CN208143999U - greenhouse spraying detection device - Google Patents
greenhouse spraying detection device Download PDFInfo
- Publication number
- CN208143999U CN208143999U CN201820207372.5U CN201820207372U CN208143999U CN 208143999 U CN208143999 U CN 208143999U CN 201820207372 U CN201820207372 U CN 201820207372U CN 208143999 U CN208143999 U CN 208143999U
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- lifter
- detection
- translation device
- spray
- soil
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- 238000001514 detection method Methods 0.000 title claims abstract description 78
- 238000005507 spraying Methods 0.000 title abstract description 5
- 239000007921 spray Substances 0.000 claims abstract description 53
- 239000002689 soil Substances 0.000 claims abstract description 29
- 238000013519 translation Methods 0.000 claims description 33
- 238000001179 sorption measurement Methods 0.000 claims description 15
- 238000003491 array Methods 0.000 claims description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 230000005622 photoelectricity Effects 0.000 claims 1
- 238000005070 sampling Methods 0.000 abstract description 3
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 18
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 7
- 239000000725 suspension Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008121 plant development Effects 0.000 description 1
- 239000008400 supply water Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
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- Soil Working Implements (AREA)
Abstract
Greenhouse sprays detection device, and it includes door type frame, wheel group, first riser, second riser, sprays module, detection module, and door type frame has installed crop height sensor and path sensor, and wheel group, first riser, second riser and detection module all are equipped with the motor, spray by solenoid valve control, and detection module installs the camera. The utility model discloses can be in warmhouse booth automatic walking, but automatically regulated spray height and automatic spray, can detect the sampling to crop and soil automatically, the utility model discloses a warmhouse booth's accurate spraying and the automation that detects need not to reform transform warmhouse booth moreover.
Description
Technical field
The invention belongs to agricultural automation technical field, it is related to a kind of greenhouse spray and detection device, especially one
Kind automatic spray and the control device detected automatically.
Background technique
The spray system of greenhouse and detection system majority are to hang on greenhouse top, such as patent at present
201310371034.7 disclosed " a kind of suspension type sprinkler car " and patent 201610917887.X disclose a kind of " chamber crop
Growth information reciprocity monitoring device and monitoring method in real time ", this suspension type system can be sprayed or be detected above crop
Operation realizes and accurately sprays or detect, and this suspension type system is driven by motor, and automatic control system can be added
It realizes the automation of spray or detection, but this suspension type system occupies greenhouse space, needs to carry out greenhouse
Transformation, influences plant development during installation and maintenance.On the other hand, in the trolley type spray system of greenhouse Ground Operation
Although being restricted it is not necessary that greenhouse, this trolley type system is transformed by the place of greenhouse with detection system, at present simultaneously
The trolley type spray system or inspection of operation without the automatically walk in greenhouse and are sprayed or detected automatically above crop
Examining system.
Summary of the invention
The present invention provide to solve above-mentioned technical problem it is a kind of without be transformed greenhouse, in greenhouse it is automatic
Walk and sprayed and detected automatically above crop the control device and its control method of operation.
The technical solution adopted by the present invention to solve the technical problems is：
Greenhouse sprays detection device comprising gate frame, wheel group, the first lifter, the second lifter, spray
Module, detection module, gate frame are made of two brackets in left and right and upper frame, and the bottom of two brackets in left and right is respectively arranged with wheel
Group, by the steering axis connection perpendicular to ground between wheel group and bracket, wheel group includes two wheels in left and right, left and right two
The axletree of wheel is mutually indepedent, and the first lifter includes that the first lifter fixed part and the first lifter slided up and down are sliding
Dynamic part, the first lifter fixed part of two the first lifters in left and right are individually fixed on two brackets in left and right, spray mould
Block left and right ends are individually fixed on the first lifter slides part of two the first lifters in left and right, are sprayed in module equipped with spray
Head, the second lifter include the second lifter fixed part and the second lifter slides part for sliding up and down, left and right two the
Second lifter fixed part of two lifters is individually fixed on two brackets in left and right, and detection module includes detection module frame
Frame, translation device, Soil K+adsorption bar, detection bar turntable and soil sensor, the left and right ends of detection module frame are individually fixed in
On second lifter slides part of two the second lifters in left and right, translation device includes translation device fixed part and horizontally slips
Translation device slipper, translation device fixed part are fixed on detection module frame, and translation device slipper turns equipped with detection bar
Disk, the axle center of detection bar turntable and ground level, Soil K+adsorption bar are fixed on detection bar turntable, and soil sensor is fixed on soil
In earth detection bar, it is characterised in that：Plant height sensor and path sensor are fixedly mounted on bracket, wheel group is equipped with
Electronic compass, wheel are driven by wheel electrical machine, and the first lifter slides part is driven by the first elevator motor, the second lifter
Slipper is driven by the second elevator motor, and translation device slipper is by translation device motor driven, and detection bar turntable is by detecting
Bar rotary tray motor drives, and solenoid valve is housed on the water pipe connecting with spray head, and detection module is equipped with camera.
