CN106259264A - Multi-arm type orchard wind send variable farm chemical applying device - Google Patents
Multi-arm type orchard wind send variable farm chemical applying device Download PDFInfo
- Publication number
- CN106259264A CN106259264A CN201610664417.7A CN201610664417A CN106259264A CN 106259264 A CN106259264 A CN 106259264A CN 201610664417 A CN201610664417 A CN 201610664417A CN 106259264 A CN106259264 A CN 106259264A
- Authority
- CN
- China
- Prior art keywords
- arm
- wind
- arm type
- canopy
- laser
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000002420 orchard Substances 0.000 title claims abstract description 23
- 239000000126 substance Substances 0.000 title claims abstract description 23
- 238000005507 spraying Methods 0.000 claims abstract description 14
- 238000003384 imaging method Methods 0.000 claims abstract description 11
- 239000003595 mist Substances 0.000 claims abstract description 8
- 238000005183 dynamical system Methods 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 8
- 239000007921 spray Substances 0.000 claims description 6
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 5
- 239000000575 pesticide Substances 0.000 abstract description 4
- 238000013507 mapping Methods 0.000 abstract 1
- 239000007788 liquid Substances 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008021 deposition Effects 0.000 description 3
- 235000013399 edible fruits Nutrition 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 239000000443 aerosol Substances 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000006199 nebulizer Substances 0.000 description 1
- 239000000700 radioactive tracer Substances 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a kind of orchard multi-arm type wind and send variable farm chemical applying device, include multi-arm type blast system, multi-arm type spraying system and laser three-dimensional imaging scanning system；Laser target detection device is for sending the three-dimensional laser cloud point figure of laser acquisition signal mapping canopy, thus completes the characteristic information such as canopy profile, canopy density and express；Multi-arm type blast system, according to the canopy information received, in conjunction with " crown diameter spatial distribution channel outlet wind speed " relational model, controls each passage air-valve, it is achieved the change of each channel airflow amount.Multi-arm type spraying system, according to the canopy information received, in conjunction with " crown diameter spatial distribution passage capacity of sprinkler " relational model, drives the opening and closing number of times of pulse width modulation solenoid valve, it is achieved the change of the mist amount of each passage.The present invention, by adjusting air quantity and the mist amount of each passage, is adapted to canopy characteristic with expectation, reaches preferable pesticide supplying effect.
Description
Technical field
The present invention relates to a kind of spraying machine, particularly relate to a kind of multi-arm type orchards based on target Detection Techniques wind and send variable
Device for administration of drugs.
Background technology
Fruit tree canopy is a stereochemical structure, and droplet is difficult to penetrate dense branch and leaf and reaches inside canopy.Wind spraying aid type dispenser
Air-flow contribute to droplet conveying and blade stirs, improve vacuum side of blade coverage rate and medicinal liquid deposition, improve the prevention and control of plant diseases, pest control
Effect.Current insecticide-applying way stresses the regulation of the parameter such as the throughput for different canopy layers, dose more, it is achieved the medicine of different canopy layers
The parameter difference alienation distribution such as amount, air quantity.But for single canopy, the irregular structure feature of canopy, need to be preced with in difference
Region, footpath carries out wind-force and dose difference distribution targetedly, reaches canopy and becomes more meticulous dispenser purpose, thus improves canopy intrinsic fog
Drip the uniformity coefficient covering deposition, reduce medicinal liquid consumption.
And for for same kind, type fruit tree, the luxuriant degree of branch and leaf of fruit tree canopy each several part is spatially distributed deposits
In concordance.So one has multiple aerosol flow export, and the multi-arm type wind that gas, spray independently regulate and control can be realized send nebulizer to become
Needed for reality.The throughput of each passage and the adjustment of capacity of sprinkler, can substantially change air-flow field, the space of medicinal liquid is divided
Cloth, is allowed to match with canopy contour feature, gives different wind-force auxiliary and dose in the place that the dense degree of canopy is different,
Pesticide deposition can be significantly improved cover and reduce drift, reach, for target profile tracer dispenser purpose, to strengthen prevention effect.
Summary of the invention
Present invention aims to the problem that above-mentioned prior art exists, propose a kind of with laser detector,
Realize the multi-arm type orchard wind that multiple channel airflow assists, medicinal liquid sprays and send variable farm chemical applying device.
The present invention is achieved through the following technical solutions: multi-arm type orchard wind send variable farm chemical applying device, including multi-arm type
Blast system, multi-arm type spraying system and laser three-dimensional imaging scanning system；
Described multi-arm type blast system axis air intake, radially air-out, according to " crown diameter spatial distribution-channel outlet wind speed " relation
Model, controls each passage air-valve, it is achieved the multichannel autonomous intelligence regulation and control of each channel airflow amount；
Described multi-arm type spraying system, according to " crown diameter spatial distribution-passage capacity of sprinkler " relational model, drives pulsewidth modulation
The opening and closing number of times of electromagnetic valve, it is achieved the multichannel autonomous intelligence regulation and control of the mist amount of each passage；
Described laser three-dimensional imaging scanning system by survey and draw canopy three-dimensional laser cloud point figure, thus complete canopy profile,
The characteristic informations such as canopy density are expressed.
