CN103548802A - Self-propelled spraying machine with automatic targeting in orchard and spraying method thereof - Google Patents
Self-propelled spraying machine with automatic targeting in orchard and spraying method thereof Download PDFInfo
- Publication number
- CN103548802A CN103548802A CN201310538956.2A CN201310538956A CN103548802A CN 103548802 A CN103548802 A CN 103548802A CN 201310538956 A CN201310538956 A CN 201310538956A CN 103548802 A CN103548802 A CN 103548802A
- Authority
- CN
- China
- Prior art keywords
- laser
- target
- spraying
- shower nozzle
- orchard
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Catching Or Destruction (AREA)
Abstract
The invention discloses a self-propelled spraying machine with automatic targeting in an orchard and a spraying method thereof. According to the self-propelled spraying machine, the automatic targeting is realized, the influence by the environment is less, the response time is fast, no leaked spraying or more spraying is caused and the waste of pesticide is prevented. The spraying machine comprises a rack, a traveling device, a spraying device with a plurality of spraying nozzles, laser detecting devices and a central processor; the laser detecting devices correspond to the spraying heads in a one-by-one manner; each laser detecting device comprises a laser generator, a laser receiver, a signal processor and a controller; the spraying heads and the laser detecting devices are distributed on the rack at the same corresponding angle; the central processor is connected with all spraying-nozzle control devices. The spraying method disclosed by the invention comprises the steps that the laser generator generates laser transmitting signals, the laser receiver receives reflecting signals, and if the target distance is in the set distance range, the target is the current target; if the former signal does not detect the current target, the latter reflecting signal detects the current target, and then the spraying is carried out; if the three continuous reflecting signals do not detect the target, the spraying is stopped; the other states are maintained to be the original states.
Description
Technical field
Present technique relates to orchard sprayer, specifically, is a kind of self-propelled orchard automatic target detecting orchard sprayer and spray method thereof.
Background technology
Existing orchard sprayer generally comprises frame, running gear, sprayer unit, when spraying, needs Artificial Control, can not realize automation mechanized operation.Even if there is the orchard sprayer can automation mechanized operation, but can not distinguish whether there is target, always spraying continuously during its spraying.Interval spraying between tree and tree belongs to invalid spraying, cannot effectively be deposited on fruit tree leaf, and liquid waste is large.Wind spraying aid type spray technique is a kind of being widely adopted and highly effective Orchard Spray technology, this technology can significantly improve penetrability and the deposition of droplet, by whether spraying for interval between fruit tree and the control of fruit tree tree type, to reach, reduce invalid spraying, improve pesticide efficacy object.
The Detection Techniques that at present orchard automatic target detection Detection Techniques are broadly divided into ultrasonic listening technology, infrared detection technique, process based on image according to operation principle, but all do not form practical technique.
Ultrasonic is subject to the impact of environmental temperature and air humidity larger, and the radiation scope of wave beam is larger, for the fruit tree that interval is less, cannot accomplish effective identification, and orchard circumstance complication, and detection accuracy is disturbed larger.
It is probing medium that infrared detection technique adopts infrared rays, and this technology is affected greatly by natural daylight, and directionality is poor, and certainty of measurement is lower.Current research mainly concentrates on the experimental stage, and practice is less.
The Detection Techniques of processing based on image can obtain a large amount of information by video camera, can accurately judge according to database kind, size of trees etc., but fund input is large, information processing is slow, response time is long, for many row fruit trees and green non-target identification difficulty, affect operating efficiency simultaneously.
Summary of the invention
The object of present technique be to provide a kind of can automatic target detection, affected by environment little, the response time fast, target survey accuracy high, can not drain spray or spray more, prevent the self-propelled orchard automatic target detecting orchard sprayer of agricultural chemicals waste.
