancing assembly, 2001, advancing fixing frame, 2002, advancing wheel, 2003, advancing driving motor, 2004, driving bevel gear, 2005, driven bevel gear, 3000, auxiliary obstacle crossing assembly, 3001, obstacle crossing fixing frame, 3002, obstacle crossing control rotating shaft, 3003, obstacle crossing fixing plate, 3004, obstacle crossing fixing sleeve, 3005, obstacle crossing fixing sleeve, 3006, obstacle crossing auxiliary wheel, 3007, obstacle crossing fixing rod, 3008, transfer cylinder, 3009, obstacle crossing adjusting motor, 3010, obstacle crossing adjusting driving bevel gear, 3011, obstacle crossing adjusting driven bevel gear, 3012, obstacle crossing control motor, 3013, obstacle crossing control driving wheel, 3014, obstacle crossing control driving belt, 3015, obstacle crossing control screw rod, 4000, pneumatic hedging type medicine output mechanism, 4100, pneumatic hedging type quantitative medicine output assembly, 4101, liquid mixing box, 4102, control box, 4103, transmission box, 4104, pressing transmission rod, 4105, pressing transmission rod, 4106, a liquid mixing control connecting rod, 4107, a transmission control connecting rod, 4108, an air outlet cover body, 4109, fan blades, 4110, a transmission rotating shaft, 4111, a liquid mixing rotating shaft, 4112, a medicine outlet driving motor, 4113, a medicine outlet driving gear, 4114, a medicine outlet driven gear, 4115, a medicine outlet driving transmission wheel, 4116, a medicine outlet driven transmission wheel, 4117, a medicine outlet transmission belt, 4118, a wind power driving transmission wheel, 4119, a wind power driven transmission wheel, 4120, a wind power adjusting transmission belt, 4121, a wind power driving bevel gear, 4122, a wind power driven bevel gear, 4123, a jet pipe, 4124, a medicine outlet pipe, 4125, a liquid inlet hole, 4126, a storage cylinder, a sideslip 4127, a medicine liquid communicating pipe, 4128, a water communicating pipe, 4129, a top sliding hole, 4130, a bottom sliding hole, 4131, a lateral sliding hole, a 4132, a squeezing head, a 4133, an air inlet cavity, a 4134, a compression cavity, a 4135, a medicine outlet cavity, a 4136, a cylinder cover, a 4137, a transparent observation window, a 4138, a medicine liquid medicine storage cavity, 4139. water holding chamber, 4140, divider plate, 4141, mixing hole, 4142, check valve one, 4143, mixing paddle, 4144, check valve two, 4145, solenoid valve, 4146, vent, 4200, spray control assembly, 4201, spray drive motor, 4202, spray control drive wheel, 4203, spray control drive belt, 4204, spray head, 4300, intermittent trigger assembly, 4301, trigger fixed slide bar, 4302, trigger fixed plate, 4303, trigger slide bar, 4304, trigger ball, 4305, trigger slide, 4306, trigger spring, 5001, battery, 5002, controller, 5003, signal transceiver, 5004, image acquisition camera, 5005, control terminal, 5006, fasccnn network module, 5007, RPN network module, 5018, shared layer, 5009, rolling layer, 5010, rol pooling layer, 5011, 5012, classification layer three, classification layer, fasbb network module, 5003, window layer, score scoring layer, 5014, full regression area, score zone, 5015, suggested zone, score zone, 5008, shared layer, 5009, rolling layer, roll layer, and roll layer, 5010, rocll pooling layer, 5014, 5011, image acquisition camera, and score zone.

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention.

Referring to fig. 1, 3, 4, 5, 6 and 9, the present invention provides an intelligent pesticide application device for agricultural plant protection, which comprises a support plate 1000, a traveling assembly 2000, an auxiliary obstacle crossing assembly 3000, a pneumatic hedging type pesticide discharge mechanism 4000 and an intelligent identification module, wherein the traveling assembly 2000 is disposed at the bottom of the support plate 1000, the auxiliary obstacle crossing assembly 3000 is symmetrically disposed on the support plate 1000, the pneumatic hedging type pesticide discharge mechanism 4000 is disposed on the support plate 1000, the intelligent identification module is disposed on the support plate 1000, the auxiliary obstacle crossing assembly 3000 comprises an obstacle crossing fixing frame 3001, an obstacle crossing control rotating shaft 3002, an obstacle crossing fixing plate 3003, an obstacle crossing fixing sleeve 3004, an obstacle crossing fixing sleeve 3005, an obstacle crossing auxiliary wheel 3006, an obstacle crossing fixing rod 7, a conveying cylinder 3008, an obstacle crossing adjusting motor 3009, an obstacle crossing adjusting drive bevel gear 3010, an obstacle crossing adjusting driven bevel gear 3011, an obstacle crossing control motor 3012, an obstacle crossing control shaft 3013, an obstacle crossing control transmission wheel 3014 and an obstacle crossing control transmission belt 3015, the obstacle crossing control shaft 3005 are disposed on the transmission shaft 3004, the obstacle crossing fixing sleeve 3005 is connected to the obstacle crossing fixing shaft 3004, the obstacle crossing fixing shaft 3005 is connected to the obstacle crossing fixing shaft 3004, the obstacle crossing fixing shaft 3005, the obstacle crossing fixing shaft is connected to the obstacle crossing fixing sleeve 3005, the obstacle crossing shaft, the obstacle crossing fixing shaft 3004, the obstacle crossing fixing shaft is connected to the obstacle crossing fixing shaft, the obstacle crossing fixing shaft 3005, the obstacle crossing control driven bevel gear 3011 is arranged on an obstacle crossing control rotating shaft 3002, the obstacle crossing control driven bevel gear 3011 and the obstacle crossing control driving bevel gear 3010 are arranged in a meshed mode, the obstacle crossing control motor 3012 is arranged in an obstacle crossing fixing sleeve 3004, the obstacle crossing control driving wheel 3013 is rotatably arranged in the obstacle crossing fixing sleeve 3004, the obstacle crossing control driving wheel 3013 is coaxially and fixedly connected with the output end of the obstacle crossing control motor 3012, the obstacle crossing control driving belt 3014 is wound on the obstacle crossing control driving wheel 3013, the obstacle crossing control driving belt 3014 is arranged in a conveying barrel 3008, the obstacle crossing control screw 3015 is rotatably arranged in the obstacle crossing fixing sleeve 3004, the obstacle crossing control screw 3015 is coaxially and fixedly connected with the obstacle crossing control driving wheel 3013, and the obstacle crossing control screw 3015 is in threaded connection with the obstacle crossing fixing sleeve 3005.

