CN110583603B - Profiling intelligent spraying equipment and spraying method suitable for citrus orchard - Google Patents
Profiling intelligent spraying equipment and spraying method suitable for citrus orchard Download PDFInfo
- Publication number
- CN110583603B CN110583603B CN201910902893.1A CN201910902893A CN110583603B CN 110583603 B CN110583603 B CN 110583603B CN 201910902893 A CN201910902893 A CN 201910902893A CN 110583603 B CN110583603 B CN 110583603B
- Authority
- CN
- China
- Prior art keywords
- rod
- spray
- spraying
- spray rod
- angle
- 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.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0071—Construction of the spray booms
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention belongs to the technical field of agricultural machinery, and particularly relates to automatic profiling intelligent spraying equipment and a spraying method suitable for a citrus orchard terrain. The spraying equipment is beneficial to improving the uniformity of liquid medicine distribution of fruit trees in hillside orchards, improving the pesticide application efficiency and reducing the labor intensity of operators. The intelligent regulation spray rod structure which uses the crawler-type chassis electric trolley as a running carrier and can rotate the target by 360 degrees is adopted, intelligent profiling spraying is realized through sensing detection and variable control, the problem of pest and disease pollution prevention and control in a Gannan orange garden is favorably solved, and technology and equipment support are provided for the safe production of the fruit industry in China.
Description
Technical field
The invention belongs to the technical field of agricultural machinery, and particularly relates to automatic profiling intelligent spraying equipment and a spraying method suitable for a citrus orchard terrain.
Technical background
The application of the pesticide plays an important role in the pest control of fruit trees, and is irreplaceable at present. The orchard pest control is mainly carried out by spraying chemical agents, and the traditional orchard pesticide application method has low pesticide utilization rate and increases pollution to air and land resources due to the fact that the pesticide application is not strong in targeting and the spraying amount cannot be adjusted according to the size of a crown. Therefore, how to solve the problems of low efficiency and large pollution when the traditional control method is used for controlling fruit tree diseases and insect pests, the research can adopt fruit tree profiling to spray target variable quantity according to the characteristic that the crown and the plant spacing of the fruit tree are not uniform, thereby effectively improving the utilization rate of pesticides and reducing the using amount of the pesticides, and the method is a key problem of pesticide spraying in fruit tree disease and insect pest control. Research on a three-dimensional information acquisition and identification method of a fruit tree, design of a tree-shaped automatic profiling mechanism and an accurate target-aiming variable spraying technology of the fruit tree are key technologies of fruit tree profiling spraying, and active research and development are conducted on the intelligent profiling spraying technology at home and abroad at present.
The wind-conveying type spraying and the profiling arm (spray boom) spraying and other profiling patterns are mainly used at home and abroad. The coverage range which can be achieved is different from a single fruit tree to a sheet of forest, and the targeted operation objects include fruit trees, economic trees and the like. According to the field investigation and understanding of the citrus orchard in the region of Gannan province, a special efficient and energy-saving intelligent profiling spraying device is needed for the citrus trees with large height and fall and various characteristics of plant growth in the citrus orchard in the Gannan province.
The invention discloses a profiling arm of a forest sprayer and a profiling spraying method thereof, which are provided with the following patent numbers: 201810246160.8, the telescopic arms at the left and right sides are connected through a horizontal main arm, the invention is suitable for fence frame type plants, does not have the pertinence of orchard spraying, and the profiling effect is not good, which can cause uneven pesticide amount sprayed on the upper and lower canopy of fruit trees;
the invention discloses a profiling land amount spraying structure for an orchard, which is disclosed in the following patent application number: 201810695940.5, the spraying mechanism is a bilateral spraying device, and horizontal lead screw step motor drive can be to the interval and the workspace fine setting of fruit tree, but is lower to terrace-type fruit tree spraying efficiency, and the effect of bilateral spraying is difficult to realize.
The invention discloses a self-adaptive profiling orchard sprayer, which is provided with the following application numbers: 2018110448401.1, the sprayer adopts the whole car of manual drive to carry out the spraying operation, adopts laser radar, ARM the control unit to adjust spraying mechanism, and then carries out the regulation of spraying distance to can adjust spraying volume and export wind speed and wind direction. The sprayer cannot adjust the spraying height, and although the distance of the spray head and the air conveying direction can be adjusted, the spraying effect is not ideal for the essence, and the air conveying spraying has drift and can cause twigs to shake due to the influence of wind to scratch the fruit peels.
The invention discloses a spraying machine profiling spray rod and a control method thereof, which are invented in China and have the following application numbers: 201611017261.X, the whole long spray lance frame of the spraying spray lance mechanism can be adjusted in a lifting way. Spraying mechanism structure is comparatively complicated, and the structure is huge to be not convenient for carry out the spraying of the small-size fruit tree single trunk in mountain region, and accurate target spraying is not enough, and whole mechanism quality is great, and required driving energy is great.
In view of the above, there is a need to develop an efficient spraying device that can better accommodate rough terrain, and that is more intelligent in terms of greater labor-saving design, for rough terrain. The spraying equipment has better profiling, improves the spraying efficiency and saves the liquid medicine.
Summary of the invention
The invention aims to provide automatic profiling intelligent spraying equipment and a spraying method for fruit trees, which are mainly suitable for pesticide spraying operation in a Gannan terrace citrus orchard. The spraying equipment is beneficial to improving the uniformity of liquid medicine distribution of fruit trees in hillside orchards, improving the pesticide application efficiency and reducing the labor intensity of operators. The novel spraying equipment and the method provided by the invention are as follows: the intelligent adjusting spray rod structure which is provided with the crawler-type chassis electric trolley and can rotate 360 degrees to a target is adopted as a running carrier, intelligent profiling spraying is realized through sensing detection and variable control, the problem of pest and disease pollution prevention and control in a Gannan orange garden is favorably solved, and technology and equipment support are provided for the safe production of the fruit industry in China.
In order to achieve the purpose, the invention adopts the following specific technical scheme:
an automatic profiling spraying device suitable for citrus orchard mainly comprises three parts: carrier part, motor control connecting portion and intelligent spray lance operation part.
The first part of the automatic profiling spraying equipment is a carrier part and consists of a crawler-type chassis, a water tank, a right-angle rod rotating base, an attitude sensor and a main controller.
The crawler-type chassis comprises a crawler-type chassis body, a servo motor inside the crawler-type chassis, a power source lithium battery and crawler wheels on two sides of the crawler-type chassis body. The purpose is convenient for whole equipment to travel in the rugged topography in orchard mountain region. Because crawler-type chassis height is lower, and the focus is low is favorable to the vehicle integral stability to go at orchard hilly land topography, is unlikely to produce great jolt.
The water tank is a container for containing liquid medicine, is positioned at the middle rear part of the platform of the crawler-type chassis body, is internally provided with a liquid medicine pump and a driver and is used for controlling the opening or stopping of the liquid medicine to be pumped into each electromagnetic valve adjusting nozzle after receiving the command of the main controller.
The main controller is installed in the position on the left side of the upper portion of the crawler-type chassis body, the main controller is an ARM control unit and comprises a processor, a storage, a plurality of IO interfaces, an RS232 interface and an Ethernet interface, each interface is used for being connected with each device needing to be controlled, the GNSS satellite navigation positioning system and the laser radar are connected through the RS232 interface, and the rotary steering engine and the ultrasonic ranging sensor are connected through the IO interfaces.
The attitude sensor is also positioned on the crawler-type chassis body, the distance of the attitude sensor is 50mm in front of the water tank, and a data transmission line of the attitude sensor is connected with the main controller. The attitude sensor is used for monitoring the inclination degree of the whole spraying device at any time to be matched with a laser radar for regulation and control, so that the center of the spray rod connecting shaft is the center of a trunk.
The main controller analyzes and calculates the data obtained by the laser radar to obtain an optimal command scheme, and then transmits commands to a rotary steering engine motor driver, a driver of a built-in liquid pump, a right-angle rod rotary base motor driver, a motor driver of an electric telescopic rod, a servo motor driver and a rotary motor driver in the crawler-type chassis, and all motors are responded.
