CN114158537A - Automatic pesticide spraying system and application method thereof - Google Patents
Automatic pesticide spraying system and application method thereof Download PDFInfo
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- CN114158537A CN114158537A CN202111446181.7A CN202111446181A CN114158537A CN 114158537 A CN114158537 A CN 114158537A CN 202111446181 A CN202111446181 A CN 202111446181A CN 114158537 A CN114158537 A CN 114158537A
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- 239000000575 pesticide Substances 0.000 title claims abstract description 113
- 238000005507 spraying Methods 0.000 title claims abstract description 74
- 238000000034 method Methods 0.000 title claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 67
- 239000003595 mist Substances 0.000 claims abstract description 41
- 238000001514 detection method Methods 0.000 claims abstract description 27
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 claims abstract description 10
- 229910052739 hydrogen Inorganic materials 0.000 claims abstract description 10
- 239000001257 hydrogen Substances 0.000 claims abstract description 10
- 241000196324 Embryophyta Species 0.000 claims description 217
- 239000002689 soil Substances 0.000 claims description 59
- 239000007921 spray Substances 0.000 claims description 49
- 238000001704 evaporation Methods 0.000 claims description 23
- 230000008020 evaporation Effects 0.000 claims description 23
- 230000008635 plant growth Effects 0.000 claims description 23
- 239000003337 fertilizer Substances 0.000 claims description 22
- 238000013480 data collection Methods 0.000 claims description 21
- 238000012545 processing Methods 0.000 claims description 21
- 230000012010 growth Effects 0.000 claims description 19
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 claims description 18
- 238000005286 illumination Methods 0.000 claims description 18
- 230000002262 irrigation Effects 0.000 claims description 13
- 238000003973 irrigation Methods 0.000 claims description 13
- 230000029058 respiratory gaseous exchange Effects 0.000 claims description 12
- 239000001569 carbon dioxide Substances 0.000 claims description 9
- 229910002092 carbon dioxide Inorganic materials 0.000 claims description 9
- 230000035558 fertility Effects 0.000 claims description 9
- 238000001035 drying Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 230000006978 adaptation Effects 0.000 claims description 3
- 239000003814 drug Substances 0.000 claims description 3
- 241000607479 Yersinia pestis Species 0.000 abstract description 15
- 230000000694 effects Effects 0.000 abstract description 2
- 230000002147 killing effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 241000238631 Hexapoda Species 0.000 description 6
- 230000007613 environmental effect Effects 0.000 description 5
- 238000011161 development Methods 0.000 description 3
- 230000000361 pesticidal effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000002917 insecticide Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007670 refining Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012272 crop production Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000004720 fertilization Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000003621 irrigation water Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/007—Metering or regulating systems
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
- A01C23/042—Adding fertiliser to watering systems
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/02—Watering arrangements located above the soil which make use of perforated pipe-lines or pipe-lines with dispensing fittings, e.g. for drip irrigation
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
- A01G25/167—Control by humidity of the soil itself or of devices simulating soil or of the atmosphere; Soil humidity sensors
-
- 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
- A01M7/0089—Regulating or controlling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Water Supply & Treatment (AREA)
- Soil Sciences (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention provides an automatic pesticide spraying system and an application method thereof, belonging to the technical field of pesticide spraying, and comprising a plant area identification unmanned aerial vehicle, a left-end unmanned aerial vehicle, a hydrogen balloon unit, a right-end unmanned aerial vehicle, a pesticide spraying pipe front-end collecting and releasing device, a pesticide spraying pipe rear-end collecting and releasing device, an automatic pesticide dispensing device and a plant environment detection subsystem, wherein the plant environment detection subsystem is connected with the automatic pesticide dispensing device, the pesticide spraying pipe is connected with the automatic pesticide dispensing device, and the pesticide spraying pipe rear-end collecting and releasing device is arranged at the joint of the pesticide spraying pipe and the automatic pesticide dispensing device. According to the invention, real-time weather is accurately judged, whether the sprayed pesticide is in the morning or in the afternoon is determined according to the data volume of the water mist at night, the pesticide spraying amount and the spraying walking speed are determined according to the density data of the blades, so that the pesticide spraying effect is better, and meanwhile, the whole area is sprayed transversely, so that the pests are not hidden in the area, and the pest killing effect is better.
