CN114680097B - Sprayer pesticide application positioning method based on monitoring data acquisition and processing - Google Patents
Sprayer pesticide application positioning method based on monitoring data acquisition and processing Download PDFInfo
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- CN114680097B CN114680097B CN202210619997.3A CN202210619997A CN114680097B CN 114680097 B CN114680097 B CN 114680097B CN 202210619997 A CN202210619997 A CN 202210619997A CN 114680097 B CN114680097 B CN 114680097B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- 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
- A01M7/0096—Testing of spray-patterns
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- 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
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- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
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Abstract
The invention relates to a spraying machine pesticide application positioning method based on monitoring data acquisition and processing, and belongs to the technical field of agricultural machinery applying information technology. The spraying machine adopted by the method comprises a pesticide application device and a laser ranging sensor which are arranged on a walking unit, wherein a pesticide box of the pesticide application device is communicated with a centrifugal atomizer through a pump valve device; the signal output of the laser ranging sensor is connected with the controlled end of the electromagnetic valve through an intelligent control device; the intelligent control device finishes the steps of medicine application according to the preset amount by acquiring the initial signal, judging the medicine application line, acquiring the first effective value, acquiring the second effective value, determining the medicine application point position and advancing to the proper position for medicine application. The method is suitable for different planting row spacing and plant spacing of the hanging tendrils in the sunlight greenhouse and is also suitable for spraying the whole row in the passage at the row side, and the method has good adaptability to small and variable planting row spacing and plant spacing of the plants.
Description
Technical Field
The invention relates to a pesticide application control method of a spraying machine, in particular to a spraying machine pesticide application positioning method based on monitoring data acquisition and processing, and belongs to the technical field of agricultural machinery applying information technology.
Background
In order to improve the yield and quality of crops such as melons (cucumbers, watermelons, melons and the like) and solanaceous fruits (tomatoes, peppers, eggplants and the like) cultivated in a solar greenhouse from east to west, a planting mode of ridge culture and vine hanging cultivation is generally adopted, and the ridge spacing, the plant spacing, the row spacing and the like of the crops have great difference according to different crop varieties and agricultural requirements.
At present, the mode of spraying pesticides by manually carrying an electric sprayer or holding a high-pressure spray pipe and a spray gun to enter crop rows is mainly adopted for controlling the plant diseases and insect pests of the sunlight greenhouse cultivated crops, so that the pesticide application amount is large, the control effect is poor, the labor intensity of operators is high, and the pesticide poisoning is easy. Although there is an operation mode of laying a guide rail on a hardened road along one side of a heat insulation wall in a sunlight greenhouse and continuously spraying on the traveling side while traveling by using a guide rail type remote electric spraying machine, the operation mode is easy to have the following two invalid spraying conditions: firstly, the empty spraying between crop rows causes a large amount of liquid medicine to be lost; secondly, when the pesticide spraying device is used for spraying towards the central line of the row of the plant, a large amount of pesticide droplets cannot penetrate through the plant canopy and are deposited on the front-end crops due to the shielding effect of plant leaves, so that the front-end crops are phytotoxicity, and the control effect of the rear-end crops is poor.
The search shows that the Chinese patent with the application number of 201410784600.1 discloses an automatic tracking system and a control method of an air-assisted variable spraying spray rod adopting a laser ranging sensor, and the technical scheme is that a variable spraying machine adopting the laser ranging sensor can accurately identify information such as the existence, the size, the shape, the branch and leaf density and the like of a target plant in real time to realize intelligent variable spraying. Although in the spraying process, the laser ranging sensor of the automatic spray rod tracking system acquires the distance information of plants, the control system controls the movable spray rod of the fixed nozzle to automatically adjust the position according to the distance information of the plants, so that the nozzle is kept at the optimal spraying distance, and the aims of reducing the fogdrop drifting and increasing the fogdrop penetrability and the plant canopy deposition amount are fulfilled; however, the tracking and ranging target is a single plant canopy, the control target is a spraying distance, and the method is only suitable for scenes that the row spacing and the plant spacing of plants such as fruit trees are large and a sprayer can enter the row space of the plants to spray the single plants in a targeted manner.