Further, described multi-arm type blast system includes blower fan, wind arm, air-valve, wind arm support, microcontroller, wind
Speed sensor and motor, the first described dynamical system is connected with blower fan, drives blower fan work, and air-flow is passed by blower fan
Being passed to each wind arm, described wind arm is symmetrically installed on blower fan both sides, is provided with air velocity transducer, wind at the air outlet of wind arm
Valve and the motor of control air-valve, the signal output part of air velocity transducer is connected with the signal input part of microcontroller, micro-control
The signal output part of device processed is connected with the signal input part of motor, the folding of step motor control air-valve.Microcontroller produces
The signal of raw drive stepping motor, it is achieved the control to valve area.Each passage air velocity transducer monitors each air outlet in real time
Wind speed, and signal is reached microcontroller, it is achieved monitoring real-time to wind speed and control, it is ensured that trend towards desired value all the time.
Further, described multi-arm type spraying system includes the second dynamical system, medicine-chest, Teat pipette, grug transportation tube, valve
Group, electromagnetic valve and shower nozzle, described grug transportation tube one end is connected with medicine-chest, and the other end is arranged on the exit of grug transportation tube on wind arm and sets
Putting shower nozzle, described Teat pipette one end is connected with the second dynamical system, and the other end is connected with medicine-chest, and described grug transportation tube arranges valve
Door group, described electromagnetic valve is connected at the shower nozzle of each grug transportation tube, the signal input part of electromagnetic valve and the signal of microcontroller
Outfan is connected.Microcontroller produces pulse-width signal control signal pulsewidth and frequency, and transmission signal is to pulsewidth modulation electricity
Magnet valve, within each pulse period, the pulsewidth changing control signal realizes the change of each nozzle liquid flow.
Further, described laser three-dimensional imaging scanning system includes: laser beam emitting device, laser receiver, mould
Type is measured and constructing system, and described laser beam emitting device is used for launching laser acquisition signal, and described laser receiver is used
In receiving the laser signal that returns because object reflection, described model measurement and constructing system be used for building canopy model with
And measure crown diameter and the density of differing heights.
Specifically, described wind arm support is made up of with trailing arm transverse arm, forms " non-" character form structure, wind arm and grug transportation tube collection
On Cheng Feng arm support transverse arm, wind arm support transverse arm is connected with wind arm support trailing arm by hinge, it is achieved wind arm sprays with grug transportation tube
The adjustable angle of head.
Preferably, described electromagnetic valve is pulse width modulation solenoid valve.
Preferably, described shower nozzle is PWM shower nozzle.
Preferably, first, second described dynamical system is transmitter or gasoline engine or motor.
A kind of orchard multi-arm type wind send variable farm chemical applying device method of work use following steps:
A, laser beam emitting device launch laser pulse signal, through rotary prism, homed on its target canopy, then pass through laser pick-off
Device, accepts the laser pulse signal reflected；
B, microcontroller record related data, and convert the data into can Direct Recognition process point cloud data information；
C, according to the cloud point information in step B, utilize automatic segmentation to process the functions such as function, extract function and model construction, will
Measure the thin portion modelling of target, and be finally completed the modeling of whole measurement target；
D, by the analysis to model, obtain the numbers such as the canopy diameter of canopy height and each wind arm correspondence position and canopy density
Value；Microcontroller, according to combining " crown diameter spatial distribution-channel outlet wind speed " relational model, calculates each channel outlet theoretical
Wind speed；
E, microcontroller send instruction, drive stepping motor according to calculated each channel outlet wind speed, and motor leads to
Overregulate the air-valve at each air outlet, thus adjust outlet air flow velocity to the set goal value, pass through air velocity transducer simultaneously
Measure the wind speed of each passage air outlet in real time, pass the signal along to microcontroller, form closed-loop control system, it is ensured that each leads to
Road air outlet wind speed can be stable in desired value；
F, microcontroller, according to combining " crown diameter spatial distribution-passage capacity of sprinkler " relational model, calculate each passage shower nozzle
Discharge rate；Micro control system is according to the flow of calculated each passage shower nozzle, it is provided that drive the square wave letter needed for electromagnetic valve
Number, control electromagnetic valve switch state and realize flow-control.