Referring to fig. 1, 2 and 4, the travel assembly 2000 includes a travel fixing frame 2001, a travel wheel 2002, a travel driving motor 2003, a driving bevel gear 2004 and a driven bevel gear 2005, the travel fixing frame 2001 is symmetrically disposed at the bottom of the support plate 1000, the travel wheel 2002 is rotatably disposed at the lower end of the travel fixing frame 2001, the travel driving motor 2003 is disposed on the travel fixing frame 2001, the driving bevel gear 2004 is coaxially and fixedly connected with the output end of the travel driving motor 2003, the driven bevel gear 2005 is rotatably disposed on the travel fixing frame 2001, the driven bevel gear 2005 is meshed with the driving bevel gear 2004, and the driven bevel gear 2005 is coaxially and fixedly connected with the travel wheel 2002.

Referring to fig. 1, 5, 8, 10, 11, 12, 14, 15, 16, 20, 21, 22, 23, 24, and 25, the pneumatic counter-impact type dosing mechanism 4000 includes a pneumatic counter-impact type dosing module 4100, a spraying control module 4200, and an intermittent trigger module 4300, the pneumatic counter-impact type dosing module 4100 is disposed on the support plate 1000, the spraying control module 4200 is disposed on the bottom wall of the support plate 1000, the intermittent trigger module 4300 is disposed on the pneumatic counter-impact type dosing module 4100, the pneumatic hedging type quantitative medicine discharging component 4100 comprises a liquid mixing box 4101, a control box 4102, a transmission box 4103, an extrusion cylinder 4104, an extrusion transmission connecting rod 4105, a liquid mixing control connecting rod 4106, a transmission control connecting rod 4107, an air outlet cover body 4108, fan blades 4109, a transmission rotating shaft 4110, a liquid mixing rotating shaft 4111, a medicine discharging driving motor 4112, a medicine discharging driving gear 4113, a medicine discharging driven gear 4114, a medicine discharging driving transmission wheel 4115, a medicine discharging driven transmission wheel 4116, a medicine discharging transmission belt 4117, a wind power driving transmission wheel 4118, a wind power driven transmission wheel 4119, a wind power adjusting transmission belt 4120, a wind power driving bevel gear 4121, a wind power driven bevel gear 4122, a flexible and lateral bending injection pipe 4123, a medicine discharging pipe 4124, a liquid inlet hole 4125, a storage cylinder 4126, a liquid medicine communicating pipe 4127, a water communicating pipe 4128 and a mixing hole 4141, wherein the liquid mixing box 1 is arranged on the bottom wall of a supporting plate, the control box 4102 is arranged below the liquid mixing box 4101, a partition plate 4102 is arranged in the control box 4104, a sliding plate 413 is arranged on the bottom of the extrusion cylinder 4104, a top of the extrusion cylinder 4104 is arranged close to the extrusion cylinder 4104, a top of the extrusion cylinder 4104 is arranged on the extrusion cylinder 4104, a top of the extrusion cylinder 4104 is arranged on the extrusion cylinder 4104, one end of the squeezing transmission connecting rod 4105 is rotatably arranged at one end far away from the partition plate 4140 in the squeezing barrel 4104, the mixed liquid control connecting rod 4106 is rotatably arranged at one end, close to the partition plate 4140, of the squeezing transmission connecting rod 4105, the mixed liquid control connecting rod 4106 is arranged above the squeezing transmission connecting rod 4105, the transmission control connecting rod 4107 is rotatably arranged at one end, close to the partition plate 4140, of the squeezing transmission connecting rod 4105, the transmission control connecting rod 4107 is arranged below the squeezing transmission connecting rod 4105, the air outlet cover 4108 is arranged on the outer side wall of the transmission box 4103, a plurality of groups of air vents 4146 are arranged on the air outlet cover 4108, the fan blade 4109 is rotatably arranged in the air outlet cover 4108, one end of the transmission rotating shaft 4110 is rotatably arranged in the transmission box 4103, the other end of the transmission rotating shaft 4110 is arranged by sliding through the bottom sliding hole 4130 and rotatably arranged at one end, close to the partition plate 4140, of the transmission control connecting rod 4107, one end of the mixed liquid rotating shaft 4111 is rotatably arranged in a mixed liquid box 4101, the upper end of the mixed liquid rotating shaft 4111 is rotatably arranged in the mixed liquid box 4101, the lower end of the mixed liquid rotating shaft 4111 slides through a top sliding hole 4129 to be arranged and is rotatably arranged at one end, close to a partition plate 4140, of a mixed liquid control connecting rod 4106, the upper end of the mixed liquid rotating shaft 4111 is provided with a plurality of groups of mixed liquid blades 4143 in an array distribution manner, a medicine discharging driving motor 4112 is arranged in a transmission box 4103, the medicine discharging driving gear 4113 is fixedly connected with the output end of the medicine discharging driving motor 4112 in a coaxial manner, the medicine discharging driven gear 4114 is arranged on a group of transmission rotating shafts 4110 close to the medicine discharging driving motor 4112, the medicine discharging driven gear 4114 is arranged in a meshing manner with the medicine discharging driving gear 4113, the medicine discharging driving wheel 4115 is fixedly connected with the output end of the medicine discharging driving motor 4112, the medicine discharging driven driving wheel 4116 is arranged in the transmission box 4103, the medicine discharging driven driving wheel 4116 is arranged on a group of driving rotating shafts 4110 far away from the medicine discharging driving motor 4112, the medicine discharging driving belts 4117 are wound on the medicine discharging driving wheel 4115 and the medicine discharging driven driving wheel 4116, the wind power driving wheel 4118 is arranged in the transmission box 4103, the wind power driving wheel 4118 is arranged on a group of driving rotating shafts 4110 far away from the medicine discharging driving motor 4112, the wind power driven driving wheel 4119 is rotatably arranged in the transmission box 4103, the wind power adjusting driving belt 4120 is wound on the wind power driving wheel 4118 and the wind power driven driving wheel 4119, the wind power driving bevel gear 4121 is rotatably arranged in the transmission box 4103, the wind power driving bevel gear 4121 is coaxially and fixedly connected with the wind power driven driving wheel 4119, the wind power driven bevel gear 4122 is rotatably arranged in the transmission box 4103, and the wind power driven bevel gear 4122 is meshed with the wind power driving bevel gear 4121, the wind driven bevel gear 4122 is coaxially and fixedly connected with the fan blade 4109, the flexible and elastic bending jet tube 4123 is communicated with and arranged on the air outlet cover body 4108, an air inlet cavity 4133, a compression cavity 4134 and a medicine outlet cavity 4135 are sequentially communicated and arranged in the flexible and elastic bending jet tube 4123, the cross section area of the compression cavity 4134 in the direction from the air inlet cavity 4133 to the medicine outlet cavity 4135 is gradually reduced, the cross section area of the air inlet cavity 4133 is equal to that of one end, close to the air inlet cavity 4133, of the compression cavity 4134, the cross section area of the medicine outlet cavity 4135 is equal to that of one end, close to the medicine outlet cavity 4135, of the compression cavity 4134, of the medicine outlet cavity 4135, of the other end of the medicine outlet tube 4124 is communicated and arranged in the liquid mixing box 4101, the liquid inlet hole 4125 is communicated and arranged between the control box 4102 and the transmission box 4103, and the storage tube 4126 is arranged on the top wall of the support plate 1000, the storage cylinder 4126 is provided with a cylinder cover 4136, the storage cylinder 4126 is provided with a transparent observation window 4137, the storage cylinder 4126 is internally provided with a liquid medicine storage cavity 4138 and a water storage cavity 4139, one end of a liquid medicine communicating pipe 4127 is communicated with the liquid medicine storage cavity 4138, the other end of the liquid medicine communicating pipe 4127 is communicated with a liquid inlet hole 4125 close to the air outlet hood body 4108, one end of a water communicating pipe 4128 is communicated with the water storage cavity 4139, the other end of the water communicating pipe 4128 is communicated with a liquid inlet hole 4125 far away from the air outlet hood body 4108, electromagnetic valves 4145 are arranged in the liquid medicine communicating pipe 4127 and the water communicating pipe 4128, the mixing hole 4141 is communicated between the liquid mixing tank 4101 and the control tank 4102, and a one-way valve 4142 is arranged in the mixing hole 4141.

