CN111838110A - Orchard target-aligning pneumatic conveying sprayer based on laser radar and spraying method thereof - Google Patents
Orchard target-aligning pneumatic conveying sprayer based on laser radar and spraying method thereof Download PDFInfo
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- CN111838110A CN111838110A CN202010664459.7A CN202010664459A CN111838110A CN 111838110 A CN111838110 A CN 111838110A CN 202010664459 A CN202010664459 A CN 202010664459A CN 111838110 A CN111838110 A CN 111838110A
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- 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
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- 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
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Abstract
The invention relates to the technical field of agricultural machinery, and discloses an orchard targeted air-assisted spraying machine based on a laser radar and a spraying method thereof, wherein the spraying machine comprises: the two-dimensional laser radar is used for acquiring target information of the fruit trees; the speed detection device is used for acquiring the running speed information of the spraying machine; the air conveying device is used for conveying air with air speed and air quantity capable of being controlled in a decoupling mode; the spraying end of the spraying device is positioned on the air outlet side of the air conveying device; the control device is respectively connected with the two-dimensional laser radar, the speed detection device, the air supply device and the spraying device; the invention realizes the cooperative regulation and control of the dosage of the pesticide sprayed on the fruit tree canopy and the wind power as required when the target pesticide is applied to the orchard, overcomes the problem of strong coupling between the wind speed and the wind volume when the target pesticide is sprayed on the fruit tree in the prior art, and achieves better pesticide spraying effect.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to an orchard targeted air-assisted sprayer based on a laser radar and a spraying method thereof.
Background
In recent years, as the population ages, heavy spraying work has become a major factor affecting orchard management. Currently, some robots for orchard work are developed to overcome this problem, but most of them are directed to picking and harvesting of fruit, and relatively few robots for orchard spraying are used. The orchard pesticide spraying robot is mostly suitable for regulating and controlling the pesticide spraying amount according to needs, and the orchard pesticide spraying robot supporting the regulation and control of the pesticide amount and wind power according to needs is few. In the fruit tree spraying process, if the wind power is too small, the deposition in the fruit tree canopy chamber is insufficient, and the wind power is too large, the liquid medicine is blown out of the fruit tree canopy, so that the pesticide drifts, and the farmland ecological environment pollution is brought.
Meanwhile, with the development of sensors and automatic control technologies, the existing automatic targeting sprayer can selectively apply pesticide to a target according to the existence of the target and the change of target characteristics, so that the attachment rate of pesticide on crops is effectively improved, the settlement of pesticide in a non-target area is obviously reduced, and a good pesticide application effect is obtained.
Although some sprayers with automatic target-aiming wind power regulation and control functions are developed at present, wind power regulation is realized by changing the areas of a wind inlet and a wind outlet and the rotating speed of a fan, the sprayers can only singly regulate the wind speed or the wind volume, and in practical application, the wind speed and the wind volume have a 'strong coupling' relationship, namely when the area of the wind outlet is regulated independently, the wind volume is reduced due to the reduction of the area of the wind outlet, the wind speed is increased, and otherwise, the wind speed is increased due to the increase of the wind volume; when the rotating speed of the fan is independently adjusted, the rotating speed of the fan is increased to cause the wind speed and the wind quantity of the outlet to be synchronously increased, otherwise, the wind speed and the wind quantity are synchronously reduced. Therefore, the existing spraying machine cannot realize the regulation and control of the wind speed and the wind quantity as required due to the 'strong coupling' relation between the corresponding wind speed and the wind quantity.
Based on the technical current situation, when the existing targeting spraying machine is used for targeting spraying of fruit trees in an orchard, the dosage and the wind power are difficult to be adjusted and controlled according to requirements in a synergistic mode, the strong coupling relation between the wind speed and the wind volume during spraying is overcome, and therefore a good medicine spraying effect is difficult to achieve.
Disclosure of Invention
The embodiment of the invention provides an orchard targeted air-assisted sprayer based on a laser radar, which is used for solving the problems that the conventional targeted sprayer is difficult to realize the control of dosage and wind power as required in a synergistic manner when used for targeted spraying of fruit trees in an orchard, and the strong coupling relation between the wind speed and the wind power during spraying is overcome.
The embodiment of the invention also provides a spraying method of the orchard target air-assisted sprayer based on the laser radar.
In order to solve the technical problem, an embodiment of the invention provides an orchard target-oriented air-assisted sprayer based on a laser radar, which comprises: the two-dimensional laser radar is used for acquiring target information of the fruit tree, and the target information comprises position information, canopy contour information, canopy volume information and canopy density information; the speed detection device is used for acquiring the running speed information of the spraying machine; the air supply device comprises an air box, a fan, an air inlet area adjusting mechanism and an air outlet area adjusting mechanism; one end of the air box forms an air inlet, and the other end of the air box forms an air outlet; the air inlet area adjusting mechanism is arranged at the air inlet, and the air outlet area adjusting mechanism is arranged at the air outlet; the spraying end of the spraying device is positioned on the air outlet side of the air conveying device; the input end of the control device is in communication connection with the two-dimensional laser radar and the speed detection device, and the output end of the control device is in communication connection with the fan, the air inlet area adjusting mechanism, the air outlet area adjusting mechanism and the spraying device respectively.
Wherein, still include: a mobile platform; the two-dimensional laser radar, the speed detection device, the air supply device, the spraying device and the control device are installed on the mobile platform.
The first end of the air supply device is rotatably installed on the base, the second end of the air supply device is connected with the base through a telescopic driving mechanism, and/or the air supply device comprises a plurality of air supply devices which are arranged in two rows, and the air outlet directions of the two air supply devices are arranged in a back direction.
The air inlet area adjusting mechanism comprises a first air baffle and a first overturning driving mechanism; the first wind shields comprise a plurality of wind shields which are distributed in the wind inlets side by side; the first turnover driving mechanism is connected with the first wind shield and is in communication connection with the control device.
The air outlet area adjusting mechanism comprises an air outlet adjusting unit and a second overturning driving mechanism; the air outlet regulation and control units comprise a plurality of air outlets and are distributed in the air outlets side by side; the second overturning driving mechanism corresponds to the air outlet regulation and control units one by one and is connected with the air outlet regulation and control units, and the second overturning driving mechanism is in communication connection with the control device.