The self-propelled orchard automatic target detecting orchard sprayer of present technique, comprise frame, running gear, have a plurality of shower nozzles sprayer unit, identical with shower nozzle quantity, for surveying target and calculating the Laser Detecting Set of target distance, the signal that Laser Detecting Set comprises laser generator, laser pickoff, be connected with laser pickoff with laser generator is processed and controller, and shower nozzle is corresponding one by one with Laser Detecting Set; Corresponding a pair of shower nozzle and Laser Detecting Set are arranged on the same corresponding angle of frame; It also comprises central processing unit, and signal processing and the controller of each Laser Detecting Set are connected with central processing unit, and the output of central processing unit is connected with each shower nozzle control device whether each shower nozzle of control sprays.
The beneficial effect of present technique: during the work of this sprayer, the laser generator of any Laser Detecting Set sends Laser emission signal, the laser pickoff of this Laser Detecting Set receives the reflected signal of target to this Laser emission signal, signal processing and controller, according to Laser emission signal and reflected signal, calculate target apart from the distance of Laser Detecting Set; Central processing unit judges that described target distance is whether in predefined distance range; If target distance is in the distance range of setting, this target is for to work as front target, and central processing unit sends opening signal to the shower nozzle control device of the corresponding shower nozzle of this Laser Detecting Set, makes this shower nozzle start spraying; If do not detect the distance range that target or target distance surpass setting, this target is not to work as front target, can not open the magnetic valve that this shower nozzle is corresponding, and this shower nozzle is not sprayed.Adopt Laser Detecting Set, laser direction is strong, and signal is not subject to environmental disturbances substantially, and the response time is fast.Simultaneously, present technique adopts the principle that the Laser emission direction of each Laser Detecting Set is consistent with each corresponding shower nozzle droplet injection center position in shower nozzle ring assemblies to distribute, Laser Detecting Set is surveyed target (tree crown) in the different angles of direction of travel both sides, and whether central processing unit is controlled with laser detector corresponding shower nozzle in same angle and worked.In present technique, the independent control of whether spraying of each shower nozzle.The laser beam sending because of Laser Detecting Set can only detect a certain height of fruit tree and whether have target, if only survey target with a Laser Detecting Set, control whole cyclome jet head sets spraying, may cause following problem: higher tree crown because of higher than laser acquisition height and lower tree crown because of lower than laser acquisition highly, cannot be detected by Laser Detecting Set and cause drain spray, compared with little tree crown and laser acquisition, being highly positioned at height of tree crown scope and by Laser Detecting Set, being detected and trigger many sprays (invalid spraying) that all shower nozzles are all sprayed and caused.Present technique adopts a plurality of Laser Detecting Sets and the corresponding control one by one respectively of a plurality of shower nozzles, can detect the target within the scope of different angles, has prevented drain spray or has sprayed more.Present technique adopts differentiates the method whether existing when front target continuous three times, same shower nozzle can effectively prevent from because setting interior appearance cavity, producing too much start and stop action because the single precise positioning of laser beam causes compared with sparse tree crown, in order to avoid can not be realized continuous spraying to same one tree.
Present technique becomes intermittent spraying by continuity spraying, only fruit tree is carried out to dispenser, automatic technology is combined with traditional pesticide application technology, adopt Laser Detection Technique to realize when the automatic identification of front target and the automatic control of spraying, reach only to the targeting/spraying that carries out dispenser when front target, to same one tree, because shape of tree-crown is not of uniform size, can precisely control each corresponding shower nozzle simultaneously and whether spray, thus the object that realizes agricultural chemicals efficient application, avoids invalid spraying to waste.So, present technique be a kind of can automatic target detection, affected by environment little, the response time fast, target survey accuracy high, can not drain spray or many sprays, save the self-propelled orchard sprayer of liquid.