Described " crown diameter spatial distribution-channel outlet wind speed " relational model formula is as follows:
Y1 = -0.2109x2In+5.8684x+6.1527 formula: Y1Represent air outlet velocity, m/s；X represents detected region
Canopy diameter, m, x ∈ [0.5,4].
Described " crown diameter spatial distribution-passage capacity of sprinkler " relational model formula is as follows:
Y2 = 0.0031x2 + 0.0465x + 0.0914
In formula: Y2Represent capacity of sprinkler, L；X represents the canopy diameter in detected region, m, x ∈ [0.5,4].
The present invention compared to existing technology, has the advantages that
1. the present invention has multiple aerosol flow export, and can realize gas, spray and independently regulate and control, different in the dense degree of canopy
Place gives different wind-force auxiliary and dose, reaches profiling dispenser purpose, reduces pesticide dosage, improves prevention effect.
Laser measuring technology the most of the present invention itself has the features such as precision is high, resolution is high, capacity of resisting disturbance is strong, suitableeer
It is suitable for field complex job environment, may be used for noncooperative target detection.
3. present invention achieves Agent spraying machine, the efficient dispenser of wind spraying aid type and wind based on target detection, mist amount multi-arm type
Independent regulation and control, are a kind of accurate variable farm chemical applying facility of wind spraying aid type based on target Detection Techniques.
Accompanying drawing explanation
Fig. 1 is the structural representation that orchard of the present invention multi-arm type wind send variable farm chemical applying device.
Fig. 2 is that orchard of the present invention multi-arm type wind send the shower nozzle of variable farm chemical applying device, air velocity transducer installation site figure.
Fig. 3 is the fundamental diagram that orchard of the present invention multi-arm type wind send variable farm chemical applying device.
Wherein: 1-wind arm support, 2-wind arm, 3-valve group, 4-laser three-dimensional imaging scanning system, 5-Teat pipette, 6-second
Dynamical system, 7-medicine-chest, 8-microcontroller, 9-air-valve, 10-the first dynamical system, 11-wind arm support transverse arm, 12-grug transportation tube,
13-blower fan, 14-hinge, 15-air velocity transducer, 16-shower nozzle.
Detailed description of the invention
The present invention is further illustrated with embodiment below in conjunction with the accompanying drawings.
As shown in the figure.As shown in the figure.Multi-arm type orchard wind send variable farm chemical applying device, including multi-arm type blast system, multi-arm
Formula spraying system and laser three-dimensional imaging scanning system 4；
Described multi-arm type blast system axis air intake, radially air-out, according to " crown diameter spatial distribution-channel outlet wind speed " relation
Model, controls each passage air-valve, it is achieved the multichannel autonomous intelligence regulation and control of each channel airflow amount；
Described multi-arm type spraying system, according to " crown diameter spatial distribution-passage capacity of sprinkler " relational model, drives pulsewidth modulation
The opening and closing number of times of electromagnetic valve, it is achieved the multichannel autonomous intelligence regulation and control of the mist amount of each passage；
Described laser three-dimensional imaging scanning system 4 by survey and draw canopy three-dimensional laser cloud point figure, thus complete canopy profile,
The characteristic informations such as canopy density are expressed.
Further, described multi-arm type blast system includes the first dynamical system 10, blower fan 13, wind arm 2, air-valve 9, wind
Arm support 1, microcontroller 8, air velocity transducer 15 and motor, the first described dynamical system 10 is connected with blower fan 13, gas
Stream is transferred to each wind arm 2 by blower fan 13, and described wind arm 2 is symmetrically installed on blower fan 13 both sides, the air outlet of wind arm 2
Place is provided with air velocity transducer 15, air-valve 9 and controls the motor of air-valve, the signal output part of air velocity transducer 15 and micro-control
The signal input part of device 8 processed is connected, and the signal output part of microcontroller 8 is connected with the signal input part of motor, stepping electricity
Machine controls the folding of air-valve 9.Microcontroller 8 produces the signal of drive stepping motor, it is achieved the control to air-valve 9 aperture.Each logical
Road air velocity transducer 15 monitors the wind speed of each air outlet in real time, and signal is reached microcontroller 8, it is achieved monitoring real-time to wind speed
With control, it is ensured that trend towards desired value all the time.
Further, described multi-arm type spraying system include the second dynamical system 6, medicine-chest 7, Teat pipette 5, grug transportation tube 12,
Valve group 3, electromagnetic valve and shower nozzle 16, described grug transportation tube 12 one end is connected with medicine-chest 7, and the other end is arranged on wind arm 2, loading
The exit of pipe arranges spray, and 16, described Teat pipette 5 one end is connected with the second dynamical system 6, and the other end is connected with medicine-chest 7, described
Grug transportation tube 12 on valve group 3 is set, described electromagnetic valve is connected at the shower nozzle 16 of each grug transportation tube 12, the signal of electromagnetic valve
Input is connected with the signal output part of microcontroller 8.Microcontroller 8 produces pulse-width signal control signal pulsewidth and frequency
Rate, transmission signal is to pulse width modulation solenoid valve, and within each pulse period, the pulsewidth changing control signal realizes each nozzle liquid
The change of flow.