The technical solution that the present invention can also take is：
Plant height sensor is photosensor arrays.Path sensor is photosensor arrays.
Greenhouse sprays detection control apparatus and its control method, it is characterised in that：Wheel control method, including positioning
Seedbed, be prepared to enter into seedbed, into seedbed, exit seedbed, prepare to position next five steps in seedbed, position seedbed step：Vehicle
Turbin generator drives wheel to rotate forward according to path sensor and greenhouse spray detection control apparatus is driven to be moved to seedbed
Beginning is prepared to enter into seedbed step：The mutually opposing rotation of wheel electrical machine of two wheels in left and right of wheel group enables wheel group edge turn
90 degree are rotated forward to axis, into seedbed step：All wheel electrical machines keep rotating forward until path sensor judges
The end for reaching seedbed, exits seedbed step：All wheel electrical machines keep backwards rotation until path sensor judgement has been returned
To the beginning in seedbed, prepare to position next seedbed step：The mutually opposing rotation of wheel electrical machine of two wheels in left and right of wheel group,
Enable wheel group along 90 degree of steering shaft backwards rotation.
Into seedbed step or exit the implementable spraying control method thereof of seedbed step：Step 1：It is sensed according to plant height
Device is adjusted the height of spray module, step 2 by the first elevator motor：Start spray, step 3 by solenoid valve：If into
Seedbed step exits seedbed step and terminates, then closes solenoid valve and rise spray module.
Into seedbed step or exit the implementable detection control method of seedbed step：Step 1：Crop map is shot by camera
Picture simultaneously selects the crop that need to be detected, step 2：Suspend wheel movement, detection bar rotary tray motor drives detection bar turntable to enable level
Soil K+adsorption bar is vertical, and translation device motor drives Soil K+adsorption bar to be moved to above the crop that need to be detected, by the second lifter electricity
Machine drives the decline of Soil K+adsorption bar, step 3：Detection sampling；Step 4：Second lifter rises and Soil K+adsorption bar becomes level again,
Restore wheel movement.
The beneficial effects of the invention are as follows：
The present invention can in greenhouse automatically walk, spray height and automatic spray can be automatically adjusted, can be automatically to work
Object and its soil carry out detection sampling, and the present invention realizes the accurate automation sprayed and detect of greenhouse, and is not necessarily to
Greenhouse is transformed.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the first lifter and spray modular structure schematic diagram in Fig. 1；
Fig. 3 is the second lifter and detection module structural schematic diagram in Fig. 1；
Fig. 4 is the flow chart of the control method applied to Fig. 1.
In figure：1, gate frame；11, bracket；12, upper frame；2, wheel group；21, steering shaft；22, wheel electrical machine；23, vehicle
Wheel；24, electronic compass；3, the first lifter；31, the first lifter screw rod；32, the first lifter slide unit；33, the first lifter
Motor；34, the first lifter pedestal；4, the second lifter；41, the second lifter screw rod；42, the second lifter slide unit；43,
Two elevator motors；44, the second lifter pedestal；5, module is sprayed；51, hose；52, solenoid valve；53, spray head；54, Fen Shui
Device；55, water tank；6, detection module；61, detection module frame；62, translation device；621, translation device screw rod；622, translation device is sliding
Platform；623, translation device motor；624, translation device pedestal；63, Soil K+adsorption bar；64, soil sensor；65, detection bar turntable；
651, detection bar rotary tray motor；66, camera；7, the first photosensor arrays；8, the second photosensor arrays；9, black
Line.
Specific embodiment
In order to further understand the content, features and effects of the present invention, hereby enumerate it is following apply example, and cooperate attached drawing detailed
It describes in detail bright.