Above-mentioned self-propelled orchard automatic target detecting orchard sprayer, the direction of advance of self-propelled orchard automatic target detecting orchard sprayer of take is the place ahead, in corresponding a pair of shower nozzle and Laser Detecting Set, Laser Detecting Set is arranged on shower nozzle the place ahead.The pace of self-propelled orchard automatic target detecting orchard sprayer is 0.5-1m/s, and Laser Detecting Set is arranged on shower nozzle the place ahead 20-40cm.Can survey in advance like this, make up central processing unit deal with data required time and opens solenoid valve to spraying the required response time, within this time interval, the sprayer segment distance of having advanced forward, so shower nozzle is arranged on the distance at Laser Detecting Set rear, the distance that sprayer is advanced in interval at this moment to be substantially equaled, few spray or drain spray can be do not caused like this.
Above-mentioned self-propelled orchard automatic target detecting orchard sprayer, each shower nozzle is positioned at same vertical plane, and each Laser Detecting Set is positioned at another vertical plane.
Above-mentioned self-propelled orchard automatic target detecting orchard sprayer, shower nozzle control device is the corresponding magnetic valve being arranged on the drug liquid tube communicating with each shower nozzle.
Above-mentioned self-propelled orchard automatic target detecting orchard sprayer, running gear is cterpillar drive.
Present technique also provides a kind of simultaneously can prevent few spray or drain spray, also can prevent many spray waste agricultural chemicals simultaneously, the spray method of the self-propelled orchard automatic target detecting orchard sprayer that automaticity is high.
The spray method of this self-propelled orchard automatic target detecting orchard sprayer, the laser generator of arbitrary Laser Detecting Set produces Laser emission signal, laser pickoff receives the reflected signal of target to Laser emission signal, signal processing and controller, according to Laser emission signal and reflected signal, calculate target apart from the distance of this Laser Detecting Set; Central processing unit judges that described target distance is whether in the distance range of setting; If target distance is in the distance range of setting, this target is for working as front target; Whether central processing unit detects the action of controlling as follows corresponding shower nozzle control device when front target according to three continuous reflected signals:
If the previous reflected signal of a detects, do not work as front target, a rear reflected signal detects works as front target, and central processing unit sends opening signal to shower nozzle control device, makes the shower nozzle corresponding with Laser Detecting Set start spraying;
If the previous reflected signal of b detects, work as front target, and then continuous three reflected signals all do not detect and work as front target, and central processing unit sends shutdown signal to shower nozzle control device, make the shower nozzle corresponding with Laser Detecting Set stop spraying;
In c, other situation, the state of remaining stationary.
Above-mentioned spray method, the distance range of setting is 0.2-6m.
The beneficial effect of this spray method: in present technique, the independent control of whether spraying of each shower nozzle.Whether whether one shower nozzle sprays is detected and determine when front target according to the Laser Detecting Set corresponding with this shower nozzle, specifically, is that the state with continuous three reflected signals of Laser Detecting Set judges whether to spray.If the previous signal in any two continuous reflection signals detects, do not work as front target, a rear reflected signal detect when front target start spraying; If previous reflected signal detects, work as front target, after continuous three reflected signals all do not detect target, stop spraying; Other state is all the states of remaining stationary.This method has effectively prevented few spray or drain spray, has also prevented from compared with cavity in the crown Cheng Shu of sparse tree, producing too much unnecessary start and stop action with one tree internal cause simultaneously.
Accompanying drawing explanation
Fig. 1 is self-propelled orchard automatic target detecting orchard sprayer schematic diagram
Fig. 2 is the right view of nozzle component in Fig. 1.
Fig. 3 is the right view that in Fig. 1, Laser Detecting Set distributes.Fig. 4 is that self-propelled orchard automatic target detecting orchard sprayer is used the schematic diagram of state in orchard.
Fig. 5 is that each Laser Detecting Set is surveyed when front target schematic diagram.
Fig. 6 is the schematic diagram that Laser Detecting Set detects cavity in tree crown.
Fig. 7 is that Laser Detecting Set detects empty enlarged diagram.
Fig. 8 is hardware components schematic diagram in this self-propelled orchard automatic target detecting orchard sprayer.
Fig. 9 is this self-propelled orchard automatic target detecting orchard sprayer spray process flow chart.