Description
Technical Field
The invention relates to the technical field of pesticide spraying, in particular to an automatic pesticide spraying system and an application method thereof.
Background
China is a big agricultural country, and the development of high-efficiency and safe modern ecological agriculture is an important target for agricultural sustainable development and modern construction. In the current crop production process, various insect pests are easily suffered, and the crop yield is seriously influenced. In order to effectively control pest disasters, protect the healthy growth of crops and improve the yield, pesticides need to be sprayed on the crops to kill pests and the like. Traditional agricultural plant protection is mainly with manual, semi-mechanized operation, and operating personnel sprays by virtue of experience, and intensity of labour is big, and the pesticide is extravagant to direct contact pesticide is big to the operating personnel health injury, along with the development of unmanned aerial vehicle technique, adopts unmanned aerial vehicle to spray the pesticide and receives more and more attention, has greatly promoted the process of china modern agriculture.
Present unmanned aerial vehicle is carrying out the large tracts of land when spraying insecticide, and the severity of the different crops insect pest kind in different regions and insect pest can't the accurate discernment, and it is the same with the pesticide dose to spray insecticide kind to all crops, leads to spraying same kind of pesticide to the crops of different insect pests, and the crops that do not have the insect pest are spouted a bit, and the area that some insect pests are heavier sprays the pesticide dose not enough, causes the pesticide extravagant, sprays the pesticide effect poor.
The existing pesticide spraying process is a mode of spraying in a piece area operation, but pests have running-in performance, when one piece area is sprayed with pesticide, the pests can run to the piece area without the pesticide, when the other piece area is sprayed, the pests can run to the area basically passed by the sprayed pesticide, the situation of poor pesticide effect can be formed, and meanwhile, the best spraying time cannot be selected according to the environment at the time point of pesticide spraying time selection, and the best pesticide effect cannot be achieved.
Disclosure of Invention
The invention aims to provide an automatic pesticide spraying system and an application method thereof, and solves the technical problems in the background art.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an automatic pesticide spraying system comprises a plant area identification unmanned aerial vehicle, a left end unmanned aerial vehicle, a hydrogen balloon unit, a right end unmanned aerial vehicle, a spraying pipe front end collecting and releasing device, a pesticide spraying pipe, a spraying pipe rear end collecting and releasing device, an automatic dispensing device and a plant environment detection subsystem, wherein the plant environment detection subsystem is connected with the automatic dispensing device, the pesticide spraying pipe is connected with the automatic dispensing device, the spraying pipe rear end collecting and releasing device is arranged at the joint of the pesticide spraying pipe and the automatic dispensing device, the plant area identification unmanned aerial vehicle is used for manually controlling the area of a flight identification plant before spraying, then the area of the identification plant is wirelessly transmitted to the automatic dispensing device, the automatic dispensing device transmits the area of the plant to the left end unmanned aerial vehicle and the right end unmanned aerial vehicle, the left end unmanned aerial vehicle is arranged at the tail end of the pesticide spraying pipe, the right end unmanned aerial vehicle is arranged at the other end of the pesticide spraying pipe, pesticide spray tube hangs on hydrogen balloon unit, and left end portion unmanned aerial vehicle flies in one side of plant area, and right end portion unmanned aerial vehicle flies in the opposite side of plant area, and the horizontal flight of pesticide spray tube passes through the region of plant, and the device is received and released to the spray tube front end sets up on right end portion unmanned aerial vehicle, and the device is received and released to the spray tube front end is used for receiving and releasing the regional horizontal length of pesticide spray tube at the plant, and the pesticide spray tube is provided with spray switch.