The second major part of the automatic profiling spraying device is a motor control connecting part. The motor control connecting part comprises a right-angle supporting part, a right-angle rod rotating base, a motor connector, a rotating motor, a worm shaft, a worm gear connecting shaft, a helical gear, a deep groove ball bearing, a spray rod connecting shaft, an electric telescopic rod, a supporting and protecting square box, a laser radar fixing support, a laser radar and a GNSS satellite navigation and positioning system.
The right-angle rod rotating base is installed on the crawler-type chassis body, and the right-angle supporting part is installed on the right-angle rod rotating base. The right-angle supporting part consists of an electric telescopic rod and a vertical supporting rod from top to bottom. Install horizontal fixing rod on the electric telescopic handle, install laser radar fixed bolster on the horizontal fixing rod, laser radar links firmly by laser radar fixed bolster.
The laser radar judges the current environmental condition of the intelligent spraying equipment by scanning the external environment and transmits the data to the main controller, so that path planning and planning of a proper distance are realized.
The laser radar fixing support comprises a bottom cross rod, a vertical rod and a top cross rod and is of an open type. The bottom cross rod is fixed on the horizontal fixed rod, two ends of an inclined rod are respectively welded on the top cross rod and the vertical rod, and the laser radar is installed on the outer side of the inclined rod and is fixedly connected through two bolts.
The GNSS satellite navigation positioning system positioning device comprises a master GPS and a slave GPS, wherein the two GPS are respectively arranged at two ends of a GPS fixing rod, the middle part of the GPS fixing rod is arranged on a top cross rod of a laser radar fixing support, and the middle part of the GPS fixing rod is embedded on the rod and fixedly connected by two bolts. The GNSS satellite navigation positioning system is added to better plan a spraying operation line by utilizing satellite navigation for the crawler-type chassis body.
Electric telescopic handle is located vertical support pole's top, and the purpose is the height of adjusting whole spraying system, to the fruit tree of co-altitude not, according to the design height-adjusting range about: 1.6 m-2.6 m.
One end of the motor connector is fixed at the tail end of the horizontal fixing rod, and the other end of the motor connector is connected with the rotating motor.
The rotating motor is used for driving the whole rotating mechanism to operate, receiving a control instruction and controlling the rotation to be opened and closed; and (4) selecting the type of the rotating motor, wherein a driver matched with the selected rotating motor can monitor and regulate the rotating speed of the motor in real time.
The worm shaft is arranged on the connecting shaft of the output end of the rotating motor and serves as a transmission output part.
The worm wheel connecting shaft is a multifunctional shaft, the upper end of the shaft is a gear connecting shaft end, the lower end of the shaft is a shaft end for placing the deep groove ball bearing, the worm wheel is horizontally placed as part of the worm wheel in contact transmission with the worm to form harmonious transmission with the worm wheel, and the design purpose of the shaft is the coordination of the three aspects.
The helical gear comprises a left helical gear and a right helical gear, the left helical gear and the right helical gear are respectively positioned at the upper end of the worm wheel connecting shaft and above the spray rod connecting shaft, and the helical gear is stable in transmission and low in noise. The purpose is that the transmission power that is used for driving the spray lance connecting axle to rotate for the transmission motor output.
The deep groove ball bearing is positioned at the lower ends of the worm wheel connecting shaft and the spray rod connecting shaft, and aims to support the shafts to work stably in a transmission mode and then serve as a rotary carrier to play a supporting role.
The spray rod connecting shaft is a stepped shaft, a left helical gear is arranged at the upper end of the spray rod connecting shaft, the lower end of the spray rod connecting shaft is sleeved in the deep groove ball bearing, and the extending end of the spray rod connecting shaft is used for fixedly connecting the spray rod and is also an output end for driving the whole spraying system to rotate.
The supporting and protecting square box is an aluminum alloy square box, the periphery of the supporting and protecting square box is closed, four linked bolt holes are formed in the right end of the supporting and protecting square box and the end portion of a motor, the upper end panel is a movable panel and can be opened and closed, and the lower end of the supporting and protecting square box is provided with two round holes which are respectively used as extending ends of a worm gear connecting shaft and a spray rod connecting shaft. The purpose of this square box is that the connection motor tip plays the effect of whole support revolution mechanic, and secondly this square box still helps protecting internal mechanism, and waterproof dustproof to convenient to detach maintains.
The third part of the automatic profiling spraying equipment is an intelligent spray rod operation part which is a structure capable of rotating within a range of 360 degrees at a certain rotating speed and consists of an upper spray rod, two sections of inclined spray rods, a lower spray rod, a spraying device, an ultrasonic distance measuring sensor, a rotating steering engine and a supporting telescopic rod.
The upper spray rod is mainly used for being responsible for pesticide application operation on the top end and the upper side face of a fruit tree, the spray rod mainly comprises three sections, the right end of the spray rod is provided with a circular through hole for being sleeved on a spray rod connecting shaft, and screws on two sides are fixed in the horizontal direction; the middle section of the spray rod is provided with three parts, and the two parts are symmetrically distributed with upper spray rod nozzles. The upper rotary steering engine is installed on two side edges of the leftmost end of the upper spray rod and is controlled by the main controller to adjust the angle between the inclined rod No. 1 and the upper spray rod, so that the optimum spraying effect of the inclined rod No. 1 is achieved.
The length of the upper spray rod is equal to the horizontal distance from the outermost side of the canopy at the upper part 1/3 of the target fruit tree to the center of the canopy at the part, and the length is determined by the shape of the local fruit tree canopy.
The screw connection of upper portion spray lance right-hand member and spray lance connecting axle can add the buffering cushion, reduces because the vibrations and the slight swing that rotatory spraying operation caused.
In order to achieve a good spraying effect, the spraying distance of the upper spray rod nozzle at the position far away from the tree crown is controlled to be short, and the spraying distance of the upper spray rod nozzle at the position far away from the tree crown layer is far.
And all spray heads on the upper spray rod are matched with the electromagnetic valves, so that the spray amount can be adjusted. The spraying distance set value of each spray head from the outer side surface of the fruit tree is 30-60 cm, and the distance can be adjusted to a proper position by the upper rotary steering engine so as to meet the spraying effect.
The upper rotary steering engine is set to be adjustable in angle from 0 degree to 45 degrees, the starting position is a set value, and the steering engine is automatically rotated according to the tree conditions by using the comprehensive control motor to rotate.
The rotating speed of the whole spraying device driven by the rotating motor has a set value, the rotating speed of the upper spray rod is initially set to be 0.04rad/s-0.1rad/s, namely the rotating motor rotates for a circle for 1 minute to 3 minutes.
The number 1 of the inclined spray rod is mainly composed of three sections, the end part of the right section is in a shape like a Chinese character 'pin' from wide to narrow, a through hole is formed at a position which is not far away from a fracture and is in a wedge-shaped cylinder shape and used for being connected with an upper rotating steering engine in series, an upper ultrasonic ranging sensor is arranged in the middle of the number 1 of the inclined rod and used for collecting images of tree conditions, two adjustable spray heads are distributed in the two sides of a detector and used for spraying medicine, and the leftmost end of the spray rod is provided with a middle rotating steering engine used for being connected with the next section of the inclined rod.
The adjustable spray head of the inclined spray rod No. 1 is matched with the electromagnetic valve, so that the spray amount can be adjusted, and the spray range of the inclined spray rod when spraying fog drops is controlled.
The No. 1 right end through hole of the inclined spray rod is used for penetrating through the long wedge-shaped shaft and then is connected with an upper rotating rudder of an upper spray rod.
Go up ultrasonic ranging sensor and transmit the data acquisition to main control unit, then main control unit return signal gives last rotatory steering wheel for it makes 1 number rotation angle of down tube reach best spraying effect to rotate steering wheel rotation.
The middle rotary steering engine is the same as the upper rotary steering engine, and the rotation angle can be adjusted by the control of the controller.
The inclined spray rod No. 2 component is the same as the inclined spray rod No. 1, but the inclined spray rod No. 2 is different from the initial included angle setting of the vertical direction, the inclined spray rod No. 1 is 20 degrees from the included angle of the inner side of the spray in the vertical direction, and the inclined spray rod No. 2 is 25 degrees from the included angle of the outer side of the spray in the vertical direction.
