CN112219824B - Automatic adjustment shielding sprayer for intercropping of different crops in field and operation method - Google Patents
Automatic adjustment shielding sprayer for intercropping of different crops in field and operation method Download PDFInfo
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- CN112219824B CN112219824B CN202010909528.6A CN202010909528A CN112219824B CN 112219824 B CN112219824 B CN 112219824B CN 202010909528 A CN202010909528 A CN 202010909528A CN 112219824 B CN112219824 B CN 112219824B
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- 238000009342 intercropping Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000007921 spray Substances 0.000 claims abstract description 71
- 238000005507 spraying Methods 0.000 claims abstract description 70
- 238000005070 sampling Methods 0.000 claims abstract description 38
- 239000003814 drug Substances 0.000 claims abstract description 23
- 230000000903 blocking effect Effects 0.000 claims abstract description 19
- 230000012010 growth Effects 0.000 claims abstract description 19
- 230000003993 interaction Effects 0.000 claims abstract description 19
- 230000002363 herbicidal effect Effects 0.000 claims abstract description 8
- 239000004009 herbicide Substances 0.000 claims abstract description 8
- 238000009331 sowing Methods 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 37
- 241000196324 Embryophyta Species 0.000 claims description 28
- 230000007246 mechanism Effects 0.000 claims description 21
- 230000008569 process Effects 0.000 claims description 19
- 239000003638 chemical reducing agent Substances 0.000 claims description 18
- 238000005096 rolling process Methods 0.000 claims description 9
- 239000007788 liquid Substances 0.000 claims description 8
- 241000607479 Yersinia pestis Species 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 4
- 230000008054 signal transmission Effects 0.000 claims description 3
- 229940079593 drug Drugs 0.000 claims description 2
- 230000002209 hydrophobic effect Effects 0.000 claims description 2
- 238000003860 storage Methods 0.000 claims description 2
- 238000009333 weeding Methods 0.000 claims description 2
- 238000011084 recovery Methods 0.000 claims 1
- 239000000575 pesticide Substances 0.000 abstract description 7
- 238000003306 harvesting Methods 0.000 abstract description 2
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 4
- 244000068988 Glycine max Species 0.000 description 3
- 235000010469 Glycine max Nutrition 0.000 description 3
- 230000008602 contraction Effects 0.000 description 3
- 240000008042 Zea mays Species 0.000 description 2
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 2
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 235000005822 corn Nutrition 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 239000003595 mist Substances 0.000 description 2
- 229910052757 nitrogen Inorganic materials 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 208000003643 Callosities Diseases 0.000 description 1
- 206010020649 Hyperkeratosis Diseases 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008635 plant growth Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
Classifications
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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
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. 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
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
- A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
- A01M21/043—Apparatus for destruction by steam, chemicals, burning, or electricity by chemicals
-
- 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
-
- 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
- A01M7/0053—Mounting of the spraybooms
- A01M7/0057—Mounting of the spraybooms with active regulation of the boom position
-
- 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
- A01M7/006—Mounting of the nozzles
-
- 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
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
- A01M7/0085—Tanks
-
- 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)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses an automatic adjusting shielding sprayer for intercropping different crops in a field and an operation method thereof, and relates to the field of agricultural plant protection, wherein the automatic adjusting shielding sprayer comprises a controller, a sampling module, an execution module, an interaction module, a functional module, a rack and a medicine box; the invention is suitable for plant protection operation in intercropping different crops, and the plant protection spraying operation from herbicide spraying after seed sowing to before crop harvesting. The invention can automatically adjust the height of the spray frame, the length of the spray boom and the length of the fog blocking curtain according to the corresponding crops during working. Can effectively prevent the situation that the crop growth is affected by pesticide pollution during intercropping of monocotyledonous plants and dicotyledonous plants, improve the pesticide utilization rate and save resources.
Description
Technical Field
The invention relates to the field of plant protection machinery, in particular to a field automatic adjusting shielding sprayer which is particularly suitable for intercropping plant protection operation among different crops.