Further, described laser three-dimensional imaging scanning system 4 includes: laser beam emitting device, laser receiver, mould
Type is measured and constructing system, and described laser beam emitting device is used for launching laser acquisition signal, and described laser receiver is used
In receiving the laser signal that returns because object reflection, described model measurement and constructing system be used for building canopy model with
And measure crown diameter and the density of differing heights.
Specifically, described wind arm support is made up of with trailing arm transverse arm, forms " non-" character form structure, wind arm 2 and grug transportation tube
12 are integrated on wind arm support transverse arm 11, and wind arm support transverse arm 11 is connected with wind arm support trailing arm by hinge 14, it is achieved wind arm 2
Adjustable angle with grug transportation tube shower nozzle 16.
Preferably, described electromagnetic valve is pulse width modulation solenoid valve.
Preferably, described shower nozzle 16 is PWM shower nozzle.
Preferably, first described dynamical system the 10, second dynamical system 6 is transmitter or gasoline engine or motor.
A kind of orchard multi-arm type wind send variable farm chemical applying device method of work use following steps:
A, laser beam emitting device launch laser pulse signal, through rotary prism, homed on its target canopy, then pass through laser pick-off
Device, accepts the laser pulse signal reflected；
B, microcontroller record related data, and convert the data into can Direct Recognition process point cloud data information；
C, according to the cloud point information in step B, utilize automatic segmentation to process the functions such as function, extract function and model construction, will
Measure the thin portion modelling of target, and be finally completed the modeling of whole measurement target；
D, by the analysis to model, obtain the numbers such as the canopy diameter of canopy height and each wind arm correspondence position and canopy density
Value；Microcontroller, according to combining " crown diameter spatial distribution-channel outlet wind speed " relational model, calculates each channel outlet theoretical
Wind speed；
E, microcontroller send instruction, drive stepping motor according to calculated each channel outlet wind speed, and motor leads to
Overregulate the air-valve at each air outlet, thus adjust outlet air flow velocity to the set goal value, pass through air velocity transducer simultaneously
Measure the wind speed of each passage air outlet in real time, pass the signal along to microcontroller, form closed-loop control system, it is ensured that each leads to
Road air outlet wind speed can be stable in desired value；
F, microcontroller, according to combining " crown diameter spatial distribution-passage capacity of sprinkler " relational model, calculate each passage shower nozzle
Discharge rate；Micro control system is according to the flow of calculated each passage shower nozzle, it is provided that drive the square wave letter needed for electromagnetic valve
Number, control electromagnetic valve switch state and realize flow-control.
Described " crown diameter spatial distribution-channel outlet wind speed " relational model formula is as follows:
Y1 = -0.2109x2In+5.8684x+6.1527 formula: Y1Represent air outlet velocity, m/s；X represents detected region
Canopy diameter, m, x ∈ [0.5,4].
Described " crown diameter spatial distribution-passage capacity of sprinkler " relational model formula is as follows:
Y2 = 0.0031x2 + 0.0465x + 0.0914
In formula: Y2Represent capacity of sprinkler, L；X represents the canopy diameter in detected region, m, x ∈ [0.5,4].
The operation principle of the present invention is as follows:
When the present invention works, laser three-dimensional imaging scanning system 4 real-time detection object, return laser light signal is passed to micro-control
Device 8 processed, completes the measurement of the data such as crown diameter and density.Microcontroller 8, according to the canopy information received combination model, produces
Pulse-width signal control signal pulsewidth and frequency, transmission signal to PWM shower nozzle 16, the pulsewidth changing control signal realizes each
The change of nozzle liquid flow.Meanwhile, control the Electric air valve 9 of each wind arm 2, it is achieved the change of each wind arm 2 throughput, meet
Canopy differing heights is to tolerance, the differentiated demand of flow.
Power is transferred to Teat pipette 5 by the second dynamical system 6, and medicinal liquid passes through grug transportation tube 12 successively from medicine-chest 7, Teat pipette 5, valve
Group 3 arrives PWM shower nozzle 16 again.Meanwhile, the first dynamical system 10 drives blower fan 13, and air-flow is transported to each wind arm 2, wind arm group pair
Claim to arrange, be positioned at blower fan both sides, be arranged on wind arm support 1.Wind arm 2 and PWM shower nozzle 16 are integrated on wind arm support transverse arm, wind
Arm support transverse arm is connected with wind arm support trailing arm by hinge, it is achieved wind arm 2 and the adjustable angle of PWM shower nozzle 16.