The air outlet regulation and control unit comprises two second air baffles, one sides of the two second air baffles corresponding to each other are hinged, and the other sides of the two second air baffles are connected with the second overturning driving mechanism.
The spraying device comprises a plurality of spraying heads, and the spraying heads are used for communicating the medicine box through a control valve; the air outlet regulation and control units are opposite to the atomizing spray heads one by one and are arranged along the air outlet direction of the air supply device.
The embodiment of the invention also provides a spraying method of the orchard target air-assisted sprayer based on the laser radar, which comprises the following steps: s1, collecting target information of fruit trees in the orchard and driving speed information of the spraying machine, wherein the target information comprises position information, canopy contour information, canopy volume information and canopy density information of the fruit trees; s2, calculating the dosage of the pesticide sprayed on different positions of the fruit tree canopy based on the target information, controlling a spraying device to spray the pesticide, meanwhile, calculating the wind speed and the wind quantity conveyed to different positions of the fruit tree canopy based on the target information, and cooperatively regulating and controlling a fan, a wind inlet area regulating mechanism and a wind outlet area regulating mechanism so as to regulate and control the wind power distribution and the wind power size of different positions of the fruit tree canopy; and S3, sequentially carrying out target spraying operation on the fruit trees on the basis of the running speed information of the spraying machine and the position information of the fruit trees.
Wherein S2 further includes: performing grid division on the canopy of the fruit tree row by row along the horizontal direction according to canopy contour information and canopy volume information, wherein each row forms a plurality of unit grids; according to the canopy volume information and the canopy density information of each unit grid in a single row, calculating the amount of medicine sprayed on each unit grid to control a single spray head to spray medicine to the unit grid corresponding to the single spray head, and meanwhile, according to the canopy volume information and the canopy density information of each unit grid in the single row, calculating the wind speed and the wind volume sprayed on each unit grid to control a single wind outlet regulation and control unit to convey the corresponding wind speed and the corresponding wind volume to the unit grid corresponding to the single wind outlet regulation and control unit; accordingly, S3 further includes: and carrying out row-by-row target spraying operation on the canopy of the fruit tree according to the running speed information of the spraying machine and the position information of the fruit tree.
Wherein, in S1, the acquiring target information of fruit trees in the orchard further includes: acquiring point cloud data of the fruit trees by a two-dimensional laser radar; acquiring the position information and canopy contour information of the fruit tree according to the point cloud data; calculating and acquiring canopy volume information of the fruit tree by adopting a canopy contour gridding maximum value algorithm on the point cloud data; and detecting the number of point cloud data returned in the specified area volume and the theoretical number of point cloud data fully distributed in the specified area volume by using a two-dimensional laser radar so as to obtain canopy density information of the fruit tree.
One or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:
the orchard target-to-target air-blowing sprayer based on the laser radar and the spraying method thereof provided by the embodiment of the invention can acquire target information of fruit trees through the two-dimensional laser radar and acquire running speed information of the sprayer through the speed detection device, so that based on the information acquired by the two-dimensional laser radar and the speed detection device, when the air-blowing device and the corresponding spraying device are over against the canopy of the fruit tree and carry out air-blowing spraying, the dosage of spraying the fruit tree can be calculated based on the target information of the fruit tree, the spraying device is controlled to spray medicine, the air speed and the air quantity delivered to the fruit tree by the air-blowing device are calculated based on the target information of the fruit tree, the rotating speed output by the fan is controlled cooperatively, the air inlet quantity of the air inlet is controlled by the air inlet area regulating mechanism, the air outlet quantity of the air outlet is controlled by the air outlet area regulating mechanism, and, and then, target spraying operation can be sequentially carried out on each fruit tree in the orchard based on the driving speed information of the spraying machine and the position information of the fruit trees.
Therefore, the air conveying device disclosed by the invention can convey air with the wind speed and the wind volume capable of being controlled in a decoupling mode while carrying out air conveying on the liquid medicine sprayed by the spraying device, and can control the dosage of the medicine sprayed on the target of the fruit tree based on the target information of the fruit tree and control the wind speed and the wind volume of the medicine sprayed on the target of the fruit tree based on the target information of the fruit tree when the fruit tree is sprayed on the target, so that the dosage of the medicine sprayed on the crown of the fruit tree and the wind power can be regulated and controlled in a coordinated mode as required, the problem of strong coupling existing between the wind speed and the wind volume when the fruit tree is sprayed on the target in a traditional mode is solved, and a good medicine spraying effect is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of an orchard target-to-target air-assisted sprayer based on a laser radar in an embodiment of the invention;
FIG. 2 is a schematic diagram of a right-view structure of the orchard target-to-target air-assisted sprayer based on the laser radar in the embodiment of the invention;
FIG. 3 is a block diagram of a control structure of a target air-assisted sprayer for an orchard based on laser radar according to an embodiment of the invention;
FIG. 4 is a schematic structural diagram of a laser radar-based orchard spraying operation of a target air-assisted sprayer in the orchard according to an embodiment of the invention;
FIG. 5 is a schematic structural view of an air-assisted spray apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a man-machine interface of a laser radar-based orchard target air-assisted sprayer according to an embodiment of the invention;
FIG. 7 is a flow chart of a method for spraying a target air-assisted sprayer in an orchard based on laser radar according to an embodiment of the invention;
fig. 8 is a schematic diagram of point cloud data of a fruit tree canopy obtained based on a two-dimensional laser radar to extract a transverse cross section of the fruit tree canopy according to an embodiment of the present invention;
fig. 9 is a schematic diagram of point cloud data of a fruit tree canopy obtained based on a two-dimensional laser radar to extract a longitudinal section of the fruit tree canopy according to an embodiment of the present invention;
FIG. 10 is a schematic view of a broken line drawn by connecting points on the cross-sectional profiles in the longitudinal and lateral directions according to an embodiment of the present invention;
Fig. 11 is a schematic diagram illustrating calculation of air volume demand of the sprayer for supplying air to the inlet of the fruit tree canopy according to the embodiment of the invention.