Embodiment
Shown in Fig. 1,8, self-propelled orchard automatic target detecting orchard sprayer comprises frame 1, cterpillar drive 2, sprayer unit 3, for surveying target and calculating the Laser Detecting Set 4 of target distance.Laser Detecting Set comprises laser generator 41, is positioned at the convex lens 46 in laser generator the place ahead, laser pickoff 42, the light filter 47 that is positioned at laser pickoff the place ahead, convex lens 48, the signal that is connected with laser pickoff with laser generator are processed and controller.Signal is processed and controller comprises microcontroller 43, timer 44, signal processor 45 etc.10 Laser Detecting Sets 4 are positioned on same ring flat-plate 49.Sprayer unit 3 comprises 10 shower nozzles 31 that are positioned on same vertical plane, has the blowing passage of air outlet 32, and each shower nozzle communicates with a drug liquid tube, and magnetic valve 33 is set on each drug liquid tube.Central processing unit is controlled magnetic valve by driving circuit for electromagnetic valve 34.10 shower nozzles 31 are positioned at air outlet 32 places, and left side and right side respectively have 5.Shower nozzle is corresponding one by one with Laser Detecting Set.Corresponding every pair of shower nozzle and Laser Detecting Set are arranged in the same angle of different vertical plane that frame has certain longitudinal separation, and the light beam that axis of shower nozzle sends with corresponding Laser Detecting Set parallels.The plane at the light beam place that shower nozzle axis and corresponding Laser Detecting Set send parallels with the direction of advance of self-propelled orchard automatic target detecting orchard sprayer.The signal processing of each Laser Detecting Set and controller with by signaling conversion circuit 9, be connected with central processing unit (control system) 6, the output of central processing unit is sprayed by each shower nozzle of solenoid control.Keyboard 8, display 7, temperature sensor 10 etc. are also connected with central processing unit.
The pace of self-propelled orchard automatic target detecting orchard sprayer is 0.5-1m/s, and the direction of advance of self-propelled orchard automatic target detecting orchard sprayer of take is the place ahead, and the plane at each Laser Detecting Set place is in the place ahead of each shower nozzle place plane, and apart from Z=30cm.Like this, in conjunction with sprayer travel speed, can realize before sprayer arrives fruit tree and start spraying, prevent few spray or drain spray.When sprayer sails out of this fruit tree, central processing unit meeting time delay 0.1s shut electromagnetic valve, guarantees that fruit tree obtains whole dispensers, prevents that dispenser is incomplete.
Referring to Fig. 9, spray method is as follows: the laser generator of arbitrary Laser Detecting Set produces Laser emission signal, laser pickoff receives the reflected signal of target to Laser emission signal, signal processing and controller, according to Laser emission signal and reflected signal, calculate target apart from the distance of this Laser Detecting Set; Central processing unit judges that described target distance is whether in the distance range (setpoint distance is generally 0.2-6m, can regulate) of setting; If target distance is in the distance range of setting, this target is for working as front target; Whether central processing unit detects the action of controlling as follows corresponding shower nozzle control device when front target according to three continuous reflected signals:
If the previous reflected signal of a detects, do not work as front target, a rear reflected signal detects works as front target, and central processing unit sends opening signal to shower nozzle control device, makes the shower nozzle corresponding with Laser Detecting Set start spraying;
If the previous reflected signal of b detects, work as front target, and then continuous three reflected signals all do not detect and work as front target, and central processing unit sends shutdown signal to shower nozzle control device, make the shower nozzle corresponding with Laser Detecting Set stop spraying;
In c, other situation, the state of remaining stationary.
Laser Detecting Set is used for collecting orchard operation information, measures target apart from the distance of shower nozzle, and reading out data also feeds back to control system by information.Control system is analyzed judgement according to the information receiving, thereby the keying of control magnetic valve reaches target spraying.