The air outlet of each wind arm 2 is provided with air velocity transducer 15 and air-valve 9.Microcontroller 8 produces and drives Electric air valve 9
Signal, it is achieved the control to its aperture.Each passage air velocity transducer 15 monitors the wind speed of each air outlet in real time, and signal is reached
Microcontroller 8, it is achieved monitoring real-time to wind speed and control, it is ensured that trend towards desired value all the time.By adjusting the air quantity of each passage
With mist amount, it is adapted to canopy characteristic with expectation, reaches preferable pesticide supplying effect.
The above is only the preferred implementation of the application, makes to skilled artisans appreciate that or realize this Shen
Please.Multiple amendment to these embodiments will be apparent to one skilled in the art, as defined herein
General Principle can realize in the case of without departing from spirit herein or scope in other embodiments.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one
The widest scope caused.
Claims (10)
1. an orchard multi-arm type wind send variable farm chemical applying device, it is characterised in that: including multi-arm type blast system, multi-arm type is sprayed
System and laser three-dimensional imaging scanning system；
Described multi-arm type blast system axis air intake, radially air-out, according to " crown diameter spatial distribution-channel outlet wind speed " relation
Model, controls each passage air-valve, it is achieved the multichannel autonomous intelligence regulation and control of each channel airflow amount；
Described multi-arm type spraying system, according to " crown diameter spatial distribution-passage capacity of sprinkler " relational model, drives pulsewidth modulation
The opening and closing number of times of electromagnetic valve, it is achieved the multichannel autonomous intelligence regulation and control of the mist amount of each passage；
Described laser three-dimensional imaging scanning system by survey and draw canopy three-dimensional laser cloud point figure, thus complete canopy profile,
The characteristic informations such as canopy density are expressed.
Orchard the most according to claim 1 multi-arm type wind send variable farm chemical applying device, it is characterised in that: described multi-arm type wind
System is sent to include the first dynamical system, blower fan, wind arm, air-valve, wind arm support, microcontroller, air velocity transducer and motor,
The first described dynamical system is connected with blower fan, and air-flow is transferred to each wind arm, the peace that described wind arm is symmetrical by blower fan
Being contained in blower fan both sides, be provided with air velocity transducer, air-valve and the motor of control air-valve at the air outlet of wind arm, wind speed senses
The signal output part of device is connected with the signal input part of microcontroller, the signal output part of microcontroller and the signal of motor
Input is connected, the folding of step motor control air-valve.
Orchard the most according to claim 1 multi-arm type wind send variable farm chemical applying device, it is characterised in that: described multi-arm type spray
Mist system includes the second dynamical system, medicine-chest, Teat pipette, grug transportation tube, valve group, electromagnetic valve and shower nozzle, described grug transportation tube one end
Being connected with medicine-chest, the other end is arranged on the exit of grug transportation tube on wind arm and arranges shower nozzle, described Teat pipette one end and the second power
System is connected, and the other end is connected with medicine-chest, and described grug transportation tube arranges valve group, and described electromagnetic valve is connected to each loading
At the shower nozzle of pipe, the signal input part of electromagnetic valve is connected with the signal output part of microcontroller.
Orchard the most according to claim 1 multi-arm type wind send variable farm chemical applying device, it is characterised in that: described laser three-D
Image scanning system includes: laser beam emitting device, laser receiver, model measurement and constructing system, described Laser emission
Device is used for launching laser acquisition signal, and described laser receiver is for receiving the laser letter returned because of object reflection
Number, described model measurement and constructing system are for building canopy model and measuring crown diameter and the density of differing heights.
Orchard the most according to claim 2 multi-arm type wind send variable farm chemical applying device, it is characterised in that: described wind arm support
Being made up of with trailing arm transverse arm, form " non-" character form structure, wind arm and grug transportation tube are integrated on wind arm support transverse arm, and wind arm support is horizontal
Arm is connected with wind arm support trailing arm by hinge, it is achieved wind arm and the adjustable angle of grug transportation tube shower nozzle.
Orchard the most according to claim 3 multi-arm type wind send variable farm chemical applying device, it is characterised in that: described electromagnetic valve is
Pulse width modulation solenoid valve.
Orchard the most according to claim 3 multi-arm type wind send variable farm chemical applying device, it is characterised in that: described shower nozzle is
PWM shower nozzle.
Orchard the most according to claim 2 multi-arm type wind send variable farm chemical applying device, it is characterised in that: the first described power
System is transmitter or gasoline engine or motor.
Orchard the most according to claim 3 multi-arm type wind send variable farm chemical applying device, it is characterised in that: the second described power
System is transmitter or gasoline engine or motor.
