CN103392684A - Flexible targeting spraying mechanism for orchards - Google Patents
Flexible targeting spraying mechanism for orchards Download PDFInfo
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- CN103392684A CN103392684A CN2013103074820A CN201310307482A CN103392684A CN 103392684 A CN103392684 A CN 103392684A CN 2013103074820 A CN2013103074820 A CN 2013103074820A CN 201310307482 A CN201310307482 A CN 201310307482A CN 103392684 A CN103392684 A CN 103392684A
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- 238000005507 spraying Methods 0.000 title claims abstract description 143
- 230000007246 mechanism Effects 0.000 title claims abstract description 32
- 239000002420 orchard Substances 0.000 title claims abstract description 31
- 230000008685 targeting Effects 0.000 title abstract 5
- 239000007921 spray Substances 0.000 claims abstract description 69
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 238000004904 shortening Methods 0.000 claims description 7
- 230000001052 transient effect Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 3
- 235000013399 edible fruits Nutrition 0.000 abstract description 10
- 239000000575 pesticide Substances 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 4
- 239000002699 waste material Substances 0.000 abstract description 4
- 238000003912 environmental pollution Methods 0.000 abstract description 3
- 230000001276 controlling effect Effects 0.000 description 10
- 238000001514 detection method Methods 0.000 description 10
- 238000003825 pressing Methods 0.000 description 6
- 239000003905 agrochemical Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000007405 data analysis Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000003814 drug Substances 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000012467 final product Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000002663 nebulization Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention discloses a flexible targeting spraying mechanism for orchards. The flexible targeting spraying mechanism comprises a spray support, a main spray pipe, a plurality of side spray pipes and a control device. The main spray pipe is disposed on the spray support which comprises a telescopic arm, a diagonal bracing arm and a horizontal arm, and the telescopic arm, the diagonal bracing arm and the horizontal arm are connected in sequence; the main spray pipe correspondingly comprises a vertical section, a diagonal section and a horizontal section; the side spray pipes are arranged on the horizontal section, and each side spray pipe is provided with a nozzle; a first solenoid valve is arranged on the main spray pipe, a first electric putter is arranged at the joint of the horizontal arm and the diagonal bracing arm on the spray support, a second electric putter is arranged at the joint of the diagonal bracing arm and the telescopic arm on the spray support, and the first solenoid valve, the first electric putter and the second electric putter are all respectively and electrically connected with the control device. By the flexible targeting spraying mechanism, shape of the spray support can be manually or automatically adjusted according to line spacing and row spacing of planted fruit trees and sizes thereof, so that targeting spraying effect can be guaranteed, pesticide utilization and spraying efficiency can be improved, waste of pesticides can be reduced, and further environmental pollution can be avoided.
Description
Technical field
The present invention relates to the spraying apparatus field that the orchard pesticide application is used, particularly the flexible target spraying mechanism in a kind of orchard.
Background technology
Spraying pesticide all is regarded as the most simple and effective pest control method in plant protection field all the time.The pesticide production technology of China and output all occupy advanced international standard, but the serious present situation that falls behind of equipment for plant protection and technique in using agriculture chemical is but unbecoming with the pesticide water mean pole of high speed development, have had a strong impact on the integral level of China's agricultural development.
At present, insecticide-applying way commonly used is continous way spray medicine, and this mode has following obvious shortcoming: due to fruit tree and discontinuous plantation, and different orchard spacing in the rows is different, so when spraying operation was between two fruit trees, the liquid that sprays can not be deposited on fruit tree effectively.It is reported, adopt common sprayer to carry out continuous spraying operation, have 80%～90% liquid and can not produce effective deposition.Traditional continuous spraying prescription formula has not only caused the agricultural chemicals waste, also easily causes new environmental pollution.In addition, in existing target spraying mechanism, the form of spray bracket is normally changeless, is difficult to variform target tree is carried out accurate and effective spraying.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide that a kind of pesticide application accuracy rate is high, the also high flexible target spraying mechanism in orchard of agricultural chemicals availability.
