CN114651799A - Liquid medicine spraying method of flight equipment and flight equipment - Google Patents
Liquid medicine spraying method of flight equipment and flight equipment Download PDFInfo
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- CN114651799A CN114651799A CN202210227337.0A CN202210227337A CN114651799A CN 114651799 A CN114651799 A CN 114651799A CN 202210227337 A CN202210227337 A CN 202210227337A CN 114651799 A CN114651799 A CN 114651799A
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- liquid medicine
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- flight equipment
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- 239000007788 liquid Substances 0.000 title claims abstract description 51
- 239000003814 drug Substances 0.000 title claims abstract description 47
- 238000005507 spraying Methods 0.000 title claims abstract description 45
- 241000607479 Yersinia pestis Species 0.000 claims abstract description 44
- 201000010099 disease Diseases 0.000 claims abstract description 40
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 claims abstract description 40
- 239000007921 spray Substances 0.000 claims abstract description 34
- 238000000034 method Methods 0.000 claims abstract description 14
- 239000000575 pesticide Substances 0.000 claims abstract description 12
- 239000003595 mist Substances 0.000 claims description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 2
- 241000238631 Hexapoda Species 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000010914 pesticide waste Substances 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 238000012360 testing method Methods 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
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- 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)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a liquid medicine spraying method of flight equipment and the flight equipment in the field of automatic liquid medicine spraying, and the method specifically comprises the steps of obtaining information of a pest and disease area, and calculating the length and width of a minimum circumscribed rectangle of the pest and disease area; calculating to obtain the running speed of the flight equipment according to the length and the width of the minimum circumscribed rectangle of the pest and disease damage area; the vertex coordinate information of the minimum external rectangle of the pest and disease damage area and the traveling speed of the flying equipment are combined, the distance between the liquid medicine spray head and the surface of the crop is calculated, the opening duration time of the liquid medicine spray head adjusting valve is obtained, the minimum external rectangle of the actual pest and disease damage area is used as the area to be sprayed, pesticide spraying is carried out, and the technical problem of low spraying efficiency is solved.
Description
Technical Field
The invention relates to a liquid medicine spraying method of flight equipment and the flight equipment, and belongs to the technical field of automatic liquid medicine spraying.
Background
With the development and progress of science and technology, various links of agriculture gradually show the trends of automation and intellectualization. At present, in the field of agricultural pest control, the mode of combining 'manual accurate spraying and machine large-area undifferentiated spraying' is mainly used, the manual mode consumes time and labor, the labor cost is high, the efficiency is low, and the continuous operation time is limited. Most pesticide sprays are harmful to human bodies, and workers can cause irreversible damage to the bodies after being exposed to the environment for a long time. The large-area undifferentiated spraying mode of the machine has large coverage area and high efficiency, but is only limited to preventing diseases and insect pests, can not be sprayed on affected crops in a targeted manner, and has the problem of pesticide waste to a certain extent. Both of the above methods have inevitable drawbacks.
At present, in agricultural equipment, agricultural robots are various in types, engineers consider stability and other factors at the beginning of design, a control scheme of the agricultural robot forms a closed loop, the scope of later-stage intelligent upgrading is not large, and a scientific and appropriate spraying method is not provided in a liquid medicine spraying link in the field of pest control.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides the liquid medicine spraying method suitable for the continuous operation type agricultural robot, and has the advantages of low cost, good prevention and control effect and high spraying efficiency.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
the liquid medicine spraying method of the flight equipment comprises the following steps:
acquiring pest and disease area information, including vertex coordinate information of a minimum circumscribed rectangle of the pest and disease area;
acquiring the running speed of the flight equipment;
calculating the distance between the liquid medicine spray head and the surface of the crop and the opening duration of the liquid medicine spray head adjusting valve by combining the vertex coordinate information of the minimum circumscribed rectangle of the pest and disease damage area and the traveling speed of the flight equipment;
according to the minimum external rectangle in actual plant diseases and insect pests area for treating the region of spraying, carry out accurate pesticide and spray, and save the pesticide quantity, avoid secondary pollution.