Referring to fig. 8, 14, 19 and 22, the intermittent trigger assembly 4300 includes a trigger fixing slide bar 4301, a trigger fixing plate 4302, a trigger slide bar 4303, a trigger ball 4304, a trigger sliding plate 4305 and a trigger spring 4306, the trigger fixing slide bar 4301 is disposed on an inner top wall of the transmission box 4103, the trigger fixing slide bar 4301 is disposed in the liquid medicine communicating pipe 4127 and the water communicating pipe 4128, the trigger fixing plate 4302 is disposed at a bottom of the trigger fixing slide bar 4301, a lower end of the trigger slide bar 4303 is slidably inserted into the trigger fixing plate 4302, an upper end of the trigger slide bar 4303 penetrates through the liquid inlet hole 4125 and extends into the control box 4102, the trigger ball 4304 is disposed at an upper end of the trigger slide bar 4303, the trigger sliding plate 4305 is disposed on the trigger slide bar 4303, the trigger sliding plate 4305 is slidably connected to the trigger fixing slide bar 4301, the trigger spring 4306 is sleeved on the trigger fixing slide bar 4301, and the trigger spring 4306 is disposed between the trigger fixing plate 4302 and the trigger sliding plate 4305.

Referring to fig. 1, 10, 15, 16 and 18, the spraying control assembly 4200 includes a spraying driving motor 4201, a spraying control driving wheel 4202, a spraying control driving belt 4203 and a spraying head 4204, the spraying driving motor 4201 is disposed on the bottom wall of the supporting plate 1000, the spraying control driving wheel 4202 is symmetrically and rotatably disposed on the bottom wall of the supporting plate 1000, the spraying control driving wheel 4202 is coaxially and fixedly connected to an output end of the spraying driving motor 4201, the spraying control driving belt 4203 is wound on the spraying control driving wheel 4202, the spraying head 4204 is disposed on the spraying control driving belt 4203, and the spraying head 4204 is disposed in communication with the flexible and flexible spraying pipe 4123.

Referring to fig. 1, 10, 12, 13, 17, and 26, the intelligent identification module includes a controller 5002, a signal transceiver 5003, an image capturing camera 5004, and a control terminal 5005, the controller 5002 is disposed on the supporting plate 1000, the signal transceiver 5003 is connected to the controller 5002, the image capturing camera 5004 is disposed on the bottom wall of the supporting plate 1000, the image capturing camera 5004 is connected to the controller 5002, the control terminal 5005 is wirelessly connected to the signal transceiver 5003, the control terminal 5005 transmits control information to the signal transceiver 5003, the signal transceiver 5003 receives control information from the control terminal 5005 and forwards the information to the controller 5002, and the image capturing camera 5004 obtains sample picture information and transmits the sample picture information to the controller 5002.