Technical scheme of the present invention is: the flexible target spraying mechanism in a kind of orchard, comprise spray bracket, spraying supervisor, spraying arm and control device, and spray bracket is installed on the mobile platform of humidifier, and spraying supervisor be located on spray bracket; Spray bracket comprises successively telescopic arm, diagonal brace arm and the horizontal arm that connects, and the spraying supervisor is corresponding comprises vertical section of connecting successively, tilting section and horizontal segment; On spraying supervisor's horizontal segment, a plurality of spraying arms are set, each arm of spraying is provided with shower nozzle; The spraying supervisor is provided with the first magnetic valve, the junction of the horizontal arm of spray bracket and diagonal brace arm is provided with the first electric push rod, the diagonal brace arm of spray bracket and the junction of telescopic arm are provided with the second electric push rod, and the first magnetic valve, the first electric push rod and the second electric push rod are electrically connected with control device respectively.
Described spraying arm has 4, is respectively the first spraying arm, the second spraying arm, the 3rd spraying arm and the 4th spraying arm, each spray arm respectively with spraying supervisor's vertical setting of horizontal segment; When humidifier used, the first spraying arm and the second spraying arm laid respectively at target treetop section, and the 3rd spraying arm and the 4th spraying arm lay respectively at target tree both sides.
Described the first spraying arm end arranges the first shower nozzle, and the second spraying arm end arranges the second shower nozzle, and the 3rd spraying arm is provided with the 3rd shower nozzle and the 4th shower nozzle, and the 4th spraying arm is provided with the 5th shower nozzle and the 6th shower nozzle; Also be provided with the second magnetic valve on the 3rd spraying arm, also be provided with the 3rd magnetic valve on the 4th spraying arm, the second magnetic valve and the 3rd magnetic valve are electrically connected with control device respectively.
The horizontal arm middle part of described spray bracket is provided with sensor stand, and sensor stand and horizontal arm form " ten " word structure, and the two ends of sensor stand arrange respectively the first ultrasonic distance-measuring sensor and the second ultrasonic distance-measuring sensor; The 4th spraying arm is provided with the 3rd ultrasonic distance-measuring sensor; The horizontal arm of spray bracket is provided with the first obliquity sensor, and the diagonal brace arm of spray bracket is provided with the second obliquity sensor; The telescopic arm bottom of spray bracket is provided with laser range sensor, also is provided with accessory power supply on the mobile platform of installation spray bracket;
The first ultrasonic distance-measuring sensor, the second ultrasonic distance-measuring sensor, the 3rd ultrasonic distance-measuring sensor, the first obliquity sensor, the second obliquity sensor, laser range sensor and accessory power supply are electrically connected with control device respectively.
Be provided with microprocessor, horizontal arm control circuit unit, diagonal brace arm control circuit unit and solenoid valve control circuit unit in described control device, microprocessor is connected with accessory power supply with horizontal arm control circuit unit, diagonal brace arm control circuit unit, solenoid valve control circuit unit respectively; The output of horizontal arm control circuit unit is connected with the first electric push rod by the first electric push rod controller, the output of diagonal brace arm control circuit unit is connected with the second electric push rod by the second electric push rod controller, and the output of solenoid valve control circuit unit is connected with the first magnetic valve, the second magnetic valve and the 3rd magnetic valve respectively.
The control panel of described control device is provided with that mode conversion switch, magnetic valve are released the button, closed electromagnetic valve button, the first electric push rod elongate buttons, the first electric push rod shorten button, the second electric push rod elongate buttons and the second electric push rod and shorten button; Mode conversion switch is connected with microprocessor, magnetic valve is released the button and is connected with the solenoid valve control circuit unit and is connected with the closed electromagnetic valve button, the first electric push rod elongate buttons be connected electric push rod and shorten button and is connected with the first electric push rod controller respectively, the second electric push rod elongate buttons be connected electric push rod shortening button and be connected with the second electric push rod controller respectively.
Also be provided with the first Transient Voltage Suppressor and the first fuse on the connecting circuit of described microprocessor and horizontal arm control circuit unit, also be provided with the second Transient Voltage Suppressor and the second fuse on the connecting circuit of microprocessor and diagonal brace arm control circuit unit.
On described spraying supervisor, vertically section, tilting section and horizontal segment are respectively hard tube, vertically are connected by flexible pipe between section and tilting section, are connected by flexible pipe between tilting section and horizontal segment; On horizontal segment, with branch pipe connector, branch pipe connector and horizontal segment are the integral type hard tube; The spraying arm is flexible pipe, and the spraying arm is connected with horizontal segment by branch pipe connector.