Further, the plant environment detection subsystem comprises a data collection and processing unit, a plant network data acquisition unit, a plant image identification unit, a weather forecast acquisition unit, a soil environment information acquisition unit and a space environment information acquisition unit, wherein the plant network data acquisition unit is connected with the data collection and processing unit and is used for identifying plant varieties of the collected environment and simultaneously acquiring the conventional water evaporation capacity, the fertilizer quantity required by plant growth and the growth respiration data of the plant varieties and transmitting the conventional water evaporation capacity, the fertilizer quantity required by plant growth and the growth respiration data to the data collection and processing unit, the plant image identification unit is used for acquiring the image data of the plants, identifying the sum height of leaves according to the image, counting the area of the leaves and intercepting the leaves and transmitting the leaves to the plant network data acquisition unit, the weather forecast acquisition unit is used for acquiring the weather forecast data and the water mist data at night in real time and transmitting the data to the data collection and processing unit, the soil environment information acquisition unit is used for acquiring the environmental data of soil, the space environment information acquisition unit is used for acquiring the data of the external environment of the plant, the soil environment information acquisition unit and the space environment information acquisition unit are both connected with the data collection processing unit, the data collection processing unit counts and identifies the moisture and fertilizer required by the growth of the plant, and controls the external drip irrigation system to fertilize and water.
Further, the soil environment information acquisition unit includes soil humiture collection module, soil fertility collection module, soil PH collection module and soil looseness degree module, and soil humiture collection module is used for gathering the humiture data of soil, and soil fertility collection module is used for gathering soil fertility data, and soil PH collection module is used for gathering the PH value data of soil, and soil looseness degree module is used for detecting the looseness degree condition of soil.
Further, the space environment information acquisition unit comprises an external space temperature and humidity acquisition module, an illumination acquisition module, a carbon dioxide acquisition module and a wind speed acquisition module, wherein the external space temperature and humidity acquisition module is used for acquiring temperature and humidity data outside the plant, the illumination acquisition module is used for acquiring illumination intensity data of the plant, the carbon dioxide acquisition module is used for acquiring carbon dioxide concentration data outside the plant, and the wind speed acquisition module is used for acquiring wind speed outside the plant.
Further, the plant image identification unit comprises a plant acquisition camera, a plant leaf intercepting set module, a plant leaf and height identification module and a plant leaf area counting module, the plant acquisition camera is used for acquiring picture data of plants, the plant leaf intercepting set module is used for intercepting and taking out a complete leaf according to the picture data of the plants, leaf information is transmitted to the plant network data acquisition unit, the plant leaf and height identification module is used for identifying an outer frame model of the plant leaf and height data of the plants, the plant leaf area counting module is used for counting the number of the leaves according to an outer frame of the plant leaf and the height identification module and the height, and then the area is calculated according to the outer frame.
Further, the plant network data acquisition unit comprises a plant variety identification module, a plant growth fertilizer and respiration data acquisition module, a plant evaporation moisture data acquisition module and a plant growth data acquisition module, the plant variety identification module is used for automatically identifying the specific name of a plant according to the leaves transmitted by the plant image identification unit, the plant growth fertilizer and respiration data acquisition module acquires growth data and fertilizer data of each growth stage according to the name of the plant, the plant evaporation moisture data acquisition module is used for acquiring the data of evaporation moisture of the leaves in a unit area of the plant along with the change of the environment, and the plant growth data acquisition module judges plant growth condition data according to the acquired leaf data.
Further, the data collection processing unit is used for calculating the data of plant water evaporation capacity accurately according to the humiture and the looseness of soil, external environment humiture, illumination intensity and wind speed, the required moisture data of vegetation, plant leaf area corresponding water evaporation data, then control outside drip irrigation system and carry out accurate drip irrigation, the better growth of plant calculates required fertilizer volume simultaneously, informs the user to fertilize.
Furthermore, the weather forecast acquisition unit comprises a positioning module, a weather forecast real-time acquisition module, a water mist detection module and a water mist pre-judging module, wherein the positioning module is used for acquiring position data of a plant area, the weather forecast real-time acquisition module is used for real-time refining of weather data of a position from a weather forecast system according to the positioned data, the water mist detection module is used for detecting the water mist amount at night, then the time point of water mist drying on the plant blades is judged according to the solar illumination condition of the second day, and the water mist pre-judging module is used for pre-judging the water mist amount at night and the water mist starting time according to the weather forecast data.
Further, a processor in the automatic dispensing device judges pesticide spraying time according to the real-time weather data, the water mist amount in the evening before, the time required for drying and the water mist amount in the evening, which are acquired from the plant environment detection subsystem, and converts the area data of the leaves of the identified plants into leaf density according to the identified area data, and then determines the movement speed of spraying pesticides according to the leaf density.