Planting fruit trees is generally many seedings and plants, and as shown in Figure 4, orchard is line-spacing X * strain spacing Y cropping pattern, and Fig. 4 shows two row adjacent with working as front target row, altogether four lines.Sprayer travels between the 2nd row and the 3rd row fruit tree.By man-machine interface, can line-spacing X be set according to actual cropping pattern, be target to the ultimate range of shower nozzle (or Laser Detecting Set), be also whether laser acquisition target is the foundation when front target.Laser Detecting Set is measured target after the actual range (target distance) of shower nozzle (or Laser Detecting Set), and X compares with ultimate range.If target is apart from > X, this target is the non-front target of working as, and shower nozzle can not sprayed, and has so just avoided the invalid spraying to interlacing fruit tree (i.e. the row of the 1st in figure and the 4th row fruit tree).Orchard for different rows spacing has good adaptability.
As shown in Figure 4, if second row fruit tree A place exists, be short of seedling, Laser Detecting Set detects after B place fruit tree distance and can judge whether in setting range, judge herein without fruit tree, close the shower nozzle near A side, and intact of C place, the shower nozzle near C side continues to spray.
For same one tree, each laser detector is not all determined as and works as front target.As shown in Figure 5, adjacent three laser detectors of right lower quadrant are measured and are judged as and work as front target, and control the shower nozzle spraying of correspondence position, and two laser detectors in the upper right corner do not measure works as front target, and the shower nozzle of corresponding angle is not sprayed.The fruit tree of therefore, having realized any tree type all can obtain precision spraying.
The general shape of fruit tree in orchard, density are different, and when Laser Detecting Set is surveyed target, light beam is thinner, adopt the spray method of present technique, can avoid gap affects between cavity less in fruit tree or branch to survey judgement.As shown in Figure 6,7, during the Laser Detecting Set continuous measurement of the sprayer in travelling, the laser 12 that a certain Laser Detecting Set sends is through cavity 11, for the less cavity 11 in tree crown, if often measure a non-front target signal of working as, stop spraying, the next one measures and starts spraying when front target signal, can in same sparse tree crown, constantly there is start and stop action, in fact be not in single shower nozzle spraying range all without branch leaf, just at laser acquisition point without working as front target signal.For avoiding producing too much unnecessary start and stop spraying in same tree crown, move, if setting the continuous reflected signal that detects for 3 times is the non-front target of working as, think that orchard sprayer travels to neutral place between fruit tree strain or larger interior void, do not need spraying, shut electromagnetic valve.So, can avoid the impact on continuous spraying of little cavity or little gap, can not locate invalid spraying in fruit tree neutral and larger cavity again.
Present technique judges having or not of fruit tree by Laser Detection Technique, by measuring distance, judge whether fruit tree is to work as front target simultaneously, and adopt 3 continuous reflection signals to judge whether to exist to work as front target, whether definite spraying, realize target precision spraying, and avoided unnecessary start and stop spraying action.
Claims (8)
1. self-propelled orchard automatic target detecting orchard sprayer, comprise frame, running gear, there is the sprayer unit of a plurality of shower nozzles, it is characterized in that: further comprising identical with shower nozzle quantity, for surveying target and calculating the Laser Detecting Set of target distance, the signal that Laser Detecting Set comprises laser generator, laser pickoff, be connected with laser pickoff with laser generator is processed and controller, and shower nozzle is corresponding one by one with Laser Detecting Set; Corresponding a pair of shower nozzle and Laser Detecting Set are arranged on the same corresponding angle of frame, it also comprises central processing unit, signal processing and the controller of each Laser Detecting Set are connected with central processing unit, and the output of central processing unit is connected with each shower nozzle control device whether each shower nozzle of control sprays.
2. self-propelled orchard as claimed in claim 1 automatic target detecting orchard sprayer, is characterized in that: the direction of advance of self-propelled orchard automatic target detecting orchard sprayer of take is the place ahead, and in corresponding a pair of shower nozzle and Laser Detecting Set, Laser Detecting Set is arranged on shower nozzle the place ahead.