Orchard the most according to claim 1 multi-arm type wind send variable farm chemical applying device, it is characterised in that: described orchard is many
Arm-type wind send variable farm chemical applying device method of work use following steps:
A, laser beam emitting device launch laser pulse signal, through rotary prism, homed on its target canopy, then pass through laser pick-off
Device, accepts the laser pulse signal reflected；
B, microcontroller record related data, and convert the data into can Direct Recognition process point cloud data information；
C, according to the cloud point information in step B, utilize automatic segmentation to process the functions such as function, extract function and model construction, will
Measure the thin portion modelling of target, and be finally completed the modeling of whole measurement target；
D, by the analysis to model, obtain the numbers such as the canopy diameter of canopy height and each wind arm correspondence position and canopy density
Value；Microcontroller, according to combining " crown diameter spatial distribution-channel outlet wind speed " relational model, calculates each channel outlet theoretical
Wind speed；
E, microcontroller send instruction, drive stepping motor according to calculated each channel outlet wind speed, and motor leads to
Overregulate the air-valve at each air outlet, thus adjust outlet air flow velocity to the set goal value, pass through air velocity transducer simultaneously
Measure the wind speed of each passage air outlet in real time, pass the signal along to microcontroller, form closed-loop control system, it is ensured that each leads to
Road air outlet wind speed can be stable in desired value；
F, microcontroller, according to combining " crown diameter spatial distribution-passage capacity of sprinkler " relational model, calculate each passage shower nozzle
Discharge rate；Micro control system is according to the flow of calculated each passage shower nozzle, it is provided that drive the square wave letter needed for electromagnetic valve
Number, control electromagnetic valve switch state and realize flow-control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610664417.7A CN106259264A (en) | 2016-08-15 | 2016-08-15 | Multi-arm type orchard wind send variable farm chemical applying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610664417.7A CN106259264A (en) | 2016-08-15 | 2016-08-15 | Multi-arm type orchard wind send variable farm chemical applying device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106259264A true CN106259264A (en) | 2017-01-04 |
Family
ID=57669904
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610664417.7A Pending CN106259264A (en) | 2016-08-15 | 2016-08-15 | Multi-arm type orchard wind send variable farm chemical applying device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106259264A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107279107A (en) * | 2017-06-27 | 2017-10-24 | 江苏大学 | A kind of trellis type orchard target precision device for administration of drugs |
| CN108552146A (en) * | 2018-05-11 | 2018-09-21 | 农业部南京农业机械化研究所 | A kind of adaptive profiling orchard sprayer |
| CN108902088A (en) * | 2018-05-02 | 2018-11-30 | 江苏大学 | A kind of branch's wind based on canopy consistency send parameter adaptive regulating system and method |
| CN109984115A (en) * | 2019-03-19 | 2019-07-09 | 农业农村部南京农业机械化研究所 | Fruit tree variable rate spray system and spray amount decision-making technique |
| CN109997823A (en) * | 2019-03-20 | 2019-07-12 | 农业农村部南京农业机械化研究所 | A kind of wind send variable rate spray test platform and simulation experiment method |
| CN111316892A (en) * | 2020-04-03 | 2020-06-23 | 洛阳市曼德机械制造有限公司 | Operation method of orchard spraying closed water spraying device |
| CN111838113A (en) * | 2020-07-10 | 2020-10-30 | 北京农业智能装备技术研究中心 | Targeting spraying machine and method for jointly adjusting fan rotating speed and air outlet area |
| CN111838111A (en) * | 2020-07-10 | 2020-10-30 | 北京农业智能装备技术研究中心 | Orchard wind power and dosage target-aiming regulation and control spraying machine and method based on ultrasonic sensing |
| CN112970706A (en) * | 2021-02-05 | 2021-06-18 | 盐城工学院 | Continuous profiling variable spraying method based on laser scanning detection |
| CN113951231A (en) * | 2021-10-19 | 2022-01-21 | 农业农村部南京农业机械化研究所 | Dual-system combined pesticide applying sprayer |
| IT202100012713A1 (en) * | 2021-05-18 | 2022-11-18 | O C L L S R L | Throttle device for sprayers and similar machines. |