Referring to fig. 17 and 27, the present invention provides an intelligent pesticide application system for agricultural plant protection, comprising a FastRCNN network module 5006, an RPN network module 5007 and any one of the intelligent pesticide application devices for agricultural plant protection, wherein the FastRCNN network module 5006 is disposed in a controller 5002, the RPN network module 5007 is disposed in a controller 5002, the FastRCNN network module 5006 is connected to the controller 5002, the RPN network module 5007 is connected to the FastRCNN network module 5006, the FastRCNN network module 5006 comprises a shared convolutional layer 5008, a specific convolutional layer 5009, a Rol pooling layer 5010, a fully connected layer three 5011, a classification score 5012 and a bbox regression 3, the controller 5002 receives and processes sample picture information from an image capturing camera 5004 and transmits sample picture information to the shared convolutional layer 5008, the shared convolutional layer 5008 receives sample picture information from the controller 5002, processing the sample picture information into a feature map one, and sending the feature map one to a unique convolutional layer 5009 and an RPN network module 5007, the unique convolutional layer 5009 receiving the feature map one from a shared convolutional layer 5008, processing the feature map one into a feature map two, and sending the feature map two to a Rol pooling layer 5010, the RPN network module 5007 including a sliding window layer 5014, a full connection layer one 5015, a full connection layer two 5016, a region suggestion 5017, and a region score 5018, the sliding window layer 5014 receiving and processing the feature map one from the shared convolutional layer 5008 and sending the processed information to the full connection layer one 5015, the full connection layer one 5015 receiving and processing information from the sliding window layer 5014 and sending the processed information to the full connection layer two 5016, the full connection layer two 5016 receiving and processing information from the full connection layer one 5015 to obtain the region suggestion 5017 and the region score 8, and sends the area recommendation 5017 to the Rol pooling layer 5010, the Rol pooling layer 5010 receives and processes the area recommendation 5017 from the full connectivity layer two 5016 and the feature map two of the unique convolutional layer 5009 and sends the processed information to the full connectivity layer three 5011, the full connectivity layer three 5011 receives and processes the information from the Rol pooling layer 5010 and outputs a classification score 5012 and a bbox regression 5013.

Referring to fig. 1, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 10, fig. 12, fig. 13, fig. 18, and fig. 22, the storage battery 5001 is disposed on the support plate 1000, and the storage battery 5001 is electrically connected to the chemical spraying driving motor 4201, the solenoid valve 4145, the chemical discharging driving motor 4112, the obstacle crossing adjusting motor 3009, the obstacle crossing controlling motor 3012, the traveling driving motor 2003, the controller 5002, the signal transceiver 5003, and the image capturing camera 5004.

First embodiment, referring to fig. 1 and 8, before administration, a user replenishes the liquid medicine and the liquid water into the liquid medicine storage chamber 4138 and the water storage chamber 4139.

Before administration, the user opens the barrel cover 4136 and separately injects the liquid medicine and the liquid water into the liquid medicine storage chamber 4138 and the water storage chamber 4139, and in this process, the transparent observation window 4137 facilitates the user to constantly observe the injection amount of the liquid medicine and the liquid water in the liquid medicine storage chamber 4138 and the water storage chamber 4139, and when the liquid medicine storage chamber 4138 and the water storage chamber 4139 are full, the user does not inject the liquid medicine and the liquid water into the liquid medicine storage chamber 4138 and the water storage chamber 4139 any more, and closes the barrel cover 4136, and in the administration process, the transparent observation window 4137 facilitates the user to constantly observe the remaining amount of the liquid medicine and the liquid water in the liquid medicine storage chamber 4138 and the water storage chamber 4139, and when the liquid medicine in the liquid medicine storage chamber 4138 is insufficient or the liquid water in the water storage chamber 4139 is insufficient, replenishment can be timely performed.

Second embodiment, referring to fig. 2, 4, 17 and 26, the second embodiment is based on the above embodiments, and the user controls the movement of the apparatus through the control terminal 5005.

A user sends a control signal to the signal transceiver 5003 through the control terminal 5005, the signal transceiver 5003 receives the control signal from the control terminal 5005 and sends the signal to the controller 5002, the controller 5002 receives the control signal from the signal transceiver 5003 and starts the traveling driving motor 2003, the traveling driving motor 2003 drives the driving bevel gear 2004 to rotate, the driving bevel gear 2004 drives the driven bevel gear 2005 to rotate through gear transmission, and the driven bevel gear 2005 drives the traveling wheel 2002 to rotate, so that the device is driven to move.

Third embodiment, this embodiment is based on the above-mentioned embodiments, and referring to fig. 1, fig. 3, fig. 4, fig. 5, fig. 6, fig. 9, fig. 17 and fig. 26, during the drug administration process, when an obstacle that is difficult to climb over is encountered, the user controls the device to climb over the obstacle through the control terminal 5005.

A user sends a control signal to the signal transceiver 5003 through the control end 5005, the signal transceiver 5003 receives a control signal from the control end 5005 and sends the signal to the controller 5002, the controller 5002 receives the control signal from the signal transceiver 5003 and starts the obstacle crossing adjusting motor 3009 and the obstacle crossing control motor 3012, the obstacle crossing adjusting motor 3009 in a starting state drives the obstacle crossing adjusting driving bevel gear 3010 to rotate, the obstacle crossing adjusting driving bevel gear 3010 drives the obstacle crossing adjusting driven bevel gear 3011 to rotate through gear transmission, the obstacle crossing adjusting driven bevel gear 3011 drives the obstacle crossing control rotating shaft 3002 to rotate, the obstacle crossing control rotating shaft 3002 drives the obstacle crossing fixing plate 3003 to rotate, the obstacle crossing fixing plate 3003 drives the obstacle crossing fixing sleeve 3004 to swing, meanwhile, the obstacle crossing control motor 3012 in a starting state drives one obstacle crossing control driving wheel set 3013 close to the obstacle crossing control motor 3012 to rotate, the obstacle crossing control driving wheel set 3013 close to the obstacle crossing control driving wheel set 3003 to rotate, and the obstacle crossing control driving sleeve 3015 to synchronously control the obstacle crossing control device to rotate, thereby enabling the obstacle crossing control device to extend and control the two sets 3015 to rotate, and to control the obstacle crossing device through the two sets 3005 to control the obstacle crossing device.

Fourth embodiment, based on the above embodiments, referring to fig. 1, fig. 5, fig. 8, fig. 10, fig. 11, fig. 12, fig. 14, fig. 15, fig. 16, fig. 17, fig. 18, fig. 19, fig. 20, fig. 21, fig. 22, fig. 23, fig. 24, and fig. 25, when dispensing, the air pressure type hedging type dosing assembly and the intermittent trigger assembly are used in combination, so that the configuration amount of pesticide can be accurately controlled, the technical effect of on-site preparation is achieved, and the contradictory problem that neither too much pesticide can be configured (pesticide is wasted) nor less pesticide can be configured (the pesticide application progress is affected) which is difficult to solve in the prior art is solved.