Background
Intercropping and intercropping are important planting modes, the soil utilization rate and the photo-thermal resource utilization rate can be improved, and limited cultivated land can be used for producing more grain crops by utilizing the intercropping and intercropping technologies. The intercropping and interplanting of corn and soybean can well utilize planting space, and the nitrogen fixation effect of soybean can improve the nitrogen content of soil and reduce the fertilizer utilization rate. However, in the intercropping and intercropping processes of corns and soybeans, pesticide pollution is easy to occur in the plant protection process due to different types of two plants, so that one plant is affected by the pesticide of the other plant.
Therefore, the reasonable solution of plant protection operation in intercropping and intercropping of different crops is an urgent problem to be solved.
Disclosure of Invention
The invention provides an automatic adjusting shielding sprayer for intercropping of different crops, which is applied to a field based on the problems encountered during intercropping of different crops, and can solve the plant protection problem encountered during intercropping. The invention has simple structure and low cost, and is suitable for the plant protection process in the whole intercropping process.
The present invention achieves the above technical object by the following means.
The automatic adjusting and shielding sprayer for intercropping of different crops in a field comprises a controller, a sampling module, an execution module, a man-machine interaction module, a functional module, a rack and a medicine box; the controller and the interaction module are arranged in the cab; the sampling module, the execution module and the interaction module are all communicated with the controller, and the execution module drives the functional module to work; the controller is internally provided with a storage module which stores the detected information and the decision of the corresponding information; the sampling module transmits the acquired information to the controller through a wireless signal;
The sampling module comprises a radar and a camera, and the telescopic spray bars are provided with sampling modules;
The execution module and the controller are in signal transmission through wireless connection; the execution module comprises a diaphragm pump, a water pump driving circuit, a hydraulic cylinder, an extension spray rack, an extension spray boom controller, a first motor, a motor driving circuit and a first speed reducer; the diaphragm pump is arranged at the rear side of the medicine box, and pumps the medicine liquid in the medicine box into the pipeline in the spraying frame through the water pipe; the diaphragm pump is controlled by the water pump driving circuit, and the water pump driving circuit is in wireless connection with the controller, so that the controller can control the water yield of the diaphragm pump; the hydraulic cylinders are arranged on two sides of the fixed spraying frame, the fixed spraying frame is flexibly connected with the expansion spraying frame, and the expansion and the contraction of the expansion spraying frame are controlled through the extension or the contraction of a piston rod in the hydraulic cylinders; the first motor is controlled by a motor driving circuit, is arranged on the outer surface of the rear side of the frame, is connected with the first speed reducer and is used for controlling the lifting and lowering of the fixed spraying frame; the motor driving circuit is in wireless connection with the controller and transmits a control signal sent by the controller to the motor; the telescopic spray rod is arranged on the spray frame and is directly controlled by the telescopic spray rod controller;
The functional module comprises an atomizing nozzle, a gear, a fog blocking curtain, a second motor reducer and a rolling curtain mechanism; the atomizing nozzle is arranged on the telescopic spray rod; the second motor is in wireless connection with the motor control circuit, is controlled by the controller, is connected with the second speed reducer, and is connected with the gear through the speed reducer, so that the rolling mechanism is controlled to work by the second motor;
The man-machine interaction module is provided with a touchable display screen, is arranged on the controller and is placed in the cab and used for feeding back current working information and operating the sprayer by a driver; the control information sent by the current controller can be manually changed through the man-machine interaction module, so that the spraying is manually interfered.
Further, the radar and the camera are respectively millimeter wave radar and a monocular camera; the millimeter wave radar is used for detecting the height of crops under the telescopic spray boom at the corresponding position; the monocular camera is used for obtaining a picture of crops under the telescopic boom at the corresponding position of the monocular camera and uploading the picture to the controller.
Further, the controller comprises a wireless receiving and transmitting device which is used for receiving the sampling information detected by the sampling module and sending out a control instruction of the controller; the controller determines the height of the spraying frame, the water yield of the diaphragm pump, the length of the telescopic spraying rod and the length of the fog blocking curtain according to the information and the image detected by the sampling module and the current crop growth condition and the crop row spacing.
