CN211129521U - Automatic targeting variable spraying control system and spraying machine - Google Patents
Automatic targeting variable spraying control system and spraying machine Download PDFInfo
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- CN211129521U CN211129521U CN201921657597.1U CN201921657597U CN211129521U CN 211129521 U CN211129521 U CN 211129521U CN 201921657597 U CN201921657597 U CN 201921657597U CN 211129521 U CN211129521 U CN 211129521U
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Abstract
The utility model discloses an automatic targeting variable spraying control system and a spraying machine, wherein the system comprises a control module, a data acquisition module, an input/output module, a spraying mechanism and an air conveying mechanism; the data acquisition module comprises a laser radar and a rotary encoder, the laser radar is used for acquiring the position and distance information of a target, and the rotary encoder is used for acquiring the position information of the spraying machine, the running speed and the running distance of the spraying machine; the control module comprises a controller, a raspberry group and a relay, the raspberry group is connected with the laser radar, the controller is respectively connected with the raspberry group, the relay, the rotary encoder, the input and output module and a fan of the air supply mechanism, and the relay is connected with a spray head group of the spraying mechanism; the sprayer comprises the automatic targeting variable spray control system. The utility model discloses the system can realize the spraying in the target region according to whether the crown has, crown volume and canopy density.
Description
Technical Field
The utility model relates to an automatic targeting variable spraying control system and sprayer belongs to plant protection machinery.
Background
The traditional mode of adopting excessive spraying to carry out pesticide application reaches the purpose of preventing plant diseases and insect pests, but this kind of mode has caused a large amount of wastes of pesticide, pollutes the environment on the one hand, and on the other hand causes the pesticide residue to exceed standard, brings very serious potential safety hazard. Therefore, the medicine is applied according to the needs, and the accurate medicine application becomes the problem to be solved urgently. At present, target spraying is mainly carried out in a target area, spraying is not carried out outside the target area, the spraying amount cannot be changed in real time according to the size of a tree crown and the density degree of a crown layer, the rotating speed of a fan is changed, and pesticide application according to needs is realized.
The Chinese patent application (CN108575955A) discloses an automatic targeted spraying control system, but both of the two modes can only realize targeted pesticide application and cannot realize variable pesticide application according to the volume of a tree crown in real time.
The Chinese patent application (CN106070155A) discloses an automatic targeting variable spraying control system based on P L C and a control method thereof, the system utilizes an image acquisition module to acquire target information, realizes variables according to target area and pest and disease damage degree, and has longer processing time and low real-time property.
The Chinese invention patent (CN105486228B) discloses a tree target volume real-time measuring method based on a two-dimensional laser scanner, which only provides a measuring method of the target volume and does not relate to the density degree of a canopy and a specific variable control method.
Chinese patent application (CN108684634A) discloses a spray control method and system based on volume characteristic prejudgment, and a distance measurement module of the system is divided into a plurality of independent groups, so that the volume measurement precision is low, and a method for measuring the density degree of a canopy is not involved.
Therefore, the control system which can rapidly and accurately identify the target volume and the density degree of the canopy and can carry out variable spraying in real time has important significance.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an automatic to target variable spraying control system, this system can realize the spraying in the target region according to whether the crown has, crown volume and canopy density.
Another object of the utility model is to provide a sprayer including above-mentioned system.
The purpose of the utility model can be achieved by adopting the following technical scheme:
an automatic targeting variable spray control system comprises a control module, a data acquisition module, an input/output module, a spray mechanism and an air supply mechanism;
the data acquisition module comprises a laser radar and a rotary encoder, the laser radar is used for acquiring the position and distance information of a target, and the rotary encoder is used for acquiring the position information of the spraying machine, the running speed and the running distance of the spraying machine;
the control module comprises a controller, a raspberry group and a relay, the raspberry group is connected with the laser radar, the controller is connected with the raspberry group, the relay, the rotary encoder, the input and output module and the fan of the air supply mechanism respectively, and the relay is connected with the spray head group of the spraying mechanism.
Further, spraying mechanism includes medical kit, liquid pump, multichannel water knockout drum, a plurality of solenoid valve and a plurality of shower nozzle group, relay quantity, solenoid valve quantity and shower nozzle group number are the one-to-one, the output of medical kit is connected with the input of liquid pump, the output of liquid pump is connected with the input of multichannel water knockout drum, every way output and a solenoid valve of multichannel water knockout drum are connected, and every relay is connected with the controller to through the solenoid valve that corresponds and the shower nozzle group link that corresponds.