An application method of an automatic pesticide spraying system is characterized in that an automatic dispensing device obtains specific types of plants and the density of plant leaves through a plant environment detection subsystem, then selects the types of sprayed pesticides and spraying speed data, identifies the whole plant area needing to be sprayed by an unmanned aerial vehicle flying through a manually controlled plant area, then transmits the whole area picture of the plant to the automatic dispensing device, transmits the whole area picture to a left end unmanned aerial vehicle and a right end unmanned aerial vehicle, the left end unmanned aerial vehicle and the right end unmanned aerial vehicle carry out full-coverage flying according to the plant area when spraying pesticides, simultaneously obtains real-time weather forecast data, the first day night water mist quantity and the time needing to be dried and the later night water mist quantity according to the plant environment detection subsystem in real time, then determines the time point of spraying pesticides, and when determining the spraying time point, automatic dispensing device calculates the volume that needs sprayed the pesticide in advance, and dispose the pesticide, start left end portion unmanned aerial vehicle and right end portion unmanned aerial vehicle, and untie hydrogen balloon unit, left end portion unmanned aerial vehicle and right end portion unmanned aerial vehicle fly along the edge on both sides in plant region respectively, open the switch that sprays of pesticide spray tube simultaneously, when walking the width widen in plant region, the automatic pipe adaptation plant region width of putting of spray tube front end receiving and releasing device, when narrowing down, receive the pipe operation, the pesticide spray tube is connected with automatic dispensing device always, set up the spray water pump on the automatic dispensing device, spout the medicine until the completion.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
according to the invention, real-time weather is accurately judged, whether the sprayed pesticide is in the morning or in the afternoon is determined according to the data volume of the water mist at night, the pesticide spraying amount and the spraying walking speed are determined according to the density data of the blades, so that the pesticide spraying effect is better, and meanwhile, the whole area is sprayed transversely, so that the pests are not hidden in the area, and the pest killing effect is better.
Drawings
FIG. 1 is a schematic block diagram of the system of the present invention;
FIG. 2 is a schematic block diagram of a plant environment detection subsystem of the present invention;
FIG. 3 is a block diagram of a soil environment information collecting unit according to the present invention;
FIG. 4 is a block diagram of a spatial environment information collection unit according to the present invention;
FIG. 5 is a block diagram of a plant image recognition unit module according to the present invention;
FIG. 6 is a block diagram of a plant network data acquisition unit module according to the present invention;
fig. 7 is a block diagram of a weather forecast acquisition unit module of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings by way of examples of preferred embodiments. It should be noted, however, that the numerous details set forth in the description are merely for the purpose of providing the reader with a thorough understanding of one or more aspects of the present invention, which may be practiced without these specific details.
As shown in figures 1-7, an automatic pesticide spraying system comprises a plant area identification unmanned aerial vehicle, a left end unmanned aerial vehicle, a hydrogen balloon unit, a right end unmanned aerial vehicle, a front pesticide spraying pipe receiving and releasing device, a pesticide spraying pipe, a rear pesticide spraying pipe receiving and releasing device, an automatic pesticide dispensing device and a plant environment detection subsystem, wherein the plant environment detection subsystem is connected with the automatic pesticide dispensing device, the pesticide spraying pipe is connected with the automatic pesticide dispensing device, the rear pesticide spraying pipe receiving and releasing device is arranged at the joint of the pesticide spraying pipe and the automatic pesticide dispensing device, the plant area identification unmanned aerial vehicle is used for manually controlling the area of a flying identification plant before pesticide spraying and then wirelessly transmitting the area of the identification plant to the automatic pesticide dispensing device, the automatic pesticide dispensing device transmits the area of the plant to the left end unmanned aerial vehicle and the right end unmanned aerial vehicle, the left end unmanned aerial vehicle is arranged at the tail end of the pesticide spraying pipe, the right end unmanned aerial vehicle is arranged at the other end of the pesticide spraying pipe, pesticide spray tube hangs on hydrogen balloon unit, and left end portion unmanned aerial vehicle flies in one side of plant area, and right end portion unmanned aerial vehicle flies in the opposite side of plant area, and the horizontal flight of pesticide spray tube passes through the region of plant, and the device is received and released to the spray tube front end sets up on right end portion unmanned aerial vehicle, and the device is received and released to the spray tube front end is used for receiving and releasing the regional horizontal length of pesticide spray tube at the plant, and the pesticide spray tube is provided with spray switch.