In addition, the Chinese patent with the application number of 201910928041 discloses a control method for the operation angle of an apple orchard sprayer, and the technical scheme is that a sensor is arranged on the periphery of the sprayer, and the sensor can measure the distance between the sprayer and an apple tree needing to release medicines in real time; a singlechip is arranged in the spraying machine, a ranging sensor is electrically connected with the singlechip, an apple orchard model needing spraying is input into the singlechip, and the tree-shaped outline is simulated according to distance information collected by the ranging sensor; and adjusting the angle of a spray head of the sprayer after the boundary of the different tree-shaped profiles is fuzzy, limiting the corresponding spray track and achieving better spray effect. It is obvious that the method is only suitable for orchards with relatively fixed row and row spacing.
Therefore, the prior art is not suitable for occasions with small and variable plant spacing and plant spacing.
Disclosure of Invention
The invention aims to: aiming at the defects in the prior art, the spraying machine pesticide application positioning method based on monitoring data acquisition and processing is provided, so that the requirement of automatically and effectively spraying pesticide at the optimal position on occasions with small and variable plant spacing and plant planting row spacing is met.
The applicant has realized through extensive experimental studies that: in the process of the sprayer running along the row arrangement direction, when an ideal spraying operation mode is that the sprayer reaches the optimal spraying position of a certain row, the sprayer stops running to start spraying; and then stopping spraying and continuing to reach the optimal spraying position of the next line, and then stopping the spraying and starting the spraying, and circulating the steps, so that the 'idle spraying' of continuous spraying between the lines can be effectively avoided. Theoretically, the optimal spraying position of a certain row is not the position where the central axis of the spraying is aligned with the central line of the row of plants (because the plants adjacent to the spraying machine will tend to shield the plants behind the same row), but the optimal spraying position should be located at the position where the central direction of the mist flow of the spraying machine should deviate from the central line of the row of plants by a certain distance, and at the moment, the mist drops can penetrate through the plant canopy and deposit at the rear end of the row of plants, so that the distribution uniformity of the mist drops in the range is remarkably improved. On the basis of the recognition, the applicant provides a basic technical scheme of the spraying machine pesticide application positioning method based on monitoring data acquisition and processing through repeated test and search, and the method comprises the following steps:
the sprayer comprises a pesticide application device arranged on the walking unit and a laser ranging sensor with a laser emission line forming a preset included angle with the advancing direction, and a pesticide box of the pesticide application device is communicated with the centrifugal atomizer through a pump valve device; the signal output of the laser ranging sensor is connected with the driving controlled end of the medicine applying device execution device through an intelligent control device;
the intelligent control device performs pesticide application positioning according to the following steps:
firstly, acquiring an initial signal, namely acquiring a feedback laser signal initial ranging value from an initial position;
step two, judging the administration line, namely judging whether the initial ranging value is suddenly increased, if so, carrying out the next step; otherwise, returning to the first step;
thirdly, acquiring a first effective value, namely, judging whether the actual distance measurement value is in a first preset interval from the actual distance measurement value of the laser signal fed back by collecting the pesticide application line, and if not, continuing to collect and judge; if so, taking the actual ranging value as a first effective ranging value, and carrying out the next step;
fourthly, acquiring a second effective value, namely continuously acquiring the actual distance measurement value of the fed back laser signal, judging whether the actual distance measurement value is in a second preset interval smaller than the first preset interval, and if not, continuously acquiring and judging; if so, taking the actual ranging value as a second effective ranging value, and carrying out the next step;
fifthly, determining the site location of the drug delivery, namely calculating the ideal site location of the drug delivery according to the following formula:
S=[（x1+L1cosα）+（x2+L2cosα）]/2
in the formula:
s-displacement from the beginning to the ideal site of application, mm;
x 1-displacement from start to first measured effective range, mm;
l1-first measured effective distance measurement value, mm;
x 2-displacement, mm, from start to second measurement of effective range;
l2-second measurement of effective distance measurement value, mm;
alpha is a preset included angle alpha between the laser emission line and the advancing direction;
carrying out the next step;
and sixthly, moving to the proper position for pesticide application, namely stopping the sprayer when the sprayer moves to the ideal pesticide application point from the starting position, and starting the pesticide application device to apply pesticide according to a preset amount.