When the oblique spray rod No. 1 and the oblique spray rod No. 2 are in the initial set angle state, the vertical distance from the uppermost end of the oblique spray rod No. 1 to the lowermost end of the oblique spray rod No. 2 is the vertical distance length from the lower end of 1/3 on the fruit tree to the bottom of the crown of the fruit tree.
The lower spray rod is composed of three parts, the left end is a connecting part, and a wedge-shaped shaft penetrates through a wedge-shaped hole of the lower spray rod to be connected with a No. 2 right lower rotary rudder of the inclined spray rod so as to play a role in adjusting the angle of the lower spray rod. The middle part is a spraying nozzle, and the third part is positioned at the rightmost end and is provided with a lower ultrasonic ranging sensor for acquiring the data conditions of the lower part and the bottom of the fruit tree.
The length of the lower spray rod is the horizontal distance from the center of the trunk of the fruit tree to the widest position of the bottom canopy of the target fruit tree.
And the spray head of the lower spray rod and the electromagnetic valve work together, so that the spray range and the spray distance are controllable.
The lower ultrasonic ranging detector starts to scan and collect the environmental conditions of the lower part and the bottom of the fruit tree after the lower ultrasonic ranging detector is started, point cloud data of the environment is transmitted to the main controller, and then the lower ultrasonic ranging detector is used for adjusting the rotation of the lower rotary steering engine of the oblique spray rod No. 2, so that the optimal spraying angle of the lower spray rod is controlled.
The supporting telescopic rod consists of an upper hydraulic telescopic rod and a lower hydraulic telescopic rod, one end of the upper hydraulic telescopic rod is installed on the inclined spray rod No. 1, and the other end of the upper hydraulic telescopic rod is installed on the upper spray rod; one end of the lower hydraulic telescopic rod is arranged on the oblique spray rod No. 2, and the other end of the lower hydraulic telescopic rod is arranged on the lower spray rod.
The profiling spraying method of the profiling intelligent spraying equipment suitable for citrus orchard is characterized in that a spraying included angle of a spray head on an inclined spray rod adjusted by an electromagnetic valve is set to be alpha, the vertical height from an ultrasonic range finder on the inclined spray rod to the surface of a crop is set to be H, the distance from the tail end of the spray head to the ultrasonic range finder is set to be H, the spraying range of the spray head adjusted by the electromagnetic valve is set to be F, and the spraying range F of the spray head adjusted by the electromagnetic valve needs to satisfy the following relations:
the electromagnetic valve is used for adjusting the spraying amount and the spraying range, and the proper amount of accurate and rapid adjustment is needed by referring to the overlapping area of the spraying of the plurality of spray heads.
The spray overlap regions are respectively Q1、Q2、Q3(shown as the spray overlap region of the first shower nozzle of oblique spray lance No. 1 and second shower nozzle, the spray overlap region of the second shower nozzle of oblique spray lance No. 1 and first shower nozzle of oblique spray lance No. 2, the spray overlap region of the first shower nozzle of oblique spray lance No. 2 and second shower nozzle respectively), M is the distance between two shower nozzles on the spray lance, has the following relation:
0<Q1＝F-M<M/2(1)Q1＝F-M>M/2；(2)Q2、Q3(both apply);
when the formula (1) is established, the spraying amount and the spraying intensity of the plurality of spray heads are not adjusted;
when the formula (2) is satisfied, the spraying amount and the spraying intensity of the plurality of spray heads are intelligently adjusted by the electromagnetic valve until the spraying range F is within.
The profiling spraying method of the profiling intelligent spraying equipment suitable for the citrus orchard is characterized by also comprising the following steps of:
fig. 6 is a structural diagram of the main controller.
The structure diagram of the control system simplifies and explains the control condition of the main controller on each part of the whole equipment, receives the information collected by the laser radar, the GNSS satellite navigation positioning system and the ultrasonic ranging sensor, analyzes and outputs commands to each executing mechanism, and completes the control of a complete loop.
The GNSS satellite navigation positioning system is mainly used for assisting the laser radar to detect the surrounding environment of the working object so as to detect the position condition of the whole equipment, thereby helping the vehicle body to determine a reasonable walking route and the distance between the vehicle body and the working object. The integrated data result of the three-dimensional point cloud data acquired by collecting information together by the laser radar, the attitude sensor and the GNSS can clearly and accurately obtain the surrounding and self-environment of the operation object, and the main controller can plan the vehicle body traveling route and judge the distance according to the condition. And if the spraying position is not properly adjusted at the first determined position, the route can be corrected again and the position away from the fruit tree can be adjusted.
The inclination of the whole equipment including the inclination angles in the vertical axis direction and the horizontal axis direction is detected by the multi-axis attitude sensor. The attitude sensor is used together with a GNSS satellite navigation positioning system and a laser radar, the data are fused and resolved through the analysis of the controller to obtain an accurate three-dimensional point cloud picture, and the inclination condition of the vehicle body and whether the fruit tree center and the spray rod center are aligned or not can be accurately determined. In addition, the height of the whole spray rod from the top end of the crown can be adjusted by controlling the lifting electric telescopic rod through the feedback information of the collected data.
The distance between the spray rod and the working surface is detected by ultrasonic distance measuring sensors distributed on each section of spray rod. The ultrasonic distance measuring sensor is an information acquisition device for adjusting the spray rod, can detect the spray distance before the spraying starts and in the spraying process, and can adjust the rotation of the rotary steering engine, so that the spray rod can obtain a proper spray angle. In addition, the control front end of the spray head is the electromagnetic regulating valve, and the liquid output amount and the strength of the spray can be reasonably regulated according to feedback information.
In summary, signals transmitted by the laser radar, the GNSS satellite navigation and positioning system, the attitude sensor and the ultrasonic ranging sensor are acquired through the main controller, namely an ARM control unit, a three-dimensional point cloud data map of an operation object and the surrounding environment can be obtained through calculation, under the analysis result of the map, the main controller can transmit instructions according to the specific point cloud corresponding condition to enable each device to work reasonably, force and displacement required by each driving device are obtained, and the driving devices are controlled and adjusted to work cooperatively, so that the spraying equipment can be better aligned with the operation object, and the profiling of a spray boom is realized. Therefore, the invention of the intelligent spraying equipment and the profiling control spraying method are not only independent of the dispersion work of single devices for realizing the intelligent spraying adjustment, but also a process that all devices installed on the equipment work cooperatively, collect information together and then process and analyze the information to form a specific three-dimensional point cloud image. The profiling control of the whole equipment just analyzes and transmits instructions around the point cloud data graph, so that a better effect is achieved.
The invention has the beneficial effects that:
1. the self-profiling spraying equipment can perform stable and efficient movement operation in the step-shaped mountain land similar to the Gannan orange garden, so that the spraying efficiency is high, and the labor intensity is reduced;
2. the key point of the spraying equipment is a 360-degree one-circle rotary spraying structure design, so that the posture between a spraying operation part and the crown of the fruit tree can be relatively stable, the condition of less spraying and missing spraying caused by the swinging of a spray rod in the spraying process is ensured, and the pesticide application efficiency is well improved;
3. the steering engine rotating mechanism can be well matched with the ultrasonic distance measuring sensor to carry out angle adjustment, so that the spray bars of all parts can reach the optimal spraying distance, and the spraying operation effect of spraying is enhanced.
Description of the drawings
Fig. 1 is a schematic structural diagram of an intelligent profiling spraying device.
Fig. 2 is a schematic structural view of a supporting rotating part.
Fig. 3 is a schematic structural view of a part of the spraying operation.
Fig. 4 is a schematic structural view of a laser radar fixing bracket.
Fig. 5 is a schematic flow chart of the device.
Fig. 6 is a structural diagram of the main controller.
Explanation: 101 track wheels, 102 crawler chassis body, 103 water tank, 104 right-angle rod rotating base, 105 main controller, 106 attitude sensor, 107 right-angle supporting part, 108 laser radar fixing support, 109 supporting and protecting square box, 110 intelligent spray rod operating part, 201 vertical supporting rod base, 202 vertical supporting rod, 203 electric telescopic rod, 204GPS fixing rod, 205 slave GPS, 206 master GPS, 207 laser radar, 208 horizontal fixing rod, 209 motor connector, 210 rotating motor, 211 worm shaft, 212 worm wheel connecting shaft, 213 helical gear, 214 left helical gear, 215 connecting shaft, 216 deep groove ball bearing, 301 upper spray rod, 302 upper spray rod spray nozzle, 303 upper rotating steering engine, 304 helical spray rod No. 1, 305 middle rotating, 306 helical spray rod No. 2, 307 lower rotating steering engine, 308 lower hydraulic telescopic rod, 309 lower spray rod, 310 upper hydraulic telescopic rod, 311 upper ultrasonic ranging sensor, 312 ultrasonic ranging sensor, 313 ultrasonic ranging sensor.