Further, a safety valve is arranged between the medicine box and the liquid pump.
Furthermore, a pressure regulating knob and a pressure gauge are arranged on the liquid pump.
Furthermore, the air supply mechanism comprises a plurality of fans, the number of the nozzle groups of the spraying mechanism corresponds to the number of the fans one by one, each nozzle group of the spraying mechanism is arranged in the front of the corresponding fan, and the fans are connected with the controller.
Further, the air supply mechanism further comprises a profiling spray rod, and the plurality of fans are arranged on the profiling spray rod.
Further, the system also comprises a control box, and the control module is arranged in the control box.
Further, the controller is an Arduino controller.
Further, the input and output module is a touch screen.
The utility model discloses a further purpose can reach through taking following technical scheme:
a sprayer comprises the automatic targeting variable spray control system.
The utility model discloses for prior art have following beneficial effect:
1. the utility model discloses the system has set up laser radar and rotary encoder, can gather the position and the distance information of target through laser radar, through rotary encoder gather the position information of sprayer, the speed of traveling and the distance of traveling of sprayer, the raspberry group obtains the data that laser radar gathered, the controller obtains the data that rotary encoder gathered, realize data transmission between raspberry group and the controller, through corresponding data processing, obtain tree crown volume and canopy density, and send tree crown volume information and canopy density information to the controller, the controller can be according to tree crown volume information and canopy density information, obtain the dosage of applying medicine, through frequency and the duty cycle of output corresponding flow, and then realize the accurate control of the shower nozzle group flow of spraying mechanism; on the other hand, the adjustment of the fan rotating speed of the air supply mechanism is realized by adjusting the duty ratio of the pulse width modulation wave generated by the controller, so that the resource utilization rate can be greatly improved, and the fog drop coverage rate can be effectively improved.
2. The utility model discloses the system can realize the spraying in the target area according to whether the crown has, crown volume and canopy density, and the area is outside not spouting, and big tree spouts more, and little tree spouts less to can carry out the secondary according to canopy density and revise volume parameter, thereby optimize the spraying volume, make the variable spray more accurate.
Drawings
Fig. 1 is a schematic structural block diagram of an automatic targeting variable spray control system according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a spraying mechanism according to an embodiment of the present invention.
Fig. 3 is a front view structural diagram of the sprayer of the embodiment of the invention.
Fig. 4 is a left side view structural diagram of the sprayer of the embodiment of the invention.
Fig. 5 is a schematic view of target information collection according to an embodiment of the present invention.
Fig. 6 is a scanning schematic diagram of the laser radar according to the embodiment of the present invention.
Fig. 7 is a schematic volume diagram of the canopy unit according to the embodiment of the present invention.
The system comprises a laser radar 1, a rotary encoder 2, a controller 3, a raspberry pi 4, a relay 5, a medicine box 6, a liquid pump 7, a six-way water separator 8, a solenoid valve 9, a spray head group 10, a safety valve 11, a pressure regulating knob 12, a pressure gauge 13, a fan 14, a touch screen 15, a vehicle frame 16, a traveling wheel 17, a control box 18 and a profiling spray rod 19.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings, but the present invention is not limited thereto.
Example (b):
as shown in fig. 1, the present embodiment provides an automatic targeting variable spraying control system, which includes a control module, a data acquisition module, an input/output module, a spraying mechanism, and an air supply mechanism, where the data acquisition module includes a laser radar 1 and a rotary encoder 2, and the control module includes a controller 3, a raspberry pi 4, and six relays 5.
The laser radar 1 is used for collecting the position and distance information of a target, and is a URG-04L X-UG 012D laser scanning distance measuring instrument manufactured by HOKUYO company of North Yang Japan.
The rotary encoder 2 is used for collecting position information of the spraying machine, the running speed and the running distance of the spraying machine and is an incremental encoder E6B2-CWZ 1X.
The type of raspberry group 4 can be raspberry group 3 generation B type, and it is connected with laser radar 1 through the USB interface, can obtain the data that laser radar 1 gathered, relies on UART serial ports real-time communication to realize data transmission between raspberry group 4 and the controller 3, through corresponding data processing, and then calculates crown volume and canopy density to send crown volume information and canopy density information for controller 3.