Fig. 1, Fig. 2 and Fig. 3 are please referred to, greenhouse sprays detection device comprising gate frame 1, wheel group 2, first
Lifter 3, the second lifter 4, spray module 5, detection module 6.Gate frame 1 is by two brackets 11 in left and right and 12 structure of upper frame
At.The bottom of two brackets 11 in left and right is respectively arranged with wheel group 2, passes through the steering perpendicular to ground between wheel group 2 and bracket 11
Axis 21 connects, and wheel group 2 includes two wheels 23 in left and right, and the axletree of two wheels 23 in left and right is mutually indepedent, and wheel 23 is by vehicle
Turbin generator 22 drives, and wheel group 2 is equipped with electronic compass 24.First lifter pedestal 34 is the first lifter fixed part, first
Lifter slide unit 32 is the first lifter slides part, and two the first lifter pedestals 34 in left and right are individually fixed in two branch in left and right
On frame 11, the left and right ends of spray module 5 are individually fixed on two the first lifter slide units 32 in left and right, by the first lifter electricity
First lifter screw rod of the rotation of machine 33 31 is to drive the first lifter slide unit 32 and spray module 5 to move up and down.Spray module 5
Equipped with spray head 53 and water segregator 54, water tank 55 is supplied water by hose 51 and solenoid valve 52 to water segregator 54, and water segregator 54 is to spray head
53 supply water.Second lifter pedestal 44 is the second lifter fixed part, and the second lifter slide unit 42 is the second lifter slides
Part, two the second lifter pedestals 44 in left and right are individually fixed on two brackets 11 in left and right, and detection module 6 is by detection module
Frame 61 supports, and the left and right ends of detection module frame 61 are individually fixed on two the second lifter slide units 42 in left and right, by the
The second lifter screw rod of two elevator motors 43 rotation 41 moves down on the second lifter slide unit 42 and detection module 6 to drive
It is dynamic.Detection module 6 includes translation device 62, Soil K+adsorption bar 63, soil sensor 64, detection bar turntable 65 and camera 66.It is flat
Shifting device pedestal 624 is translation device fixed part and translation device slide unit 622 is translation device slipper.Translation device pedestal 624 is fixed
In on detection module frame 61, by 623 rotational translation device screw rod 621 of translation device motor to drive translation device slide unit 622 or so
Translation.The turntable shaft of detection bar turntable 65 is horizontally installed on translation device slide unit 622, and Soil K+adsorption bar 63 is fixed on detection bar
On turntable 65, soil sensor 64 is fixed on Soil K+adsorption bar 63, and detection bar turntable 65 is by 651 turns of detection bar rotary tray motor
It is dynamic.First photosensor arrays 7 are plant height sensors, and the second photosensor arrays 8 are path sensor, the first light
Electric transducer array 7 and the second photosensor arrays 8 are fixedly installed on bracket 11, and the second photosensor arrays 8 are logical
Cross 9 realizing route of the black line identification that detection is affixed on ground.
Referring to Fig. 4, greenhouse spray detection control apparatus and its control method comprising wheel control method, spray
Control method and detection control method are drenched, thread 1, thread 2 and thread 3 are respectively used to realize wheel control method, detection control
Method and spraying control method thereof.
Wheel control method realized by thread 1, including positioning seedbed, be prepared to enter into seedbed, into seedbed, exit seedbed,
Prepare to position next five steps in seedbed.Position seedbed：Under the driving of wheel electrical machine 22, wheel 23 is rotated forward until second
Photosensor arrays 8 detect the intersection point of black line 9, and greenhouse spray detection control apparatus is moved to the beginning in seedbed at this time
End；It is prepared to enter into seedbed：The mutually opposing electronic compass 24 that rotates up to of the wheel 23 of left and right two of wheel group 2 detects to obtain wheel group
2 have rotated forward 90 degree along steering shaft 21, then trigger thread 2；Into seedbed：All wheels 23 keep rotating forward until
Second photosensor arrays 8 measure the end of black line 9, and greenhouse spray detection control apparatus is moved to the end in seedbed at this time
Then thread 3 is triggered at end；Exit seedbed：All wheels 23 keep backwards rotation until the second photosensor arrays 8 measure
The intersection point of black line 9, greenhouse spray detection control apparatus is moved to the beginning in seedbed at this time；Prepare to position next seedbed：Vehicle
The wheel 23 of left and right two of wheel group 2 is mutually opposing rotate up to electronic compass 24 detect wheel group 2 inversely turns along steering shaft 21
90 degree are moved, thread 1 terminates.
Detection control method is realized by thread 2.Start camera 66, shoot crop image and selects the crop that need to be detected.
Thread 1 is hung up to enable the pause movement of wheel 23, detection bar rotary tray motor 651 drives detection bar turntable 65 and enables horizontal soil
Detection bar 63 is vertical, and translation device motor 623 drives Soil K+adsorption bar 63 to be moved to above the crop that need to be detected, by the second lifter
Motor 43 drives Soil K+adsorption bar 63 to decline.After soil sensor 64 acquires data, Soil K+adsorption bar 63 and rotation soil are risen
Detection bar 63 enables it become level again, wakes up thread 1 and greenhouse spray detection control apparatus is enabled to walk on.If the second photoelectric transfer
The end that sensor array 8 does not measure black line 9 then continues to detect；If the second photosensor arrays 8 measure the end of black line 9
End, greenhouse spray detection control apparatus is moved to the end in seedbed at this time, then closes camera 66, and thread 2 terminates.