The method of the invention essentially tracks and measures the target to be the whole row of plant population canopy, controls the target to be the vertical distance between the axis of the fog flow sprayed by the centrifugal atomizer and the side surface of the whole row of plant population canopy, controls the spraying mode to be row side spraying (namely the spraying direction of the centrifugal atomizer is parallel to the side surface of the whole row of plant population canopy), and controls the spraying distance (namely the distance between the centrifugal atomizer of the sprayer and the adjacent plant), and the horizontal range (namely the effective distance reached by the liquid medicine sprayed by the sprayer in the horizontal direction) of the sprayer to be longer than the length of the plant row, thereby enabling the fog drops to cover the whole row of plant canopy. Because the laser ranging sensors are installed in a non-parallel mode, multi-point synchronous online ranging sampling and analysis are carried out on the side face of the canopy of the whole row of plant group, plant rows are quickly identified and accurately positioned, and the spraying machine is stopped at the optimal spraying position (the mist flow direction and the central line of the plant rows have a certain offset which is automatically set after the sampling data are processed online) on the row side of the plant for spraying, the idle spraying among the rows and the invalid spraying over the central line of the plant rows can be effectively avoided. The method is suitable for different planting row spacing and plant spacing of the hanging tendrils in the sunlight greenhouse and is also suitable for spraying the whole row in the passage at the row side, and the method has good adaptability to small and variable planting row spacing and plant spacing of the plants.
A further refinement of the invention provides that the predetermined angle is selected by:
when (A + C)/2B is less than 2, taking 75 degrees, otherwise, taking alpha as 60 degrees;
in the formula:
α -predetermined included angle;
a-spraying distance;
b-line spacing;
c-plant spacing.
The invention further perfects that the installation distance D between the laser ranging sensor and the centrifugal atomizer meets the condition that D is more than A/cos alpha.
It is a further refinement of the present invention that the first preset interval and the second preset interval are respectively an interval between a first maximum ranging effective value Lmax1 and a minimum ranging effective value Lmin and between a second maximum ranging effective value Lmax2 and a minimum ranging effective value Lmin determined by the following formula:
Lmin=（A-E/2）/sinα;
Lmax1=B/cosα；
Lmax2=L1+E/2sinα;
in the formula:
e-average plant width.
The invention is further perfected in that the executive device of the pesticide applying device comprises a diaphragm pump, a centrifugal atomizer and a fan, and a liquid conveying pipe of the pesticide box is connected to the centrifugal atomizer through an electromagnetic valve after passing through a flowmeter and the diaphragm pump; the centrifugal atomizer is located the dryer upper end, the fan is settled to the dryer lower part.
The invention is further perfected in that at least one side of the sprayer is provided with a horizontal sensor guide rail, the sensor guide rail and a translational support form a lockable moving pair, and the translational support and a vertical rotating support form a lockable hinge pair and are connected with a laser ranging sensor.
In conclusion, the beneficial effects of the invention are as follows: the method is suitable for different planting row spacing and plant spacing of the hanging tendrils in the sunlight greenhouse, is also suitable for spraying the whole row in a row side passageway, and has good adaptability to small and variable plant planting row spacing and plant spacing.
Drawings
The invention will be further described with reference to the accompanying drawings.
Fig. 1 is a schematic structural view of a cart-type electric centrifugal atomizing sprayer using the present invention.
Fig. 2 is a schematic view of the sensor mounting structure of fig. 1.
Fig. 3 is a circuit block diagram of a control device according to an embodiment of the present invention.
FIG. 4 is a control flow diagram of one embodiment of the present invention.
Fig. 5 is a schematic diagram of the identification and location principle of one embodiment of the present invention.