In the drug dispensing process, the user activates the drug dispensing driving motor 4112 via the controller 5002, the drug dispensing driving motor 4112 drives the drug dispensing driving gear 4113 and the drug dispensing driving transmission wheel 4115 to rotate, the drug dispensing driving gear 4113 drives the drug dispensing driven gear 4114 to rotate through gear transmission, the drug dispensing driven gear 4114 drives a set of transmission rotation shafts 4110 far away from the air outlet housing 4108 to rotate, meanwhile, the drug dispensing driving transmission wheel 4115 drives the drug dispensing driven transmission wheel 4116 to rotate through a drug dispensing transmission belt 4117, the drug dispensing driven transmission wheel 4116 drives the wind power driving transmission wheel 4118 to rotate and drives a set of transmission rotation shafts 4110 near the air outlet housing 4108 to rotate, the transmission rotation shafts 4110 drive the transmission control connecting rod 4107 to swing, the transmission control connecting rod 4107 drives the extrusion transmission connecting rod 4105 to swing, under the action of the swinging extrusion transmission connecting rod 4105, the two sets of extrusion barrels 4104 drive the two sets of extrusion heads 4132 to move toward the separation plate 4140, at this time, the user opens the electromagnetic valve 4145 through the controller 5002, since the lowest height of the storage tube 4126 is higher than the highest height of the transmission box 4103, as known from the siphon principle, the liquid medicine and water in the storage tube 4126 can fill the liquid medicine communicating tube 4127 and the water communicating tube 4128 respectively, and enter the area between the partition plate 4140 and the extrusion head 4132 in the control box 4102 along the liquid inlet hole 4125, during the process that the extrusion head 4132 is driven by the extrusion tube 4104 to move towards the partition plate 4140, the extrusion head 4132 extrudes the trigger ball 4304, so that the trigger ball 4304 gradually moves downwards, the trigger ball 4304 drives the trigger slide bar 4303 to move downwards, the trigger slide bar 4303 drives the trigger slide plate 4305 to move downwards along the trigger fixing slide bar 4301, the trigger slide plate 4305 extrudes the trigger spring 4306, so that the trigger spring 4306 becomes an elastic compression state until the trigger ball 4304 moves to the liquid inlet hole 4125, so that the liquid medicine and water can not enter the area between the partition plate 4140 and the squeeze head 4132 in the control box 4102 temporarily through the liquid inlet hole 4125, and at the same time, since the two sets of squeeze tubes 4104 respectively drive the two sets of squeeze heads 4132 to move in the direction approaching to the partition plate 4140, so that the pressure in the area between the partition plate 4140 and the squeeze heads 4132 in the control box 4102 is gradually increased, so that the liquid medicine and water entering between the partition plate 4140 and the squeeze heads 4132 enter the liquid mixing box 4101 along the mixing hole 4141, during this process, the water and liquid medicine in the control box 4102 can enter the liquid mixing box 1 along the one-way valve 4142 in the mixing hole 4141, while the water and liquid medicine in the liquid mixing box 4101 can not enter the control box 4102 along the one-way valve 4142 in the mixing hole 4141, and then, as the liquid mixing rotation shaft 4111 continues to rotate, the squeeze tubes 4104 move in the direction departing from the partition plate 4140, so that the squeeze heads 4132 gradually get away from the trigger ball 4304, until the extrusion head 4132 no longer extrudes the trigger ball 4304, in the process, under the elastic recovery action of the trigger spring 4306, the trigger sliding plate 4305 moves upward and drives the trigger sliding rod 4303 to move upward, the trigger sliding rod 4303 drives the trigger ball 4304 to move upward, so that the trigger ball 4304 no longer blocks the liquid inlet hole 4125, in the process that the extrusion cylinder 4104 moves away from the partition plate 4140, the pressure in the area between the partition plate 4140 and the extrusion head 4132 in the control box 4102 becomes smaller, so that the liquid medicine and water in the liquid medicine communicating pipe 4127 and the water communicating pipe 4128 can more quickly enter the control box 4102 along the liquid inlet hole 4125, and the circulation is repeated, at the same time, the extrusion transmission connecting rod 4105 drives the mixed liquid control connecting rod 4106 to swing, the mixed liquid control connecting rod 4106 drives the mixed liquid rotating shaft 4111 to rotate, the mixed liquid rotating shaft 4111 drives the mixed liquid blade 4143 to rotate, so that the water and the liquid medicine entering the liquid medicine in the mixed liquid box 4101 are sufficiently mixed, the wind power driving transmission wheel 4118 drives the wind power driven transmission wheel 4119 to rotate through the transmission of the wind power adjusting transmission belt 4120, the wind power driven transmission wheel 4119 drives the wind power driving bevel gear 4121 to rotate, the wind power driving bevel gear 4121 drives the wind power driven bevel gear 4122 to rotate through gear transmission, the wind power driven bevel gear 4122 drives the fan blades 4109 to rotate, under the driving of the rotating fan blades 4109, the outside air enters the air outlet housing 4108 along the air holes 4146, driven by the fast rotating fan blade 4109, the air entering the air outlet hood 4108 is blown into the flexible and elastic bent injection tube 4123 fast, and in turn rapidly passes through the inlet chamber 4133, compression chamber 4134 and outlet chamber 4135 in the flexibly resilient curved ejector tube 4123, as rapidly flowing air passes through the compression chamber 4134 of reduced cross-sectional area, the flow rate of the air is further increased and the pressure is reduced due to the gradually decreased cross-sectional area, and a negative pressure region is formed in the region between the compression chamber 4134 and the medicine discharge chamber 4135, under the action of negative pressure, the liquid medicine fully mixed in the liquid medicine mixing box 4101 enters the medicine outlet cavity 4135 along the medicine outlet tube 4124, and is impacted by the fast flowing air to spray mist, then the liquid medicine in the form of the mist is carried by the fast flowing air to enter the pesticide spraying head 4204 and is finally sprayed to the weeds along the pesticide spraying head 4204, in this process, due to the existence of the second check valve 4144, air can enter the flexibly and elastically bent injection tube 4123 along the air outlet housing 4108, the air and water in the flexibly bent injection tube 4123 cannot enter the air outlet housing 4108 along the flexibly bent injection tube 4123, by executing the operation, the technical effect of dispensing the pesticide at any time is realized, and the technical problems of pesticide waste caused by too much pesticide dispensing and pesticide dispensing process influence caused by insufficient pesticide dispensing are solved.