Wherein, the function of each sensor is as follows:
Laser range sensor, for detection of the telescopic arm of spray bracket and the distance between the target tree, determines whether effective target tree;
The first obliquity sensor and the second obliquity sensor are respectively used to the angle of detection level arm and diagonal brace arm and horizontal direction;
The first ultrasonic distance-measuring sensor and the second ultrasonic distance-measuring sensor are installed on respectively the two ends of sensor stand, because sensor stand and horizontal arm form " ten " word structure in horizontal plane, so the first ultrasonic distance-measuring sensor and the second ultrasonic distance-measuring sensor lay respectively at the both sides, front and back of horizontal arm, for detection of and the determined level arm whether be about to arrive target tree tree crown top or be about to leave target tree tree crown top;
The 3rd ultrasonic distance-measuring sensor is for detection of the distance in the 4th spraying arm and the target tree outside.
The first electric push rod is used for adjusting the angle of horizontal arm, guarantees its levelness;
The second electric push rod is used for adjusting the angle of inclination of diagonal brace arm, thereby controls the relative position between horizontal arm center and target tree crown;
The telescopic arm of spray bracket can carry out by the drive unit of humidifier the adjusting of length on its vertical direction, to adapt to the demand of differing heights sprayer spraying fruit tree medicine.
Accessory power supply can adopt the 24V accumulator, and its effect is to be each magnetic valve and control device power supply.
Control device can realize automatically controlling and manually controlling two kinds of mode of operations.
when the flexible target spraying mechanism in this orchard uses, its operation principle is: in advance humidifier is arranged on the sprayer or tractor that can walk, after connecting accessory power supply, when control device is opened automatic control mode, laser range sensor starts to survey the distance between target tree trunk and telescopic arm, the angle of while the first real-time detection level arm of obliquity sensor also is delivered to the horizontal arm control single chip computer in horizontal arm control circuit unit in control device with data, the second obliquity sensor detects in real time the angle of diagonal brace arm and data is delivered to diagonal brace arm control single chip computer in diagonal brace arm control circuit unit, after each single-chip microcomputer is processed above-mentioned each data analysis in conjunction with microprocessor, send control instruction by corresponding single-chip microcomputer, control the first electric push rod and the second electric push rod elongates or shortens, thereby change the form of spray bracket, make the center of the horizontal arm center bornb sight tree tree crown of spray bracket, simultaneously, the first ultrasonic distance-measuring sensor, the second ultrasonic distance-measuring sensor and the 3rd ultrasonic distance-measuring sensor also detect the distance in target tree tree crown and the target tree outside in real time, and data are delivered to the horizontal arm control single chip computer, after the horizontal arm control single chip computer is processed its data analysis in conjunction with microprocessor, send control instruction, control the unlatching of magnetic valve or close, realizing the purpose of flexible target spraying.When control device was opened manual control model, the user only needed to realize that by each button on control panel is corresponding the control of the first electric push rod, the second electric push rod and each magnetic valve gets final product.
The present invention, with respect to prior art, has following beneficial effect:
1, the flexible target spraying mechanism in this orchard combines with control device by various kinds of sensors, realize manually controlling or automatically controlling the action of each electric push rod and each magnetic valve, thereby the form of adjustable spraying support, make its job requirements that can adapt to polytype target tree (comprise fruit tree is highly different, the canopy shape is different, plant apart from not equal).
2, the spray bracket of the flexible target spraying mechanism in this orchard can be regulated and flexible movable telescopic arm, diagonal brace arm and horizontal arm by arranging, can according to planting fruit trees line-spacing, spacing in the rows, and the difference of this body contour of fruit tree size regulate manually or automatically, guarantee spraying to the target effect, improve agricultural chemicals availability and nebulization efficiency, reduce the waste of agricultural chemicals, also avoid causing new environmental pollution.
3, in the spraying supervisor and spraying arm of the flexible target spraying mechanism in this orchard, part has adopted flexible duct, can coordinate preferably the form of spray bracket to use; In addition, each sprays arm except in target tree periphery, carrying out spraying operation, also can enter into target tree tree crown inside and spray in the process that humidifier travels, and can not cause mechanical injuries to fruit tree, improves operational security.