3. self-propelled orchard as claimed in claim 2 automatic target detecting orchard sprayer, is characterized in that: the pace of self-propelled orchard automatic target detecting orchard sprayer is 0.5-1m/s, and Laser Detecting Set is arranged on shower nozzle the place ahead 20-40cm.
4. self-propelled orchard as claimed in claim 3 automatic target detecting orchard sprayer, is characterized in that: each shower nozzle is positioned at same vertical plane, and each Laser Detecting Set is positioned at another vertical plane.
5. the self-propelled orchard automatic target detecting orchard sprayer as described in as arbitrary in claim 1-4, is characterized in that: shower nozzle control device is the corresponding magnetic valve being arranged on the drug liquid tube communicating with each shower nozzle.
6. the self-propelled orchard automatic target detecting orchard sprayer as described in as arbitrary in claim 1-4, is characterized in that: running gear is cterpillar drive.
7. the spray method of the self-propelled orchard automatic target detecting orchard sprayer as described in as arbitrary in claim 1-4, it is characterized in that: the laser generator of arbitrary Laser Detecting Set sends Laser emission signal, laser pickoff receives the reflected signal of target to Laser emission signal, signal processing and controller, according to Laser emission signal and reflected signal, calculate target from the distance of this Laser Detecting Set; Central processing unit judges that described target distance is whether in the distance range of setting; If target distance is in the distance range of setting, and is to work as front target; Whether central processing unit there is the action of controlling as follows corresponding shower nozzle control device when front target according to three continuous signals:
If the previous reflected signal of a detects, do not work as front target, a rear reflected signal detects works as front target, and central processing unit sends opening signal to shower nozzle control device, makes the shower nozzle corresponding with Laser Detecting Set start spraying;
If the previous reflected signal of b detects, work as front target, and then continuous three reflected signals all do not detect and work as front target, and central processing unit sends shutdown signal to shower nozzle control device, make the shower nozzle corresponding with Laser Detecting Set stop spraying;
In c, other situation, the state of remaining stationary.
8. the spray method of self-propelled orchard as claimed in claim 7 automatic target detecting orchard sprayer, is characterized in that: the distance range of setting is 0.2-6m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310538956.2A CN103548802B (en) | 2013-11-05 | 2013-11-05 | Self-propelled spraying machine with automatic targeting in orchard and spraying method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310538956.2A CN103548802B (en) | 2013-11-05 | 2013-11-05 | Self-propelled spraying machine with automatic targeting in orchard and spraying method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103548802A true CN103548802A (en) | 2014-02-05 |
| CN103548802B CN103548802B (en) | 2015-03-25 |
Family
ID=50003320
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310538956.2A Active CN103548802B (en) | 2013-11-05 | 2013-11-05 | Self-propelled spraying machine with automatic targeting in orchard and spraying method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103548802B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105211034A (en) * | 2015-08-31 | 2016-01-06 | 南京林业大学 | A kind of vehicular forest three-dimensional colour imaging target spraying method |
| CN105360091A (en) * | 2015-09-02 | 2016-03-02 | 北京农业智能装备技术研究中心 | Method and device for spraying on target |
| CN105532623A (en) * | 2016-02-18 | 2016-05-04 | 江苏大学 | Intelligent self-propelled and air-supply electrostatic toward-target sprayer |