As shown in fig. 1 and 2, the spraying mechanism includes a medicine box 6, a liquid pump 7, a six-way water distributor 8, six electromagnetic valves 9 and six spray head groups 10, the relays 5, the electromagnetic valves 9 and the spray head groups 10 are all in one-to-one correspondence, an output end of the medicine box 6 is connected with an input end of the liquid pump 7, an output end of the liquid pump 7 is connected with an input end of the six-way water distributor 8, each output end of the six-way water distributor 8 is connected with one electromagnetic valve 9, each relay 5 is connected with the corresponding electromagnetic valve 9 and is used for controlling the on-off of the corresponding electromagnetic valve 9, on one hand, the spraying is turned on and off, on the other hand, the variable control is realized through Pulse Width Modulation (PWM), and each electromagnetic valve 9 is connected with the corresponding spray head group 10.
A safety valve 11 is provided between the medicine tank 5 and the liquid pump 6 so that the pressure does not exceed a predetermined value; further, the liquid pump 6 is provided with a pressure regulating knob 12 and a pressure gauge 13.
Further, the specific model of the electromagnetic valve 9 is a model 2W 030-08B of Addren, and the output flow rate of the electromagnetic valve has good linear relation under the frequencies of 10HZ and 20 HZ.
The air supply mechanism comprises six fans 14, each fan 4 adopts a THB2048HG-A axial flow fan, the fans 14 correspond to the spray head groups 10 one by one, each spray head group 10 is arranged at the front part of the corresponding fan 14, and the six fans 14 are connected with the controller 3; further, the air supply mechanism further comprises a profiling spray rod which is divided into a left side and a right side, wherein the three fans 14 are arranged on the left profiling spray rod in an upper, middle and lower mode, and the other three fans 14 are arranged on the right profiling spray rod in an upper, middle and lower mode.
In order to protect the control module, the spray control system of this embodiment further includes a control box, and the control module sets up in the control box, and controller 3, raspberry group 4 and six relays 5 all set up in the control box promptly.
The input and output module can adopt a touch screen 15, the touch screen 15 is connected with the controller 3 and is a main component of a human-computer interaction interface, the specific model is TJC4832T035-011RN, the touch screen 15 can be arranged on a control box or on a position (such as a vehicle head position) of the sprayer convenient for user operation, not only can the spray mode be selected and switched, and the spray flow rate can be controlled, but also the data feedback of the sprayer can be observed in real time.
The controller 3 can be an Arduino single chip microcomputer, the model number of the controller is Arduino mega 2560, the controller is connected with the rotary encoder 2 through an I/O interface, data collected by the rotary encoder 2 can be obtained, after the controller 3 receives crown volume information and crown layer density information sent by the raspberry pie 4, the application dosage corresponding to the crown volume is determined according to the crown volume information and the crown layer density information, the frequency and the duty ratio of corresponding flow are output, the electromagnetic valve 9 is controlled to be opened and closed frequently, and accurate control of the flow is achieved; on the other hand, the rotation speed of the fan 14 is adjusted by adjusting the duty ratio of the pulse width modulation wave generated by the controller 3, so that the fog drop coverage rate can be effectively improved.