4, in the flexible target spraying mechanism in this orchard, shower nozzle on each arm of spraying can divide into groups to control by magnetic valve, guarantee that effectively humidifier can carry out target spraying accurately according to the difference of tree-like tree crown, further avoid the waste of agricultural chemicals, improve the accuracy of pesticide spray.
5, in the flexible target spraying mechanism in this orchard, control device can be realized manually controlling and automatically controlling, and is easy to use, simple to operate; In addition; in control device; in microprocessor and horizontal arm control circuit unit, the connecting circuit of diagonal brace arm control circuit unit sets up respectively Transient Voltage Suppressor and fuse, can effectively protect the chip in each circuit unit, guaranteed the reliability and stability of control device.
6, in the flexible target spraying mechanism in this orchard, each magnetic valve all adopts impulse electromagnetic valve, only need a 0.01s～3s+the 24V pulse voltage, just can realize the self-sustaining of each electromagnetic valve work state, solve the problem that causes the reduction of electromagnetic valve coil life-span because of long-term energising, also reduced the energy consumption of power supply.
Description of drawings
Fig. 1 is that the structure of the flexible target spraying mechanism in this orchard forms schematic diagram;
Fig. 2 is the control panel schematic diagram of control device in the flexible target spraying mechanism in this orchard;
Fig. 3 is the electrical connection schematic diagram in control device in the flexible target spraying mechanism in this orchard;
Fig. 4 is the observing and controlling flow chart of laser range sensor in embodiment 1;
Fig. 5 is the operation principle flow chart of diagonal brace arm control circuit unit in embodiment 1;
Fig. 6 is the operation principle flow chart of horizontal arm control circuit unit in embodiment 1;
Fig. 7 is the operation principle flow chart of each magnetic valve in embodiment 1.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Embodiment
The flexible target spraying mechanism in a kind of orchard of the present embodiment, as shown in Figure 1, comprise spray bracket 1, spraying supervisor 2, spraying arm and control device, and spray bracket is installed on the mobile platform of humidifier, and spraying supervisor be located on spray bracket; Spray bracket comprises successively telescopic arm 1-1, diagonal brace arm 1-2 and the horizontal arm 1-3 that connects, and the spraying supervisor is corresponding comprises vertical section of connecting successively, tilting section and horizontal segment; On spraying supervisor's horizontal segment, a plurality of spraying arms are set, each arm of spraying is provided with shower nozzle; The spraying supervisor is provided with the first magnetic valve V1, the junction of the horizontal arm of spray bracket and diagonal brace arm is provided with the first electric push rod P1, the diagonal brace arm of spray bracket and the junction of telescopic arm are provided with the second electric push rod P2, and the first magnetic valve, the first electric push rod and the second electric push rod are electrically connected with control device respectively.
The present embodiment is as a kind of preferred version, and the spraying arm has 4, is respectively the first spraying arm 3, the second spraying arm 4, the 3rd spraying arm 5 and the 4th spraying arm 6, each spray arm respectively with spraying supervisor's vertical setting of horizontal segment; When humidifier used, the first spraying arm and the second spraying arm laid respectively at target tree 16 tops, and the 3rd spraying arm and the 4th spraying arm lay respectively at target tree 16 both sides.
The first spraying arm 3 ends arrange the first shower nozzle N1, and the second spraying arm 4 ends arrange the second shower nozzle N2, and the 3rd spraying arm 5 is provided with the 3rd shower nozzle N3 and the 4th shower nozzle N4, and the 4th spraying arm 6 is provided with the 5th shower nozzle N5 and the 6th shower nozzle N6; Also be provided with the second magnetic valve V2 on the 3rd spraying arm, also be provided with the 3rd magnetic valve V3 on the 4th spraying arm, the second magnetic valve and the 3rd magnetic valve are electrically connected with control device respectively.Wherein, the second magnetic valve is located between the 3rd shower nozzle N3 and the 4th shower nozzle N4, and the 3rd magnetic valve is located between the 5th shower nozzle N5 and the 6th shower nozzle N6.The first magnetic valve, the second magnetic valve and the 3rd magnetic valve all adopt impulse electromagnetic valve.