Detailed Description
While this patent describes one particular embodiment, this patent is readily convertible into other embodiments. It should be understood that the patent discloses an example for demonstrating the working principle, and does not limit the patent to the specific example shown in the patent.
The profile modeling intelligent spraying equipment mainly comprises three parts: a smart boom work section 110, a motor control connection 107, and a carrier section 102.
The carrier part comprises a crawler-type chassis body 102, a water tank 103, a right-angle rod rotating base 104, a main controller 105, an attitude sensor 106 and the like.
The track-type chassis 102 is intended to prevent rollover during movement and to adapt to the working environment of the orchard terrain.
The main controller 105 is configured to perform calculation and analysis on data obtained by the laser radar 207, the ultrasonic radar 311, and the like, and transmit data commands after analysis to a driving motor of a rotating structure, a built-in water pump driver, and the like, so that each motor or each water pump reaches a predetermined operating state.
The motor control connection part consists of a right-angle support part 107, a right-angle rod rotating base 104, a GNSS satellite navigation positioning system, a support protection square box 109, a laser radar 207, a motor connector 209, a rotating motor 210 and a rotating shaft system.
The lower end of the vertical supporting rod 202 of the right-angle supporting part 107 is placed into a circular connecting groove to be connected with the rotating base 104 on the upper portion of the crawler-type chassis body through four bolts, on one hand, the right-angle rod rotating base 104 plays a role of fixing the supporting rod, and on the other hand, the right-angle rod rotating base 104 can rotate the whole right-angle supporting part 107 and the intelligent spray rod operation part by a proper angle.
The port of the horizontal rod 208 of the right-angle supporting part 107 is connected with a motor 210 by four small bolts through a motor connector 209, and the motor connector 209 is sleeved in the left port of the horizontal fixing rod 208 to be firmly connected through welding and top screw fixation.
The supporting and protecting square box 109 and the left end of the rotating motor 210 are connected through four threaded holes which are uniformly distributed by bolts.
When the laser radar 207 works, the collected environmental data near the profiling spraying machine is transmitted to the main controller 105 in real time, and the main controller 105 integrates and analyzes the data obtained by the laser radar 207 to obtain the optimal working distance and the optimal walking path. Secondly, the laser radar still needs to detect that the axis of the connecting shaft 215 of the spray rod and the trunk are positioned on a vertical line, so that accurate spraying is ensured.
The intelligent spray rod operation part is composed of four sections, and comprises an upper spray rod 301, an upper hydraulic telescopic rod 310, an inclined spray rod No. 1 304, a lower hydraulic telescopic rod 308, an inclined spray rod No. 2 306 and a lower spray rod 309.
The upper spray rod 301 is divided into three sections, sleeve holes are formed in the right end of the cross rod and connected to the spray rod connecting shaft 215 of the rotating part, the cross rod is fastened through screws, and the diameter of the hole is the same as that of the tail end of the shaft; the middle part is provided with two upper spray rod nozzles 302 which are adjusted by electromagnetic valves and distributed at a certain interval; the spray head can adjust the spraying distance and the spraying range, so that the pesticide application efficiency is improved;
the leftmost end of the upper spray rod 301 is provided with an upper rotary steering engine 303 serving as a connecting piece, and the purpose is to provide rotary power for the next section of inclined spray rod No. 1 304, so that the inclined spray rod No. 1 can reach a proper spray angle and distance.
The length of the upper spray rod 301 is equal to the horizontal distance from the outermost side of the canopy at the upper part 1/3 of the target fruit tree to the center of the canopy at the part.
The inclined spray rod No. 1 is composed of three sections, the uppermost end is of a narrow beam design structure, and the inclined spray rod is conveniently connected with a pin shaft of a rotary steering engine 303 on the front end; the upper ultrasonic ranging sensor 311 is arranged in the middle of the spray rod and used for detecting the working environment of the spray rod section and feeding back the working environment to the main controller 105 to obtain a result so that the upper rotary steering engine 303 rotates to enable the spray rod section to rotate to a proper position, and the best spraying effect is obtained.
The middle parts of the inclined spray rods 1 and 2 are electromagnetic valve adjusting spray heads which are uniformly distributed, and the lower ends of the inclined spray rods are both installation ends of a rotary steering engine 305 and are used for adjusting the rotating angle of the next section of spray rod.
The spraying range of the inclined spray rod No. 1 304 corresponds to the outer side of the tree crown from the crown top to the lower 1/3 to the next section 1/3.
The inclined spray rod No. 2 is also of a three-section design structure, the upper end of the inclined spray rod is a connecting end of the middle rotary steering engine 305, and the middle rotary steering engine 305 of the upper section of the spray rod is connected with the upper end of the inclined spray rod, so that the purpose of rotation is achieved. The middle section is a middle ultrasonic distance measuring sensor 312, the middle ultrasonic distance measuring sensor 312 acts on the environment of the working range of the rod, feeds back the environment to the main controller 105, and then reasonably adjusts the rotation angle of the middle rotary steering engine 305, so that the optimal spraying distance and angle are achieved. Two electromagnetic valve adjusting spray heads which are uniformly distributed are also arranged in the middle of the No. 2 oblique spray rod 306 and are used for automatically adjusting the spray amount.
The lower end of the oblique spray bar No. 2 306 is provided with a lower rotary rudder 307, wherein the rotary rudder mainly helps the lower spray bar 309 to achieve the arrangement of the optimal spray angle.
The spraying range of the inclined spray rod No. 2 306 corresponds to the outer canopy part from the bottom of the fruit tree canopy to the canopy at 1/3.
The lower spray rod 309 is also divided into three sections, and the left end is a connecting end with the lower rotary steering engine 307, so that the requirement of rotating the spray angle can be met; the middle is a nozzle adjusted by a solenoid valve, and the spraying range and the spraying amount can be changed.
A lower ultrasonic distance measuring sensor 313 is arranged at the right end of the lower spray rod 309, and is used for detecting the condition of the lower canopy of a fruit tree and feeding back the condition to a main controller to adjust the optimal spraying angle and distance of the spray rod.
The lower spray bar 309 corresponds to spraying operation at the bottom of the fruit tree.
Besides the connection of the steering engine, the spray rods also have the auxiliary connection of four hydraulic telescopic rods.
The four sections of spray rods are mainly connected by respective rotary steering engines, and the spray angles of the spray rods are adjusted by feedback information obtained by the steering engines, so that the spraying efficiency is high, the attachment rate is high, and a good spraying effect is achieved.
When the profiling sprayer works, the control method comprises the following steps:
after the copying intelligent spraying equipment is started to work, firstly, the laser radar 207 and the GPS positioning equipment which are positioned on the right-angle supporting rod part 107 start to work, the laser radar 207 transmits obtained data to the main controller for calculation and analysis, and then the obtained data are matched with position data determined by a GPS to obtain an optimal motion path and speed, optimal data are obtained, the data are transmitted to the crawler-type chassis, when the spraying machine runs to the position near a target fruit tree, and after the spraying machine is away from the fruit tree by a preset distance, the crawler-type chassis stops moving. At this time, laser radar 207 stops operating.