| CN105831052A (en) * | 2016-02-18 | 2016-08-10 | 江苏大学 | Real-time target spraying control system for greenhouse sprayer and spraying method |
| CN107125229A (en) * | 2017-04-20 | 2017-09-05 | 北京农业智能装备技术研究中心 | A kind of orchard target spraying machine and its spray method to fruit tree canopy |
| CN107372433A (en) * | 2017-08-17 | 2017-11-24 | 北京农业智能装备技术研究中心 | A kind of wind send device for administration of drugs and method |
| CN110199977A (en) * | 2019-07-11 | 2019-09-06 | 南京林业大学 | A kind of self-propelled laser is to target unilateral side spraying machine |
| CN110250146A (en) * | 2019-07-17 | 2019-09-20 | 中国农业大学 | Fruiter profile modeling spray machine and method based on laser acquisition and image processing techniques |
| CN112544598A (en) * | 2020-12-24 | 2021-03-26 | 西南大学 | Intelligent orchard pesticide spraying system and method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5222324A (en) * | 1991-02-21 | 1993-06-29 | Neall Donald L O | Crop spraying system |
| US5278423A (en) * | 1992-12-30 | 1994-01-11 | Schwartz Electro-Optics, Inc. | Object sensor and method for use in controlling an agricultural sprayer |
| EP0743001A1 (en) * | 1995-05-17 | 1996-11-20 | M. Jacoby GmbH & Co. KG Maschinenfabrik | Device and process for spraying large crops |
| CN102613160A (en) * | 2012-03-22 | 2012-08-01 | 北京农业信息技术研究中心 | Self-walking variable-quantity liquid medicine spraying device and liquid medicine spraying method for grapery |
| CN103120150A (en) * | 2013-01-09 | 2013-05-29 | 南京农业大学 | Self-propelled orchard targeted air-conveying sprayer |
| CN203692270U (en) * | 2013-11-05 | 2014-07-09 | 南京林业大学 | Self-walking type orchard automatic targeting sprayer |
-
2013
- 2013-11-05 CN CN201310538956.2A patent/CN103548802B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5222324A (en) * | 1991-02-21 | 1993-06-29 | Neall Donald L O | Crop spraying system |
| US5278423A (en) * | 1992-12-30 | 1994-01-11 | Schwartz Electro-Optics, Inc. | Object sensor and method for use in controlling an agricultural sprayer |
| EP0743001A1 (en) * | 1995-05-17 | 1996-11-20 | M. Jacoby GmbH & Co. KG Maschinenfabrik | Device and process for spraying large crops |
| CN102613160A (en) * | 2012-03-22 | 2012-08-01 | 北京农业信息技术研究中心 | Self-walking variable-quantity liquid medicine spraying device and liquid medicine spraying method for grapery |
| CN103120150A (en) * | 2013-01-09 | 2013-05-29 | 南京农业大学 | Self-propelled orchard targeted air-conveying sprayer |
| CN203692270U (en) * | 2013-11-05 | 2014-07-09 | 南京林业大学 | Self-walking type orchard automatic targeting sprayer |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105211034A (en) * | 2015-08-31 | 2016-01-06 | 南京林业大学 | A kind of vehicular forest three-dimensional colour imaging target spraying method |
| CN105360091A (en) * | 2015-09-02 | 2016-03-02 | 北京农业智能装备技术研究中心 | Method and device for spraying on target |
| CN105360091B (en) * | 2015-09-02 | 2017-11-17 | 北京农业智能装备技术研究中心 | It is a kind of to target spray method and device |
| CN105532623B (en) * | 2016-02-18 | 2019-06-28 | 江苏大学 | A kind of electrostatic target spraying machine of intelligence self-propelled air-feeding |
| CN105532623A (en) * | 2016-02-18 | 2016-05-04 | 江苏大学 | Intelligent self-propelled and air-supply electrostatic toward-target sprayer |
| CN105831052A (en) * | 2016-02-18 | 2016-08-10 | 江苏大学 | Real-time target spraying control system for greenhouse sprayer and spraying method |
| CN107125229A (en) * | 2017-04-20 | 2017-09-05 | 北京农业智能装备技术研究中心 | A kind of orchard target spraying machine and its spray method to fruit tree canopy |
| CN107372433A (en) * | 2017-08-17 | 2017-11-24 | 北京农业智能装备技术研究中心 | A kind of wind send device for administration of drugs and method |
| CN107372433B (en) * | 2017-08-17 | 2020-08-28 | 北京农业智能装备技术研究中心 | Air-conveying pesticide applying device and method |
| CN110199977A (en) * | 2019-07-11 | 2019-09-06 | 南京林业大学 | A kind of self-propelled laser is to target unilateral side spraying machine |