The horizontal arm middle part of spray bracket is provided with sensor stand 7, and sensor stand and horizontal arm form " ten " word structure, and the two ends of sensor stand arrange respectively the first ultrasonic distance-measuring sensor U
fWith the second ultrasonic distance-measuring sensor U
bThe 4th spraying arm is provided with the 3rd ultrasonic distance-measuring sensor U
dThe horizontal arm of spray bracket is provided with the first obliquity sensor A1, and the diagonal brace arm of spray bracket is provided with the second obliquity sensor A2; The telescopic arm bottom of spray bracket is provided with laser range sensor LS, also is provided with accessory power supply 8 on the mobile platform of installation spray bracket;
The first ultrasonic distance-measuring sensor, the second ultrasonic distance-measuring sensor, the 3rd ultrasonic distance-measuring sensor, the first obliquity sensor, the second obliquity sensor, laser range sensor and accessory power supply are electrically connected with control device respectively.
Be provided with microprocessor, horizontal arm control circuit unit, diagonal brace arm control circuit unit and solenoid valve control circuit unit in control device, microprocessor is connected with accessory power supply with horizontal arm control circuit unit, diagonal brace arm control circuit unit, solenoid valve control circuit unit respectively; The output of horizontal arm control circuit unit is connected with the first electric push rod by the first electric push rod controller, the output of diagonal brace arm control circuit unit is connected with the second electric push rod by the second electric push rod controller, and the output of solenoid valve control circuit unit is connected with the first magnetic valve, the second magnetic valve and the 3rd magnetic valve respectively.
As shown in Figure 2, the control panel of control device is provided with that mode conversion switch 9, magnetic valve release the button 10, closed electromagnetic valve button 11, the first electric push rod elongate buttons 12, the first electric push rod shorten button 13, the second electric push rod elongate buttons 14 and the second electric push rod and shorten button 15; Mode conversion switch is connected with microprocessor, magnetic valve is released the button and is connected with the solenoid valve control circuit unit and is connected with the closed electromagnetic valve button, the first electric push rod elongate buttons be connected electric push rod and shorten button and is connected with the first electric push rod controller respectively, the second electric push rod elongate buttons be connected electric push rod shortening button and be connected with the second electric push rod controller respectively.
Also be provided with the first Transient Voltage Suppressor TVS1 and the first fuse F1 on the connecting circuit of microprocessor and horizontal arm control circuit unit, also be provided with the second Transient Voltage Suppressor TVS2 and the second fuse F2 on the connecting circuit of microprocessor and diagonal brace arm control circuit unit.
On spraying supervisor, vertically section, tilting section and horizontal segment are respectively hard tube, vertically are connected by flexible pipe between section and tilting section, are connected by flexible pipe between tilting section and horizontal segment; On horizontal segment, with branch pipe connector, branch pipe connector and horizontal segment are the integral type hard tube; The spraying arm is flexible pipe, and the spraying arm is connected with horizontal segment by branch pipe connector.
Wherein, the function of each sensor is as follows:
Laser range sensor, for detection of the telescopic arm of spray bracket and the distance between the target tree, determines whether effective target tree;
The first obliquity sensor and the second obliquity sensor are respectively used to the angle of detection level arm and diagonal brace arm and horizontal direction;
The first ultrasonic distance-measuring sensor and the second ultrasonic distance-measuring sensor are installed on respectively the two ends of sensor stand, because sensor stand and horizontal arm form " ten " word structure in horizontal plane, so the first ultrasonic distance-measuring sensor and the second ultrasonic distance-measuring sensor lay respectively at the both sides, front and back of horizontal arm, for detection of and the determined level arm whether be about to arrive target tree tree crown top or be about to leave target tree tree crown top;
The 3rd ultrasonic distance-measuring sensor is for detection of the distance in the 4th spraying arm and the target tree outside.
The first electric push rod is used for adjusting the angle of horizontal arm, guarantees its levelness;
The second electric push rod is used for adjusting the angle of inclination of diagonal brace arm, thereby controls the relative position between horizontal arm center and target tree crown;
The telescopic arm of spray bracket can carry out by the drive unit of humidifier the adjusting of length on its vertical direction, to adapt to the demand of differing heights sprayer spraying fruit tree medicine.
Accessory power supply can adopt the 24V accumulator, and its effect is to be each magnetic valve and control device power supply.