The boom spraying system starts to work, firstly, the right-angle rod rotating base 104 rotates for 90 degrees to enable the spraying device to face an operation object, at the moment, the attitude sensor judges whether the center of the boom connecting shaft 215 is aligned to the center of a trunk or not according to the data collected before the inclination angle of the whole device is matched with the laser radar, and if the center is not aligned, information is fed back to the main controller to adjust the advancing of the crawler-type vehicle body to achieve the alignment effect. And each section of spray rod is subjected to primary adjustment in the process, and the primary adjustment is mainly based on data information collected before the laser radar. Then, each spray rod starts to work, the water pump starts to provide spray liquid, the ultrasonic ranging sensors arranged on each spray rod collect the tree-shaped condition of the corresponding range of each spray rod, data are accurately transmitted to the main controller 105 in real time in the collection process, the main controller 105 quickly carries out the growth condition of the canopy of one circle of the whole tree shape after acquiring the collected information, then an instruction is sent back to each steering engine to start rotating angles, the final distance to the canopy angle is based on a set distance value, and the value is the mean value of the distribution of the canopy of the whole circle. Is the linear distance of the spray head from the tangent plane to this mean value. It should be understood that in addition to the power of the steering engine, there is an upper hydraulic auxiliary telescopic rod 310 installed on both sides between the upper spray rod 301 and the oblique spray rod No. 1 304 and a lower hydraulic telescopic rod 308 installed on both sides between the oblique spray rod No. 2 and the lower spray rod 309 to assist the angle change during the rotation. It will be appreciated that the inclination of the spray bars described above is to some extent influenced by factors which allow the inclination angle to be adjusted without affecting the spraying operation.
After the corresponding angles of the rods are fixed, the steering engines are locked by the spraying system, and then the spraying amount and the spraying range of the spray head are adjusted according to the tree crown layer distribution condition of the ultrasonic distance measuring sensor in the prior art in the rotary spraying process. It will be appreciated that this change is in real time, e.g. when the previous section is not sprayed, the main controller has data to analyze the crown thinning of the next spray working surface, and feeds back to the solenoid valve driver to reduce and increase the spray volume and distance, allowing a certain delay without affecting the spray effect.
Each section of spray rod in the spraying system works independently and does not interfere with each other. It should be understood that the rotation of the corresponding angle change steering engine of the spray rod is not interfered with each other, and then the electromagnetic valve adjusting spray heads on the spray rods are also not interfered with each other and are adjusted corresponding to the respective spraying conditions.
After the spraying system detects a complete tree crown layer structure, the water tank 103 at the upper part of the crawler-type chassis body 102 starts a water pump to supply liquid medicine to each spray head through a hose after the spray boom is preliminarily adjusted, and each spray head starts to work according to the plan. This process is not disturbed by other conditions.
After the spraying operation is finished, the crawler-type chassis body 102 returns to the original path according to the data obtained by the laser radar 207, the postures of the components are also restored to the initial setting state, and the motors are locked to wait for the next spraying.
It can be stated that the profile modeling intelligence spraying equipment has the following advantages when working, on one hand degree of automation is high, no matter the advancing of automobile body or the regulation of spraying spray lance pole or the spraying intensity of solenoid valve regulation all is the automatically regulated completion. In addition, the height of the tree aimed at by the spraying equipment is not specific, and the equipment can be adjusted within a certain height range and a certain angle adjusting range to achieve the best profiling effect. On the other hand, spraying efficiency is high, for traditional wind send sprayer and gate-type spray lance, the unilateral pole spraying of this equipment relies on the rotatory design of a week can reach same whole spraying, and is with strong points, and the high waste of operating efficiency is few to also be more effective and even to the fruit tree spraying, simultaneously greatly reduced if wind send the spraying to the surperficial branch scotch of fruit, increase the maturing rate. In addition, the key point of the design is that the design is also aimed at the sloping fields with terraces or large height and low fall differences similar to those of the Gannan orange garden. The method has the advantages of strong pertinence, high automation profiling degree, high pesticide application efficiency and the like.
Claims (8)
1. The utility model provides a profile modeling intelligence spraying apparatus suitable for citrus orchard which characterized in that, profile modeling intelligence spraying apparatus comprises three major part: the system comprises a carrier part, a motor control connection part and an intelligent spray rod operation part;
the first part of the profiling intelligent spraying equipment is a carrier part and consists of a crawler-type chassis, a water tank, a right-angle rod rotating base, an attitude sensor and a main controller;
the crawler-type chassis comprises a crawler-type chassis body, a servo motor inside the crawler-type chassis, a power source lithium battery and crawler wheels on two sides of the crawler-type chassis body;
the water tank is a container for containing liquid medicine, is positioned at the middle rear part of the platform of the crawler-type chassis body, is internally provided with a liquid medicine pump and a driver and is used for controlling the liquid medicine to be started or stopped to be pumped into each electromagnetic valve adjusting nozzle after receiving the command of the main controller;
the main controller, namely an ARM control unit, comprises a processor, a memory, a plurality of IO interfaces, an RS232 interface and an Ethernet interface, and each interface is respectively used for connecting each device to be controlled;
the attitude sensor is also positioned on the crawler-type chassis body and in front of the water tank, and a data transmission line of the attitude sensor is connected with the main controller;
the main controller analyzes and calculates data obtained by the laser radar, the attitude sensor, the GNSS satellite navigation positioning system and the ultrasonic distance measuring sensor to obtain an optimal command scheme, and then transmits the command to a rotary steering engine motor driver, a driver of a built-in liquid pump, a right-angle rod rotary base motor driver, a motor driver of an electric telescopic rod, a servo motor driver inside a crawler chassis and a rotary motor driver, and all motors are responded;
the second most part of the profiling intelligent spraying equipment is a motor control connecting part; the motor control connecting part comprises a right-angle supporting part, a right-angle rod rotating base, a motor connector, a rotating motor, a worm shaft, a worm gear connecting shaft, a helical gear, a deep groove ball bearing, a spray rod connecting shaft, an electric telescopic rod, a supporting and protecting square box, a laser radar fixing support, a laser radar and a GNSS satellite navigation and positioning system;
the right-angle rod rotating base is arranged on the crawler-type chassis body, and the right-angle support part is arranged on the right-angle rod rotating base; the right-angle supporting part consists of an electric telescopic rod and a vertical supporting rod from top to bottom; the electric telescopic rod is provided with a horizontal fixing rod, the horizontal fixing rod is provided with a laser radar fixing support, and the laser radar is fixedly connected with the laser radar fixing support;
the laser radar judges the current environmental condition of the intelligent spraying equipment by scanning the external environment and transmits the data to the main controller to realize path planning and planning of a proper distance;
the laser radar fixing support comprises a bottom cross rod, a vertical rod and a top cross rod and is of an open type; the bottom cross rod is fixed on the horizontal fixed rod, two ends of an inclined rod are respectively welded on the top cross rod and the vertical rod, and the laser radar is installed on the outer side of the inclined rod and is fixedly connected through two bolts;
the positioning device of the GNSS satellite navigation positioning system comprises a master GPS and a slave GPS, wherein the two GPS are respectively arranged at two ends of a GPS fixing rod, and the middle part of the GPS fixing rod is arranged on a cross rod at the top of a laser radar fixing support, is embedded on the rod and is fixedly connected by two bolts; the GNSS satellite navigation positioning system is added to better plan a spraying operation line by utilizing satellite navigation for a crawler-type chassis body;
the electric telescopic rod is positioned above the vertical supporting rod;
one end of the motor connector is fixed at the tail end of the horizontal fixed rod, and the other end of the motor connector is connected with the rotating motor;
the rotating motor is used for driving the whole rotating mechanism to operate, receiving a control instruction and controlling the rotation to be opened and closed; the worm shaft is arranged on a connecting shaft at the output end of the rotating motor and is used as a transmission output part;
the worm wheel connecting shaft is a multifunctional shaft, the upper end of the shaft is a gear connecting shaft end, the lower end of the shaft is a shaft end for placing the deep groove ball bearing, the worm wheel is horizontally placed as part of contact transmission with the worm to form harmonious transmission with the worm wheel, and the design purpose of the shaft is the coordination of the three aspects;
the helical gear comprises a left helical gear and a right helical gear, the left helical gear and the right helical gear are respectively positioned at the upper end of the worm gear connecting shaft and above the spray rod connecting shaft, and the helical gear is stable in transmission and low in noise and aims to transmit transmission force output by a motor to drive the spray rod connecting shaft to rotate;
