Design of Intelligent Pineapple Spraying Device Based on Multi-Sensor Fusion

Aiming at the problems of low efficiency, dangerous operation and uneven spraying in pineapple spraying technology, an intelligent spraying device based on multi-sensor fusion was designed. Through real-time acquisition of the driving speed and pineapple plant height data of the intelligent spraying device, adaptive Kalman algorithm was used to filter and improve the system accuracy, and the relationship model of spraying flow, vehicle speed and pineapple height information was constructed, so as to achieve the goal of accurate spraying. Through experimental tests, the TOF detection module can make the error less than 3cm by integrating the new generation adaptive Kalman filtering algorithm. The fusion weighted filtering algorithm of GPS positioning system can reach the accuracy of 0.1m/s. The relative error between the actual flow rate and the theoretical flow rate of the spraying device is within 5%. The experimental results show that the intelligent spraying device based on multi-sensor fusion can realize accurate spraying of pineapple and solve the problems of low spraying efficiency, dangerous operation and uneven spraying of pineapple.