Further, the shutter mechanism and the fog blocking curtain are used for shielding liquid medicine and are arranged between adjacent spray heads; in the working process, the sampling module and the controller judge the extending length of the fog blocking curtain required by the current situation and send out a control instruction, and the second motor controls the retraction of the fog blocking curtain.
Further, the fog shielding curtain isolates different medicines in the working process of the sprayer; the spacing between the roller shutter mechanisms corresponds to the row spacing of crops; the outer surface of the fog shielding curtain is wavy, and the surface of the fog shielding curtain is coated with a nano hydrophobic material.
Further, a water pipe is arranged in the spray frame, one end of the water pipe is connected with the diaphragm pump, and the other end of the water pipe is connected with the telescopic spray rod; the telescopic mechanism of the telescopic spray boom is connected with the spray frame, and the stretching and recycling of the telescopic spray boom are controlled by receiving the control signals sent by the telescopic spray boom controller.
Furthermore, the two medicine boxes are respectively filled with medicine liquid suitable for different crops; the two diaphragm pumps supply the liquid medicine to the corresponding atomizing spray heads.
The operation method of the automatic adjusting shielding sprayer for intercropping of different crops in a field comprises two operation modes, namely plant protection operation in the growth process of the crops and herbicide spraying operation after sowing;
Plant protection operation mode:
The controller sends out a command, the lifting frame is controlled by the first motor, the fixed spraying frame is lifted to a preset height, then the piston rod of the hydraulic cylinder extends out, the stretching spraying frame is opened, and then the chain is loaded on the gear; the sprayer moves forwards, the radar and the camera work, the crop height and the crop type under the position corresponding to the current sampling module are detected, then the detected information is sent to the controller, the lifting height of the fixed spraying frame is determined by the controller, after the fixed spraying frame is lifted, the curtain rolling mechanism is controlled by the second motor to start stretching the fog blocking curtain according to the information detected by the sampling module, the telescopic spray boom stretches, the sprayer starts formal work, the sampling module samples in real time while the sprayer sprays in the field advancing process, the current crop growth condition is sampled and analyzed, the current crop pest condition and the crop growth height are detected by combining preset data, and the current spraying quantity and the current working mode are determined by a driver or not;
Spray weeding mode:
The controller sends out an instruction, the lifting frame is controlled by the first motor, the height of the fixed spraying frame is reduced to a preset height, then the piston rod of the hydraulic cylinder extends out, the extended spraying frame is unfolded, then a chain is loaded on a gear, a millimeter wave radar detects the distance between the fixed spraying frame and the ground, the height of the current fixed spraying frame is judged whether to meet the requirement of spraying herbicide or not, and then the current fixed spraying frame is subjected to active adjustment, the second motor starts to work after adjustment is finished, the rolling curtain mechanism extends out of the fog blocking curtain, and the atomizing nozzle works; the sprayer is used for sampling all the time by a monocular camera of a sampling module in the driving process, judging the current ground weed growth condition and feeding back to a controller in real time, changing the spraying amount in real time according to the current condition, and prompting by a man-machine interaction module.
The beneficial effects are that:
1. The sprayer provided by the invention adopts a double-medicine-box design on the basis of a high-clearance sprayer, and is additionally provided with a sampling module and a controller, and an execution module and a functional module are improved, so that the breakthrough of the plant protection operation of monocotyledonous/dicotyledonous plants can be realized. And the working state of the sprayer can be dynamically adjusted in real time according to the growth condition of crops while the operation is performed, and the corresponding change is made according to the growth condition of crops. And the plant growth condition information is dynamically collected, stored and analyzed during the operation, so that more references can be provided for the plant protection operation.
2. Compared with the existing plant protection machinery, the invention has the following advantages: the pesticide which is suitable for different crops when the two plants are subjected to plant protection operation at the same time can be prevented from polluting the other crop; the spraying device is suitable for spraying two crops with different heights at the same time, and can realize accurate spraying.