the deep groove ball bearing is positioned at the lower ends of the worm wheel connecting shaft and the spray rod connecting shaft, and is used for supporting the shafts to stably drive and work and then serving as a rotating carrier to play a supporting role;
the spray rod connecting shaft is a stepped shaft, a left helical gear is arranged at the upper end of the spray rod connecting shaft, the lower end of the spray rod connecting shaft is sleeved in the deep groove ball bearing, and the extending end of the spray rod connecting shaft is used for fixedly connecting the spray rod and is also an output end for driving the whole spraying system to rotate;
the third part of the profiling intelligent spraying equipment is an intelligent spray rod operation part which is a structure capable of rotating within a range of 360 degrees at a certain rotating speed and consists of an upper spray rod, two sections of inclined spray rods, a lower spray rod, a spraying device, an ultrasonic distance measuring sensor, a rotating steering engine and a supporting telescopic rod;
the upper spray rod is mainly used for being responsible for pesticide application operation on the top end and the upper side face of a fruit tree, the spray rod mainly comprises three sections, the right end of the spray rod is provided with a circular through hole for being sleeved on a spray rod connecting shaft, and screws on two sides are fixed in the horizontal direction; the middle section of the spray rod is provided with three parts, and the two parts are symmetrically distributed with upper spray rod nozzles; the two side edges of the leftmost end of the upper spray rod are provided with upper rotary steering engines which are controlled by a main controller and used for adjusting the angles between the inclined rod No. 1 and the upper spray rod, so that the inclined rod No. 1 achieves the optimal spraying effect;
the number 1 of the inclined spray rod is mainly composed of three sections, the end part of the right section is in a shape like a Chinese character 'pin' from wide to narrow, a through hole is arranged at a position which is not far away from a fracture and is in a wedge-shaped cylinder shape and used for being connected with an upper rotating steering engine in series, an upper ultrasonic ranging sensor is arranged in the middle of the number 1 of the inclined spray rod and used for collecting images of tree conditions, two adjustable spray heads are distributed in the middle of two sides of a detector and used for spraying medicine, and a middle rotating steering engine is arranged at the leftmost end of the spray rod and used for being connected with the next section of the inclined spray rod;
the upper ultrasonic ranging sensor transmits acquired data to the main controller, and then the main controller returns a signal to the upper rotary steering engine, so that the upper rotary steering engine rotates to enable the number 1 rotation angle of the inclined rod to achieve the optimal spraying effect;
the middle rotary steering engine is the same as the upper rotary steering engine, and the rotation angle can be adjusted by the control of the controller;
the inclined spray rod No. 2 is the same as the inclined spray rod No. 1 in component part and structure, but the initial included angle between the inclined spray rod No. 2 and the vertical direction is different in setting, the included angle between the inclined spray rod No. 1 and the vertical direction close to the inner side of spraying is 20 degrees, and the included angle between the inclined spray rod No. 2 and the vertical direction close to the outer side of spraying is 25 degrees;
the lower spray rod is composed of three parts, the left end is a connecting part, and a wedge-shaped shaft penetrates through a wedge-shaped hole of the lower spray rod so as to be connected with a lower rotary steering engine on the right side of the inclined spray rod No. 2, so that the angle of the lower spray rod can be adjusted; the middle part is a spray nozzle, and the third part is a lower ultrasonic distance measuring sensor arranged at the rightmost end and used for collecting the data conditions of the lower part and the bottom of the fruit tree;
the lower ultrasonic ranging detector starts to scan and collect the environmental conditions of the lower part and the bottom of the fruit tree after the lower ultrasonic ranging detector is started, point cloud data of the environment is transmitted to the main controller, and then the lower ultrasonic ranging detector is used for adjusting the rotation of the lower rotary steering engine of the oblique spray rod No. 2, so that the optimal spraying angle of the lower spray rod is controlled.
2. The profile modeling intelligent spraying device suitable for citrus orchard is characterized in that the supporting and protecting square box is an aluminum alloy square box, the periphery of the supporting and protecting square box is closed, the right end of the supporting and protecting square box is provided with four connected bolt holes with the end part of a motor, the upper end panel is a movable panel which can be opened and closed, and the lower end of the supporting and protecting square box is provided with two round holes which are respectively used as extending ends of a worm wheel connecting shaft and a spray rod connecting shaft; the square box aims at connecting the end part of the motor to play a role of integrally supporting a rotating structure, and is also helpful for protecting an internal mechanism, preventing water and dust and facilitating disassembly and maintenance; electric telescopic handle purpose is the height of adjusting whole spraying system, and to the fruit tree of co-altitude not, according to the design height-adjusting range do: 1.6 m-2.6 m; the type selection is carried out on the rotating motor, and a driver matched with the selected rotating motor needs to be capable of monitoring and controlling the rotating speed of the motor in real time; the rotating speed of the whole spraying device driven by the rotating motor has a set value, the rotating speed of the upper spray rod is initially set to be 0.04rad/s-0.1rad/s, namely the rotating motor rotates for a circle for 1 minute to 3 minutes.
3. The profile modeling intelligent spraying device suitable for citrus orchard is characterized in that the supporting telescopic rod consists of an upper hydraulic telescopic rod and a lower hydraulic telescopic rod, wherein one end of the upper hydraulic telescopic rod is installed on a No. 1 inclined spraying rod, and the other end of the upper hydraulic telescopic rod is installed on an upper spraying rod; one end of the lower hydraulic telescopic rod is arranged on the No. 2 inclined spraying rod, and the other end of the lower hydraulic telescopic rod is arranged on the lower spraying rod; the length of the upper spray rod is equal to the horizontal distance from the outermost side of the canopy at the upper part 1/3 of the target fruit tree to the center of the canopy at the part, and the length is determined by the shape of the local fruit tree canopy; a buffer rubber pad is added at the screw connection position of the right end of the upper spray rod and the spray rod connecting shaft, so that the vibration and slight swing caused by rotary spraying operation are reduced; each spray head on the upper spray rod is matched with the electromagnetic valve, the spray amount can be adjusted, the spray distance of each spray head from the outer side surface of the fruit tree is set to be 30-60 cm, and the distance can be adjusted to a proper position by the upper rotary steering engine to meet the spray effect; the upper rotary steering engine is set to be adjustable in angle from 0 degree to 45 degrees, the starting position is a set value, and the steering engine is automatically rotated according to the tree conditions by using the comprehensive control motor to rotate.
4. The profiling intelligent spraying device suitable for citrus orchard is characterized in that the adjustable spray head No. 1 of the inclined spray rod is matched with the electromagnetic valve, so that the spraying amount can be adjusted, and the spraying range of the inclined spray rod when the inclined spray rod sprays droplets is controlled, wherein the spraying range of the inclined spray rod No. 1 304 corresponds to the range from the top of a tree crown to the lower 1/3 to the outer side of the tree crown at the next section 1/3; the through hole at the right end of the inclined spray rod No. 1 is used for penetrating through the wedge-shaped long shaft and then is connected with an upper rotating rudder of the upper spray rod; when the No. 1 oblique spray rod and the No. 2 oblique spray rod are in the initial set angle state, the vertical distance from the uppermost end of the No. 1 oblique spray rod to the lowermost end of the No. 2 oblique spray rod is the vertical distance length from the lower end of 1/3 on the fruit tree to the bottom of the crown of the fruit tree; the length of the lower spray rod is the horizontal distance from the center of the trunk of the fruit tree to the widest position of the bottom canopy of the target fruit tree, and the spray head of the lower spray rod and the electromagnetic valve work cooperatively, so that the spray range and the spray distance are controllable; the lower spray rod corresponds to spraying operation at the bottom of the fruit tree.
5. The profile modeling intelligence spraying equipment suitable for citrus orchard of claim 1, wherein the oblique spray lance 2 is a three-section design structure, the upper end is the connecting end of the middle rotary steering engine, and the middle rotary steering engine of the upper section of spray lance is connected with the upper end, so that the purpose of rotation is achieved; the middle section is provided with a middle ultrasonic distance measuring sensor which acts on the environment of the working range of the rod and feeds back the environment to the main controller, and then the rotation angle of the middle rotary steering engine is reasonably adjusted, so that the optimal spraying distance and angle are achieved; two electromagnetic valve adjusting spray heads which are uniformly distributed are also arranged in the middle of the No. 2 inclined spray rod and are used for automatically adjusting the spray amount; the lower end of the No. 2 oblique spray rod is provided with a lower rotary steering engine 307, wherein the rotary steering engine mainly helps the lower spray rod to achieve the arrangement of the optimal spraying angle; the spraying range of the inclined spray rod No. 2 corresponds to the part of the outer canopy from the bottom of the fruit tree canopy to the canopy at 1/3.