In the fifth embodiment, based on the above-mentioned embodiments, referring to fig. 10, fig. 12, fig. 13, fig. 17, fig. 19, fig. 26 and fig. 27, in the pesticide application process, fast and accurate identification is performed on weeds through the FastRCNN network module and the RPN network module in the intelligent identification module, and the fast and accurate pesticide spraying device is used in cooperation with the pneumatic hedging type pesticide discharging mechanism, so that the technical effect of fast and accurate pesticide spraying on weeds is achieved, and the contradiction problem that the pesticide application speed is not increased (the pesticide application accuracy is reduced and pesticides are wasted) and is difficult to solve in the prior art is solved.

In the process of pesticide application, sample picture information is acquired by an image acquisition camera 5004 and sent to a controller 5002, the controller 5002 receives and processes the sample picture information from the image acquisition camera 5004 and sends the sample picture information to a shared convolutional layer 5008, the shared convolutional layer 5008 receives the sample picture information from the controller 5002, processes the sample picture information into a first characteristic diagram and sends the first characteristic diagram to a specific convolutional layer 5009 and an RPN network module 5007, the specific convolutional layer 5009 receives the first characteristic diagram from the shared convolutional layer 5008, processes the first characteristic diagram into a second characteristic diagram, and sends the second characteristic diagram to a Rol pooling layer 5010, meanwhile, a sliding window layer 5014 in the RPN network module 5007 receives and processes the first characteristic diagram from the shared convolutional layer 5008 and sends processed information to a full link layer 5015, the full link layer 5015 receives and processes information from the sliding window layer 5014 and sends processed information to a full link layer 4206, the full link layer 4206 receives and drives a full link layer 4206 to perform a full link control area control, a full link control area 4202 and a full link control area 4206, a full link control area is executed, a full link control area 5012 receives and a full link control area 4203, a full link control area 4203 and a full link control area 5012 and a full link control area is executed by a full link control area 4203, the pesticide spraying control transmission belt 4203 drives the pesticide spraying head 4204 to move, so that the pesticide spraying head 4204 moves, and pesticide is sprayed to weeds accurately.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides an agricultural plant protection is with intelligent equipment of giving medicine to poor free of charge which characterized in that: the pneumatic type hedging type medicine discharging mechanism comprises a supporting plate (1000), a traveling assembly (2000), an auxiliary obstacle crossing assembly (3000), a pneumatic type hedging type medicine discharging mechanism (4000) and an intelligent identification module, wherein the traveling assembly (2000) is arranged at the bottom of the supporting plate (1000), the auxiliary obstacle crossing assembly (3000) is symmetrically arranged on the supporting plate (1000), the pneumatic type hedging type medicine discharging mechanism (4000) is arranged on the supporting plate (1000), the intelligent identification module is arranged on the supporting plate (1000), the pneumatic type hedging type medicine discharging mechanism (4000) comprises a pneumatic type hedging type quantitative medicine discharging assembly (4100), a medicine spraying control assembly (4200) and an intermittent type trigger assembly (4300), the pneumatic type hedging type quantitative medicine discharging assembly (4100) is arranged on the supporting plate (1000), the medicine spraying control assembly (4200) is arranged on the bottom wall of the supporting plate (1000), and the intermittent type trigger assembly (4300) is arranged on the pneumatic type hedging type quantitative medicine discharging assembly (4100).

2. The intelligent pesticide application device for agricultural plant protection as claimed in claim 1, wherein: the intelligent identification module comprises a controller (5002), a signal transceiver (5003), an image acquisition camera (5004) and a control end (5005), the controller (5002) is arranged on a supporting plate (1000), the signal transceiver (5003) is arranged on the supporting plate (1000), the signal transceiver (5003) is connected with the controller (5002), the image acquisition camera (5004) is arranged on the bottom wall of the supporting plate (1000), the image acquisition camera (5004) is connected with the controller (5002), the control end (5005) is in wireless connection with the signal transceiver (5003), the control end (5005) sends control information to the signal transceiver (5003), the signal transceiver (5003) receives control information from the control end (5005) and forwards the information to the controller (5002), and the image acquisition camera (5004) acquires sample picture information and sends the sample picture information to the controller (5002).

3. An intelligent pesticide application system for agricultural plant protection, characterized by comprising a FastRCNN network module (5006), an RPN network module (5007) and an intelligent pesticide application device for agricultural plant protection according to any one of claims 1 and 2, wherein the FastRCNN network module (5006) is disposed in the controller (5002), the RPN network module (5007) is disposed in the controller (5002), the FastRCNN network module (5006) is connected to the controller (5002), the RPN network module (5007) is connected to the FastRCNN network module (5006), the FastRCNN network module (5006) comprises a shared convolutional layer (5008), a layer-specific convolutional layer (5009), a Rol pooling layer (5010), a fully-connected layer three (5011), a classification score (5012) and a bbox (5013), the controller (5002) receives and processes sample information from an image acquisition unit (5004), and transmits sample information from the rpc network module to the RPN network module (5008), the image acquisition unit receives and processes sample information from the rpc network module (5008), and transmits the picture sharing characteristics of the image (5008), and the image unit (5008) receives and transmits picture sharing characteristics of a picture (5008), the RPN network module (5007) comprises a sliding window layer (5014), a full connection layer one (5015), a full connection layer two (5016), an area recommendation (5017) and an area score (5018), the sliding window layer (5014) receives and processes the feature map one from the shared convolutional layer (5008) and sends the processed information to the full connection layer one (5015), the full connection layer one (5015) receives and processes the information from the sliding window layer (5014) and sends the processed information to the full connection layer two (5016), the full connection layer two (5016) receives and processes the information from the full connection layer one (5015) to obtain the area recommendation (5017) and the area score (5018) and sends the area recommendation (5017) to the Rol pooling layer (5010), the Rol pooling layer (5010) receives and processes the feature map of the area recommendation (5017) and the unique convolutional layer (bb9) from the full connection layer two (5016) and sends the processed information to the full connection layer two (5011) and outputs the processed connection score (5001) and the full connection layer three connection layers (5012) and processed information (5012).