Spraying control method thereof is realized by thread 3.Resulting plant height is detected according to the first photosensor arrays 7, by
The height of first elevator motor 33 adjustment spray module 5, then starts spray by solenoid valve 52.If the second photoelectric sensing
Device array 8 measures the intersection point of black line 9, and greenhouse spray detection control apparatus is moved to the beginning in seedbed at this time, then sprays knot
Beam closes solenoid valve 52 and rises spray module 5, and thread 3 terminates.
Claims (3)
1. greenhouse sprays detection device comprising gate frame, wheel group, the first lifter, the second lifter, spray mould
Block, detection module, gate frame are made of two brackets in left and right and upper frame, and the bottom of two brackets in left and right is respectively arranged with wheel group,
By the steering axis connection perpendicular to ground between wheel group and bracket, wheel group includes two wheels in left and right, two vehicles in left and right
The axletree of wheel is mutually indepedent, and the first lifter includes the first lifter fixed part and the first lifter slides for sliding up and down
Part, the first lifter fixed part of two the first lifters in left and right are individually fixed on two brackets in left and right, spray module
Left and right ends are individually fixed on the first lifter slides part of two the first lifters in left and right, are sprayed in module equipped with spray
Head, the second lifter include the second lifter fixed part and the second lifter slides part for sliding up and down, left and right two the
Second lifter fixed part of two lifters is individually fixed on two brackets in left and right, and detection module includes detection module frame
Frame, translation device, Soil K+adsorption bar, detection bar turntable and soil sensor, the left and right ends of detection module frame are individually fixed in
On second lifter slides part of two the second lifters in left and right, translation device includes translation device fixed part and horizontally slips
Translation device slipper, translation device fixed part are fixed on detection module frame, and translation device slipper turns equipped with detection bar
Disk, the axle center of detection bar turntable and ground level, Soil K+adsorption bar are fixed on detection bar turntable, and soil sensor is fixed on soil
In earth detection bar, it is characterised in that：Plant height sensor and path sensor are fixedly mounted on bracket, wheel group is equipped with
Electronic compass, wheel are driven by wheel electrical machine, and the first lifter slides part is driven by the first elevator motor, the second lifter
Slipper is driven by the second elevator motor, and translation device slipper is by translation device motor driven, and detection bar turntable is by detecting
Bar rotary tray motor drives, and solenoid valve is housed on the water pipe connecting with spray head, and detection module is equipped with camera.
2. greenhouse according to claim 1 sprays detection device, it is characterised in that：The plant height sensor is
Photosensor arrays.
3. greenhouse according to claim 1 sprays detection device, it is characterised in that：The path sensor is photoelectricity
Sensor array.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820207372.5U CN208143999U (en) | 2018-02-06 | 2018-02-06 | greenhouse spraying detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820207372.5U CN208143999U (en) | 2018-02-06 | 2018-02-06 | greenhouse spraying detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208143999U true CN208143999U (en) | 2018-11-27 |
Family
ID=64382176
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820207372.5U Withdrawn - After Issue CN208143999U (en) | 2018-02-06 | 2018-02-06 | greenhouse spraying detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208143999U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108307890A (en) * | 2018-02-06 | 2018-07-24 | 仲恺农业工程学院 | Greenhouse spraying detection device and method |
| CN110337964A (en) * | 2019-08-03 | 2019-10-18 | 袁伟伟 | A kind of sprinkler system of the modern agriculture with transport fruits and vegetables function |
| CN116195498A (en) * | 2023-04-07 | 2023-06-02 | 广东宝地南华产城发展有限公司 | Automatic seedling fertilizing and pesticide spraying device and application method |
-
2018
- 2018-02-06 CN CN201820207372.5U patent/CN208143999U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108307890A (en) * | 2018-02-06 | 2018-07-24 | 仲恺农业工程学院 | Greenhouse spraying detection device and method |
| CN108307890B (en) * | 2018-02-06 | 2023-08-15 | 仲恺农业工程学院 | Warmhouse booth spraying detection device and spraying detection method thereof |
| CN110337964A (en) * | 2019-08-03 | 2019-10-18 | 袁伟伟 | A kind of sprinkler system of the modern agriculture with transport fruits and vegetables function |
| CN110337964B (en) * | 2019-08-03 | 2021-05-18 | 简胜坚 | Modern agriculture is with watering system that has transportation fruit vegetables function |
| CN116195498A (en) * | 2023-04-07 | 2023-06-02 | 广东宝地南华产城发展有限公司 | Automatic seedling fertilizing and pesticide spraying device and application method |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20181127 Effective date of abandoning: 20230815 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20181127 Effective date of abandoning: 20230815 |