Further, the Arduino mega 2560 has fifteen output ports for PWM, but only outputs PWM waves of 5V at 490Hz, and by referring to the data sheet of the Arduino mega 2560, it is found that the PWM action is determined by an integrated device called timer/counter, each having two or three channels. Each channel is connected to a controller pin. Changing the frequency of one pin requires changing the frequency of the timer to which it is connected, which in turn changes the frequency of the other pins connected to the same timer. The singlechip is provided with six timers/counters which are respectively a timer0, a timer1, a timer2, a timer3, a timer4 and a timer 5. Wherein timer0 and timer2 are eight time meters/counter, and every timer has two passageways of A, B, and timer0 controls entire system's delay function, if change timer0 probably leads to the timing function inaccurate, so under the condition that other timer/counter's number satisfies the requirement, the bottom setting of timer0 is gone to the greatest extent, the utility model discloses only need twelve routes (including the pulse width modulation wave of six way control fan rotational speeds and 6 way control solenoid valve's pulse width modulation wave) self-defining pwm wave, need not to modify timer 0's bottom setting. The timing/ counter timers 1, 3, 4 and 5 are sixteen-bit, and each timer has A, B, C three channels; each timer/counter has two working modes of rapid pulse width modulation and phase calibration pulse width modulation, and the timer can run from 0 to 255 and also can run from 0 to a fixed value; each output can also be inverted, and the registers controlling the operation of these timers/counters are TCCRnA, TCCRnB, OCRnA, OCRnB, OCRnC (if the timer has a C channel), where n represents the name of the timer/counter. TCCRnA and TCCRnB are control registers, and parameters which can be controlled by the registers are as follows:
A. pulse generation mode control bits (WGMs): the working mode is used for setting the timer/counter, and in the eight-bit timer/counter, 2 bits are positioned in a register TCCRnA, and 1bit is positioned in a register TCCRnB; in the sixteen-bit timer/counter, 2 bits are located in a register TCCRnA, and 2 bits are located in a register TCCRnB;
B. clock select bit (CS): setting a frequency division coefficient (working speed of a counter) of a clock, wherein 3 bits are positioned in a register TCCRnB;
C. output mode control bits (COMnA, COMnB, and COMnC): enabling/disabling/inverting output waveforms, each occupying 2 bits, are located in the register TCCRnA;
D. output comparators (OCRnA, OCRnB, and OCRnC): the value is the value to which the counter is compared. When the counter is equal to the three values, the output value of the corresponding channel changes according to different modes, the registers and the corresponding timer/counter have the same number of bits, and the corresponding ports generate required pulse width modulation waves by setting the bits of the timer/counter, so that the purposes of controlling the rotating speed of the fan and controlling the flow are achieved.
As shown in fig. 3 to 4, the embodiment further provides a spraying machine, which is a spraying trolley, and includes a frame 16, a traveling wheel 17 and the spraying control system, the traveling wheel 17 is connected with the frame 16, and the spraying control system is arranged on the frame 16; specifically, the laser radar 1, the rotary encoder 2, the medicine box 6, the control box 18, and the profiling boom 19 are provided on the vehicle frame 16.
The embodiment also provides a control method based on the spray control system, which comprises the following steps:
and S1, initializing the system.
S2, selecting a spraying mode on the human-computer interaction interface, and if the continuous spraying mode is selected, executing a step S3; if the target mode is selected, step S4 is executed.
S3, selecting the rotating speed of the fan in the continuous spraying mode, clicking an opening button, and controlling a relay by a controller to enable an electromagnetic valve to be normally opened for continuous spraying; and clicking a stop button, and controlling a relay by a controller to close the electromagnetic valve to stop spraying.
S4, selecting the rotating speed of the fan in the target aligning mode, starting the spraying machine to walk, and starting the laser radar and the rotary encoder to acquire and process data.
S5, the controller executes corresponding instructions according to the processed data; if the target information is collected, executing step S6; if the target information is not acquired, step S7 is executed.
And S6, outputting a pulse width modulation wave with the required flow rate to control the corresponding electromagnetic valve to be opened and closed frequently according to the processed tree crown volume information and the canopy density information, thereby realizing the pesticide application according to the requirement.
And S7, the controller controls the relay to close the electromagnetic valve.
S8, judging whether the controller continues to work or not, and if the controller stops working, ending spraying; otherwise, return to step S2.
In step S4, the specific operations of the laser radar and the rotary encoder to start collecting and processing data are as follows:
1) as shown in fig. 5, the laser radar acquires position and distance information of a target, the rotary encoder acquires position information of the spraying machine, driving speed and driving distance of the spraying machine, and the laser radar reads a value of the rotary encoder once every detection to obtain complete three-dimensional information of the target.
2) As shown in fig. 6, the laser radar scans and aims at the crown of the fruit tree, and a dense distance-measuring point cloud data (distance-measuring sequence) is generated from the bottom to the last scanning; generating a series of ranging point cloud data in the process that the laser radar moves along the horizontal direction (the driving direction of the spraying machine); the stepping angle of each scanning of the laser radar is 0.36 degrees, the measuring range is 240 degrees, so that the laser radar can detect about 660 data points in each scanning circle, then remove non-target points and reserve the target points. The ranging sequences comprise position information, depth information, crown thickness and the like of the fruit trees; and combining a series of distance measuring point cloud data according to the horizontal information acquired by the corresponding rotary encoder to obtain complete target three-dimensional information.