4. The intelligent pesticide application device for agricultural plant protection as claimed in claim 1, wherein: the pneumatic hedging type quantitative medicine discharging component (4100) comprises a liquid mixing box (4101), a control box (4102), a transmission box (4103), an extrusion container (4104), an extrusion transmission connecting rod (4105), a liquid mixing control connecting rod (4106), a transmission control connecting rod (4107), an air outlet cover body (4108), a fan blade (4109), a transmission rotating shaft (4110), a liquid mixing rotating shaft (4111), a medicine discharging driving motor (4112), a medicine discharging driving gear (4113), a medicine discharging driven gear (4114), a medicine discharging driving transmission wheel (4115), a medicine discharging driven transmission wheel (4116), a medicine discharging transmission belt (4117), a wind power driving transmission wheel (4118), a wind power driven transmission wheel (4119), a wind power adjusting transmission belt (4120), a wind power driving bevel gear (4121), a driven bevel gear (4122), a flexible bending injection pipe (4123), a medicine discharging pipe (4124), a liquid inlet hole (4125), a storage barrel (4126), a liquid medicine (4127), a water communicating pipe (4128) and a mixing hole (4141), a flexible bending injection pipe (4123), a liquid mixing control box (4102), a sliding control box (4102) is arranged in the control box (4101), the control box (4102) and the extrusion container (4104), the top of the extrusion cylinder (4104) is provided with a top sliding hole (4129), the bottom of the extrusion cylinder (4104) is provided with a bottom sliding hole (4130), two sides of the extrusion cylinder (4104) are provided with side sliding holes (4131), one end of the extrusion cylinder (4104) close to the partition plate (4140) is provided with an extrusion head (4132), one end of the extrusion transmission connecting rod (4105) is rotatably arranged at one end of the extrusion cylinder (4104) far away from the partition plate (4140), the mixed liquid control connecting rod (4106) is rotatably arranged at one end of the extrusion transmission connecting rod (4105) close to the partition plate (4140), the mixed liquid control connecting rod (4106) is arranged above the extrusion transmission connecting rod (4105), the transmission control connecting rod (4107) is rotatably arranged at one end of the extrusion transmission connecting rod (4105) close to the partition plate (4140), the transmission control connecting rod (4107) is arranged below the extrusion transmission connecting rod (4105), the air outlet 4108) is arranged on the outer side wall of the transmission connecting rod (4103), one end of the air outlet transmission connecting rod (4108) is arranged at one end of the transmission connecting rod (4109) which is arranged in the transmission housing (4100, and the transmission housing (4104) is arranged at one end of the transmission housing (4130 which is arranged close to the bottom of the transmission housing (4140), the upper end of the liquid mixing rotating shaft (4111) is rotatably arranged in a liquid mixing box (4101), the lower end of the liquid mixing rotating shaft (4111) slidably penetrates through a top sliding hole (4129) and is rotatably arranged at one end, close to a separation plate (4140), of a liquid mixing control connecting rod (4106), a plurality of groups of liquid mixing paddles (4143) are distributed at the upper end of the liquid mixing rotating shaft (4111) in an array manner, the medicine discharging driving motor (4112) is arranged in a transmission box (4103), the medicine discharging driving gear (4113) is fixedly connected with the output end of the medicine discharging driving motor (4112) in a coaxial manner, the medicine discharging driven gear (4114) is arranged in the transmission box (4103) and is arranged on a group of transmission rotating shaft (4110) close to the medicine discharging driving motor (4112), the medicine discharging driven gear (4114) is arranged in a meshing manner with the medicine discharging driving gear (4113), the wind power output end of the medicine discharging driving gear (4115) and the medicine discharging driving motor (4112) are arranged in a coaxial manner, the transmission box (4116) is arranged on the medicine discharging driving wheel (4113), and the medicine discharging driving motor (4106), the wind power driving transmission wheel (4118) is arranged on a group of transmission rotating shafts (4110) far away from the chemical discharging driving motor (4112), the wind power driven transmission wheel (4119) is rotatably arranged in a transmission box (4103), the wind power adjusting transmission belt (4120) is wound on the wind power driving transmission wheel (4118) and the wind power driven transmission wheel (4119), the wind power driving bevel gear (4121) is rotatably arranged in the transmission box (4103), the wind power driving bevel gear (4121) is coaxially and fixedly connected with the wind power driven transmission wheel (4119), the wind power driven bevel gear (4122) is rotatably arranged in the transmission box (4103), the wind power driven bevel gear (4122) is meshed with the wind power driving bevel gear (4121), the wind power driven bevel gear (4122) is coaxially and fixedly connected with the fan blades (4109), the flexible and elastic bent jet pipe (4123) is communicated with the air outlet hood body (4108), an air inlet cavity (4133), a compression cavity (34) and a chemical discharging cavity (4135) are sequentially communicated with an air inlet cavity (4133), the cross-outlet cavity (4135) is gradually reduced from one end of the air inlet cavity (4133) to the chemical discharging cavity (4135, the end of which is close to the chemical discharging cavity (4135) and the chemical discharging cavity (4135) is gradually reduced from the air inlet cavity (4133), the air inlet cavity (4133) is internally provided with a second one-way valve (4144), one end of the medicine outlet pipe (4124) is communicated with one end, close to the compression cavity (4134), of the medicine outlet cavity (4135), the other end of the medicine outlet pipe (4124) is communicated with the liquid mixing tank (4101), the liquid inlet hole (4125) is communicated between the control box (4102) and the transmission box (4103), the storage cylinder (4126) is arranged on the top wall of the support plate (1000), the storage cylinder (4126) is provided with a cylinder cover (4136), the storage cylinder (4126) is provided with a transparent observation window (4137), the storage cylinder (4126) is internally provided with a liquid medicine storage cavity (4138) and a water storage cavity (4139), one end of the liquid medicine communication pipe (4127) is communicated with the liquid medicine storage cavity (4138), the other end of the liquid medicine communication pipe (4127) is communicated with the liquid medicine storage cavity (4125) close to the air outlet cover body (418), the other end of the liquid medicine communication pipe (4127) is communicated with the liquid inlet hole (4125) close to the air outlet cover body (418), the water storage cavity (4128) is communicated with the liquid mixing tank (4128), the liquid mixing tank (4128) and the liquid mixing tank (4128) is communicated with the liquid mixing tank (4125) and the liquid mixing tank (418), the liquid mixing tank (4125), a one-way valve (4142) is arranged in the mixing hole (4141).