3. The invention is suitable for plant protection operation in intercropping different crops, and the plant protection spraying operation from herbicide spraying after seed sowing to the plant protection spraying operation before crop harvesting; the invention can automatically adjust the height of the spray frame, the length of the spray boom and the length of the fog blocking curtain according to the corresponding crops during working. Can effectively prevent the situation that the crop growth is affected by pesticide pollution during intercropping of monocotyledonous plants and dicotyledonous plants, improve the pesticide utilization rate and save resources.
Drawings
FIG. 1 is a front view of an embodiment of the present invention;
FIG. 2 is a top view of an embodiment in accordance with the present invention;
FIG. 3 is a bottom view of an embodiment in accordance with the present invention;
FIG. 4 is a left side view of an embodiment in accordance with the present invention;
FIG. 5 is a schematic view of a roller blind mechanism according to an embodiment of the present invention;
Fig. 6 is a schematic perspective view of an embodiment of the present invention.
Reference numerals:
the device comprises a 1-frame, a 2-water pump driving circuit, a 3-diaphragm pump, a 4-water pipe, a 5-medicine box, a 6-motor driving circuit, a 7-stretching spray frame, an 8-roller shutter mechanism, a 9-gear, a 10-chain, an 11-hydraulic cylinder, a 12-second motor, a 13-second speed reducer, a 14-stretching spray rod controller, a 15-fixed spray frame, a 16-lifting frame, a 17-first motor, a 18-first speed reducer, a 19-stretching spray rod, a 20-fog blocking curtain, a 21-atomizing spray head, a 22-camera, a 23-radar, a 24-man-machine interaction module and a 25-controller.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The embodiments according to the present invention will be described in detail below with reference to the drawings
Referring to fig. 1-5, the automatic adjusting and shielding sprayer for intercropping of different crops, which is applied to a field, is mainly divided into three parts, namely a cab, a frame and a spraying system. The power system and the transmission system of the sprayer are arranged on the frame, and a controller 25 and a man-machine interaction module 24 are arranged in the cab, so that the driver can conveniently adjust and control the spraying system. The spraying system mainly comprises a sampling module, an executing module, an interaction module, a functional module and a medicine chest 5.
The sampling module comprises a wave radar 23 and a camera 22, and the millimeter wave radar is used for detecting the height of crops under the spraying frame at the corresponding position; the monocular camera is used for obtaining a picture of crops under the spraying frame at a corresponding position and uploading the picture to the controller 25; the sampling module transmits the acquired information to the controller 25 via wireless signals. Millimeter wave radar and monocular camera place in the bottom that the spraying frame is close to driver's cabin one side, and sampling module's quantity is the same with flexible spray lance, and the position is in same axis with flexible spray lance, is close to driver's cabin one side.
The execution module is arranged on the frame and comprises a diaphragm pump 3, a water pump driving circuit 2, a hydraulic cylinder 11, an extension spray rack 7, an extension spray boom 19, a first motor 17, a motor driving circuit 6 and a first speed reducer 18. The execution module and the controller 25 are in signal transmission through wireless connection. The diaphragm pump 3 is arranged at the rear side of the medicine box 5, one side is provided with a water inlet pipe 4 which is connected with the medicine box 5, and the other side is provided with a water outlet pipe 4 which is connected with the spraying frame. The diaphragm pump 3 is controlled by the water pump driving circuit 2, and the water pump driving circuit 2 is in wireless connection with the controller 25, so that the controller 25 controls the water yield of the diaphragm pump 3. The hydraulic cylinders 11 are arranged at two sides of the fixed spray frame 15 and connected with the expansion spray frame 7, and the expansion and contraction of the expansion spray frame 7 are controlled by the extension or the retraction of the piston rods in the hydraulic cylinders 11. The two first motors 17 are symmetrically arranged and controlled by the motor driving circuit 6, and the first motors 17 are arranged on the outer surface of the rear side of the frame 1 and connected with the first speed reducer 18 for controlling the lifting and lowering of the lifting frame 16. The motor driving circuit 6 is connected with the controller 25 in a wireless manner, and transmits a control signal sent by the controller 25 to the motor. The telescopic boom 19 is arranged on the spray frame and is directly controlled by the telescopic boom controller 14. The telescopic spray rod has five sections, and each section has the same length and smaller diameter.