In the embodiment of the invention, the plant environment detection subsystem comprises a data collection and processing unit, a plant network data acquisition unit, a plant image identification unit, a weather forecast acquisition unit, a soil environment information acquisition unit and a space environment information acquisition unit, wherein the plant network data acquisition unit is connected with the data collection and processing unit and is used for identifying plant varieties of the collected environment and simultaneously acquiring the conventional water evaporation capacity, the fertilizer quantity required by plant growth and the growth respiration data of the plant varieties and transmitting the conventional water evaporation capacity, the fertilizer quantity required by plant growth and the growth respiration data to the data collection and processing unit, the plant image identification unit is used for acquiring the image data of the plants, identifying the sum height of leaves according to the image, counting the area of the leaves and intercepting the leaves and transmitting the leaves to the plant network data acquisition unit, the weather forecast acquisition unit is used for acquiring the weather forecast data and the water mist data at night in real time and transmitting the data to the data collection and processing unit, the soil environment information acquisition unit is used for acquiring the environmental data of soil, the space environment information acquisition unit is used for acquiring the data of the external environment of the plant, the soil environment information acquisition unit and the space environment information acquisition unit are both connected with the data collection processing unit, the data collection processing unit counts and identifies the moisture and fertilizer required by the growth of the plant, and controls the external drip irrigation system to fertilize and water. Gather the soil and the outside environmental data of plant in real time, the required water's of judgement plant along with external environment that can be better volume, and the volume of the water that plant evaporation water and growth self need and the volume of fertilizer are discerned according to the picture, acquire the conventional basic data of this plant from the network, then follow soil and outside environmental data to the basic data and calculate the accurate volume that needs the water of driping irrigation and the volume of fertilizeing of plant, peripheral region's environmental data has still been used for the reference simultaneously, better accurate grasp to some weather that change temporarily, make more accurate to plant environment data acquisition, better control outside drip irrigation system and fertilization system.
In the embodiment of the invention, the soil environment information acquisition unit comprises a soil temperature and humidity acquisition module, a soil fertility acquisition module, a soil PH acquisition module and a soil looseness module, wherein the soil temperature and humidity acquisition module is used for acquiring temperature and humidity data of soil, the soil fertility acquisition module is used for acquiring soil fertility data, the soil PH acquisition module is used for acquiring PH value data of the soil, and the soil looseness module is used for detecting the looseness condition of the soil.
In the embodiment of the invention, the space environment information acquisition unit comprises an external space temperature and humidity acquisition module, an illumination acquisition module, a carbon dioxide acquisition module and a wind speed acquisition module, wherein the external space temperature and humidity acquisition module is used for acquiring temperature and humidity data outside a plant, the illumination acquisition module is used for acquiring illumination intensity data of the plant, the carbon dioxide acquisition module is used for acquiring carbon dioxide concentration data outside the plant, and the wind speed acquisition module is used for acquiring wind speed outside the plant. For example, when the temperature is high and the illumination is large, the evaporation capacity can be changed along with the temperature and the illumination, more water needs to be dripped to the plants, particularly when the soil humidity is insufficient, the drip irrigation in the morning and afternoon of the day is most suitable and better, but when the noon is large, the environment changes greatly, the temperature is high, and when the illumination is very large, the drip irrigation is temporarily carried out in the noon, so that the plants are always in a quick growth stage. The space environment information acquisition unit further comprises a raindrop sensor module, and the raindrop sensor module is used for judging the raindrop amount in rainy days and comprehensively judging the required drip irrigation water amount according to the soil humidity.
In the embodiment of the invention, the plant image identification unit comprises a plant acquisition camera, a plant leaf intercepting set module, a plant leaf and height identification module and a plant leaf area counting module, wherein the plant acquisition camera is used for acquiring picture data of a plant, the plant leaf intercepting set module is used for intercepting a complete leaf according to the picture data of the plant and transmitting leaf information to the plant network data acquisition unit, the plant leaf and height identification module is used for identifying an outer frame model of the plant leaf and height data of the plant, the plant leaf area counting module is used for counting the number of the leaves according to outer frames and heights of the leaves identified by the plant leaf and height identification module, and then the area is calculated according to the outer frames.