In the figure, 1, two-dimensional laser radar; 2. an air conveying device; 21. an air box; 22. a fan; 23. an air outlet area adjusting mechanism; 231. a second wind deflector; 232. a second turnover driving mechanism; 24. an air inlet area adjusting mechanism; 241. a first windshield; 242. a first tumble drive mechanism; 3. a spraying device; 31. a spray head; 32. a medicine chest; 4. a control device; 5. a mobile platform; 6. a base; 7. a telescopic driving mechanism; 8. a scissor bracket.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, 2 and 5, the present embodiment provides a laser radar-based orchard target air-assisted sprayer, including: the two-dimensional laser radar device comprises a two-dimensional laser radar 1, wherein the two-dimensional laser radar 1 is used for collecting target information of a fruit tree, and the target information comprises position information of the fruit tree, canopy contour information, canopy volume information and canopy density information; the speed detection device is used for acquiring the running speed information of the spraying machine; the air supply device 2 comprises an air box 21, a fan 22, an air inlet area adjusting mechanism 24 and an air outlet area adjusting mechanism 23; one end of the air box 21 forms an air inlet, and the other end forms an air outlet; the air inlet area adjusting mechanism 24 is arranged at the air inlet, and the air outlet area adjusting mechanism 23 is arranged at the air outlet; the spraying end of the spraying device 3 is positioned at the air outlet side of the air conveying device 2; the input end of the control device 4 is in communication connection with the two-dimensional laser radar 1 and the speed detection device, and the output end of the control device 4 is in communication connection with the fan 22, the air inlet area adjusting mechanism 24, the air outlet area adjusting mechanism 23 and the spraying device 3 respectively.
Specifically, in the spraying machine shown in this embodiment, the two-dimensional laser radar 1 can be used for collecting target information of a fruit tree, and the speed detection device is used for collecting driving speed information of the spraying machine, so that based on the information collected by the two-dimensional laser radar 1 and the speed detection device, when the air supply device 2 and the corresponding spraying device 3 are directly facing a fruit tree canopy and are used for air supply spraying, the spraying amount of the spraying agent for the fruit tree can be calculated based on the target information of the fruit tree, so as to control the spraying device 3 to spray the medicine, and based on the target information of the fruit tree, the air speed and the air quantity of the air supply device 2 for the fruit tree can be calculated, so as to cooperatively control the rotating speed output by the fan 22, control the air inlet area adjusting mechanism 24 to adjust and control the air inlet amount of the air inlet and control the air outlet amount of the air outlet, and then, target spraying operation can be sequentially carried out on each fruit tree in the orchard based on the driving speed information of the spraying machine and the position information of the fruit trees.
Therefore, the air conveying device 2 shown in the embodiment can convey air with wind speed and wind quantity capable of being controlled in a decoupling mode when liquid medicine sprayed by the spraying device 3 is conveyed in an air conveying mode, when fruit trees are sprayed to targets, the dosage of the fruit trees to the targets can be controlled based on target information of the fruit trees, the wind speed and the wind quantity of the fruit trees to the targets can be further controlled based on the target information of the fruit trees, the dosage of the fruit trees to be sprayed to the canopy and the wind power can be regulated and controlled in a coordinated mode according to needs, the problem that the wind speed and the wind quantity are strongly coupled when the fruit trees are sprayed to the targets in a traditional mode is solved, and a good medicine spraying effect is achieved.
Therefore, the sprayer shown in the embodiment has high automation degree, is applicable to spraying operation of fruit trees of different types and different heights in an orchard, and greatly reduces the labor intensity of operators.
As shown in fig. 1, the two-dimensional laser radar 1 shown in this embodiment, speed detection device, wind send device 2, atomizer 3 and controlling means 4 all to install on moving platform 5, moving platform 5 can adopt the known crawler travel mechanism in this field to the complicated walking road conditions in adaptation orchard, thereby be convenient for carry out the spraying to the target of medicine to the fruit tree, wherein, two-dimensional laser radar 1 accessible adjustable support installs on moving platform 5, thereby based on the regulation to 1 mounting height of two-dimensional laser radar, can realize the collection to the target information of the fruit tree of co-altitude.
The two-dimensional laser radar 1 shown in this embodiment implements non-contact ranging of a fruit tree (target object) according to a laser pulse Time Flight principle (Time-of-Flight) to obtain characteristic point cloud data of the fruit tree, and further obtains target information of the fruit tree according to the characteristic point cloud data. Meanwhile, the two-dimensional laser radar 1 can be used for collecting target information of fruit trees and providing a navigation path for autonomous walking of the mobile platform 5, so that the unmanned spraying operation process is realized, the labor cost is saved, the pesticide utilization rate is improved, and the harm of pesticides to the health of personnel is reduced.
The speed detection device shown in this embodiment is not illustrated in fig. 1, the speed detection device may employ a GPS positioning module known in the art, so as to obtain the running speed information of the spraying machine by monitoring the real-time position change of the spraying machine, the speed detection device may also be a speed measurement sensor known in the art for directly detecting the speed of the spraying machine, and may also employ an encoder or a proximity switch to detect the rotating speed of a corresponding running device (running wheel) of the spraying machine, which is not listed here.
Meanwhile, as shown in fig. 3, the control device 4 shown in this embodiment may include an industrial personal computer, a drug amount regulation and control system, a wind power regulation and control system, and a walking control system, wherein the industrial personal computer is connected to the two-dimensional laser radar 1 through a network port in a communication manner, and is respectively connected to the drug amount regulation and control system, the wind power regulation and control system, and the walking control system in a communication manner through a CAN bus, and the drug amount regulation and control system is used for controlling the drug amount sprayed by the spraying device 3 based on target information of fruit trees. The wind power regulating and controlling system is used for controlling the wind speed and the wind quantity of the wind transmitted and supplied by the wind power device 2 based on the target information of the fruit trees.
In addition, based on a navigation path provided by the two-dimensional laser radar 1 for autonomous walking of the mobile platform 5, the walking control system can control the walking pose of the crawler walking mechanism, so that the unmanned spraying operation process is realized, the labor cost is greatly saved, the pesticide utilization rate is improved, and the harm of pesticides to the health of personnel is reduced. The crawler traveling mechanism is arranged on a crawler, the traveling control system corresponding to the crawler traveling mechanism comprises a crawler traveling controller, the deflection angle of the crawler during traveling can be monitored based on an angle sensor, the rotating speed of a traveling motor on the crawler is monitored through a speed sensor, and the traveling speed of the crawler is monitored, so that the crawler traveling controller can control the traveling pose of the crawler in real time through a motor driver based on the deflection angle and the traveling speed.