Further, the pest and disease area information further comprises the length and the width of the minimum circumscribed rectangle of the pest and disease area calculated according to the vertex coordinate information of the minimum circumscribed rectangle of the pest and disease area.
Further, the length and width of the minimum circumscribed rectangle of the pest and disease damage area are calculated as follows:
L1is the length of the minimum circumscribed rectangle W of the pest and disease damage area1The width of the minimum circumscribed rectangle of the pest and disease damage area (x)min,ymin) And (x)max,ymax) The coordinate system is the vertex coordinate of a group of opposite angles of a minimum external rectangle of the pest and disease damage area, the group of coordinates is converted into a world coordinate system by a camera coordinate system, and the measurement unit is actual length and unit mm.
Further, the distance between the liquid medicine spray head and the surface of the crops and the opening duration of the liquid medicine spray head adjusting valve are calculated as follows:
h is the distance between the liquid medicine spray head and the surface of the crops, and the unit is mm; t is the opening duration of the liquid medicine spray head regulating valve, and the unit is s; v is the running speed of the flight equipment, and the unit is mm/s; alpha is the spray angle of the installed sector nozzle, and the unit is degree; k is a proportionality coefficient ranging from 1.05 to 1.1.
Further, the running speed of the flying equipment is a constant speed in the liquid medicine spraying process, the water mist sprayed by the liquid medicine spray head is in a linear sector shape,
the invention also provides flight equipment, which comprises a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of any of the methods.
Compared with the prior art, the invention has the following beneficial effects:
(1) after the information of the pest and disease damage area is obtained, the flying equipment does not need to pause to operate, the pesticide liquid spraying can be completed in the advancing process, and the pest and disease damage prevention and control spraying efficiency is improved;
(2) aiming at the length and the width of the minimum external rectangle in the crop pest and disease damage area, the pesticide is accurately sprayed, so that the pesticide liquid spray falls on the area on the surface of the crop to just cover the pest and disease damage area, the pesticide consumption is saved, and the secondary pollution is avoided;
(3) the liquid medicine spraying method effectively reduces the performance dependence on the controller, and has simple operation and low cost.
Drawings
Fig. 1 is a flowchart of a liquid medicine spraying method of flight equipment according to an embodiment of the invention;
fig. 2 is a schematic diagram of a liquid medicine spraying process of the flight equipment provided by the embodiment of the invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Fig. 1 is a flowchart of a liquid medicine spraying method for flight equipment provided by an embodiment of the present invention, and fig. 2 is a schematic diagram of a liquid medicine spraying process for flight equipment provided by an embodiment of the present invention, specifically, the adopted technical scheme is as follows:
the method comprises the following steps: acquiring the position information of the pest and disease damage area, including a group of vertex coordinates of the minimum circumscribed rectangle of the pest and disease damage area, and calculating the length L of the minimum circumscribed rectangle of the pest and disease damage area1And width W1. Receiving the liquid to be sprayedVertex coordinate (x) of minimum circumscribed rectangle of pest and disease damage areamin,ymin) And (x)max,ymax) (typically a set of coordinates of diagonal vertices) which are converted from the camera coordinate system to the world coordinate system by default, i.e., measured in actual length in millimeters.
Calculating the length L of the minimum circumscribed rectangle of the area to be sprayed by the formula (1)1And width W1。
Step two: acquiring the moving speed v of the flight equipment;
at present, widely applied agricultural robots are generally crawler-type or wheel-type chassis, except a starting acceleration stage and a stopping deceleration stage, the speed of the rest processes can be guaranteed to be constant in the operation process, and therefore the running speed v of the agricultural robot can be received through a wired or wireless data transmission mode.
Step three: length L of minimum circumscribed rectangle of region combined with plant diseases and insect pests1And width W1And the moving speed v of the flight equipment, calculating to obtain the distance h between the spray head and the surface of the crop and the opening duration t of the spray head regulating valve, converting an abstract spraying control task into a concrete regulation and control on two variables, and optimizing a control logic.
The spraying method of the embodiment of the invention takes a slot type sector nozzle with a spraying included angle of 30 degrees and a pore diameter of 2.0mm as an example, matches a proportional valve, enables the sprayed water mist to be in a linear sector under the condition of constant pressure, and enables the covering width W of the liquid medicine water mist falling on the surface of the crop to be sprayed by controlling the single variable of the distance h between the spray head and the surface of the crop to be sprayed2Different, then h and W2The corresponding relation of (2) is shown in the formula.