| CN116548412A (en) * | 2023-03-20 | 2023-08-08 | 南京林业大学 | Self-propelled orchard pneumatic conveying variable precise pesticide application device and method |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5278423A (en) * | 1992-12-30 | 1994-01-11 | Schwartz Electro-Optics, Inc. | Object sensor and method for use in controlling an agricultural sprayer |
| CN2640616Y (en) * | 2003-07-07 | 2004-09-15 | 中国农业大学 | Pressure variable pesticide applicating sprayer |
| CN103120150A (en) * | 2013-01-09 | 2013-05-29 | 南京农业大学 | Self-propelled orchard targeted air-conveying sprayer |
| CN104082268A (en) * | 2014-07-08 | 2014-10-08 | 西北农林科技大学 | Self-adaptive orchard sprayer |
| CN104488843A (en) * | 2014-12-17 | 2015-04-08 | 江苏大学 | Air-supply-type variable spraying rod automatic tracking system adopting laser sensor and control method |
| CN104521931A (en) * | 2014-12-17 | 2015-04-22 | 江苏大学 | Intelligent pneumatic conveying variable spraying machine provided with laser sensor |
| CN104521929A (en) * | 2014-12-17 | 2015-04-22 | 江苏大学 | Variable flow spraying method based on plant target characteristic independent nozzle control |
| CN104621083A (en) * | 2015-01-28 | 2015-05-20 | 江苏大学 | Self-adaptation spraying air capacity adjusting device based on plant characteristics and method |
| CN104904698A (en) * | 2015-06-03 | 2015-09-16 | 江苏大学 | Air-assisted flexible spraying device based on plant features and control method thereof |
| CN105685009A (en) * | 2016-02-25 | 2016-06-22 | 河北康稼园植保科技有限公司 | Air-conveying pesticide spraying equipment |
| CN105707044A (en) * | 2016-03-16 | 2016-06-29 | 山东农业大学 | Automatic targeting air-assisted sprayer for orchard |
-
2016
- 2016-08-15 CN CN201610664417.7A patent/CN106259264A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5278423A (en) * | 1992-12-30 | 1994-01-11 | Schwartz Electro-Optics, Inc. | Object sensor and method for use in controlling an agricultural sprayer |
| CN2640616Y (en) * | 2003-07-07 | 2004-09-15 | 中国农业大学 | Pressure variable pesticide applicating sprayer |
| CN103120150A (en) * | 2013-01-09 | 2013-05-29 | 南京农业大学 | Self-propelled orchard targeted air-conveying sprayer |
| CN104082268A (en) * | 2014-07-08 | 2014-10-08 | 西北农林科技大学 | Self-adaptive orchard sprayer |
| CN104488843A (en) * | 2014-12-17 | 2015-04-08 | 江苏大学 | Air-supply-type variable spraying rod automatic tracking system adopting laser sensor and control method |
| CN104521931A (en) * | 2014-12-17 | 2015-04-22 | 江苏大学 | Intelligent pneumatic conveying variable spraying machine provided with laser sensor |
| CN104521929A (en) * | 2014-12-17 | 2015-04-22 | 江苏大学 | Variable flow spraying method based on plant target characteristic independent nozzle control |
| CN104621083A (en) * | 2015-01-28 | 2015-05-20 | 江苏大学 | Self-adaptation spraying air capacity adjusting device based on plant characteristics and method |
| CN104904698A (en) * | 2015-06-03 | 2015-09-16 | 江苏大学 | Air-assisted flexible spraying device based on plant features and control method thereof |
| CN105685009A (en) * | 2016-02-25 | 2016-06-22 | 河北康稼园植保科技有限公司 | Air-conveying pesticide spraying equipment |
| CN105707044A (en) * | 2016-03-16 | 2016-06-29 | 山东农业大学 | Automatic targeting air-assisted sprayer for orchard |
Non-Patent Citations (5)
| Title |
|---|
| 丁素明等: "自走式果园风送喷雾机的研制", 《中国农机化学报》 * |
| 俞龙等: "丘陵山地果树冠层体积激光测量方法与试验", 《农业机械学报》 * |
| 刘华等: "激光测距在果树冠层三维重构中的应用", 《现代农业装备》 * |
| 周良富等: "组合圆盘式果园风送喷雾机设计与试验", 《农业工程学报》 * |
| 张晓辛等: "果园风送式喷雾机仿形喷雾试验研究", 《中国农机化》 * |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107279107A (en) * | 2017-06-27 | 2017-10-24 | 江苏大学 | A kind of trellis type orchard target precision device for administration of drugs |
| CN108902088A (en) * | 2018-05-02 | 2018-11-30 | 江苏大学 | A kind of branch's wind based on canopy consistency send parameter adaptive regulating system and method |
| CN108552146A (en) * | 2018-05-11 | 2018-09-21 | 农业部南京农业机械化研究所 | A kind of adaptive profiling orchard sprayer |
| CN109984115B (en) * | 2019-03-19 | 2021-06-08 | 农业农村部南京农业机械化研究所 | Variable spraying system for fruit trees and spraying quantity decision method |
| CN109984115A (en) * | 2019-03-19 | 2019-07-09 | 农业农村部南京农业机械化研究所 | Fruit tree variable rate spray system and spray amount decision-making technique |
| CN109997823A (en) * | 2019-03-20 | 2019-07-12 | 农业农村部南京农业机械化研究所 | A kind of wind send variable rate spray test platform and simulation experiment method |
| CN109997823B (en) * | 2019-03-20 | 2022-03-22 | 农业农村部南京农业机械化研究所 | Air supply variable spray test platform and simulation test method |
| CN111316892A (en) * | 2020-04-03 | 2020-06-23 | 洛阳市曼德机械制造有限公司 | Operation method of orchard spraying closed water spraying device |