| CN110199977B (en) * | 2019-07-11 | 2024-03-08 | 南京林业大学 | Self-propelled laser target single-side sprayer |
| CN110250146A (en) * | 2019-07-17 | 2019-09-20 | 中国农业大学 | Fruiter profile modeling spray machine and method based on laser acquisition and image processing techniques |
| CN110250146B (en) * | 2019-07-17 | 2020-05-19 | 中国农业大学 | Fruit tree profiling spraying machine and method based on laser detection and image processing technology |
| CN112544598A (en) * | 2020-12-24 | 2021-03-26 | 西南大学 | Intelligent orchard pesticide spraying system and method |
| CN112544598B (en) * | 2020-12-24 | 2022-01-28 | 西南大学 | Intelligent orchard pesticide spraying system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103548802B (en) | 2015-03-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103548802B (en) | Self-propelled spraying machine with automatic targeting in orchard and spraying method thereof | |
| CN203692270U (en) | Self-walking type orchard automatic targeting sprayer | |
| CN107125229B (en) | Orchard targeting sprayer and spraying method for fruit tree canopies | |
| CN103999841B (en) | A kind of automatic target detection spraying system | |
| CN105532623B (en) | A kind of electrostatic target spraying machine of intelligence self-propelled air-feeding | |
| CN103120150B (en) | Self-propelled orchard targeted air-conveying sprayer | |
| AU2020103268A4 (en) | Sprayer and use method thereof | |
| CN103988824A (en) | Automatic targeting and spraying system based on binocular vision technology | |
| CN105486228B (en) | A kind of trees target volume method for real-time measurement based on two dimensional laser scanning instrument | |
| CN202025084U (en) | Laser radar monitoring system | |
| CN204104581U (en) | A kind of automatic target detection spraying system based on binocular vision technology | |
| CN206895659U (en) | A kind of treetop pest control system based on unmanned plane | |
| CN109997823B (en) | Air supply variable spray test platform and simulation test method | |
| CN111084172A (en) | Device and method for automatically adjusting spray air volume based on volume of crown canopy | |
| CN203860304U (en) | Automatic targeting and spraying system | |
| CN104521929B (en) | Variable flow spraying method based on plant target characteristic independent nozzle control | |
| CN104621083A (en) | Self-adaptation spraying air capacity adjusting device based on plant characteristics and method | |
| CN104982407A (en) | Orchard automatic profiling mist pesticide spray machine and pesticide spraying control method | |
| CN103392684A (en) | Flexible targeting spraying mechanism for orchards | |
| Yan et al. | Investigation of an experimental laser sensor-guided spray control system for greenhouse variable-rate applications | |
| WO2023082482A1 (en) | Variable spray control system based on annular pesticide application structure and plant canopy volume calculation method | |
| CN113749078A (en) | Independent control method and system for multiple spray heads | |
| CN204499232U (en) | Spraying spray boom ground gap self-adaptive regulating | |
| CN202524957U (en) | Precise pesticide applying machine capable of aiming at target automatically | |
| CN105831052B (en) | Greenhouse atomizing machine sprays control system and spraying method to target in real time |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20140205 Assignee: Nantong Guangyi Electromechanical Co., Ltd. Assignor: Nanjing Forestry University Contract record no.: 2016320000083 Denomination of invention: Self-propelled spraying machine with automatic targeting in orchard and spraying method thereof Granted publication date: 20150325 License type: Exclusive License Record date: 20160302 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181206 Address after: 226631 No. 11 Baochang North Road, Libao Town, Haian City, Nantong City, Jiangsu Province Patentee after: Nantong Guangyi Electromechanical Co., Ltd. Address before: No. 159, dragon pan Road, Nanjing, Jiangsu Patentee before: Nanjing Forestry University |