The figure mainly contains: the system comprises a guide wheel 1, a driven wheel 2, a rear obstacle avoidance sensor 3, a main driving wheel 4, a cabinet body 5, a battery 6, a miniature diaphragm pump 7, a laser ranging sensor 8, a guide rail 9, an HMI10, a medicine box 11, a handle 12, a translation support 13, a flowmeter 14, a vertical rotation support 15, a flow electromagnetic valve bank 16, a centrifugal atomizer 17, a water pipe 18, an air duct 19, a fan 20, a front obstacle avoidance sensor 21, an STM32 main single chip microcomputer 22, an STM32 slave single chip microcomputer 23, a wheel encoder 24, a direct current motor driving module 25, a relay group 26, a brushless direct current motor driver 27, a brushless direct current motor driver II 28, a stepping motor driver 29, a brushless direct current motor driver III 30, a relay II 31, an air duct angle limit I32, an air duct angle limit II 33, a speed reduction motor 34, a centrifugal atomizer motor 35, an air duct motor 36 and a brake 39.
Detailed Description
Example one
The spraying machine based on monitoring data acquisition and processing in the embodiment is actually a cart type spraying machine as shown in fig. 1, wherein a pesticide applying device is arranged on a walking unit which is respectively provided with a driven wheel 2 and a main driving wheel 4 at the front and the rear, and the driven wheel 2 is provided with a guide wheel 1. The walking unit is respectively provided with a front obstacle avoidance sensor 21 and a rear obstacle avoidance sensor 3 near the main driving wheel 4 and the driven wheel 2. A medicine box 11 is set in the cabinet 5 of the medicine dispensing device.
The liquid delivery tube of the medicine tank 11 passes through the flow meter 14 and the micro diaphragm pump 7, and then is connected to the centrifugal atomizer 17 through a flow solenoid valve group 16 and a water tube 18 for controlling the opening and closing of the liquid medicine. The centrifugal atomizer 17 is positioned at the upper end of the air duct 19, and the lower part of the air duct 19 is provided with the fan 20 driven by the speed reducing motor 34.
The cabinet body 5 is internally provided with a control device containing an intelligent control device and a battery 6 for supplying power to the motor and the diaphragm pump, the upper part of the cabinet body 5 is provided with a handle 12, and the HMI10 is arranged. Two rows of horizontal sensor guide rails 9 are respectively installed on two sides of the cabinet body 5, and the sensor guide rails 9 are provided with position-adjustable laser ranging sensors 8. The specific structure is shown in fig. 2, the sensor guide rail 9 and the translational support 13 form a lockable moving pair, and the translational support 13 and the vertical rotating support 15 form a lockable hinge pair connected with the laser ranging sensor 8. Therefore, the laser distance measuring sensor 8 not only can be adjusted in the front-back position, but also can be adjusted to a preset included angle alpha with the forward direction according to requirements.
The circuit block diagram of the control device is shown in fig. 3, the structure of which is easy to understand and not detailed, (the specific circuit can be seen in chinese patent application No. 201910928041. X, 202111094705.0), wherein the signal output ends of the flow meter 14, the front obstacle avoidance sensor 21, and the rear obstacle avoidance sensor 3 are respectively connected to the corresponding input ends of the main single chip microcomputer 22 as an intelligent control device, the signal output end of the laser ranging sensor 8 is connected to the driving controlled end of the main driving wheel 4 as a walking execution mechanism through the slave single chip microcomputer 23 and the main single chip microcomputer 22, and the corresponding driving controlled ends of the micro diaphragm pump 7, the centrifugal atomizer 17, and the fan 20 as the medicine application device execution device. When the sprayer travels along the row arrangement direction at a certain spraying distance on one side of the plant, the intelligent control device performs pesticide application positioning according to the following steps (see fig. 4 and 5):
firstly, acquiring an initial signal, namely acquiring a feedback laser signal initial ranging value from the initial position.
Secondly, judging the plant to be applied with the pesticide, namely judging whether the initial ranging value is suddenly increased, if so, indicating that the plant to be applied with the pesticide is detected, and carrying out the next step; otherwise, the medicine is not separated from the starting place (or the medicine is applied), and the first step is returned.
Thirdly, acquiring a first effective value, namely acquiring an actual distance measurement value of a laser signal fed back from the pesticide application line, judging whether the actual distance measurement value is in a first preset interval, if not, indicating that the measured distance measurement value is an invalid distance measurement value of spacing between plants or other interference, and continuing to acquire and judge; if so, the first effective distance measurement value of the plant to be applied is determined, and the next step is carried out.