In the embodiment of the invention, the plant network data acquisition unit comprises a plant variety identification module, a plant growth fertilizer and respiration data acquisition module, a plant evaporation moisture data acquisition module and a plant growth data acquisition module, wherein the plant variety identification module is used for automatically identifying the specific name of a plant according to leaves transmitted by the plant image identification unit, the plant growth fertilizer and respiration data acquisition module is used for acquiring growth data and fertilizer data of each growth stage according to the name of the plant, the plant evaporation moisture data acquisition module is used for acquiring the data of evaporation moisture of the leaves in a unit area of the plant along with the change of an environment, and the plant growth data acquisition module is used for judging the plant growth condition data according to the acquired leaf data.
In the embodiment of the invention, the data collection and processing unit is used for accurately calculating the water evaporation capacity data of the plant according to the temperature, humidity and porosity of the soil, the external environment temperature, humidity, illumination intensity and wind speed and the water data required by the growth of the plant, and the water evaporation data corresponding to the area of the plant leaves, then controlling an external drip irrigation system to perform accurate drip irrigation, so that the plant can grow better, and meanwhile, calculating the required fertilizer capacity to inform a user of fertilizing.
In the embodiment of the invention, the weather forecast acquisition unit comprises a positioning module, a weather forecast real-time acquisition module, a water mist detection module and a water mist pre-judging module, wherein the positioning module is used for acquiring position data of a plant area, the weather forecast real-time acquisition module is used for refining the weather data of a position from a weather forecast system or in real time according to the positioned data, the water mist detection module is used for detecting the water mist quantity at night, then, the time point of water mist drying on plant blades is judged according to the solar illumination condition of the second day, and the water mist pre-judging module is used for pre-judging the water mist quantity at night and the water mist starting time according to the weather forecast data.
In the embodiment of the invention, a processor in the automatic dispensing device judges the pesticide spraying time according to the real-time weather data, the water mist amount in the evening before the day, the drying time and the water mist amount at night acquired by the plant environment detection subsystem, and converts the area data of the leaves of the identified plant into the leaf density according to the identified area data of the leaves, and then determines the movement speed of spraying the pesticide according to the leaf density.
An application method of an automatic pesticide spraying system is characterized in that an automatic dispensing device obtains specific types of plants and the density of plant leaves through a plant environment detection subsystem, then selects the types of sprayed pesticides and spraying speed data, identifies the whole plant area needing to be sprayed by an unmanned aerial vehicle flying through a manually controlled plant area, then transmits the whole area picture of the plant to the automatic dispensing device, transmits the whole area picture to a left end unmanned aerial vehicle and a right end unmanned aerial vehicle, the left end unmanned aerial vehicle and the right end unmanned aerial vehicle carry out full-coverage flying according to the plant area when spraying pesticides, simultaneously obtains real-time weather forecast data, the first day night water mist quantity and the time needing to be dried and the later night water mist quantity according to the plant environment detection subsystem in real time, then determines the time point of spraying pesticides, and when determining the spraying time point, automatic dispensing device calculates the volume that needs sprayed the pesticide in advance, and dispose the pesticide, start left end portion unmanned aerial vehicle and right end portion unmanned aerial vehicle, and untie hydrogen balloon unit, left end portion unmanned aerial vehicle and right end portion unmanned aerial vehicle fly along the edge on both sides in plant region respectively, open the switch that sprays of pesticide spray tube simultaneously, when walking the width widen in plant region, the automatic pipe adaptation plant region width of putting of spray tube front end receiving and releasing device, when narrowing down, receive the pipe operation, the pesticide spray tube is connected with automatic dispensing device always, set up the spray water pump on the automatic dispensing device, spout the medicine until the completion.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention.