3) As shown in FIG. 6, Ds is one half of the standard orchard row spacing (in practice, a distance measuring sensor can be added as required to monitor the distance from the laser radar to the trunk in real time), diAnd di+1Respectively distance information generated during scanning of the laser radar from bottom to topAt a corresponding angle of aiAnd ai+1Therefore, the canopy depth information of the point A (lower point) and the point B (upper point) of the fruit tree can be calculated.
Si＝Ds-di×cosai
Si+1＝Ds-di+1×cosai+1
hi＝di+1×sinai+1-di×sinai
Wherein S isiCanopy depth information for fruit tree point A, Si+1Information of canopy depth of B point of fruit tree, hiThe distance between the point A and the point B of the fruit tree.
4) As shown in FIG. 7, rkFor the distance of travel of the sprayer that rotary encoder measured, the precision is carried out the value according to actual need, and then the volume computational formula of canopy unit body is:
Vi＝Si×hi×rk
the volume of each side of the crown is as follows:
5) the spraying mechanism comprises six spray head groups, each side is divided into an upper spray head group, a middle spray head group and a lower spray head group, so that the tree crown body on each side can be divided into an upper part, a middle part and a lower part, each spray head group is responsible for the application dosage of a corresponding target, and the spraying mechanism specifically comprises the following components:
6) and when the target volume is measured, the density of the canopy can be estimated according to the ranging sequence of the laser radar. For fruit trees with high canopy density, the leaves are distributed concentratedly, the distance values of the ranging sequences are relatively concentrated, the fluctuation range is small, and the dispersion degree is small; for the fruit trees with sparse canopy, the leaves are loosely distributed, the range fluctuation of the distance value of the ranging sequence is large, the dispersion degree is also large, the variance is adopted to measure the fluctuation degree of the data, and the canopy density can also be represented. The specific calculation method comprises the following steps:
xi＝di×cosai
wherein x0Mean value of range, x, representing a complete target ranging sequenceiIndicating the horizontal distance, S, of the lidar from the target2Represents the variance of a complete target ranging sequence and can characterize the density of canopy space, S2Large, namely representing sparse canopy, can properly reduce the spray amount; s2When the amount is small, the canopy is dense, and the amount of spray can be increased appropriately.
The specific operation of step S6 is:
1) according to the crown volume information and the canopy density information obtained by processing, determining the application dosage corresponding to the crown volume according to the principle that the application dosage is matched with the crown volume, considering that the requirements of different canopy densities on the spray amount are different, establishing the relationship between the crown volume and the canopy density, and further correcting the volume parameter;
2) flow data under different pressures and different duty ratios are measured through experiments, a flow-duty ratio model is established, and pulse width modulation waves of required flow are output to corresponding spray head groups to control corresponding electromagnetic valves to be opened and closed frequently according to the application quantity requirements of fruit trees, so that application according to requirements is realized.
To sum up, the utility model discloses the system has set up laser radar and rotary encoder, can gather the position and the distance information of target through laser radar, through the position information of rotary encoder collection sprayer, the speed of traveling and the distance of traveling of sprayer, the raspberry group obtains the data that laser radar gathered, the controller obtains the data that rotary encoder gathered, realize data transmission between raspberry group and the controller, through corresponding data processing, obtain crown volume and canopy density, and send crown volume information and canopy density information to the controller, the controller can be according to crown volume information and canopy density information, obtain the dosage, through the frequency and the duty cycle of output corresponding flow, and then realize the accurate control of the shower nozzle group flow of spraying mechanism; on the other hand, the adjustment of the fan rotating speed of the air supply mechanism is realized by adjusting the duty ratio of the pulse width modulation wave generated by the controller, so that the resource utilization rate can be greatly improved, and the fog drop coverage rate can be effectively improved.
The above, only be the embodiment of the utility model discloses a patent preferred, nevertheless the utility model discloses a protection scope is not limited to this, and any technical personnel who is familiar with this technical field are in the utility model discloses a within range, according to the utility model discloses a technical scheme and utility model design equivalence substitution or change all belong to the protection scope of the utility model patent.