In the spraying device 3, the spraying end of the spraying device 3 may be provided separately on the air outlet side of the air blowing device 2, or the spraying end may be directly attached to the air outlet side of the air blowing device 2. The spraying device 3 can control the spraying dosage by controlling the flow of the spraying agent at the spraying end. When the air supply device 2 controls the air speed and the air volume of the supplied air through the fan 22, the air supply device 2 can also be combined with the air inlet area adjusting mechanism 24 and the air outlet area adjusting mechanism 23 to adjust the corresponding air inlet volume and the corresponding air outlet volume, so that the air supply device 2 can convey the required air speed and the required air volume to the fruit trees. Therefore, during actual air supply, for the fruit tree canopy with large crown and sparse branches and leaves, the air supply device 2 can be controlled to output air with large air quantity and small air speed, and for the fruit tree canopy with small crown and dense branches and leaves, the air supply device 2 can be controlled to output air with small air quantity and large air speed, so that the medicine can be uniformly conveyed to each area of the fruit tree canopy.
Preferably, as shown in fig. 2 and 5, in the present embodiment, a first end of the wind delivery device 2 is rotatably mounted on the base 6, and a second end of the wind delivery device 2 is connected to the base 6 through a telescopic driving mechanism 7, wherein the telescopic driving mechanism 7 can be any one of a hydraulic cylinder, an air cylinder and an electric push rod, and a distance sensor can be mounted on the base 6 to monitor a turning angle of the wind delivery device 2 relative to the first end thereof in real time, so as to control a telescopic amount of the telescopic driving mechanism 7 in real time.
It is concrete, because all carry out corresponding medicine spraying in the different growth periods of fruit tree, and the fruit tree is highly inequality in the growth period of difference, the form on fruit tree canopy is also different, simultaneously under different terrain conditions, the fruit tree is also different to the height that the medicine wind sent for wind send device 2, in order to satisfy the medicine spraying requirement to the fruit tree of co-altitude, this embodiment is articulated mutually first end and base 6 of wind send device 2, and with the articulated electric putter's of wind send device 2 second end base, electric putter's flexible end is articulated with the corresponding end of base 6. Therefore, the control device 4 can control the stretching amount of the stretching driving mechanism 7 (electric push rod) based on the distance information that the air supply device 2 deviates from the base 6 and is collected by the distance sensor, so that when the stretching end of the stretching driving mechanism 7 stretches, the air supply device 2 can be driven to turn over a corresponding angle relative to the first end of the air supply device, and the air supply device 2 can be ensured to carry out target spraying operation on fruit trees suitable for different heights.
Further, in order to ensure the stability and reliability of the air conveying device 2 in turning, the present embodiment may further design the scissor-type bracket 8, the base 6 is connected to the bottom of the scissor-type bracket 8, the top of the scissor-type bracket 8 is movably connected to the air conveying device 2, so that when the air conveying device 2 turns towards the turning away from the base 6, the scissor-type bracket 8 may be adaptively unfolded, when the air conveying device 2 turns towards the turning close to the base 6, the scissor-type bracket 8 may be adaptively retracted, and the air conveying device 2 is provided with auxiliary support in the process.
Preferably, in this embodiment, wind send device 2 to include a plurality of, and divide into two rows and arrange, correspondingly, all set up atomizer 3's spraying end in every wind send device 2's air-out side to set up the spraying direction of spraying end and corresponding wind send device 2's air-out direction syntropy, can be with two wind send device 2's air-out side dorsad settings.
As shown in fig. 4, since the fruit trees planted in the orchard are usually arranged in an array, two rows of fruit trees are correspondingly represented by tree patterns on two sides in fig. 4, the sprayer shown in this embodiment is placed between the two rows of fruit trees, and the target spraying operation is performed on the fruit trees. In order to improve the efficiency of carrying out the target spraying to the fruit tree to reduce equipment cost, the sprayer shown in this embodiment can specifically set up two with wind send device 2, and two wind send device 2 and corresponding atomizer 3 when carrying out the target spraying medicine to the fruit tree, the direction of spraying to the target respectively towards the left side and the right side of moving platform 5, thereby can realize carrying out the target spraying operation to the fruit tree of left and right both sides simultaneously.
It should be noted that the control device 4 can independently control the air supply device 2 and the spraying device 3 on the corresponding sides to independently perform the target spraying operation based on the different growth vigor of the fruit trees on the two sides of the spraying machine detected by the two-dimensional laser radar 1.
Preferably, as shown in fig. 3 and 5, in the air blower 2 of the present embodiment, the outer contour of the air box 21 is "eight" shaped, the large end of the air box 21 forms an air outlet, and the side wall near the small end of the air box 21 forms an air inlet. Since the centrifugal fan can generate a larger wind speed and a larger wind volume during operation compared with the axial flow fan, the fan 22 shown in this embodiment is preferably a centrifugal fan, the centrifugal fan includes a centrifugal wind wheel and a dc driving motor, the centrifugal wind wheel is rotatably installed in the air box 21, the dc driving motor is installed outside the air box 21, an output end of the dc driving motor is connected to the centrifugal wind wheel through a belt transmission mechanism, and an installation position of the centrifugal wind wheel in the air box 21 corresponds to an air inlet of the air box 21. Therefore, the rotating speed of the centrifugal wind wheel can be adjusted by adjusting the rotating speed of the direct current driving motor.
Meanwhile, as shown in fig. 5, for the air intake area adjusting mechanism 24 shown in this embodiment, the air intake area adjusting mechanism 24 includes a first air blocking plate 241 and a first turning driving mechanism 242, the first air blocking plate 241 includes a plurality of air blocking plates, and the air blocking plates are distributed in the air inlet of the air box 21 side by side, and the first turning driving mechanism 242 is connected to the first air blocking plate 241 and is connected to the control device 4 in a communication manner.
Specifically, the first turnover driving mechanism 242 includes a stepping motor and a gear transmission mechanism, each first wind deflector 241 is correspondingly installed on a rotating shaft, the gear transmission mechanism includes a plurality of gears engaged in sequence, each gear is coaxially connected with one end of the rotating shaft corresponding to the first wind deflector 241, the output end of the stepping motor is coaxially connected with one of the gears, thereby the control device 4 can control the rotating angle of the stepping motor, so as to control each first wind deflector 241 to synchronously turn over a corresponding angle, and accordingly the adjustment of the corresponding air intake amount is realized based on the adjustment of the air intake area at the air intake of the air box 21.
As shown in fig. 3, the wind power control system corresponding to the control device 4 includes a wind power control controller, an encoder for monitoring a rotation angle of the stepping motor is installed on the stepping motor, and the wind power control controller controls the rotation angle of the stepping motor based on the rotation angle of the stepping motor monitored in real time, so as to control each first wind deflector 241 to turn over a corresponding angle synchronously.
In the solution shown in this embodiment, five first wind deflectors 241 are specifically provided, and the five first wind deflectors 241 are installed in the fixed frame through the rotating shafts corresponding to the five first wind deflectors, and because the area of the air inlet of the fixed frame is the same as the area of the air inlet of the air box 21, different turning angles of the first wind deflectors 241 can adjust the area of the air inlet of the air box 21 within the range of 0-100%.
Preferably, as shown in fig. 3, the air outlet area adjusting mechanism 23 in this embodiment includes an air outlet adjusting unit and a second turnover driving mechanism 232; the air outlet regulation and control unit comprises a plurality of air outlets which are distributed in the air box 21 side by side; second upset actuating mechanism 232 and air-out regulation and control unit one-to-one to be connected air-out regulation and control unit, second upset actuating mechanism 232 communication connection controlling means 4, wherein, air-out regulation and control unit includes two second shutters 231, and two corresponding one sides of second shutters 231 are articulated mutually, and the another side that its hinged end was kept away from to two second shutters 231 is connected second upset actuating mechanism 232. From this, a plurality of air-out regulation and control units divide into a plurality of air-out regions with bellows 21's air outlet, and controlling means 4 accessible control every air-out regulation and control unit corresponding second upset actuating mechanism 232 to the aperture of two second windscreens 231 in the corresponding air-out region of control, thereby realize the regulation to the air output in this air-out region.
Correspondingly, when the wind speed at the corresponding position of the air outlet of the air box 21 is adjusted, a corresponding encoder can be configured for each fan 22, and the wind power regulation and control controller regulates and controls the rotating speed of the fan 22 in real time based on the target information at the corresponding position of the fruit tree, so as to adjust the wind speed at the corresponding position of the air outlet of the air box 21.
Preferably, as shown in fig. 3 and 5, the spraying device 3 shown in this embodiment includes a plurality of spraying heads 31, and the air outlet regulating units are opposite to the spraying heads 31 one by one and arranged along the air outlet direction of the air supply device 2.
Specifically, when the targeted spraying of the medicine is performed on the fruit tree, the canopy of the fruit tree can be gridded column by column along the horizontal direction according to the canopy contour information and the canopy volume information of the fruit tree, each column forms a plurality of unit grids, the spray heads 31 correspond to the corresponding unit grids of each column one by one, the amount of the medicine sprayed on each unit grid can be calculated according to the canopy volume information and the canopy density information of each unit grid of a single column, and the corresponding spray heads 31 perform corresponding spraying operation.
Here, by corresponding the spray heads 31 to the air-out control units one by one, when adjusting the air speed and the air volume of the corresponding unit grids, the air speed of the air delivered to each unit grid can be controlled by the fan 22 according to the canopy volume information and the canopy density information of each unit grid in a single row, and the air volume of the air delivered to each unit grid can be controlled by controlling the open/close state of the air-out control units, and the operation of controlling the open/close of the air-out control units is as follows:
The two second wind blocking plates 231 corresponding to the wind outlet regulating unit are turned over in opposite directions by a preset angle to open the wind outlets in the corresponding areas of the atomizing head 31, so that the wind outlet direction of the wind box 21 is not greatly affected, wherein when the two second wind blocking plates 231 are turned over in opposite directions by 90 degrees, the two second wind blocking plates 231 are attached to each other to completely open the wind outlets in the corresponding areas of the atomizing head 31; when the two second wind blocking plates 231 corresponding to the controlled air-out regulating unit are turned 90 degrees away from each other and unfolded, the air outlet of the corresponding air-out area of the atomizing head 31 can be closed, so that the air volume conveyed by each unit grid can be controlled.
As shown in fig. 5, in order to ensure reliable adjustment of the current air outlet area of the atomizing heads 31, six atomizing heads 31 are disposed at the air outlet of the air box 21, the air outlet of the air box 21 is vertically arranged, the six atomizing heads 31 are uniformly arranged at the air outlet from top to bottom, and correspondingly, 12 air baffles corresponding to the air outlet of the air box 21 are disposed in the air box 21, that is, two adjacent second air baffles 231 correspond to one atomizing head 31. Fixed shafts corresponding to the second wind blocking plates 231 are arranged in the wind box 21, and one corresponding side of each two adjacent second wind blocking plates 231 is rotatably arranged on the same fixed shaft.
For the second turnover driving mechanism 232, the second turnover driving mechanism 232 includes a driving turnover mechanism and a driven turnover mechanism, the driving turnover mechanism and the driven turnover mechanism are distributed on the opposite side of the second wind deflector 231 along the corresponding fixed shaft direction, and both the driving turnover mechanism and the driven turnover mechanism have a link mechanism, wherein one end of the link mechanism corresponding to the driving turnover mechanism is hinged to the side of the second wind deflector 231 away from the fixed shaft, the other end of the link mechanism is connected with the output end of the steering engine, the steering engine is installed on the wind box 21 on the corresponding side of the second wind deflector 231, one end of the link mechanism corresponding to the driven turnover mechanism is hinged to the side of the second wind deflector 231 away from the fixed shaft, and the other end of the link mechanism is rotatably connected with the wind box 21 on the corresponding side of the second wind deflector 231.
As shown in fig. 3 and 5, 12 second wind blocking plates 231 corresponding to the wind outlets of the wind boxes 21 corresponding to each wind conveying device 2 are arranged in each wind conveying device 2, so that each wind conveying device 2 is provided with 12 steering engines in total, and each steering engine can be provided with one encoder. When adjusting the air output of the corresponding position of the air outlet of the air box 21, for each second air baffle 231, the wind power regulation and control controller can monitor the rotation angle of the steering engine corresponding to the second air baffle 231 in real time based on the encoder, and control the steering engine to rotate by a corresponding angle according to the target information of the corresponding position of the fruit tree, so as to drive the second air baffle 231 to overturn by a corresponding angle.
Meanwhile, as spray head 31 shown in the present embodiment, spray head 31 is used to communicate medicine box 32 through a control valve, and an electromagnetic valve can be used as the control valve. The pesticide amount regulating and controlling system comprises a pesticide spraying controller, the pesticide spraying controller calculates the pesticide amount required to be sprayed by the spraying heads 31 based on target information of fruit trees, and the pesticide flow information of pesticide liquid passing through the electromagnetic valve is monitored in real time based on the flow sensor, so that the on-off state of the electromagnetic valve is controlled through the solid-state relay, wherein in actual control operation, the pesticide spraying controller can specifically control the on-off frequency of the electromagnetic valve through the PWM driving circuit, control over the pesticide amount sprayed by the spraying heads 31 is achieved, and accurate control over the pesticide amount at different positions of the fruit trees can be achieved based on the spraying heads 31.
In the process of controlling the pesticide amount spraying, the pesticide spraying controller further performs PID constant pressure control on the pesticide liquid output by the pesticide box 32 through the diaphragm pump and the pressure sensor, specifically, the pesticide box 32 sequentially passes through the diaphragm pump and the pressure regulating valve to provide the pesticide liquid to the spraying head 31, a filter is installed at the inlet of the diaphragm pump, the pressure sensor is installed at the outlet of the diaphragm pump, the pressure regulating valve is a three-way valve, and the pressure regulating valve is further communicated with the pesticide box 32 through a return pipe. When the pressure sensor monitors that the outlet pressure of the diaphragm pump is too high, the pressure regulating valve also returns a part of liquid medicine to the medicine box 32 through the return pipe so as to control the constancy of the pressure of the liquid medicine conveyed by the spray head 31, and therefore under the condition that the pressure of the liquid medicine conveyed by the spray head 31 is constant, the accurate control of the spraying dosage of the spray head 31 can be conveniently realized.
In addition, as shown in fig. 6, the embodiment further designs a corresponding human-machine interface based on the working process of the spraying machine. Through the man-machine interface, the setting of communication parameters, fruit tree row spacing, sensor installation height, sensor and atomizer spacing and spraying width can be carried out, and the real-time display of fruit tree volume, branch and leaf thickness, operation speed, liquid medicine concentration, unit volume pesticide application amount, fan rotating speed, air inlet area, air outlet area, air speed, air quantity, air box inclination angle and left and right offset distance of the crawler traveling mechanism can be realized. Meanwhile, the human-computer interface can indicate the target spraying state of the fruit trees on the left side and the right side through images, the spraying amount change of the fruit trees at different positions is displayed in real time through the dynamic scroll bar, and the functions of communication setting, speed calibration, laser radar connection, starting operation, stopping operation and the like of machines and tools can be completed through the human-computer interface.
As shown in fig. 7, the present embodiment further provides a spraying method for a target air-assisted sprayer in an orchard based on a lidar, which includes: s1, collecting target information of fruit trees in the orchard and driving speed information of the spraying machine, wherein the target information comprises position information, canopy contour information, canopy volume information and canopy density information of the fruit trees; s2, calculating the dosage of the pesticide sprayed on different positions of the fruit tree canopy based on the target information, controlling a spraying device to spray the pesticide, meanwhile, calculating the wind speed and the wind quantity conveyed to different positions of the fruit tree canopy based on the target information, and cooperatively regulating and controlling a fan, a wind inlet area regulating mechanism and a wind outlet area regulating mechanism so as to regulate and control the wind power distribution and the wind power size of different positions of the fruit tree canopy; and S3, sequentially carrying out target spraying operation on the fruit trees on the basis of the running speed information of the spraying machine and the position information of the fruit trees.
Specifically, in step S1, the present embodiment may obtain point cloud data of the fruit tree based on the two-dimensional laser radar, and obtain position information and canopy contour information of the fruit tree according to the point cloud data; calculating and acquiring canopy volume information of the fruit tree by adopting a canopy contour gridding maximum value algorithm on the point cloud data; and detecting the number of the point cloud data returned in the specified area volume and the theoretical number of the point cloud data distributed in the specified area volume through a two-dimensional laser radar so as to obtain the canopy density information of the fruit tree.
The canopy contour gridding maximum value algorithm shown in this embodiment is as follows:
and acquiring a fruit tree canopy contour based on the point cloud data corresponding to the canopy of the fruit tree, wherein the fruit tree canopy contour is a set of external envelope lines of the fruit tree canopy, contains all information of geometric characteristic parameters of the canopy and is formed by connecting the outermost edge points at different positions of the canopy. In this case, the fruit tree canopy contour is respectively gridded in the transverse direction and the longitudinal direction at a predetermined point spacing, for example: when the point taking distance is 0.1m, the size of each corresponding grid unit is 0.1m multiplied by 0.1m, wherein the grid unit coordinates, the y direction is the walking direction of the spraying machine, the z direction is the height direction of the fruit tree canopy, the x direction is the thickness direction of the fruit tree canopy, and the x direction is the direction of the spraying machine horizontally facing the fruit tree and is vertical to the y direction.
As shown in fig. 8, based on the point cloud data of the fruit tree canopy obtained by the two-dimensional laser radar 1, the transverse section of the canopy can be obtained by extracting the sections with different canopy heights, and the half-tree-shaped contour area corresponding to the two-dimensional laser radar 1 in fig. 8 represents the transverse section of the canopy extracted in this embodiment.
As shown in fig. 9, based on the point cloud data of the fruit tree canopy acquired by the two-dimensional laser radar 1, the longitudinal section of the canopy is obtained by extracting sections of different horizontal detection positions. In fig. 9, the horizontal grid lines represent horizontal contour extraction lines, the vertical grid lines represent vertical contour extraction lines, the intersections of the horizontal grid lines and the vertical grid lines represent contour points, and the tree-like contour region in fig. 9 represents a vertical section of the extracted canopy of the present embodiment.
As shown in fig. 10, the canopy longitudinal and transverse cross-sectional profile is obtained by connecting points on the longitudinal and transverse cross-sectional profiles and drawing a line graph. In fig. 10, the coordinate y represents the travelling direction of the sprayer, with the unit m; the coordinate x represents the thickness direction of the fruit tree canopy, and the unit is m; the coordinate z is the height direction of the fruit tree canopy and takes 1.33 m.
Therefore, after removing the points with the contour thickness of 0m of the canopy, calculating the area between adjacent coordinate points according to a trapezoidal area method, accumulating, calculating the cross-sectional area, and accumulating according to the obtained cross-sectional area of the canopy multiplied by the extraction distance of the cross section to obtain the volume of the canopy, wherein the specific formula is as follows:
Meanwhile, the number of the point cloud data returned in the designated area volume detected by the two-dimensional laser radar can be divided by the theoretical number of the point cloud data fully distributed in the designated area volume, and corresponding conversion coefficients are combined to obtain canopy density information of the fruit tree, and the principle is as follows:
the traditional pesticide spraying aims to uniformly spray the pesticide on each leaf, namely, the pesticide application amount q is a function of the leaf area s, namely q ═ f(s), but the fast calculation of the leaf area is difficult through a nondestructive measurement method due to the fact that the number of the leaves is large and partial shielding exists. The blade area s can be indirectly obtained by multiplying the blade area density p by the volume V of the designated areaCalculation, i.e. s ═ ρ V, where the leaf area density ρ is used to describe the branch and leaf sparsity of the canopy of a fruit tree, it refers to the leaf area per unit volume (m ═ ρ V)2/m3)I.e., ρ is s/V.
Setting the number of the blades in the volume V of the designated area as nlThe area of each leaf is Si，i＝1，2，…，nlSorting the leaf numbers, setting the difference between the leaf area of each leaf and the leaf area of the first leaf as Delta Si，i＝1，2，…，n l1, the leaf area within the specified region volume V can then be expressed as:
suppose that
That is, the change in the area of each blade in the designated area volume V is relatively small, and the blade area in the designated area volume V is reduced to S ═ S 1nlSo that ρ ═ S/V ═ S can be further obtained1nl/V。
From this, it can be seen that the leaf area S is the first leaf area1The density p of the blade area is determined by the value of the volume V of the designated arealMay vary.
Correspondingly, based on that the more the number of blades in the designated area volume V is, the larger the blade area is, the more point cloud data output by the two-dimensional laser radar is, so that the present embodiment can use the point cloud density to represent the blade area density, and the calculation formula is as follows:
in the formula, npNumber of point cloud data, n, for a target returned for detection within a specified volume of areamaxThe theoretical number of the point cloud data in the designated area volume is obviously the maximum value which can be theoretically reached by the point cloud data in the designated area volume, namely nmaxIn case of value determination, pointCloud density ρpWith npSo that n is determined only by data analysislAnd npThe functional relation between the two can be determined by coefficient calculationpA functional relationship between them, whereby the cloud density ρ of the volume of the region can be specifiedpThe canopy density information of the fruit tree is conveniently acquired.
Further, in this embodiment, based on the obtained target information of the fruit tree, the following wind speed and air volume combined control model can be referred to, so as to realize the control of the wind speed and the air volume of the wind conveying device for conveying the fruit tree canopy:
(WindSpeed,Volume)＝F(SIN,SOUT,FanSpeed)；
In the formula, WindSpeed is the wind speed of the air outlet of the air box, and the unit is m/s; volume is the air output of the air outlet of the air box, and the unit is m3/s；SINIs the air inlet area of the air box, and the unit is m2；SOUTIs the air outlet area of the bellows, and the unit is m2(ii) a FanSpeed is the rotating speed of the fan, and the unit is r/s; f is a function of the synergistic relationship between the wind speed of the wind conveyed by the wind conveying device, the wind quantity relative to the area of the wind inlet and the wind outlet of the wind box and the rotating speed of the fan.
The wind speed and air volume combined control model shown in this embodiment may be obtained through training by using a deep neural network model, the input quantity of the wind speed and air volume combined control model is the wind speed and the air volume of the air supplied by the air supply device, and the output quantity of the wind speed and air volume combined control model is the air inlet and outlet area of the air box and the rotating speed of the fan, which correspond to the wind speed and the air volume of the air supplied by the air supply device. Therefore, optimal control of wind distribution and wind strength at different positions of the canopy of the fruit tree can be realized based on the wind speed and wind volume combined regulation and control model.
In addition, as shown in fig. 11, when the wind speed and the wind Volume of the wind supplied by the wind supply device are controlled, the speed of the airflow supplied by the wind by the spraying machine and the traveling speed of the spraying machine are both set to be constant, and the wind Volume demand Volume at the entrance of the canopy of the fruit tree is set to be constant CanopyINShould not be less than fruitThe volume of the tree canopy towards the sprayer side, wherein the shape of the tree canopy towards the sprayer side can be simplified into a trapezoidal cube, so that the following constraints can be obtained:
in the formula, VolumeCanopyINThe unit of the air quantity is m for the air quantity requirement at the entrance of the canopy of the fruit tree3/s；H1The height of the fruit tree canopy is m; h2The height of the entrance of the fruit tree canopy is m; h3The height of an air outlet of the spraying machine is m, and v is the advancing speed of the spraying machine in m/s; l is the distance between the spraying machine and the vertical center of the fruit tree, and the unit is m; l is1The distance between the spraying machine and the inlet of the fruit tree canopy is m; l is2The distance between the entrance of the fruit tree canopy and the vertical center of the fruit tree canopy is m; k is the air quantity loss coefficient in the fruit tree chamber.
Of course, the shape type of the fruit tree canopy can be in other forms, and a corresponding mathematical model can be established according to the volume of the fruit tree canopy and the canopy density information and by combining the shape type of the fruit tree canopy so as to control the wind speed and the wind volume transmitted to the fruit tree canopy.
Furthermore, in the embodiment, the canopy of the fruit tree is subjected to grid division row by row along the horizontal direction according to the canopy contour information and the canopy volume information, and each row forms a plurality of unit grids; according to the canopy volume information and the canopy density information of each unit grid in a single row, calculating the amount of medicine sprayed on each unit grid to control a single spray head to spray medicine to the unit grid corresponding to the single spray head, and meanwhile, according to the canopy volume information and the canopy density information of each unit grid in the single row, calculating the wind speed and the wind volume sprayed on each unit grid to control a single wind outlet regulation and control unit to convey the corresponding wind speed and the corresponding wind volume to the unit grid corresponding to the single wind outlet regulation and control unit; correspondingly, the row-by-row target spraying operation can be carried out on the canopy of the fruit tree according to the running speed information of the spraying machine and the position information of the fruit tree. So, when carrying out target wind-driven spraying to the fruit tree in orchard, realize the dose of each position of fruit tree and the cooperation of wind-force as required regulation and control, when having ensured better spraying effect, still practice thrift the dose of spraying by a wide margin to farmland ecological environment pollution because of the pesticide drift has been prevented.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides an orchard is to target air conveying sprayer based on laser radar which characterized in that includes: the two-dimensional laser radar is used for acquiring target information of the fruit tree, and the target information comprises position information of the fruit tree, canopy contour information, canopy volume information and canopy density information;
the speed detection device is used for acquiring the running speed information of the spraying machine;
the air supply device comprises an air box, a fan, an air inlet area adjusting mechanism and an air outlet area adjusting mechanism; one end of the air box forms an air inlet, and the other end of the air box forms an air outlet; the air inlet area adjusting mechanism is arranged at the air inlet, and the air outlet area adjusting mechanism is arranged at the air outlet;
the spraying end of the spraying device is positioned on the air outlet side of the air conveying device;
the input end of the control device is in communication connection with the two-dimensional laser radar and the speed detection device, and the output end of the control device is in communication connection with the fan, the air inlet area adjusting mechanism, the air outlet area adjusting mechanism and the spraying device respectively.
2. The lidar based orchard-to-target air-assisted sprayer of claim 1, further comprising: a mobile platform; the two-dimensional laser radar, the speed detection device, the air supply device, the spraying device and the control device are installed on the mobile platform.
3. The lidar-based orchard targeted air-assisted sprayer according to claim 1, wherein a first end of the air-assisted device is rotatably mounted on a base, and a second end of the air-assisted device is connected with the base through a telescopic driving mechanism;
and/or the air conveying devices comprise a plurality of air conveying devices and are arranged in two rows, and the air outlet directions of the two rows of air conveying devices are arranged in a back direction.
4. The lidar based orchard target air-assisted sprayer according to claim 1, wherein the air intake area adjusting mechanism comprises a first air baffle and a first overturn driving mechanism; the first wind shields comprise a plurality of wind shields which are distributed in the wind inlets side by side; the first turnover driving mechanism is connected with the first wind shield and is in communication connection with the control device.
5. The laser radar-based orchard targeted air-assisted sprayer according to claim 1, wherein the air outlet area adjusting mechanism comprises an air outlet adjusting and controlling unit and a second overturning driving mechanism; the air outlet regulation and control units comprise a plurality of air outlets and are distributed in the air outlets side by side; the second overturning driving mechanism corresponds to the air outlet regulation and control units one by one and is connected with the air outlet regulation and control units, and the second overturning driving mechanism is in communication connection with the control device.
6. The orchard target-air-blowing sprayer based on the laser radar as claimed in claim 5, wherein the air outlet regulation and control unit comprises two second air baffles, one corresponding sides of the two second air baffles are hinged, and the other sides of the two second air baffles are connected with the second overturning driving mechanism.
7. The lidar-based orchard-to-target air-assisted sprayer according to claim 5, wherein the spraying apparatus comprises a plurality of spray heads for communicating with a pesticide box through a control valve;
the air outlet regulation and control units are opposite to the atomizing spray heads one by one and are arranged along the air outlet direction of the air supply device.
8. A method for spraying a target air-assisted sprayer in an orchard based on laser radars according to any one of claims 1 to 7, which comprises the following steps:
s1, collecting target information of fruit trees in the orchard and driving speed information of the spraying machine, wherein the target information comprises position information, canopy contour information, canopy volume information and canopy density information of the fruit trees;
s2, calculating the dosage of the pesticide sprayed on different positions of the fruit tree canopy based on the target information, controlling a spraying device to spray the pesticide, meanwhile, calculating the wind speed and the wind quantity conveyed to different positions of the fruit tree canopy based on the target information, and cooperatively regulating and controlling a fan, a wind inlet area regulating mechanism and a wind outlet area regulating mechanism so as to regulate and control the wind power distribution and the wind power size of different positions of the fruit tree canopy;
And S3, sequentially carrying out target spraying operation on the fruit trees on the basis of the running speed information of the spraying machine and the position information of the fruit trees.
9. The spray application method according to claim 8,
s2 further includes: performing grid division on the canopy of the fruit tree row by row along the horizontal direction according to canopy contour information and canopy volume information, wherein each row forms a plurality of unit grids;
according to the canopy volume information and the canopy density information of each unit grid in a single row, calculating the amount of medicine sprayed on each unit grid to control a single spray head to spray medicine to the unit grid corresponding to the single spray head, and meanwhile, according to the canopy volume information and the canopy density information of each unit grid in the single row, calculating the wind speed and the wind volume sprayed on each unit grid to control a single wind outlet regulation and control unit to convey the corresponding wind speed and the corresponding wind volume to the unit grid corresponding to the single wind outlet regulation and control unit;
accordingly, S3 further includes: and carrying out row-by-row target spraying operation on the canopy of the fruit tree according to the running speed information of the spraying machine and the position information of the fruit tree.
10. The spray application method according to claim 8,
the collecting target information of fruit trees in the orchard in S1 further comprises:
Acquiring point cloud data of the fruit trees by a two-dimensional laser radar;
acquiring the position information and canopy contour information of the fruit tree according to the point cloud data; calculating and acquiring canopy volume information of the fruit tree by adopting a canopy contour gridding maximum value algorithm on the point cloud data; and detecting the number of point cloud data returned in the specified area volume and the theoretical number of point cloud data fully distributed in the specified area volume by using a two-dimensional laser radar so as to obtain canopy density information of the fruit tree.
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