Claims (10)
1. The utility model provides an automatic sprinkling system of pesticide which characterized in that: the plant area identification unmanned aerial vehicle comprises a plant area identification unmanned aerial vehicle, a left end unmanned aerial vehicle, a hydrogen balloon unit, a right end unmanned aerial vehicle, a spray pipe front end collecting and releasing device, a pesticide spray pipe, a spray pipe rear end collecting and releasing device, an automatic dispensing device and a plant environment detection subsystem, wherein the plant environment detection subsystem is connected with the automatic dispensing device, the pesticide spray pipe is connected with the automatic dispensing device, the spray pipe rear end collecting and releasing device is arranged at the joint of the pesticide spray pipe and the automatic dispensing device, the plant area identification unmanned aerial vehicle is used for manually controlling the area of a flight identification plant before spraying, then the area of the identification plant is wirelessly transmitted to the automatic dispensing device, the automatic dispensing device transmits the area of the plant to the left end unmanned aerial vehicle and the right end unmanned aerial vehicle, the left end unmanned aerial vehicle is arranged at the tail end of the pesticide spray pipe, the right end unmanned aerial vehicle is arranged at the other end of the pesticide spray pipe, and the pesticide spray pipe is hung on the hydrogen balloon unit, left end unmanned aerial vehicle flies in one side in the plant region, and right-hand member unmanned aerial vehicle flies in the opposite side in the plant region, and the horizontal flight of pesticide spray tube passes through the region of plant, and spray tube front end receiving and releasing device sets up on right-hand member unmanned aerial vehicle, and spray tube front end receiving and releasing device is used for receiving and releasing the horizontal length of pesticide spray tube in the region of plant, and the pesticide spray tube is provided with spray switch.
2. The automatic pesticide spraying system of claim 1, wherein: the plant environment detection subsystem comprises a data collection and processing unit, a plant network data acquisition unit, a plant image identification unit, a weather forecast acquisition unit, a soil environment information acquisition unit and a space environment information acquisition unit, wherein the plant network data acquisition unit is connected with the data collection and processing unit and is used for identifying plant varieties in the collected environment and acquiring the conventional water evaporation capacity, the fertilizer quantity required by plant growth and the growth respiration data of the plant varieties simultaneously and transmitting the conventional water evaporation capacity, the fertilizer quantity required by plant growth and the growth respiration data to the data collection and processing unit, the plant image identification unit is used for acquiring the image data of the plants, identifying the sum height of leaves according to the image, counting the area of the leaves and intercepting the leaves and transmitting the image data to the plant network data acquisition unit, the weather forecast acquisition unit is used for acquiring the weather forecast data and the water mist data at night in real time and transmitting the data to the data collection and processing unit, and the soil environment information acquisition unit is used for acquiring the environment data of soil, the space environment information acquisition unit is used for acquiring data of the external environment of the plant, the soil environment information acquisition unit and the space environment information acquisition unit are both connected with the data collection processing unit, and the data collection processing unit counts and identifies water and fertilizer required by the growth of the plant and controls an external drip irrigation system to fertilize and water.
3. The automatic pesticide spraying system of claim 2, wherein: the soil environment information acquisition unit comprises a soil temperature and humidity acquisition module, a soil fertility acquisition module, a soil PH acquisition module and a soil looseness degree module, wherein the soil temperature and humidity acquisition module is used for acquiring temperature and humidity data of soil, the soil fertility acquisition module is used for acquiring soil fertility data, the soil PH acquisition module is used for acquiring PH value data of the soil, and the soil looseness degree module is used for detecting the looseness degree condition of the soil.
4. The automatic pesticide spraying system of claim 3, wherein: the space environment information acquisition unit comprises an external space temperature and humidity acquisition module, an illumination acquisition module, a carbon dioxide acquisition module and a wind speed acquisition module, wherein the external space temperature and humidity acquisition module is used for acquiring temperature and humidity data outside the plant, the illumination acquisition module is used for acquiring illumination intensity data of the plant, the carbon dioxide acquisition module is used for acquiring carbon dioxide concentration data outside the plant, and the wind speed acquisition module is used for acquiring wind speed outside the plant.
5. The automatic pesticide spraying system of claim 4, wherein: the plant image identification unit comprises a plant acquisition camera, a plant leaf intercepting set module, a plant leaf, a height identification module and a plant leaf area statistical module, the plant acquisition camera is used for acquiring picture data of a plant, the plant leaf intercepting set module is used for intercepting and taking out a complete leaf according to the picture data of the plant, leaf information is transmitted to the plant network data acquisition unit, the plant leaf and the height identification module are used for identifying an outer frame model of the plant leaf and the height data of the plant, the plant leaf area statistical module is used for counting the number of leaves according to an outer frame of the plant leaf and the height identification module and the height of the plant leaf, and then the area is calculated according to the outer frame.