6. A profiling spraying method using a profiling smart spraying apparatus according to any one of claims 1 to 4,
if the spray included angle of a spray head on an inclined spray rod adjusted by an electromagnetic valve is alpha, the vertical height from an ultrasonic range finder on the inclined spray rod to the surface of a crop is H, the distance between the tail end of the spray head and the respective ultrasonic range finder is H, and the spray range of the spray head adjusted by the electromagnetic valve is F, the spray range F of the spray head adjusted by the electromagnetic valve needs to satisfy the following relations:
the electromagnetic valve is used for adjusting the spraying amount and the spraying range, and the proper amount of accurate and rapid adjustment needs to be carried out by referring to the overlapping area of the spray heads on the inclined spray rod;
the spray overlap regions are respectively Q1、Q2、Q3(shown as the spray overlap region of the first shower nozzle of oblique spray lance No. 1 and second shower nozzle, the spray overlap region of the second shower nozzle of oblique spray lance No. 1 and first shower nozzle of oblique spray lance No. 2, the spray overlap region of the first shower nozzle of oblique spray lance No. 2 and second shower nozzle respectively), M is the distance between two shower nozzles on the spray lance, has the following relation:
0<Q1＝F-M<M/2 (1)Q1＝F-M>M/2；(2)Q2、Q3(both apply);
when the formula (1) is established, the spraying amount and the spraying intensity of 4 spray heads on the inclined spray rod are not regulated;
when the formula (2) is established, the spraying amount and the spraying intensity of 4 spray heads on the inclined spray rod are intelligently adjusted by the electromagnetic valve until the spraying range is within F.
7. The control method of the profiling intelligent spraying device is characterized in that the laser radar assisted by the GNSS satellite navigation positioning system is used for detecting the surrounding environment of a working object to detect the position condition of the whole device so as to help the crawler-type chassis vehicle body to determine a reasonable walking route and the distance from the working object, and when the first determined position is not suitable for adjusting the spraying position, the route can be corrected again and the position of a fruit tree can be adjusted;
detecting the inclination angles of the whole equipment including the vertical axis direction and the horizontal axis direction by the attitude sensor; the attitude sensor is used together with a GNSS satellite navigation positioning system and a laser radar, so that the inclination condition of the crawler-type chassis body and whether the center of a fruit tree is aligned with the center of a spray rod can be accurately determined; in addition, the height of the whole spray rod from the top end of the crown can be adjusted by controlling the electric telescopic rod through the feedback information of the collected data;
the distance between the spray rod and the operation surface is detected through ultrasonic ranging sensors distributed on each section of spray rod, the ultrasonic ranging sensors are information acquisition devices for adjusting the spray rod, and the ultrasonic ranging sensors detect the spray distance before spraying and in the spraying process, so that the rotation of a steering engine can be adjusted, and the spray rod can obtain a proper spray angle; in addition, the control front end of the spray head, namely the electromagnetic regulating valve, can reasonably regulate the liquid output amount and the strength of the spray according to the feedback information;
signals transmitted by the laser radar, the GNSS satellite navigation positioning system, the attitude sensor and the ultrasonic distance measuring sensor are collected through a main controller, namely an ARM control unit, the signals are resolved according to correct analysis to obtain force and displacement required by each driving device, and the driving devices are controlled and adjusted to cooperatively operate to realize the profiling of the spray rod.
8. The control method according to claim 7, characterized by comprising the following steps: after the copying intelligent spraying equipment is started to work, firstly, a laser radar and a GPS positioning device which are positioned on a right-angle supporting rod part start to work, the laser radar transmits obtained data to a main controller for calculation and analysis and then matches position data determined by a GPS to obtain an optimal motion path and speed, optimal data is obtained and is transmitted to a crawler-type chassis, when a spraying machine runs to the position near a target fruit tree, after a preset distance is reserved from the fruit tree, the crawler-type chassis stops moving, and at the moment, the laser radar stops working;
the spray rod spraying system starts to work, firstly, the right-angle rod rotating base rotates 90 degrees to enable the spraying device to face an operation object, at the moment, the attitude sensor judges whether the inclination angle of the whole device is matched with data collected before the laser radar to judge whether the center of the connecting shaft of the spray rod is aligned with the center of a trunk or not, if the inclination angle of the whole device is not aligned with the center of the trunk, information is fed back to the main controller to adjust the advancing of the crawler-type vehicle body to achieve an alignment effect; in the process, each section of spray rod is subjected to primary adjustment mainly according to data information collected before the laser radar; then, each spray rod starts to work, a water pump starts to provide spray liquid, an ultrasonic ranging sensor arranged on each spray rod collects the tree-shaped condition of the corresponding range of each spray rod, data are accurately transmitted to a main controller in real time in the collection process, the main controller quickly carries out the canopy growth condition of one circle of the whole tree shape after obtaining collected information, then an instruction is sent back to each steering engine to start rotating angle, and finally the angle to the canopy is based on a set distance value which is the mean value of the distribution of the whole canopy of one circle and is the linear distance of a spray nozzle to the tangent plane of the mean value; in addition to the power of the steering engine, an upper hydraulic auxiliary telescopic rod arranged on two sides is arranged between the upper spray rod and the inclined spray rod No. 1, and a lower hydraulic auxiliary telescopic rod arranged on two sides is also arranged between the inclined spray rod No. 2 and the lower spray rod to assist the change of the angle in the rotating process;
after the corresponding angles of the rods are fixed, the steering engines are locked by the spraying system, and then the spraying amount and the spraying range of the spray head are adjusted according to the tree crown layer distribution condition obtained by the ultrasonic distance measuring sensor in the prior art in the rotary spraying process; the change is real-time, for example, when the previous section is not sprayed, the main controller analyzes the data to obtain the rarefaction condition of the canopy of the next spraying operation surface, and feeds back the rarefaction condition to the electromagnetic valve driver to reduce and increase the spraying amount and distance, so that a certain delay is allowed to exist, but the spraying effect is not influenced;
each section of spray rod in the spraying system works independently and does not interfere with each other; the rotation of the steering engine of the spray rod corresponding to the angle change is not interfered with each other, and then the electromagnetic valve adjusting spray heads on each section of spray rod are also not interfered with each other and are adjusted corresponding to the respective spraying conditions;
after the spraying system detects a complete tree crown layer structure, the spray boom is initially adjusted, then the water pump is started to supply liquid medicine to each spray head through the hose, each spray head starts to work according to the plan, and the process is not interfered by other conditions;
after the spraying operation is finished, the crawler-type chassis body returns to the original path according to data obtained by the laser radar, the postures of all the components are restored to the initial set state, all the motors are locked, and the next spraying operation is waited.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910902893.1A CN110583603B (en) | 2019-09-24 | 2019-09-24 | Profiling intelligent spraying equipment and spraying method suitable for citrus orchard |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910902893.1A CN110583603B (en) | 2019-09-24 | 2019-09-24 | Profiling intelligent spraying equipment and spraying method suitable for citrus orchard |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110583603A CN110583603A (en) | 2019-12-20 |