| CN111838113A (en) * | 2020-07-10 | 2020-10-30 | 北京农业智能装备技术研究中心 | Targeting spraying machine and method for jointly adjusting fan rotating speed and air outlet area |
| CN111838111A (en) * | 2020-07-10 | 2020-10-30 | 北京农业智能装备技术研究中心 | Orchard wind power and dosage target-aiming regulation and control spraying machine and method based on ultrasonic sensing |
| CN111838111B (en) * | 2020-07-10 | 2023-10-20 | 北京农业智能装备技术研究中心 | Orchard wind power and drug dosage targeting regulation sprayer and method based on ultrasonic sensing |
| CN111838113B (en) * | 2020-07-10 | 2023-06-27 | 北京农业智能装备技术研究中心 | Target-alignment sprayer and method for jointly adjusting rotating speed and air outlet area of fan |
| CN112970706B (en) * | 2021-02-05 | 2022-05-03 | 盐城工学院 | Continuous profiling variable spraying method based on laser scanning detection |
| CN112970706A (en) * | 2021-02-05 | 2021-06-18 | 盐城工学院 | Continuous profiling variable spraying method based on laser scanning detection |
| IT202100012713A1 (en) * | 2021-05-18 | 2022-11-18 | O C L L S R L | Throttle device for sprayers and similar machines. |
| CN113951231A (en) * | 2021-10-19 | 2022-01-21 | 农业农村部南京农业机械化研究所 | Dual-system combined pesticide applying sprayer |
| CN113951231B (en) * | 2021-10-19 | 2023-07-14 | 农业农村部南京农业机械化研究所 | Double-system combined pesticide spraying machine |
| CN116548412A (en) * | 2023-03-20 | 2023-08-08 | 南京林业大学 | Self-propelled orchard pneumatic conveying variable precise pesticide application device and method |
| CN116548412B (en) * | 2023-03-20 | 2024-04-26 | 南京林业大学 | Self-propelled orchard pneumatic conveying variable precise pesticide application device and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106259264A (en) | Multi-arm type orchard wind send variable farm chemical applying device | |
| CN105941379B (en) | A kind of wind send smart spraying robotic spray coordinated control system and application method | |
| CN104621083B (en) | Self-adaptation spraying air capacity adjusting device based on plant characteristics and method | |
| CN105532623B (en) | A kind of electrostatic target spraying machine of intelligence self-propelled air-feeding | |
| AU2020103268A4 (en) | Sprayer and use method thereof | |
| CN109997823B (en) | Air supply variable spray test platform and simulation test method | |
| CN103120150B (en) | Self-propelled orchard targeted air-conveying sprayer | |
| CN109857141A (en) | Plant protection drone spray method and system | |
| CN105707040A (en) | Accurate aerial spraying control system and method for aircraft | |
| CN105667799B (en) | A kind of agricultural unmanned plane pesticide spraying system | |
| CN104521931B (en) | Intelligent pneumatic conveying variable spraying machine provided with laser sensor | |
| CN204104581U (en) | A kind of automatic target detection spraying system based on binocular vision technology | |
| CN206507106U (en) | A kind of wind send smart spraying robotic spray coordinated control system | |
| CN104977935A (en) | Unmanned gyroplane wind field electrostatic spraying device and wind field electrostatic spraying method | |
| CN103548802B (en) | Self-propelled spraying machine with automatic targeting in orchard and spraying method thereof | |
| CN203860304U (en) | Automatic targeting and spraying system | |
| CN108684634B (en) | Spray control method and system based on volume characteristic prejudgment | |
| CN104521929A (en) | Variable flow spraying method based on plant target characteristic independent nozzle control | |
| CN107279107A (en) | A kind of trellis type orchard target precision device for administration of drugs | |
| CN104982407A (en) | Orchard automatic profiling mist pesticide spray machine and pesticide spraying control method | |
| CN109433443B (en) | Sand solidification device based on unmanned aerial vehicle and control method | |
| CN114128696B (en) | Variable spray control system based on annular pesticide application structure and plant canopy volume calculation method thereof | |
| CN107318813A (en) | The control method and control device quantitatively sprayed in a kind of flight course | |
| CN109984115A (en) | Fruit tree variable rate spray system and spray amount decision-making technique | |
| CN109964905A (en) | Robot and its control method are administered to target based on walking certainly for fruit tree identification positioning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170104 |
|
| RJ01 | Rejection of invention patent application after publication |