Claims (10)
1. An automatic targeting variable spraying control system is characterized by comprising a control module, a data acquisition module, an input/output module, a spraying mechanism and an air supply mechanism;
the data acquisition module comprises a laser radar and a rotary encoder, the laser radar is used for acquiring the position and distance information of a target, and the rotary encoder is used for acquiring the position information of the spraying machine, the running speed and the running distance of the spraying machine;
the control module comprises a controller, a raspberry group and a relay, the raspberry group is connected with the laser radar, the controller is connected with the raspberry group, the relay, the rotary encoder, the input and output module and the fan of the air supply mechanism respectively, and the relay is connected with the spray head group of the spraying mechanism.
2. The automatic targeting variable spray control system according to claim 1, wherein the spray mechanism comprises a medicine box, a liquid pump, a multi-way water separator, a plurality of electromagnetic valves and a plurality of spray head groups, the number of the relays, the number of the electromagnetic valves and the number of the spray head groups are all in one-to-one correspondence, the output end of the medicine box is connected with the input end of the liquid pump, the output end of the liquid pump is connected with the input end of the multi-way water separator, each output end of the multi-way water separator is connected with one electromagnetic valve, and each relay is connected with the controller and is connected with the corresponding spray head group through the corresponding electromagnetic valve.
3. The automatic targeting variable spray control system of claim 2 wherein a safety valve is provided between the medicine chest and the liquid pump.
4. The automatic targeting variable spray control system according to claim 2, wherein the liquid pump is provided with a pressure regulating knob and a pressure gauge.
5. The automatic targeting variable spray control system according to claim 1, wherein the air supply mechanism comprises a plurality of fans, the number of nozzle groups of the spray mechanism corresponds to the number of fans one by one, each nozzle group of the spray mechanism is arranged in front of the corresponding fan, and the fans are connected with the controller.
6. The automatic target variable spray control system of claim 5, wherein the air feed mechanism further comprises a profiling spray bar, the plurality of fans being disposed on the profiling spray bar.
7. The automatic targetable variable spray control system of any one of claims 1-6, further comprising a control box, the control module being disposed within the control box.
8. The automatic targeted variable spray control system of any one of claims 1-6, wherein the controller is an Arduino controller.
9. The automatic targetable variable spray control system of any one of claims 1-6, wherein the input output module is a touch screen.
10. A sprayer comprising the automatic targeting variable spray control system of any one of claims 1-9.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110476941A (en) * | 2019-09-30 | 2019-11-22 | 华南农业大学 | Automatic target detection variable rate spray control system, spraying machine and control method |
| CN114680097A (en) * | 2022-06-02 | 2022-07-01 | 农业农村部南京农业机械化研究所 | Spraying machine pesticide application positioning method based on monitoring data acquisition and processing |
| WO2023082482A1 (en) * | 2021-11-11 | 2023-05-19 | 江苏大学 | Variable spray control system based on annular pesticide application structure and plant canopy volume calculation method |
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2019
- 2019-09-30 CN CN201921657597.1U patent/CN211129521U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110476941A (en) * | 2019-09-30 | 2019-11-22 | 华南农业大学 | Automatic target detection variable rate spray control system, spraying machine and control method |
| CN110476941B (en) * | 2019-09-30 | 2023-09-26 | 华南农业大学 | Automatic target variable spraying control system, spraying machine and control method |
| WO2023082482A1 (en) * | 2021-11-11 | 2023-05-19 | 江苏大学 | Variable spray control system based on annular pesticide application structure and plant canopy volume calculation method |
| GB2616746A (en) * | 2021-11-11 | 2023-09-20 | Univ Jiangsu | Variable spray control system based on annular pesticide application structure and plant canopy volume calculation method |
| GB2616746B (en) * | 2021-11-11 | 2024-03-06 | Univ Jiangsu | Variable-Rate Spray Control System Based On Annular Application Structure and Tree Canopy Volume Calculation Method Thereof |
| CN114680097A (en) * | 2022-06-02 | 2022-07-01 | 农业农村部南京农业机械化研究所 | Spraying machine pesticide application positioning method based on monitoring data acquisition and processing |
| CN114680097B (en) * | 2022-06-02 | 2022-08-09 | 农业农村部南京农业机械化研究所 | Sprayer pesticide application positioning method based on monitoring data acquisition and processing |
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