Fourthly, acquiring a second effective value, namely continuously acquiring the actual distance measurement value of the fed back laser signal, and judging whether the actual distance measurement value is in a second preset interval, if not, continuously acquiring and judging; if so, the actual ranging value is taken as the second effective ranging value, and the next step is carried out.
Fifthly, determining the site location of the drug delivery, namely calculating the ideal site location of the drug delivery according to the following formula:
S=[（x1+L1cosα）+（x2+L2cosα）]/2
in the formula:
s-displacement from the start to the desired site of application, mm;
x 1-displacement from start to first measured effective range, mm;
l1-first measured effective distance measurement value, mm;
x 2-displacement, mm, from start to second measurement of effective range;
l2-second measurement of effective distance measurement value, mm;
alpha is a preset included angle alpha between the laser emission line and the advancing direction;
proceed to the next step.
And sixthly, moving to the proper position for pesticide application, namely stopping the sprayer when the sprayer moves to the ideal pesticide application point from the starting position, and starting the pesticide application device to apply pesticide according to a preset amount. And then the steps are circulated.
The above predetermined angle α is selected by taking into account:
setting the spraying distance to be A, the row spacing to be B, the plant spacing to be C and the plant width to be E, and when (A + B)/2B is less than 2 (neglecting the plant width E), taking alpha as 75 degrees, otherwise, taking alpha as 60 degrees; and after alpha is determined, the installation distance D between the laser ranging sensor and the atomizer is rounded according to the following formula, wherein D is more than A/cos alpha. Thus, the plants in the next row of the application row can be distinguished from the plants in the applied row (the correctness of the second step in the application positioning step); otherwise, the sampling value of the next administration row is not changed from small to large.
The first and second preset intervals are respectively determined by a first maximum ranging effective value Lmax1 and a minimum ranging effective value Lmin and a second maximum ranging effective value Lmax2 and a minimum ranging effective value Lmin calculated as follows:
Lmin=（A-E/2）/sinα；
Lmax1=B/cosα；
Lmax2=L1+E/2sinα；
in the formula:
e-average plant width.
The present invention can be more easily understood by combining a specific experimental situation shown in fig. 5: the spraying distance is 1000 mm, the average row spacing is 1000 mm, the average plant spacing is 1200 mm, and the average plant width is 300 mm; the preset included angle alpha is 75 degrees, the installation distance between the laser ranging sensor and the atomizer is D =300 mm, and the device travels along the V direction on one side of a plant.
The starting point of the laser ranging sensor is at the point O, and the initial ranging value is suddenly increased; the first time the effective range value L1=3437 mm is measured when the travel displacement x1=96 mm reaches the O1 point; the second time when the travel displacement x2=520mm is continued and the O2 point is reached, the effective range finding value L2=2134mm is measured; thus, the displacement S =709 mm from the start to the desired site of administration, i.e., a position between the projected distances S1 and S2 in the traveling direction of the two effective distance measurement values, can be calculated.
In the above experiments, D is more than A/cos alpha, and the value is 300 mm, so that the installation is convenient. Maximum ranging effective value: lmax1= B/cos α = 1000/cos 75 ° =3863, first minimum ranging valid value: lmin = (A-E/2)/sin alpha = (1000-300/2)/sin 75 ° =879, namely, the first predetermined interval is 879-3863 mm; the second maximum ranging effective value: lmax2= L1+ E/2sin α =3437-300/2sin75 ° =3282, i.e. the first predetermined interval is 879-3282 mm.
Experiments show that the method is suitable for different planting modes such as equal row spacing, wide and narrow rows and the like, and has no limit on the row spacing, the plant spacing and the plant spacing.
In summary, the present embodiment designs a set of airborne-to-pesticide application system based on the existing cart-type electric centrifugal atomizing sprayer: the mode of installing the laser ranging sensor in a non-parallel mode is adopted, multipoint synchronous online ranging sampling and analysis are carried out on the side face of the canopy of the whole row of plant groups, and meanwhile, the travelling position information of the spraying machine acquired by the sampling data of the wheel encoder is fused, so that the plant rows are rapidly identified and accurately positioned, the spraying machine is stopped at the optimal spraying position on the row side of the plants for spraying operation, and the pesticide utilization rate and the prevention and control effect are effectively improved.