Control device can realize automatically controlling and manually controlling two kinds of mode of operations.
when the flexible target spraying mechanism in this orchard uses, its operation principle is: in advance humidifier is arranged on the sprayer or tractor that can walk, after connecting accessory power supply, when control device is opened automatic control mode, laser range sensor starts to survey the distance between target tree trunk and telescopic arm, the angle of while the first real-time detection level arm of obliquity sensor also is delivered to the horizontal arm control single chip computer in horizontal arm control circuit unit in control device with data, the second obliquity sensor detects in real time the angle of diagonal brace arm and data is delivered to diagonal brace arm control single chip computer in diagonal brace arm control circuit unit, after each single-chip microcomputer is processed above-mentioned each data analysis in conjunction with microprocessor, send control instruction by corresponding single-chip microcomputer, control the first electric push rod and the second electric push rod elongates or shortens, thereby change the form of spray bracket, make the center of the horizontal arm center bornb sight tree tree crown of spray bracket, simultaneously, the first ultrasonic distance-measuring sensor, the second ultrasonic distance-measuring sensor and the 3rd ultrasonic distance-measuring sensor also detect the distance in target tree tree crown and the target tree outside in real time, and data are delivered to the horizontal arm control single chip computer, after the horizontal arm control single chip computer is processed its data analysis in conjunction with microprocessor, send control instruction, control the unlatching of magnetic valve or close, realizing the purpose of flexible target spraying.When control device was opened manual control model, the user only needed to realize that by each button on control panel is corresponding the control of the first electric push rod, the second electric push rod and each magnetic valve gets final product.
In conjunction with Figure of description 2～7, the course of work of the flexible target spraying mechanism in this enforcement orchard is specific as follows:
As shown in Figure 2, when the mode conversion switch of control panel is chosen as " manual control " gear, the flexible target spraying mechanism in orchard will realize spray bracket shape adjustment and spraying control by each button on control panel, and the electrical connection principle under manual pattern is as shown in manual pattern electrical connection dotted line frame in Fig. 3.When pressing the first electric push rod elongate buttons 12, microprocessor is controlled the first electric push rod P1 by the first electric push rod controller C3, makes its elongation; While pressing the first electric push rod shortening button 13, microprocessor is controlled the first electric push rod P1 by the first electric pushrod controller C3, makes its shortening; While pressing the second electric push rod elongate buttons 14, microprocessor is controlled the second electric push rod P2 by the second electric push rod controller C4, makes its elongation; While pressing the second electric push rod shortening button 15, microprocessor is controlled the second electric push rod P2 by the second electric push rod controller C4, makes its shortening; By the action of the first electric push rod and the second electric push rod, the angle of corresponding adjusting horizontal arm and diagonal brace arm and horizontal direction, realization changes the purpose of spray bracket form.Release the button 10 the time when pressing magnetic valve, the first magnetic valve V1, the second magnetic valve V2 and the 3rd magnetic valve V3 open simultaneously, and liquid arrives the shower nozzle on the arm of respectively spraying and sprays by each magnetic valve; When pressing closed electromagnetic valve button 11, the first magnetic valve V1, the second magnetic valve V2 and the 3rd magnetic valve V3 close simultaneously, stop spraying.
As shown in Figure 2, when the mode conversion switch of control panel is chosen as " automatic control " gear, the flexible target spraying mechanism in orchard is according to the position of target tree, automatically adjust the form of spray bracket and carry out spraying, the electrical connection principle under the automatic control pattern is as shown in automatic control pattern electrical connection dotted line frame in Fig. 3.
Wherein, the angular adjustment of diagonal brace arm is by diagonal brace arm control circuit unit controls, and diagonal brace arm control circuit unit comprises diagonal brace arm control single chip computer μ PC2, the second electric push rod controller C2, the second electric push rod P2, the second obliquity sensor A2, laser range sensor LS, power supply changeover device DC-DC3 and power supply changeover device DC-DC4.The angular adjustment of horizontal arm is by horizontal arm control circuit unit controls, and horizontal arm control circuit unit comprises horizontal arm control single chip computer μ PC1, the first electric push rod controller C1, the first electric push rod P1, the first obliquity sensor A1, the first ultrasonic distance-measuring sensor U
f, the second ultrasonic distance-measuring sensor U
b, the 3rd ultrasonic distance-measuring sensor U
d, power supply changeover device DC-DC1 and power supply changeover device DC-DC2.The keying of magnetic valve is by the solenoid valve control circuit unit controls, the solenoid valve control circuit unit comprises the first solenoid valve control circuit VC1, the second solenoid valve control circuit VC2 and the 3rd solenoid valve control circuit VC3 that is arranged in parallel, and each solenoid valve control circuit connects respectively corresponding magnetic valve.