5. The intelligent pesticide application device for agricultural plant protection as claimed in claim 4, wherein: intermittent type formula trigger assembly (4300) is including triggering fixed slide bar (4301), trigger fixed plate (4302), trigger slide bar (4303), trigger ball (4304), trigger slide plate (4305) and trigger spring (4306), trigger fixed slide bar (4301) and locate on the interior roof of transmission case (4103), trigger fixed slide bar (4301) and locate in liquid medicine communicating pipe (4127) and in water communicating pipe (4128), trigger fixed plate (4302) locate the bottom of triggering fixed slide bar (4301), the lower extreme sliding plug connection of triggering slide bar (4303) is located on triggering fixed plate (4302), the upper end of triggering slide bar (4303) runs through feed liquor hole (4125) and extends to in control box (4102), trigger ball (4304) locate the upper end of triggering slide bar (4303), trigger slide plate (4305) locate on triggering slide bar (4303), trigger slide plate (4305) and trigger fixed slide bar (4301) and trigger fixed slide bar (4306) and locate between trigger slide bar (4302).

6. The intelligent pesticide application device for agricultural plant protection as claimed in claim 5, wherein: the pesticide spraying control assembly (4200) comprises a pesticide spraying driving motor (4201), a pesticide spraying control driving wheel (4202), a pesticide spraying control transmission belt (4203) and a pesticide spraying head (4204), wherein the pesticide spraying driving motor (4201) is arranged on the bottom wall of a supporting plate (1000), the pesticide spraying control driving wheel (4202) is symmetrically and rotatably arranged on the bottom wall of the supporting plate (1000), the pesticide spraying control driving wheel (4202) is coaxially and fixedly connected with the output end of the pesticide spraying driving motor (4201), the pesticide spraying control transmission belt (4203) is wound on the pesticide spraying control driving wheel (4202), the pesticide spraying head (4204) is arranged on the pesticide spraying control driving wheel (4203), and the pesticide spraying head (4204) is communicated with a flexible and elastic bent spraying pipe (4123).

7. The intelligent pesticide application device for agricultural plant protection as claimed in claim 6, wherein: the auxiliary obstacle crossing assembly (3000) comprises an obstacle crossing fixing frame (3001), an obstacle crossing control rotating shaft (3002), an obstacle crossing fixing plate (3003), an obstacle crossing fixing sleeve (3004), an obstacle crossing fixing sleeve rod (3005), an obstacle crossing auxiliary wheel (3006), an obstacle crossing fixing rod (3007), a conveying cylinder (3008), an obstacle crossing adjusting motor (3009), an obstacle crossing adjusting drive bevel gear (3010), an obstacle crossing adjusting driven bevel gear (3011), an obstacle crossing control motor (3012), an obstacle crossing control transmission wheel (3013), an obstacle crossing control transmission belt (3014) and an obstacle crossing control screw rod (3015), the obstacle crossing fixing frame (3001) is symmetrically arranged on a support plate (1000), the obstacle crossing control rotating shaft (3002) is rotatably arranged on the obstacle crossing fixing frame (3001), the obstacle crossing fixing plate (3003) is symmetrically arranged at two ends of the obstacle crossing control rotating shaft (3002), the obstacle crossing fixing sleeve rod (3004) is arranged on the obstacle crossing fixing sleeve rod (3003), the obstacle crossing fixing sleeve rod (3004) is arranged on the obstacle crossing fixing sleeve rod (3004), the obstacle crossing fixing sleeve rod (3004) is connected with the obstacle crossing fixing sleeve rod (3005), the obstacle crossing control device is characterized in that the obstacle crossing control motor (3009) is arranged on a supporting plate (1000), the obstacle crossing control driving bevel gear (3010) is coaxially and fixedly connected with the output end of the obstacle crossing control motor (3009), the obstacle crossing control driven bevel gear (3011) is arranged on an obstacle crossing control rotating shaft (3002), the obstacle crossing control driven bevel gear (3011) and the obstacle crossing control driving bevel gear (3010) are arranged in a meshed mode, the obstacle crossing control motor (3012) is arranged in an obstacle crossing fixing sleeve (3004), the obstacle crossing control driving wheel (3013) is rotatably arranged in an obstacle crossing fixing sleeve (3004), the obstacle crossing control driving wheel (3013) is coaxially and fixedly connected with the output end of the obstacle crossing control motor (3012), the obstacle crossing control driving belt (3014) is wound on the obstacle crossing control driving wheel (3013), the obstacle crossing control driving belt (3014) is arranged in a conveying cylinder (3008), the obstacle crossing control screw rod (3015) is rotatably arranged in the obstacle crossing fixing sleeve (3004), and the obstacle crossing control screw rod (3015) is coaxially and fixedly connected with the obstacle crossing control screw rod (3015).

8. The intelligent pesticide application device for agricultural plant protection as claimed in claim 7, wherein: the traveling assembly (2000) comprises a traveling fixing frame (2001), a traveling wheel (2002), a traveling driving motor (2003), a driving bevel gear (2004) and a driven bevel gear (2005), wherein the traveling fixing frame (2001) is symmetrically arranged at the bottom of the supporting plate (1000), the traveling wheel (2002) is rotatably arranged at the lower end of the traveling fixing frame (2001), the traveling driving motor (2003) is arranged on the traveling fixing frame (2001), the driving bevel gear (2004) is coaxially and fixedly connected with the output end of the traveling driving motor (2003), the driven bevel gear (2005) is rotatably arranged on the traveling fixing frame (2001), the driven bevel gear (2005) is meshed with the driving bevel gear (2004), and the driven bevel gear (2005) is coaxially and fixedly connected with the traveling wheel (2002).

9. The intelligent pesticide application device for agricultural plant protection as claimed in claim 8, wherein: the storage battery (5001) is arranged on the supporting plate (1000).

10. The intelligent pesticide application device for agricultural plant protection as claimed in claim 9, wherein: the storage battery (5001) is electrically connected with the pesticide spraying driving motor (4201), the electromagnetic valve (4145), the pesticide discharging driving motor (4112), the obstacle crossing adjusting motor (3009), the obstacle crossing control motor (3012), the traveling driving motor (2003), the controller (5002), the signal transceiver (5003) and the image acquisition camera (5004).