The fixed spraying frame is connected with the first motor 17 and the first speed reducer 18 through a lifting frame 16, the lifting frame is of a hollow design, a water outlet pipe of the diaphragm pump 3 is arranged at the hollow position of the lifting frame 16, the lifting frame 16 is connected with the fixed spraying frame 15, and a water outlet pipe of the water pump is connected with a water pipe inside the spraying frame.
The spraying frame is internally provided with a water pipe, and space can be effectively utilized in a mode of internally distributing the water pipe. The water pipe inside the spray frame is a metal telescopic water pipe and is connected with an atomizing nozzle at the top end of a telescopic spray rod. When the telescopic spray rod is lengthened or shortened to control the ground-leaving height of the atomizing spray head, the telescopic water pipe can be adjusted according to the corresponding length.
With reference to fig. 2 and 3, the functional modules comprise an atomization nozzle 21, a gear 9, a fog blocking curtain 20, a second motor 12, a motor second reducer 13 and a rolling curtain mechanism 8. The atomizing nozzle 21 is mounted on the telescopic boom 19. The second motor 12 is arranged at the middle position of the fixed spraying frame, is in wireless connection with a motor control circuit, is controlled by the controller 25, is connected with the second speed reducer 13, and is connected with the gear 9 through the speed reducer, so that the roller shutter mechanism 8 is controlled by the second motor 12.
The shutter mechanism 8 is arranged at the middle position of every two spray heads and is controlled by the second motor 12.
Referring to fig. 4, the interactive module 24 is a touchable display screen, and is mounted on the controller 25 and placed in the cab. The method is used for the sprayer driver to know the working information of the sprayer and the field crop information and the driver to operate the sprayer.
The invention relates to an automatic adjusting shielding sprayer for intercropping of different crops in a field, which has two main working conditions, namely, after the crops are sowed, herbicide is sprayed on the ground of the field; and the second is to perform plant protection operation in the middle and later periods of crop growth.
The working process of the first working condition of the invention is as follows:
the controller 25 gives a command, the lifting frame 16 is controlled by the first motor 17 to lift the fixed spray frame to a preset height, and then the piston rod of the hydraulic cylinder 11 is extended to open the extended spray frame 7. The chain 10 is then loaded onto the gear wheel 9. The sprayer moves forward, the millimeter wave radar works with the monocular camera, the crop height and the crop type under the position corresponding to the current sampling module are detected, then the detected information is sent to the controller 25, and the controller 25 determines the lifting height of the fixed spraying frame 15. After the fixed spray frame 15 is lifted, the shutter mechanism 8 is controlled by the second motor 12 according to the information detected by the sampling module, and starts to extend out of the mist blocking curtain 20, and simultaneously the telescopic spray rod 19 extends. And then the sprayer starts formal work, the sampling module samples in real time while the sprayer sprays in the field advancing process, samples and analyzes the current crop growth condition, detects the current crop pest situation and the crop growth height by combining preset data, displays the current crop pest situation and the crop growth height on the man-machine interaction module 24 in real time, and determines whether to change the current working mode and the current spraying amount by a driver.
The working process of the second working condition of the invention is as follows:
The controller 25 gives an instruction, the lifting frame 16 is controlled by the first motor 17 to lower the height of the fixed spray frame 15 to a preset height, and then the piston rod of the hydraulic cylinder 11 is extended to expand the extended spray frame 7. Then, the chain 10 is loaded on the gear 9, the millimeter wave radar 23 detects the distance between the fixed spraying frame 15 and the ground, and judges whether the current fixed spraying frame height meets the requirement of spraying herbicide or not, and then the movable adjustment is carried out. After the adjustment is finished, the second motor 12 starts to work, the shutter mechanism 8 extends out of the mist blocking curtain, and the atomizing nozzle 21 works. The monocular camera 22 of the sampling module always samples in the running process of the sprayer, judges the current ground weed growth condition and feeds back to the controller 25 in real time, and the controller 25 changes the spraying amount in real time according to the current condition and prompts the man-machine interaction module 24.