| CN110583603B true CN110583603B (en) | 2021-10-12 |
Family
ID=68862601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910902893.1A Active CN110583603B (en) | 2019-09-24 | 2019-09-24 | Profiling intelligent spraying equipment and spraying method suitable for citrus orchard |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110583603B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111506062B (en) * | 2020-03-30 | 2021-02-12 | 江苏大学 | Full-automatic pesticide applying ship and uniform pesticide spraying method |
| CN111588954B (en) * | 2020-05-14 | 2023-04-11 | 东莞市永超塑胶科技有限公司 | Medical adjustable angle's breathing machine support pipe support ware |
| CN111972380B (en) * | 2020-09-02 | 2022-03-11 | 南京林业大学 | Profiling variable spraying machine based on crown phenotype characteristics and profiling control method |
| CN112970419B (en) * | 2021-02-03 | 2022-03-22 | 江苏大学 | Multifunctional operation machine integrating orchard profiling spraying, obstacle avoidance and mowing and operation method |
| CN113317296B (en) * | 2021-05-29 | 2022-05-17 | 金华职业技术学院 | Pesticide atomizer for fruit tree cultivation |
| CN113491262B (en) * | 2021-06-29 | 2022-12-16 | 江苏大学 | Low dose environment-friendly plant protection unmanned aerial vehicle keeps away barrier intelligence side and spouts device |
| CN113575548B (en) * | 2021-07-27 | 2023-02-28 | 南京林业大学 | Spray lance conversion equipment of automatic profile modeling spraying frame of forest |
| CN113712014A (en) * | 2021-09-10 | 2021-11-30 | 南京农业大学 | Terrace orchard profiling boom sprayer |
| CN113892399B (en) * | 2021-09-13 | 2023-05-16 | 中国一冶集团有限公司 | Precise positioning spray-seeding grass planting method and pulse pressure spray-seeding machine |
| CN113951231B (en) * | 2021-10-19 | 2023-07-14 | 农业农村部南京农业机械化研究所 | Double-system combined pesticide spraying machine |
| CN114847271B (en) * | 2022-06-09 | 2023-08-11 | 山东理工大学 | Pesticide applying machine and spray rod mechanism thereof |
| CN115808131B (en) * | 2023-02-08 | 2023-05-05 | 成都理工大学 | Automatic surrounding rock morphology scanning device and method for intelligent classification of surrounding rock |
| CN116335747B (en) * | 2023-05-30 | 2023-09-15 | 山西凌志达煤业有限公司 | Ventilating and dust removing device for coal mine tunneling surface |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001314792A (en) * | 2000-05-12 | 2001-11-13 | Maruyama Mfg Co Ltd | Motor vehicle for spraying |
| CN101947503A (en) * | 2010-07-28 | 2011-01-19 | 中国农业大学 | Toward-target spraying robot system for greenhouses |
| CN102599138A (en) * | 2012-04-06 | 2012-07-25 | 山东农业大学 | Operating environment sensing based active control system for boom sprayer |
| 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 |
| CN104012503A (en) * | 2014-05-13 | 2014-09-03 | 西北农林科技大学 | Pneumatic conveying form-copying-type garden pesticide spraying machine |
| CN105076099A (en) * | 2015-08-05 | 2015-11-25 | 北京林业大学 | Device for accurately spraying wood disorder medicine strip and method |
| CN106962318A (en) * | 2017-05-02 | 2017-07-21 | 西北农林科技大学 | A kind of electric leveling sprayer for use in garden applied to hilly and mountainous land |
| RU2650530C1 (en) * | 2016-11-01 | 2018-04-16 | Степан Тимофеевич Дричик | Sprayer rod suspension |
| CN208016773U (en) * | 2018-03-23 | 2018-10-30 | 南京林业大学 | A kind of forest spraying machine profiling horn |
| CN208095830U (en) * | 2018-03-28 | 2018-11-16 | 农业部南京农业机械化研究所 | Plant protection unmanned aerial vehicle spray boom regulating device |
| CN109050931A (en) * | 2018-09-19 | 2018-12-21 | 徐州元亨众利农业服务专业合作联社 | A kind of four-axle linked sprinkling system of plant protection drone |
| BR202019005870U2 (en) * | 2019-03-25 | 2019-06-18 | Ricardo Petry | SIMPLIFIED BUS FOR MANUFACTURING AGRICULTURAL PULVERIZERS |
| CN209047283U (en) * | 2018-11-13 | 2019-07-02 | 彭海君 | A kind of forestry multi-angle insecticide spraying device |
| CN209314682U (en) * | 2018-11-06 | 2019-08-30 | 扬州大学 | A kind of Intelligent pesticide application robot of adjustable job area |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108849830B (en) * | 2018-08-31 | 2021-06-18 | 江苏大学 | Automatic profiling spraying machine suitable for citrus orchard terrain |
| 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 |
-
2019
- 2019-09-24 CN CN201910902893.1A patent/CN110583603B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001314792A (en) * | 2000-05-12 | 2001-11-13 | Maruyama Mfg Co Ltd | Motor vehicle for spraying |
| CN101947503A (en) * | 2010-07-28 | 2011-01-19 | 中国农业大学 | Toward-target spraying robot system for greenhouses |
| 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 |
| CN102599138A (en) * | 2012-04-06 | 2012-07-25 | 山东农业大学 | Operating environment sensing based active control system for boom sprayer |
| CN104012503A (en) * | 2014-05-13 | 2014-09-03 | 西北农林科技大学 | Pneumatic conveying form-copying-type garden pesticide spraying machine |
| CN105076099A (en) * | 2015-08-05 | 2015-11-25 | 北京林业大学 | Device for accurately spraying wood disorder medicine strip and method |
| RU2650530C1 (en) * | 2016-11-01 | 2018-04-16 | Степан Тимофеевич Дричик | Sprayer rod suspension |
| CN106962318A (en) * | 2017-05-02 | 2017-07-21 | 西北农林科技大学 | A kind of electric leveling sprayer for use in garden applied to hilly and mountainous land |
| CN208016773U (en) * | 2018-03-23 | 2018-10-30 | 南京林业大学 | A kind of forest spraying machine profiling horn |
| CN208095830U (en) * | 2018-03-28 | 2018-11-16 | 农业部南京农业机械化研究所 | Plant protection unmanned aerial vehicle spray boom regulating device |
| CN109050931A (en) * | 2018-09-19 | 2018-12-21 | 徐州元亨众利农业服务专业合作联社 | A kind of four-axle linked sprinkling system of plant protection drone |
| CN209314682U (en) * | 2018-11-06 | 2019-08-30 | 扬州大学 | A kind of Intelligent pesticide application robot of adjustable job area |
| CN209047283U (en) * | 2018-11-13 | 2019-07-02 | 彭海君 | A kind of forestry multi-angle insecticide spraying device |
| BR202019005870U2 (en) * | 2019-03-25 | 2019-06-18 | Ricardo Petry | SIMPLIFIED BUS FOR MANUFACTURING AGRICULTURAL PULVERIZERS |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110583603A (en) | 2019-12-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110583603B (en) | Profiling intelligent spraying equipment and spraying method suitable for citrus orchard | |
| CN105076099B (en) | A kind of forest obstacle medicine band annular sprayer apparatus and method | |
| CN105360095B (en) | A kind of greenhouse single track plant protection robot and its control method | |
| CN203424190U (en) | Orchard intelligent pesticide spraying machine based on tree shape reconstruction | |
| CN112219830B (en) | Air-assisted variable targeting sprayer for terrace orchard and targeting spraying method | |
| CN108849830B (en) | Automatic profiling spraying machine suitable for citrus orchard terrain | |
| CN113057154A (en) | Greenhouse liquid medicine spraying robot | |
| CN105850671B (en) | A kind of cam-type irrigation sprinkler | |
| CN112970419B (en) | Multifunctional operation machine integrating orchard profiling spraying, obstacle avoidance and mowing and operation method | |
| CN109644965B (en) | Overhead cultivation robot capable of applying medicine by inclining to breeze and implementation method | |
| CN209903226U (en) | Weeding robot | |
| CN109526923A (en) | One plant intelligence spray robot | |
| CN212164699U (en) | Agricultural plant protection robot | |
| CN204070259U (en) | A kind of novel agricultural plant protection car | |
| CN111838111B (en) | Orchard wind power and drug dosage targeting regulation sprayer and method based on ultrasonic sensing | |
| CN113692954A (en) | A self-adaptation intelligence guide robot for spraying of agriculture and forestry orchard blade surface | |
| CN213153296U (en) | Agricultural intelligent watering device | |
| CN110393111B (en) | Agricultural multipurpose automatic spraying robot | |
| CN219330029U (en) | Fruit tree fertilization robot | |
| CN109213160B (en) | Multi-wheel foot robot for field weeding and fertilizing operation | |
| CN109874417B (en) | Crawler-type multifunctional adjustable fruit tree spraying vehicle | |
| CN204860734U (en) | Formula field management machine is taken to four -wheel suitable for rice terrace | |
| CN108157332B (en) | Self-propelled fruit tree pesticide chemical fertilizer sprinkler | |
| CN114128695B (en) | Crawler-type autonomous accurate variable air-assisted spraying robot structure and path planning and variable spraying method thereof | |
| CN115486425A (en) | Automatic atomizer of fruit tree |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |