CN104222054A - Spraying machine for supporting traceable management and biomass detection - Google Patents
Spraying machine for supporting traceable management and biomass detection Download PDFInfo
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- CN104222054A CN104222054A CN201410458358.9A CN201410458358A CN104222054A CN 104222054 A CN104222054 A CN 104222054A CN 201410458358 A CN201410458358 A CN 201410458358A CN 104222054 A CN104222054 A CN 104222054A
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Abstract
The invention relates to a spraying machine for supporting traceable management and biomass detection. The spraying machine comprises an RFID (radio frequency identification) positioning device, a biomass detection device and a spraying system, wherein the RFID positioning device comprises a plurality of RFID card reader antennas and a plurality of RFID cards, the biomass detection device comprises a plurality of biomass detection sensors, a plurality of moving and fixing mechanisms with manual height adjusting, a plurality of signal processing devices and a plurality of protecting cylinder devices, the read RFID card information and the detected biomass signal are respectively sent to an upper computer, the spraying system comprises a spraying monitoring system and a spraying mechanical system, and the monitoring system is provided with an electric ball valve, a flow rate sensor, a pressure sensor, a speed sensor and an electromagnetic valve, so as to realize the dynamic monitoring of the spraying process. The spraying machine has the advantages that the biomass information of a control target can be collected, the accurate spraying at variable amount is realized, and the target biomass detection and traceable management of operation process are realized according to the information of the RFID positioning device, the biomass detection device and the speed sensor.
Description
Technical field
The invention belongs to agricultural plant protection mechanical field, relate to sprayer, particularly a kind of sprayer supporting tracing management and biomass detection.
Background technology
Fruit-tree orchard damage by disease and insect is many, according to the repeatedly dispenser of different demands, and the number of times of annual spray medicine nearly tens of times.But China's pesticide application technology and automatic dispenser facility seriously backwardness at present, on the target that the agricultural chemicals sprayed only has small part to be attached to will to prevent and treat, agricultural chemicals availability is extremely low, simultaneously for ensureing the control efficiency of damage by disease and insect, often excessive spraying pesticide, causes serious agricultural chemicals waste and environmental pollution.The tree-like adjustment carrying out spread of spray of China existing target spraying machine Main Basis control target realizes target spray medicine, but realizes the technology of variable rate spray for the size of control target organisms amount and facility also belong to the starting stage.And for the location management aspect of sprayer operation process, current major part adopts GPS to position, but in the process of orchard operation, due to the reason such as to block of trees etc., thus make GPS positioning precision not high, GPS device cost is high simultaneously, makes it not be suitable for the orientation management of orchard sprayer.Current China agricultural can tracing management degree lower, this is the bottleneck of restriction whole agricultural industry chainization development, for the later stage tracing management of agricultural product brings problem.Can the serious backward situation of tracing management for China's equipment for plant protection pesticide application technology and agricultural machinery, be badly in need of research and improve agricultural chemicals availability, reduce pesticide pollution, having operation can the technology of tracing management and facility.
Summary of the invention
In order to overcome the shortcoming of above-mentioned prior art, the object of the present invention is to provide a kind of sprayer supporting tracing management and biomass detection, adopt biomass sniffer and RFID positioner, variable rate spray can be realized according to the biomass size control aperture of electrical ball valve of control target and the switching frequency of shower nozzle magnetic valve, improve agricultural chemicals availability, minimizing pesticide pollution and chemical pesticide to the harm of personal safety, realize the location of sprayer according to RFID positioner can tracing management to the position model of sprayer operation process simultaneously.
To achieve these goals, the technical solution used in the present invention is:
Support a sprayer for tracing management and biomass detection, mainly comprise RFID positioner, biomass sniffer, monitoring system of spraying, spraying mechanical system and host computer 4, it is characterized in that:
Described RFID positioner comprises several that be arranged at both sides, tractor 5 front end and is connected to the RFID card reader of host computer 4 and the rfid card 47 in being arranged at every row fruit tree, and RFID card reader is configured with RFID card reader antenna 1;
Described biomass sniffer comprises the vertical rack 38 with locating hole, the signal processing apparatus 52 with data-interface 56 of multiple biomass acquisition sensor 42 and correspondence, multiple moving fixing mechanism and multiple protection cartridge, described biomass acquisition sensor 42 and signal processing apparatus 52 are arranged in protection cartridge, protection cartridge is connected and fixed by pipe clamp 6 and moving fixing mechanism, described moving fixing mechanism is fixed on vertical rack 38, moving fixing mechanism drives protection cartridge and biomass acquisition sensor 42 to move up and down, described biomass acquisition sensor 42 connection signal treating apparatus 52, signal processing apparatus 52 is connected with host computer 4 by data-interface 56,
Described monitoring system of spraying comprises the electrical ball valve 22 be arranged on spray pipe, flow sensor 20, pressure sensor 21 and magnetic valve 17, described electrical ball valve 22, flow sensor 20, pressure sensor 21, magnetic valve 17 and be arranged on the monitoring of the velocity sensor 29 on road wheel 27 or control signal is connected to host computer 4, host computer 4 Real-Time Monitoring spraying information, host computer 4 integrates the biomass information of biomass acquisition sensor 42, and the control aperture of electrical ball valve and the switching frequency of magnetic valve 17 realize variable rate spray.
Described RFID card reader antenna 1 is installed on antenna regulating device, described antenna regulating device comprises interior pipe 2, outer tube 45, turn to and regulate overcoat 50, turn to and regulate inner sleeve 49, axial adjustment bar 44, inner and outer pipes connector 46 and axial adjustment set bolt 43, described RFID card reader antenna 1 is arranged on to turn to and regulates on overcoat 50, turn to regulate overcoat 50 be arranged on turn to regulate inner sleeve 49 pallet on, turn to and regulate inner sleeve 49 to be arranged on interior pipe 2, and with fastened by screw, by unscrewing the bolt turning to and regulate on overcoat 50, rotary antenna realizes various angle veer and regulates, described interior pipe 2 connects outer tube 45 by inner and outer pipes connector 46, the described surperficial both sides of interior pipe 2 are provided with draw-in groove and tooth bar 3, fixed gear on described axial adjustment bar 44, axial rotary adjusting rod 44 is engaged by wheel and rack 3 and produces axial thrust, interior pipe 2 is moved vertically, the height realizing multiple RFID card reader antenna 1 regulates.
Described RFID positioner reads the information being arranged at the rfid card 47 of orchard row by RFID card reader antenna 1, the position and the direction of motion that draw sprayer is judged by the analysis of host computer 4, realize monitoring based on the moving displacement of speed in conjunction with velocity sensor 29, obtain the particular location of spraying operation.
Described biomass acquisition sensor 42 is threaded connection sleeve pipe 55, described signal processing apparatus 52 is arranged in fixed bin 40, described fixed bin 40 is fixed on sleeve pipe 55, described sleeve pipe 55 through after inner flange 53 and outward flange 48 be threaded connection, described inner flange 53 is connected with interior protection cylinder 8, described outward flange 48 is connected with outer protection cylinder 7, described interior protection cylinder 8 is embedded in outer protection cylinder 7 by sleeve pipe 55, described interior protection cylinder 8 inwall is provided with absorbed layer 9, described interior protection cylinder 8 outer wall is provided with scale, there is open slot one end of outer protection cylinder 7, the fixing of the fixing and whole protection cartridge of outer protection cylinder 7 and interior protection cylinder 8 is realized by the fixing outer protection cylinder 7 of pipe clamp 6.
In regulating, protection cylinder 8 protect the degree of depth of cylinder 7 can the degree of depth of conditioning biomass acquisition sensor 42 in protection cartridge outside, the degree of depth of biomass acquisition sensor in protection cartridge can by concordant with protecting nozzle be adjusted to data-interface 56 set bolt protected in cylinder limit position, owing to have employed multiple biomass acquisition sensor 42, when the spacing of sensor is less, the signal that biomass acquisition sensor 42 sends can disturb mutually, affect certainty of measurement, therefore protection cylinder is adopted to reduce the area coverage of biomass acquisition sensor 42 signal, reduce mutual signal disturbing, the signal of the absorbed layer 9 absorbable biological amount acquisition sensor 42 in described interior protection cylinder 8, prevent the signal reflex of interior protection cylinder 8 on the impact of signals collecting, the depth adjustment of biomass acquisition sensor 42 at protection cartridge can be realized by regulating interior protection cylinder 8, interior protection cylinder 8 outer wall can realize the fine adjustment of the degree of depth with scale, in the mutual glitch-free situation of biomass acquisition sensor 42 signal, ensure that the intensity of signal is maximum.
Described multiple biomass acquisition sensor 42 moves up and down with moving fixing mechanism, the biomass of layered probe target, calculates the three-dimensional distributed data of the biomass obtaining target by host computer 4; Biomass sniffer is combined with RFID positioner and velocity sensor 29 and obtains whole orchard location-based biomass space multistory distributed data, the biomass of described biomass detection comprise the three-dimensional Density Distribution of target, profile, volume and and target between distance.
Host computer 4 gathers the biomass steric information of biomass sniffer acquisition and the positional information of sprayer, can calculate and obtain whole orchard location-based biomass space multistory distributed data.
The combination of described monitoring system of spraying and RFID positioner and velocity sensor, the shower nozzle mist flow, the bellows anglec of rotation and the deposition distribution relation mathematic model that obtain based on deposition distribution experiment can obtain whole orchard location-based target sprayed deposit distributed data simultaneously.
Often in row fruit tree, at least a rfid card 47 is respectively arranged at two ends, the line number of row belonging at least storing in described rfid card 47 and the positional information in affiliated row, and its positional information is set to:
For non-isolated row, the positional information of rfid card 47 in every a line fruit tree is: termination, one end rfid card 47 positional information of a line fruit tree is 0%, other end termination rfid card 47 positional information is 100%, if there is rfid card 47 between two ends, then according to its position percentage between the ends, its positional information is set to corresponding percentage;
For isolated row, the positional information of rfid card 47 in every a line fruit tree is: termination, one end rfid card 47 positional information of a line fruit tree is-1%, hold since then to another end, at least be provided with two rfid cards 47 that card position information is 0% and 100%, other end termination rfid card 47 positional information is 101%.
Described moving fixing mechanism comprises U-shaped 39, positioning sleeve 11, alignment pin 10 and spring 51, described U-shaped 39 is bolted and is arranged on positioning sleeve 11, described spring 51 is arranged on alignment pin 10, described positioning sleeve 11 has locating hole, and positioning sleeve 11 is arranged on vertical rack 38 by alignment pin 10.The mobile biomass acquisition sensor 42 that drives of moving positioning device moves with protection cartridge; realize the height profile adjustment of biomass acquisition sensor 42; the chpn realizing biomass is measured, and obtains its biomass density, target volume and the distance with target according to target.
Described spraying mechanical system comprises medicine-chest 24, liquid pump 26, belt speeder 32, gear-box 34, spraying bellows 12, centrifugal fan 13, shower nozzle 18 and bellows whirligig, wherein medicine-chest 24 is connected to drug-feeding tube 30 by liquid pump 26, liquid pump 26 connects one end of gear-box 34 power shaft by belt speeder 32, electrical ball valve 22 is arranged on drug-feeding tube 30, form two shunt, and connected by the pipeline of carry potential overflow valve 23 between two-way, one tunnel is again carried out shunt and is connected to each shower nozzle 18, magnetic valve 17 is arranged at junction, each magnetic valve 17 controls a shower nozzle 18, separate with the deflector 19 of adjustable angle between adjacent two shower nozzles 18, separately lead up to return duct 25 tieback medicine-chest 24, flow sensor 29 and pressure sensor 21 are arranged in drug-feeding tube 30, described spraying bellows 12 have two, be arranged at the both sides of gear-box 34 upper end output shaft respectively, centrifugal fan 13 and shower nozzle 18 corresponding and be all arranged in spraying bellows 12, centrifugal fan 13 is connected to the two ends of described gear-box 34 upper end output shaft, realizes constant speed and reversely rotates, described bellows whirligig comprises stepper motor 14 and motor driver thereof, and stepper motor 14 connects spraying bellows 12 and controls its anglec of rotation.
Described spraying bellows 12 are provided with bellows flange 15 and Limit screw 31, described bellows flange 15 has fan-shaped turbine 35, stepper motor 14 has the worm screw 16 engaged with described fan-shaped turbine 35, realize the control to spraying bellows 12 anglec of rotation; Described Limit screw 31 connects limiting plate 33, the anglec of rotation of spraying bellows 12 is limited in the permission angular range of limiting plate 33.
Compared with prior art, because the present invention is provided with RFID positioner, biomass sniffer and monitoring system of spraying, host computer can acquisition and recording spraying position movable information, obtain the biomass information of control target, integrate the information of velocity sensor simultaneously, real-time monitoring record is realized to the operation process of sprayer.Owing to have employed biomass sniffer, the measurement of biomass is carried out to target, according to this biomass information, Variable Control has been carried out to the spray amount of sprayer, improve the availability of agricultural chemicals, decreased the pollution of agricultural chemicals to surrounding environment.The present invention is in conjunction with the integrated information of RFID positioner, biomass sniffer and monitoring system of spraying, can calculate and obtain whole orchard location-based biomass space multistory distributed data and whole orchard location-based target sprayed deposit distributed data, reviewed to Precision management for orchard provides reliable Data support, the spraying operation of operator can be instructed to the location management of sprayer based on RFID positioner, avoid to orchard row repeat spraying and drain spray.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention (for one-sided 3 biomass acquisition sensors and 2 RFID card reader antennas).
Fig. 2 is operation diagrammatic top view of the present invention.
Fig. 3 is inventive antenna adjusting device schematic diagram.
Fig. 4 is that the present invention protects cartridge structural representation.
Fig. 5 is moving fixing mechanism structural representation of the present invention.
Fig. 6 is host computer interface figure of the present invention.
The implication of Reference numeral in figure:
1-RFID card reader antenna; Pipe in 2-; 3-tooth bar; 4-host computer; 5-tractor; 6-pipe clamp; 7-protects cylinder outward; Protection cylinder in 8-; 9-absorbed layer; 10-alignment pin; 11-positioning sleeve; 12-sprays bellows; 13-centrifugal fan; 14-stepper motor; 15-bellows flange; 16-worm screw; 17-magnetic valve; 18-shower nozzle; 19-deflector; 20-flow sensor; 21-pressure sensor; 22-electrical ball valve; 23-overflow valve; 24-medicine-chest; 25-return duct; 26-liquid pump; 27-road wheel; 28-chassis; 29-velocity sensor; 30-drug-feeding tube; 31-Limit screw; 32-belt speeder; 33-limiting plate; 34-gear-box; The fan-shaped turbine of 35-; 36-Hooks coupling universal coupling; 37-directive wheel; 38-vertical rack; 39-U shaped piece; 40-fixed bin; 41-hitch frame; 42-biomass acquisition sensor; 43--axial adjustment set bolt; 44-axial adjustment bar; 45-outer tube; 46--inner and outer pipes connector; 47-RFID card; 48-outward flange; 49--turns to adjustment inner sleeve; 50-turns to adjustment overcoat; 51-spring; 52-signal processing apparatus; 53-inner flange; 55-sleeve pipe; 56-data-interface.
Embodiment
Embodiments of the present invention are described in detail below in conjunction with drawings and Examples.
As shown in Figure 1, the present invention supports the concrete structure of the sprayer of tracing management and biomass detection, and comprise chassis 28, chassis 28 adopts wheeled construction, comprise the road wheel 27 at rear, the directive wheel 37 in front and hitch frame 41, road wheel 27 is arranged velocity sensor 29.Chassis 28 is connected to tractor 5 by hitch frame 41 and Hooks coupling universal coupling 36, drives advance by tractor 5.Chassis 28 arranges the principal organ such as biomass sniffer, monitoring system of spraying, spraying mechanical system; Tractor 5 is provided with host computer 4, RFID positioner etc.
Wherein, biomass sniffer is arranged at both sides, front end above chassis 28; comprise with the vertical rack 38 of locating hole, multiple biomass acquisition sensor 42, corresponding to individual signal processing apparatus 52, multiple moving fixing mechanism, multiple protection cartridge; vertical rack 38 is provided with multiple travel mechanism; protection cartridge is arranged on moving fixing mechanism by pipe clamp 6, and biomass acquisition sensor 42 and signal processing apparatus 52 are all arranged to be protected in cartridge.Each moving fixing mechanism drives protection cartridge to realize moving up and down and fixing on vertical rack 38.
As shown in Figure 2, RFID positioner comprises antenna regulating device, RFID card reader antenna 1 and rfid card 47, antenna regulating device is symmetricly set on the both sides of tractor 5, multiple RFID card reader antenna 1 is installed on antenna regulating device, multiple RFID card reader is connected to host computer 4, and a rfid card 47 is arranged at every a line fruit tree two ends of being at least expert at.
The sprayer position motion recognition method of RFID positioner is as follows: the carrying out of sprayer operation, and RFID card reader antenna 1 gathers and reads the information of the rfid card 47 being arranged in sprayer side; Host computer gathers information in rfid card 47 and sprayer left and right liquor piping respectively according to left and right antenna and the information such as whether to close; When detecting that sprayer both sides liquor piping is all opened, then be first judged to carry out spray medicine to both sides in the ranks in fruit tree; When left and right antenna detects that positional information is the end points card of 0% or 100% respectively, and current spraying operation behavior " non-knowing and doing ", then judge that pesticide applicator is at fruit tree row 0% end, walks toward position percentage growing direction; Or at fruit tree row 100% end, the direction reduced toward position percentage is walked; And spraying operation line number is set to analog value; When left and right antenna detects that positional information is the end points card of 0% or 100% respectively, and spraying operation line number non-" non-knowing and doing " detected, then judge that pesticide applicator is at orchard row 0% end end of line, or 100% end end of line, be set to capable for spraying operation " non-knowing and doing " simultaneously; When carrying out spraying operation to one-sided row, one-sided for the right side, the right pipeline flow is non-zero, and left side pipeline flow is 0, and right antenna reads rfid card 47; When 0% or 100% end points card of row end being detected, line number of simultaneously spraying is " non-knowing and doing ", then judge that sprayer is on the left of orchard row 0% end, toward the direction walking that position percentage increases, or on the right side of 100% end, the direction reduced toward position percentage is walked, and spraying operation line number is set to analog value; If end points card detected, spraying operation line number is non-" non-knowing and doing " simultaneously, then judge that sprayer is on the left of this row 100% end or on the right side of 0% end, is set to capable for spraying operation " non-knowing and doing ".For the isolated row in orchard, owing to arranging the rfid card 14 of-1% and 101% information, when the card of-1% or 101% being detected, do not do any operation more, carry out discriminatory analysis in conjunction with one-sided spraying determination methods again, draw the position of being expert at and the direction of motion of sprayer.Meanwhile, can realize monitoring based on the moving displacement of speed in conjunction with velocity sensor 29, obtain the particular location of spraying operation.
Wherein, as shown in Figure 3, antenna regulating device comprises interior pipe 2, outer tube 45, turns to adjustment overcoat 50, turns to adjustment inner sleeve 49, axial adjustment bar 44, inner and outer pipes connector 46, axial adjustment set bolt 43.RFID card reader antenna 4 is arranged on to turn to and regulates overcoat 50, turn to regulate overcoat 50 be arranged on turn to regulate inner sleeve 49 pallet on, described turning to regulates inner sleeve 49 to be arranged on interior pipe 2, and with fastened by screw, by unscrewing the bolt turning to and regulate on overcoat 50, rotary antenna realizes various angle veer and regulates, described interior pipe 2 connects outer tube 45 by inner and outer pipes connector 46, the described surperficial both sides of interior pipe 52 are provided with draw-in groove and tooth bar 3, fixed gear on described axial adjustment bar 44, axial rotary adjusting rod 44, engaged by wheel and rack 3 and produce axial thrust, interior pipe 2 is moved vertically, the height realizing multiple RFID card reader antenna 1 regulates.
As shown in Figure 4, protection cartridge comprises outer protection cylinder 7, be with graduated interior protection cylinder 8, absorbed layer 9, outward flange 48, inner flange 53, sleeve pipe 55, fixed bin 40, data-interface 56, described signal processing apparatus 52 is arranged in fixed bin 40, described fixed bin 40 is fixed on sleeve pipe 55, described sleeve pipe 55 is threaded connection through inner flange 53 and outward flange 48, described inner flange 53 is connected with interior protection cylinder 8, described outward flange 48 is connected with outer protection cylinder 7, described interior protection cylinder 8 is embedded in outer protection cylinder 8 by sleeve pipe 55, described interior protection cylinder 8 inwall is provided with absorbed layer 9, described interior protection cylinder 8 outer wall is provided with scale, there is open slot one end of described outer protection cylinder 7, the fixing of the fixing and whole protection cartridge of outer protection cylinder 7 and interior protection cylinder 8 is realized by the fixing outer protection cylinder 7 of pipe clamp 6, in regulating, protection cylinder 8 protects the degree of depth of cylinder 7 can protect the degree of depth in cartridge by conditioning biomass acquisition sensor 42 outside, the degree of depth of biomass acquisition sensor in protection cartridge can by concordant with protection nozzle be adjusted to data-interface 56 set bolt protected in cylinder limit position.
As shown in Figure 5, moving fixing mechanism comprises U-shaped 39, positioning sleeve 11, alignment pin 10, spring 55, described U-shaped 39 is bolted and is arranged on positioning sleeve 11, described spring 55 is arranged on alignment pin 10, described positioning sleeve 11 has locating hole, and positioning sleeve 11 is positioned on the vertical rack 38 with some locating holes by alignment pin 10 installation with spring 55.
Spraying mechanical system comprises medicine-chest 24, liquid pump 26, belt speeder 32, gear-box 34, spraying bellows 12, centrifugal fan 13, bellows whirligig, medicine-chest 24 is connected to drug-feeding tube 24 by liquid pump 26, liquid pump 26 connects one end of gear-box 34 power shaft by belt speeder 32, drug-feeding tube 30 being provided with electrical ball valve 22 forms along separate routes, one tunnel is along separate routes connected to each shower nozzle 18 respectively again, separately leads up to return duct 25 tieback medicine-chest 24.Connected by the pipeline of carry potential overflow valve 23 between two-way.Be provided with magnetic valve 17 in the shunt junction of each shower nozzle and drug-feeding tube 30, each magnetic valve 17 controls a shower nozzle 18.Flow sensor 29 and pressure sensor 21 are set in drug-feeding tube 30.Spraying bellows 12 have two, are arranged at the both sides of gear-box 34 upper end output shaft respectively, and shower nozzle 18 is all arranged in spraying bellows 12.Bellows whirligig comprises stepper motor 14 and motor driver thereof, and stepper motor 14 connects spraying bellows 12 and controls its anglec of rotation.
Wherein, spraying bellows 12 arrange bellows flange 15, bellows flange 15 has fan-shaped turbine 35, stepper motor 14 has the worm screw 16 engaged with described fan-shaped turbine 35, realize the control to spraying bellows 12 anglec of rotation.Spraying bellows 12 are provided with Limit screw 31, and Limit screw 31 connects limiting plate 33, the anglec of rotation of spraying bellows 12 is limited in the permission angular range of limiting plate 33.Be provided with the centrifugal fan 13 corresponding with shower nozzle 18 in spraying bellows 12, separate with the deflector 19 of adjustable angle between adjacent two shower nozzles 18, deflector 19 manually can adjust according to tree-like.Centrifugal fan 13 is connected to the two ends of described gear-box 39 upper end output shaft, realizes constant speed and reversely rotates.
Monitoring system of spraying comprises electrical ball valve 22, flow sensor 20, pressure sensor 21, velocity sensor 29, magnetic valve 17, the information of host computer acquisition stream quantity sensor 20, pressure sensor 21, velocity sensor 29, integrate the biomass information of biomass sniffer simultaneously, the switching frequency of each shower nozzle 18 magnetic valve 17 of Comprehensive Control, realizes variable rate spray.
The present invention gathers the information of RFID positioner, biomass sniffer, velocity sensor 29, dispenser monitoring system, realize the management to tractor 5 job position, the biomass detection of orchard control target, the real-time monitoring of sprayer job state, host computer 4 can calculate the particular location, the whole orchard location-based biomass space multistory distributed data that obtain sprayer simultaneously to the fusion calculation of whole information.The shower nozzle mist flow, the bellows anglec of rotation and the deposition distribution relation mathematic model that obtain based on deposition distribution experiment can obtain whole orchard location-based target sprayed deposit distributed data, these data are that reviewed to the Precision management in orchard provides Data support, the spraying operation of operator can be instructed to the location management of sprayer based on RFID positioner, avoid to orchard row repeat spraying and drain spray.
As shown in Figure 6, for the present invention is for the host computer interface figure of one-sided 3 biomass acquisition sensors and 2 RFID card reader antennas, the present invention adopts car-mounted computer to process core as host computer 4, Real-time Obtaining shows and stores the position of sprayer, the spray timings of row, the spraying total amount of row, the biomass information of biomass acquisition sensor 42, the duty of magnetic valve 17, the anglec of rotation of spraying bellows 12 and spray amount, can the information of processing RF ID positioner, calculate the position and the direction of motion that judge sprayer, can integrated treatment velocity sensor 29, pressure sensor 21, flow sensor 20, the information of biomass sniffer also controls the action of electrical ball valve 22 and magnetic valve 17, realize accurate variable farm chemical applying.
The course of work of the present invention is as follows:
When starting work, according to the distributing position of each biomass acquisition sensor 42 of tree-like manual adjustment of the control target in orchard, simultaneously by the anglec of rotation of host computer 4 Interface Control two spraying bellows 12, the running parameter of host computer 4 is set, newly-built or open existing storing data files name again, click " beginning ", system starts, gather the information of RFID positioner and the information of velocity sensor 29, calculate the position and the direction of motion that judge sprayer, gather, store and show biomass acquisition sensor 42, velocity sensor 29, pressure sensor 21, the information of flow sensor 20, the action of electrical ball valve 22 and magnetic valve 17 is controlled after integrating process, realize accurate variable farm chemical applying, the spray timings of often going to orchard, row spray amount calculate, show and storage, host computer 4 integrates the information of RFID positioner, biomass sniffer, spraying supervising device and velocity sensor 29 simultaneously, and COMPREHENSIVE CALCULATING also stores whole orchard location-based biomass space multistory distributed data and whole orchard location-based target sprayed deposit distributed data, sprayer upper computer software when operation provides task instruction for operator, and what avoid the capable spraying of fruit-tree orchard repeats spraying and drain spray, clicks " exiting " button, system finishing work at the end of spraying operation.
Claims (10)
1. support a sprayer for tracing management and biomass detection, mainly comprise RFID positioner, biomass sniffer, monitoring system of spraying, spraying mechanical system and host computer (4), it is characterized in that:
Described RFID positioner comprises several that be arranged at tractor (5) both sides, front end and is connected to the RFID card reader of host computer (4) and the rfid card (47) in being arranged at every row fruit tree, and RFID card reader is configured with RFID card reader antenna (1);
Described biomass sniffer comprises the vertical rack (38) with locating hole, the signal processing apparatus with data-interface (56) (52) of multiple biomass acquisition sensor (42) and correspondence, multiple moving fixing mechanism and multiple protection cartridge, described biomass acquisition sensor (42) and signal processing apparatus (52) are arranged in protection cartridge, protection cartridge is connected and fixed by pipe clamp (6) and moving fixing mechanism, described moving fixing mechanism is fixed on vertical rack (38), moving fixing mechanism drives protection cartridge and biomass acquisition sensor (42) to move up and down, described biomass acquisition sensor (42) connection signal treating apparatus (52), signal processing apparatus (52) is connected with host computer (4) by data-interface (56),
Described monitoring system of spraying comprises the electrical ball valve (22) be arranged on spray pipe, flow sensor (20), pressure sensor (21) and magnetic valve (17), described electrical ball valve (22), flow sensor (20), pressure sensor (21), magnetic valve (17) and be arranged on the monitoring of the velocity sensor (29) on road wheel (27) or control signal is connected to host computer (4), host computer (4) Real-Time Monitoring spraying information, host computer (4) integrates the biomass information of biomass acquisition sensor (42), the switching frequency of the aperture and magnetic valve (17) that control electrical ball valve (22) realizes variable rate spray.
2. support the sprayer of tracing management and biomass detection according to claim 1, it is characterized in that, described RFID card reader antenna (1) is installed on antenna regulating device, described antenna regulating device comprises interior pipe (2), outer tube (45), turn to and regulate overcoat (50), turn to and regulate inner sleeve (49), axial adjustment bar (44), inner and outer pipes connector (46) and axial adjustment set bolt (43), described RFID card reader antenna (1) is arranged on to turn to and regulates on overcoat (50), turn to regulate overcoat (50) be arranged on turn to regulate inner sleeve (49) pallet on, turn to and regulate inner sleeve (49) to be arranged on interior pipe (2), and with fastened by screw, by unscrewing the bolt turning to and regulate on overcoat (50), rotary antenna realizes angle and turns to adjustment, is regulated to the spacing regulating the fixed position of inner sleeve (49) to realize between multiple antenna by regulating rotary, described interior pipe (2) connects outer tube (45) by inner and outer pipes connector (46), the surperficial both sides of described interior pipe (2) are provided with draw-in groove and tooth bar (3), the upper fixed gear of described axial adjustment bar (44), axial rotary adjusting rod (44) produces axial thrust by wheel and rack (3) engagement, interior pipe (2) is moved vertically, and the height realizing multiple RFID card reader antenna (1) regulates.
3. support the sprayer of tracing management and biomass detection according to claim 1, it is characterized in that, described RFID positioner reads the information being arranged at the rfid card (47) of orchard row by RFID card reader antenna (1), the position and the direction of motion that draw sprayer is judged by the analysis of host computer (4), realize monitoring based on the moving displacement of speed in conjunction with velocity sensor (29), obtain the particular location of spraying operation.
4. support the sprayer of tracing management and biomass detection according to claim 1, it is characterized in that, described biomass acquisition sensor (42) is threaded connection sleeve pipe (55), described signal processing apparatus (52) is arranged in fixed bin (40), described fixed bin (40) is fixed on sleeve pipe (55), described sleeve pipe (55) is threaded connection with outward flange (48) afterwards through inner flange (53), described inner flange (53) is connected with interior protection cylinder (8), described outward flange (48) is connected with outer protection cylinder (7), described interior protection cylinder (8) is embedded in outer protection cylinder (7) by sleeve pipe (55), described interior protection cylinder (8) inwall is provided with absorbed layer (9), described interior protection cylinder (8) outer wall is provided with scale, there is open slot one end of outer protection cylinder 7, the fixing of the fixing and whole protection cartridge of cylinder (7) and interior protection cylinder (8) is protected by fixing outer the protection outside cylinder (7) realization of pipe clamp (6), in regulating, protection cylinder (8) protects the degree of depth of cylinder (7) can protect the degree of depth in cartridge by conditioning biomass acquisition sensor (42) outside, the degree of depth of biomass acquisition sensor in protection cartridge can by concordant with protection nozzle be adjusted to protect the data-interface in cylinder (56) set bolt limit position.
5. support the sprayer of tracing management and biomass detection according to claim 1, it is characterized in that, described multiple biomass acquisition sensor (42) moves up and down with moving fixing mechanism, the biomass of layered probe target, calculates the three-dimensional distributed data of the biomass obtaining target by host computer (4); Biomass sniffer and RFID positioner and velocity sensor (29) combine and obtain whole orchard location-based biomass space multistory distributed data, the biomass of described biomass detection comprise the three-dimensional Density Distribution of target, profile, volume and and target between distance.
6. support the sprayer of tracing management and biomass detection according to claim 1, it is characterized in that, the combination of described monitoring system of spraying and RFID positioner and velocity sensor, the shower nozzle mist flow, the bellows anglec of rotation and the deposition distribution relation mathematic model that obtain based on deposition distribution experiment obtain whole orchard location-based target sprayed deposit distributed data simultaneously.
7. support the sprayer of tracing management and biomass detection according to claim 1, it is characterized in that, often in row fruit tree, at least a rfid card (47) is respectively arranged at two ends, the line number of row belonging at least storing in described rfid card (47) and the positional information in affiliated row, its positional information is set to:
For non-isolated row, the positional information of rfid card (47) in every a line fruit tree is: termination, one end rfid card (47) positional information of a line fruit tree is 0%, other end termination rfid card (47) positional information is 100%, if there is rfid card (47) between two ends, then according to its position percentage between the ends, its positional information is set to corresponding percentage;
For isolated row, the positional information of rfid card (47) in every a line fruit tree is: termination, one end rfid card (47) positional information of a line fruit tree is-1%, hold since then to another end, at least be provided with two rfid cards (47) that card position information is 0% and 100%, other end termination rfid card (47) positional information is 101%.
8. support the sprayer of tracing management and biomass detection according to claim 1, it is characterized in that, described moving fixing mechanism comprises U-shaped (39), positioning sleeve (11), alignment pin (10) and spring (51), described U-shaped (39) are bolted and are arranged on positioning sleeve (11), described spring (51) is arranged on alignment pin (10), (11) have locating hole to described positioning sleeve, and positioning sleeve (11) is arranged on vertical rack (38) by alignment pin (10).
9. support the sprayer of tracing management and biomass detection according to claim 1, it is characterized in that, described spraying mechanical system comprises medicine-chest (24), liquid pump (26), belt speeder (32), gear-box (34), spraying bellows (12), centrifugal fan (13), shower nozzle (18) and bellows whirligig, wherein medicine-chest (24) is connected to drug-feeding tube (30) by liquid pump (26), liquid pump (26) connects one end of gear-box (34) power shaft by belt speeder (32), electrical ball valve (22) is arranged on drug-feeding tube (30), form two shunt, and connected by the pipeline of carry potential overflow valve (23) between two-way, one tunnel is again carried out shunt and is connected to each shower nozzle (18), magnetic valve (17) is arranged at junction, each magnetic valve (17) controls a shower nozzle (18), separate with the deflector of adjustable angle (19) between adjacent two shower nozzles (18), separately lead up to return duct (25) tieback medicine-chest (24), flow sensor (29) and pressure sensor (21) are arranged in drug-feeding tube (30), described spraying bellows (12) have two, be arranged at the both sides of gear-box (34) upper end output shaft respectively, centrifugal fan (13) and shower nozzle (18) corresponding and be all arranged in spraying bellows (12), centrifugal fan (13) is connected to the two ends of described gear-box (34) upper end output shaft, realizes constant speed and reversely rotates, described bellows whirligig comprises stepper motor (14) and motor driver thereof, and stepper motor (14) connects spraying bellows (12) and controls its anglec of rotation.
10. support the sprayer of tracing management and biomass detection according to claim 9, it is characterized in that, described spraying bellows (12) are provided with bellows flange (15) and Limit screw (31), described bellows flange (15) there is fan-shaped turbine (35), stepper motor (14) there is the worm screw (16) engaged with described fan-shaped turbine (35), realize the control to spraying bellows (12) anglec of rotation; Described Limit screw (31) connects limiting plate (33), the anglec of rotation of bellows of spraying (12) is limited in the permission angular range of limiting plate (33).
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| CN115735885A (en) * | 2022-11-29 | 2023-03-07 | 东北农业大学 | Spraying pipe inclination and length-adjustable flexible spraying device based on plant protection unmanned aerial vehicle |
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| CN104222054B (en) | 2015-05-20 |
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