The invention stores the pictures and data acquired by the sampling module in the working process, performs planning analysis on the information acquired in the working process according to time, extracts important parameter data, such as different pest and disease conditions, different crop pest and disease conditions and the like in different seasons, and reflects the important parameter data to a driver through the interpersonal interaction module 24, thereby being convenient for providing reference data for working planning in the next working process.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention.
Claims (6)
1. The automatic adjusting and shielding sprayer for intercropping of different crops in a field is characterized by comprising a controller (25), a sampling module, an execution module, a man-machine interaction module (24), a functional module, a rack (1) and a medicine chest (5); the controller (25) and the interaction module are arranged in a cab; the sampling module, the executing module and the interaction module are all communicated with the controller (25), and the executing module drives the functional module to work; a storage module is arranged in the controller (25) and stores the detected information and the decision of the corresponding information; the sampling module transmits the acquired information to the controller (25) through a wireless signal;
The sampling module comprises a radar (23) and a camera (22), and the telescopic spray bars (19) are provided with the sampling module;
The execution module and the controller (25) are in signal transmission through wireless connection; the execution module comprises a diaphragm pump (3), a water pump driving circuit (2), a hydraulic cylinder (11), an extension spray rack (7), a telescopic spray rod (19), a telescopic spray rod controller (14), a first motor (17), a motor driving circuit (6) and a first speed reducer (18); the diaphragm pump (3) is arranged at the rear side of the medicine box (5), and pumps the liquid medicine in the medicine box (5) into a water channel in the spray frame through the water pipe (4); the diaphragm pump (3) is controlled by the water pump driving circuit (2), and the water pump driving circuit (2) is in wireless connection with the controller (25), so that the water yield of the diaphragm pump (3) is controlled by the controller (25); the hydraulic cylinders (11) are arranged on two sides of the fixed spraying frame (15), the fixed spraying frame (15) is flexibly connected with the stretching spraying frame (7), and the stretching and shrinking of the stretching spraying frame (7) are controlled through the stretching or shrinking of the piston rods in the hydraulic cylinders (11); the first motor (17) is controlled by the motor driving circuit (6), and the first motor (17) is arranged on the outer surface of the rear side of the frame (1) and connected with the first speed reducer (18) for controlling the lifting and lowering of the fixed spraying frame (15); the motor driving circuit (6) is connected with the controller (25) in a wireless way, and transmits a control signal sent by the controller (25) to the motor; the telescopic spray rod (19) is arranged on the spray frame and is directly controlled by the telescopic spray rod controller (14);
The functional module comprises an atomizing nozzle (21), a gear (9), a fog blocking curtain (20), a second motor (12), a second speed reducer (13) and a rolling curtain mechanism (8); the atomizing nozzle (21) is arranged on the telescopic spray rod (19); the second motor (12) is connected with a motor control circuit in a wireless way, is controlled by a controller (25), is connected with a second speed reducer (13), and is connected with a gear (9) through the second speed reducer, so that the second motor (12) controls the rolling mechanism (8) to work;
The man-machine interaction module (24) is provided with a touchable display screen, is arranged on the controller (25) and is placed in the cab and used for feeding back current working information and operating the sprayer by a driver; the control information sent by the current controller (25) can be manually changed through the human-computer interaction module (24), so that the human intervention spraying is realized; the radar (23) and the camera (22) are respectively millimeter wave radar and a monocular camera; the millimeter wave radar is used for detecting the height of crops under the telescopic spray bars (19) at the corresponding positions; the monocular camera is used for obtaining a picture of crops under the telescopic spray boom (19) at the corresponding position of the monocular camera and uploading the picture to the controller (25); the shutter mechanism (8) and the fog blocking curtain (20) are used for shielding liquid medicine and are arranged between adjacent spray heads; in the working process, the sampling module and the controller (25) judge the extending length of the fog blocking curtain (20) required by the current situation and send out a control instruction, and the second motor (12) controls the retraction of the fog blocking curtain (20).
2. The automatic adjusting and shielding sprayer for interplanting between different crops in a field according to claim 1, wherein the controller (25) comprises a wireless transceiver for receiving the sampling information detected by the sampling module and sending out a control instruction of the controller (25); the controller (25) determines the height of the spray frame, the water yield of the diaphragm pump (3), the length of the telescopic spray rod (19) and the length of the fog shielding curtain (20) according to the information and the image detected by the sampling module and according to the current crop growth condition and the crop row spacing.
3. The automatic adjusting and shielding sprayer for interplanting between different crops in a field according to claim 1, wherein the fog shielding curtain (20) isolates different medicines during the operation of the sprayer; the spacing between the roller shutter mechanisms (8) is correspondingly the row spacing of crops; the outer surface of the fog shielding curtain (20) is wavy, and the surface of the fog shielding curtain is coated with a nano hydrophobic material.
4. The automatic adjusting and shielding sprayer for interplanting between different crops applied to a field according to claim 1 is characterized in that a water pipe (4) is arranged in the spraying frame, one end of the water pipe (4) is connected with a diaphragm pump (3), the other end of the water pipe is connected with a water pipe in the spraying frame, and the water pipe in the spraying frame is connected with a telescopic spray boom (19); the telescopic mechanism of the telescopic spray rod (19) is connected with the spray frame, and the extension and recovery of the telescopic spray rod (19) are controlled by receiving a control signal sent by the telescopic spray rod controller (14).
5. The automatic adjusting and shielding sprayer for interplanting between different crops applied to a field according to claim 1, wherein two medicine boxes (5) are respectively filled with medicine liquid applicable to different crops; the two diaphragm pumps (3) supply the liquid medicine to the corresponding atomizing spray heads (21).
6. The method of any one of claims 1 to 5, wherein the two modes of operation are respectively a plant protection operation during crop growth and a herbicide spraying operation after sowing;
Plant protection operation mode:
The controller (25) sends out a command, the lifting frame (16) is controlled by the first motor (17) to lift the fixed spraying frame (15) to a preset height, then the piston rod of the hydraulic cylinder (11) stretches out, the stretching spraying frame (7) is opened, and then the chain (10) is loaded on the gear (9); the sprayer moves forwards, the radar (23) and the camera (22) work, the height and the type of crops in the position corresponding to the current sampling module are detected, then detected information is sent to the controller (25), the lifting height of the fixed spraying frame (15) is determined by the controller (25), after the fixed spraying frame (15) is lifted, the rolling curtain mechanism (8) is controlled by the second motor (12) according to the detected information of the sampling module, the fog blocking curtain (20) starts to extend, the telescopic spraying rod (19) stretches, the sprayer starts to work formally, the sampling module samples in real time while the sprayer sprays in the field travelling process, the current crop growth condition is sampled and analyzed, the current crop pest condition and the crop growth height are detected by combining preset data, and the current spraying quantity and the current working mode are determined by a driver or not;
Spray weeding mode:
The controller (25) sends out an instruction, the lifting frame (16) is controlled by the first motor (17) to reduce the height of the fixed spraying frame (15) to a preset height, then a piston rod of the hydraulic cylinder (11) stretches out, the stretching spraying frame (7) is unfolded, then the chain (10) is loaded on the gear (9), the millimeter wave radar detects the distance between the fixed spraying frame (15) and the ground, the current height of the fixed spraying frame (15) is judged whether the requirement of spraying herbicide is met, and then the movable adjustment is carried out, after the adjustment is finished, the second motor (12) starts to work, the rolling mechanism (8) stretches out the fog blocking curtain (20), and the atomizing nozzle (21) works; the monocular camera of the sampling module always samples in the running process of the sprayer, judges the current ground weed growth condition and feeds back to the controller (25) in real time, the spraying quantity is changed in real time according to the current condition by the controller (25), and prompts are made in the man-machine interaction module (24).
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| CN114847271B (en) * | 2022-06-09 | 2023-08-11 | 山东理工大学 | Pesticide applying machine and spray rod mechanism thereof |
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