6. The automatic pesticide spraying system of claim 5, wherein: the plant network data acquisition unit comprises a plant variety identification module, a plant growth fertilizer and respiration data acquisition module, a plant evaporation moisture data acquisition module and a plant growth data acquisition module, the plant variety identification module is used for automatically identifying the specific name of a plant according to the leaves transmitted by the plant image identification unit, the plant growth fertilizer and respiration data acquisition module acquires growth data and fertilizer data of each growth stage according to the name of the plant, the plant evaporation moisture data acquisition module is used for acquiring the data of evaporation moisture of the leaves in a plant unit area along with the change of the environment, and the plant growth data acquisition module judges plant growth condition data according to the acquired leaf data.
7. The automatic pesticide spraying system of claim 6, wherein: the data collection processing unit is used for calculating the data of plant water evaporation capacity accurately according to the humiture and the looseness of soil, external environment humiture, illumination intensity and wind speed, the water data that the vegetation needs, plant leaf area correspond water evaporation data, then control outside drip irrigation system and carry out accurate drip irrigation, the better growth of plant calculates required fertilizer volume simultaneously, notifies the user and fertilizes.
8. The automatic pesticide spraying system of claim 7, wherein: the weather forecast acquisition unit comprises a positioning module, a weather forecast real-time acquisition module, a water mist detection module and a water mist pre-judging module, wherein the positioning module is used for acquiring position data of a plant region, the weather forecast real-time acquisition module is used for acquiring weather data of a weather forecast system or a real-time refined position according to the positioned data, the water mist detection module is used for detecting the water mist quantity at night, then the time point of water mist drying on the plant blades is judged according to the solar illumination condition of the next day, and the water mist pre-judging module is used for pre-judging the water mist size and the water mist starting time at night according to the weather forecast data.
9. The automatic pesticide spraying system of claim 8, wherein: the processor in the automatic dispensing device judges the pesticide spraying time according to the real-time weather data, the water mist amount in the evening before, the drying time and the water mist amount in the evening, which are acquired from the plant environment detection subsystem, and simultaneously converts the area data of the leaves of the identified plant into the leaf density according to the identified area data, and then determines the pesticide spraying movement speed according to the leaf density.
10. The application method of an automatic pesticide spraying system as set forth in any one of claims 1 to 9, characterized in that: the automatic dispensing device obtains the specific type of the plant and the density of plant leaves through a plant environment detection subsystem, then selects the type of the sprayed pesticide and the spraying speed data, identifies the whole plant area needing to be sprayed by the unmanned aerial vehicle flying through a manually controlled plant area, then transmits the whole area picture of the plant to the automatic dispensing device, the automatic dispensing device transmits the whole area picture to the left end unmanned aerial vehicle and the right end unmanned aerial vehicle, the left end unmanned aerial vehicle and the right end unmanned aerial vehicle carry out full-coverage flying according to the plant area when spraying the pesticide, meanwhile, the automatic dispensing device obtains real-time weather forecast data, the water mist quantity in the first night, the time needing to be dried and the water mist quantity in the evening according to the plant environment detection subsystem in real time, then determines the time point of spraying the pesticide, and when the spraying time point is determined, the automatic dispensing device calculates the quantity needing to be sprayed with the pesticide in advance, and dispose the pesticide, start left end portion unmanned aerial vehicle and right-hand member unmanned aerial vehicle, and untie hydrogen balloon unit, left end portion unmanned aerial vehicle and right-hand member unmanned aerial vehicle fly along the edge on both sides in plant region respectively, open the switch that sprays of pesticide spray tube simultaneously, when walking to plant region width widen, the automatic pipe adaptation plant region width of putting of device is received to the spray tube front end, when narrowing down, receive the pipe operation, the pesticide spray tube is connected with automatic dispensing device always, set up the spray water pump on the automatic dispensing device, spout the medicine until the completion.
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Application publication date: 20220311 |