Under the automatic control pattern, the course of work of control device is as follows:
(1) after control device starts, along with travelling of tractor, laser range sensor is constantly surveyed the distance of telescopic arm side and target tree trunk, this distance signal is transferred to diagonal brace arm control single chip computer μ PC2, at first diagonal brace arm control single chip computer μ PC2 judges this distance value after receiving signal, coverage is converted into the angle on target θ of diagonal brace arm
t, the observing and controlling flow process of laser range sensor as shown in Figure 4.
(2) second obliquity sensor A2 survey the angle θ of current diagonal brace arm
nPoor according to angle on target and current angle, obtain controlled quentity controlled variable after calculating and send instruction to the second electric push rod controller C2, control the expanding-contracting action of the second electric push rod P2 by this controller, and then the angle of control diagonal brace arm and horizontal direction, as shown in Figure 5, wherein the difference of angle on target and current angle is got 3 ° to the workflow of diagonal brace arm control circuit unit.
(3) angle along with the diagonal brace arm changes, the angle of horizontal arm also can correspondingly change, surveyed the luffing angle θ of present level arm this moment by the first obliquity sensor A1, and send this angle value signal to horizontal arm control single chip computer μ PC1, horizontal arm control single chip computer μ PC1 with this angle and 2 ° and-2 ° relatively after, obtain controlled quentity controlled variable after calculating and send to the first electric push rod controller C1, control the expanding-contracting action of the first electric pushrod P1 by this controller, and then the control horizontal arm makes its maintenance level, to complete the adjusting of spray bracket form, the workflow of horizontal arm control circuit unit as shown in Figure 6, wherein, the angle of inclination of horizontal arm is in the scope of-2～2 ° the time, be considered as horizontal arm and be positioned at horizontal plane,
When (4) step (3) is carried out, the first ultrasonic distance-measuring sensor U
f, the second ultrasonic distance-measuring sensor U
bWith the 3rd ultrasonic distance-measuring sensor U
dContinuous detection range, and result of detection is sent to horizontal arm control single chip computer μ PC1, horizontal arm control single chip computer μ PC1 determines whether and the target tree crown occurs according to this distance value after receiving distance signal, microprocessor is in conjunction with horizontal arm control single chip computer μ PC1, in the solenoid valve control circuit unit, control the state of respective electrical magnet valve by magnetic valve control circuit VC1, VC2 and VC3, thereby control the shower nozzle spraying, realize target spraying, the workflow diagram of solenoid valve control circuit unit as shown in Figure 7.
As mentioned above, just can realize preferably the present invention, above-described embodiment is only preferred embodiment of the present invention, not is used for limiting practical range of the present invention; Be that all equalizations of doing according to content of the present invention change and modify, all by the claims in the present invention scope required for protection, contained.
Claims (8)
1. the flexible target spraying mechanism in orchard, is characterized in that, comprises spray bracket, spraying supervisor, spraying arm and control device, and spray bracket is installed on the mobile platform of humidifier, and spraying supervisor be located on spray bracket; Spray bracket comprises successively telescopic arm, diagonal brace arm and the horizontal arm that connects, and the spraying supervisor is corresponding comprises vertical section of connecting successively, tilting section and horizontal segment; On spraying supervisor's horizontal segment, a plurality of spraying arms are set, each arm of spraying is provided with shower nozzle; The spraying supervisor is provided with the first magnetic valve, the junction of the horizontal arm of spray bracket and diagonal brace arm is provided with the first electric push rod, the diagonal brace arm of spray bracket and the junction of telescopic arm are provided with the second electric push rod, and the first magnetic valve, the first electric push rod and the second electric push rod are electrically connected with control device respectively.
2. the flexible target spraying mechanism in orchard according to claim 1, it is characterized in that, described spraying arm has 4, is respectively the first spraying arm, the second spraying arm, the 3rd spraying arm and the 4th spraying arm, each spray arm respectively with spraying supervisor's vertical setting of horizontal segment; When humidifier used, the first spraying arm and the second spraying arm laid respectively at target treetop section, and the 3rd spraying arm and the 4th spraying arm lay respectively at target tree both sides.