In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.
Claims (5)
1. A sprayer is based on monitoring data acquisition and processing and is positioned the method of going to apply medicine, the said sprayer includes the device of applying medicine and laser range finding sensor that the laser emission line and forward direction form the predetermined included angle that is arranged on walking unit, the medical kit of the said device of applying medicine leads to the centrifugal atomizer through the pump valve device; the signal output of the laser ranging sensor is connected with the driving controlled end of the medicine applying device execution device through an intelligent control device; the intelligent control device is characterized by comprising the following steps of:
firstly, acquiring an initial signal, namely acquiring a feedback laser signal initial ranging value from an initial position;
step two, judging the administration line, namely judging whether the initial ranging value is suddenly increased, if so, carrying out the next step; otherwise, returning to the first step;
thirdly, acquiring a first effective value, namely, judging whether the actual distance measurement value is in a first preset interval from the actual distance measurement value of the laser signal fed back by collecting the pesticide application line, and if not, continuing to collect and judge; if so, taking the actual ranging value as a first effective ranging value, and carrying out the next step;
fourthly, acquiring a second effective value, namely continuously acquiring the actual distance measurement value of the fed back laser signal, judging whether the actual distance measurement value is in a second preset interval smaller than the first preset interval, and if not, continuously acquiring and judging; if so, taking the actual ranging value as a second effective ranging value, and carrying out the next step;
fifthly, determining the site location of the drug delivery, namely calculating the ideal site location of the drug delivery according to the following formula:
S=[（x1+L1cosα）+（x2+L2cosα）]/2
in the formula:
s-displacement from the start to the desired site of application, mm;
x 1-displacement from start to first measured effective range, mm;
l1-first measured effective distance measurement value, mm;
x 2-displacement, mm, from start to second measurement of effective range;
l2-second measurement of effective distance measurement value, mm;
alpha is a preset included angle alpha between the laser emission line and the advancing direction;
when (A + C)/2B is less than 2, taking alpha as 75 degrees, otherwise taking alpha as 60 degrees;
in the formula:
a-spraying distance;
b-line spacing;
c-plant spacing;
carrying out the next step;
and sixthly, moving to the proper position for pesticide application, namely stopping the sprayer when the sprayer moves to the ideal pesticide application point from the starting position, and starting the pesticide application device to apply pesticide according to a preset amount.
2. The spraying machine pesticide delivery positioning method based on monitoring data acquisition and processing as claimed in claim 1, wherein the monitoring data acquisition and processing comprises the following steps: the installation distance D between the laser ranging sensor and the centrifugal atomizer meets the condition that D is larger than A/cos alpha.
3. The spraying machine pesticide delivery positioning method based on monitoring data acquisition and processing as claimed in claim 1 or 2, wherein the monitoring data acquisition and processing comprises the following steps: the first preset interval and the second preset interval are respectively an interval between a first maximum ranging effective value Lmax1 and a minimum ranging effective value Lmin and between a second maximum ranging effective value Lmax2 and a minimum ranging effective value Lmin which are determined by the following formula:
Lmin=（A-E/2）/sinα；
Lmax1=B/cosα；
Lmax2=L1+E/2sinα；
in the formula:
e-average plant width.
4. The spraying machine pesticide delivery positioning method based on monitoring data acquisition and processing as claimed in claim 3, wherein the monitoring data acquisition and processing comprises the following steps: the medicine applying device execution device comprises a diaphragm pump, a centrifugal atomizer and a fan, and a liquid conveying pipe of the medicine box is connected to the centrifugal atomizer through an electromagnetic valve after passing through the flow meter and the diaphragm pump; the centrifugal atomizer is located the dryer upper end, the fan is settled to the dryer lower part.
5. The spraying machine pesticide delivery positioning method based on monitoring data acquisition and processing as claimed in claim 4, wherein the monitoring data acquisition and processing comprises the following steps: at least one side of the sprayer is provided with a horizontal sensor guide rail, the sensor guide rail and a translational support form a lockable moving pair, and the translational support and a vertical rotating support form a lockable hinge pair which is connected with a laser ranging sensor.
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