W22h tan15 degree formula (2)
Length L of liquid medicine mist cover2Controlling according to the running speed v of the agricultural robot and the continuous spraying time t of the spray head obtained in the step twoThe relationship between the three variables is shown in formula (3).
L2T.v type (3)
In order to form a rectangle on the surface of the crop to be sprayed with the pesticide solution mist and a minimum external rectangle completely covering the crop pest and disease damage area, L is required2≥L1、W2≥W1Combining the formula (1), the formula (2) and the formula (3), the expression of the distance h between the spray head and the surface of the crop and the continuous spraying time t of the spray head is shown in the formula (4).
h is the distance between the liquid medicine spray head and the surface of the crops, and the unit is millimeter mm; t is the opening duration of the liquid medicine spray head regulating valve, and the unit is s; v is the speed of travel of the flight device in millimeters per secondmm/s(ii) a Alpha is the spray included angle of the installed fan-shaped nozzle, and the unit is degree according to the difference of the selected models; k is 1.05 to 1.1 and is a proportionality coefficient.
In order to achieve a better pesticide spraying effect, through practical tests, two variables of the distance h between the spray head and the surface of the crop and the continuous spraying time t of the spray head can be multiplied by a proportionality coefficient k (k is 1.05-1.1), so that W is enabled to be more uniform2And L2Is slightly larger than W1And L1And a certain margin is ensured, and from the actual spraying effect, the liquid medicine coverage area is slightly larger than the minimum circumscribed rectangular area of the plant diseases and insect pests.
Step four: formally starting to execute a liquid medicine spraying task, completely covering the minimum external rectangle of the pest and disease damage area with a liquid medicine water mist rectangle, and determining that the spraying task is finished.
In another aspect, the present invention further provides a flying apparatus, which is characterized by comprising a processor and a storage medium, wherein the storage medium is used for storing instructions, and the processor is used for operating according to the instructions to execute the steps of the liquid medicine spraying method of the flying apparatus.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The embodiment of the invention provides a liquid medicine spraying method of flight equipment and the flight equipment, which can calculate the distance between a spray head and the surface of crops and the opening duration of a spray head adjusting valve by acquiring the running speed information of a machine and the vertex position coordinates of the minimum circumscribed rectangle of a pest and disease region in the process of continuous forward movement of the flight equipment without stopping, realize the control of the shape of liquid medicine water mist by regulating and controlling the two variables, ensure that the shape of the liquid medicine water mist can completely cover the minimum circumscribed rectangle of the pest and disease region, and further achieve the purposes of quantitative spraying and accurate pest and disease damage prevention and control.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make various improvements and modifications without departing from the technical principle of the present invention, and those improvements and modifications should be considered as the protection scope of the present invention.
Claims (6)
1. A liquid medicine spraying method of flight equipment is characterized by comprising the following steps:
acquiring pest and disease area information, including vertex coordinate information of a minimum circumscribed rectangle of the pest and disease area;
acquiring the running speed of the flight equipment;
calculating the distance between the liquid medicine spray head and the surface of the crop and the opening duration of the liquid medicine spray head adjusting valve by combining the vertex coordinate information of the minimum circumscribed rectangle of the pest and disease damage area and the traveling speed of the flight equipment;
and spraying the pesticide according to the minimum external rectangle of the actual pest and disease damage area as the area to be sprayed.
2. The liquid medicine spraying method for the flight equipment according to claim 1, wherein the pest region information further comprises the length and the width of the minimum circumscribed rectangle of the pest region calculated according to the vertex coordinate information of the minimum circumscribed rectangle of the pest region.
3. The pesticide liquid spraying method for the flight equipment as claimed in claim 2, wherein the length and width of the minimum circumscribed rectangle of the pest and disease damage area are calculated as follows:
L1is the length of the minimum circumscribed rectangle W of the pest and disease damage area1The width of the minimum circumscribed rectangle of the pest and disease damage area (x)min,ymin) And (x)max,ymax) The coordinate system is the vertex coordinate of a group of opposite angles of a minimum external rectangle of the pest and disease damage area, the group of coordinates is converted into a world coordinate system by a camera coordinate system, and the measurement unit is actual length and unit mm.