3. the flexible target spraying mechanism in orchard according to claim 2, it is characterized in that, described the first spraying arm end arranges the first shower nozzle, the second spraying arm end arranges the second shower nozzle, the 3rd spraying arm is provided with the 3rd shower nozzle and the 4th shower nozzle, and the 4th spraying arm is provided with the 5th shower nozzle and the 6th shower nozzle; Also be provided with the second magnetic valve on the 3rd spraying arm, also be provided with the 3rd magnetic valve on the 4th spraying arm, the second magnetic valve and the 3rd magnetic valve are electrically connected with control device respectively.
4. the flexible target spraying mechanism in orchard according to claim 3, it is characterized in that, the horizontal arm middle part of described spray bracket is provided with sensor stand, sensor stand and horizontal arm form " ten " word structure, and the two ends of sensor stand arrange respectively the first ultrasonic distance-measuring sensor and the second ultrasonic distance-measuring sensor; The 4th spraying arm is provided with the 3rd ultrasonic distance-measuring sensor; The horizontal arm of spray bracket is provided with the first obliquity sensor, and the diagonal brace arm of spray bracket is provided with the second obliquity sensor; The telescopic arm bottom of spray bracket is provided with laser range sensor, also is provided with accessory power supply on the mobile platform of installation spray bracket;
The first ultrasonic distance-measuring sensor, the second ultrasonic distance-measuring sensor, the 3rd ultrasonic distance-measuring sensor, the first obliquity sensor, the second obliquity sensor, laser range sensor and accessory power supply are electrically connected with control device respectively.
5. the flexible target spraying mechanism in orchard according to claim 4, it is characterized in that, be provided with microprocessor, horizontal arm control circuit unit, diagonal brace arm control circuit unit and solenoid valve control circuit unit in described control device, microprocessor is connected with accessory power supply with horizontal arm control circuit unit, diagonal brace arm control circuit unit, solenoid valve control circuit unit respectively; The output of horizontal arm control circuit unit is connected with the first electric push rod by the first electric push rod controller, the output of diagonal brace arm control circuit unit is connected with the second electric push rod by the second electric push rod controller, and the output of solenoid valve control circuit unit is connected with the first magnetic valve, the second magnetic valve and the 3rd magnetic valve respectively.
6. the flexible target spraying mechanism in orchard according to claim 5, it is characterized in that, the control panel of described control device is provided with that mode conversion switch, magnetic valve are released the button, closed electromagnetic valve button, the first electric push rod elongate buttons, the first electric push rod shorten button, the second electric push rod elongate buttons and the second electric push rod and shorten button; Mode conversion switch is connected with microprocessor, magnetic valve is released the button and is connected with the solenoid valve control circuit unit and is connected with the closed electromagnetic valve button, the first electric push rod elongate buttons be connected electric push rod and shorten button and is connected with the first electric push rod controller respectively, the second electric push rod elongate buttons be connected electric push rod shortening button and be connected with the second electric push rod controller respectively.
7. the flexible target spraying mechanism in orchard according to claim 5, it is characterized in that, also be provided with the first Transient Voltage Suppressor and the first fuse on the connecting circuit of described microprocessor and horizontal arm control circuit unit, also be provided with the second Transient Voltage Suppressor and the second fuse on the connecting circuit of microprocessor and diagonal brace arm control circuit unit.
8. the flexible target spraying mechanism in orchard according to claim 1, it is characterized in that, on described spraying supervisor, vertically section, tilting section and horizontal segment are respectively hard tube, vertically be connected by flexible pipe between section and tilting section, be connected by flexible pipe between tilting section and horizontal segment; On horizontal segment, with branch pipe connector, branch pipe connector and horizontal segment are the integral type hard tube; The spraying arm is flexible pipe, and the spraying arm is connected with horizontal segment by branch pipe connector.
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| CN201310307482.0A CN103392684B (en) | 2013-07-19 | 2013-07-19 | Flexible targeting spraying mechanism for orchards |
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| CN201310307482.0A CN103392684B (en) | 2013-07-19 | 2013-07-19 | Flexible targeting spraying mechanism for orchards |
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| CN103392684B CN103392684B (en) | 2014-11-12 |
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