4. The liquid medicine spraying method for the flying equipment as claimed in claim 3, wherein the distance from the liquid medicine spray head to the surface of the crops and the opening duration of the liquid medicine spray head adjusting valve are calculated as follows:
h is the distance between the liquid medicine spray head and the surface of the crops, and the unit is mm; t is the opening duration of the liquid medicine spray head regulating valve, and the unit is s; v is the running speed of the flight equipment, and the unit is mm/s; alpha is the spray angle of the installed sector nozzle, and the unit is degree; k is a proportionality coefficient ranging from 1.05 to 1.1.
5. The liquid medicine spraying method for the flying equipment as claimed in claim 1, wherein the running speed of the flying equipment is a constant speed in the liquid medicine spraying process, the water mist sprayed by the liquid medicine spray head is in a shape of a straight sector,
6. a flying apparatus comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of the method of any of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210227337.0A CN114651799A (en) | 2022-03-08 | 2022-03-08 | Liquid medicine spraying method of flight equipment and flight equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210227337.0A CN114651799A (en) | 2022-03-08 | 2022-03-08 | Liquid medicine spraying method of flight equipment and flight equipment |
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| CN202210227337.0A Pending CN114651799A (en) | 2022-03-08 | 2022-03-08 | Liquid medicine spraying method of flight equipment and flight equipment |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106200674A (en) * | 2016-08-16 | 2016-12-07 | 吉林农业大学 | A kind of method of unmanned plane self adaptation accuracy pesticide applying |
| CN106240825A (en) * | 2016-09-21 | 2016-12-21 | 江西天祥通用航空股份有限公司 | A kind of airplane spray control method and system |
| CN206573944U (en) * | 2016-12-21 | 2017-10-20 | 石河子大学 | The accurate pesticide spraying system of rotor wing unmanned aerial vehicle |
| CN109872025A (en) * | 2018-12-13 | 2019-06-11 | 中国科学院遥感与数字地球研究所 | Crop disease and insect subregion variable management method and device |
| JP2020096589A (en) * | 2018-12-03 | 2020-06-25 | 住友化学株式会社 | Agricultural material application method and multi-copter |
| CN111339921A (en) * | 2020-02-24 | 2020-06-26 | 南京邮电大学 | Insect disease detection unmanned aerial vehicle based on lightweight convolutional neural network and detection method |
| CN112578810A (en) * | 2020-11-27 | 2021-03-30 | 广州煜煊信息科技有限公司 | Agricultural pesticide application method for unmanned aerial vehicle, computer storage medium and electronic equipment |
-
2022
- 2022-03-08 CN CN202210227337.0A patent/CN114651799A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106200674A (en) * | 2016-08-16 | 2016-12-07 | 吉林农业大学 | A kind of method of unmanned plane self adaptation accuracy pesticide applying |
| CN106240825A (en) * | 2016-09-21 | 2016-12-21 | 江西天祥通用航空股份有限公司 | A kind of airplane spray control method and system |
| CN206573944U (en) * | 2016-12-21 | 2017-10-20 | 石河子大学 | The accurate pesticide spraying system of rotor wing unmanned aerial vehicle |
| JP2020096589A (en) * | 2018-12-03 | 2020-06-25 | 住友化学株式会社 | Agricultural material application method and multi-copter |
| CN109872025A (en) * | 2018-12-13 | 2019-06-11 | 中国科学院遥感与数字地球研究所 | Crop disease and insect subregion variable management method and device |
| CN111339921A (en) * | 2020-02-24 | 2020-06-26 | 南京邮电大学 | Insect disease detection unmanned aerial vehicle based on lightweight convolutional neural network and detection method |
| CN112578810A (en) * | 2020-11-27 | 2021-03-30 | 广州煜煊信息科技有限公司 | Agricultural pesticide application method for unmanned aerial vehicle, computer storage medium and electronic equipment |
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Application publication date: 20220624 |