CN104222054B - Spraying machine for supporting traceable management and biomass detection - Google Patents

Abstract

A sprayer supporting traceability management and biomass detection, including an RFID positioning device, a biomass detection device and a spraying system; the RFID positioning device includes a plurality of RFID card reader antennas and a plurality of RFID cards; the biomass detection device includes a plurality of biological Quantity detection sensors, corresponding multiple mobile fixing mechanisms that can be manually adjusted in height, multiple signal processing devices and multiple protective cylinder devices, the read RFID card information and detected biomass signals are all transmitted to the host computer. The spray system includes Spray monitoring system and spraying mechanical system. The spray monitoring system is equipped with electric ball valves, flow sensors, pressure sensors, speed sensors and solenoid valves to realize the dynamic monitoring of the spraying process. At the same time, according to the information of RFID positioning device, biomass detection device and speed sensor, the sprayer can realize target biomass detection and traceable management of the operation process.

Description

A sprayer supporting traceability management and biomass detection

technical field

The invention belongs to the field of agricultural plant protection machinery and relates to a sprayer, in particular to a sprayer supporting traceability management and biomass detection.

Background technique

There are many diseases and insect pests on fruit trees in orchards. According to different needs, pesticides are sprayed many times, and the number of sprays is as many as dozens of times a year. However, at present, my country's pesticide application technology and automatic pesticide application machines are seriously backward. Only a small part of the sprayed pesticides can adhere to the targets to be controlled, and the utilization rate of pesticides is extremely low. Serious pesticide waste and environmental pollution have been caused. The existing target sprayers in my country mainly adjust the spray range according to the tree shape of the control target to achieve target spraying, but the technology and equipment to realize variable spraying according to the size of the control target biomass is still in its infancy. For the position management of the sprayer operation process, most of them use GPS for positioning at present, but in the process of orchard operation, due to reasons such as trees and other reasons, the positioning accuracy of GPS is not high, and the cost of GPS equipment is high. It is not suitable for positioning management of orchard sprayers. At present, the traceability management level of my country's agriculture is relatively low, which is the bottleneck restricting the development of the entire agricultural industry chain, and brings problems to the later tracking management of agricultural products. In view of the serious backwardness of my country's plant protection machinery pesticide application technology and traceable management of agricultural machinery, it is urgent to study technologies and tools to improve the utilization rate of pesticides, reduce pesticide pollution, and have traceable management of operations.

Contents of the invention

In order to overcome the above-mentioned shortcomings of the prior art, the object of the present invention is to provide a sprayer that supports traceability management and biomass detection. By using a biomass detection device and an RFID positioning device, the electric ball valve can be controlled according to the biomass of the prevention and control target. The opening and the switching frequency of the nozzle solenoid valve realize variable spraying, improve the utilization rate of pesticides, reduce pesticide pollution and the harm of chemical pesticides to personal safety, and at the same time realize the positioning of the sprayer according to the positioning of the RFID positioning device. Retrospective management.

In order to achieve the above object, the technical scheme adopted in the present invention is:

A sprayer supporting traceability management and biomass detection, mainly including RFID positioning device, biomass detection device, spray monitoring system, spray mechanical system and host computer 4, characterized in that:

Described RFID locating device comprises the RFID card reader that is arranged on both sides of tractor 5 front end several and is connected to upper computer 4 and is arranged on the RFID card 47 in every row of fruit trees, and RFID card reader is configured with RFID card reader antenna 1 ;

The biomass detection device includes a vertical support 38 with a positioning hole, a plurality of biomass detection sensors 42 and corresponding signal processing devices 52 with a data interface 56, a plurality of mobile fixing mechanisms and a plurality of protective cylinder devices, The biomass detection sensor 42 and the signal processing device 52 are installed in the protection tube device, and the protection tube device is connected and fixed with the mobile fixing mechanism through the pipe clamp 6. The mobile fixing mechanism is fixed on the vertical support 38, and the moving and fixing mechanism drives The protection cylinder device and the biomass detection sensor 42 move up and down, the biomass detection sensor 42 is connected to the signal processing device 52, and the signal processing device 52 is connected to the upper computer 4 through the data interface 56;

The spray monitoring system includes an electric ball valve 22, a flow sensor 20, a pressure sensor 21 and an electromagnetic valve 17 arranged on the spray pipeline, and the electric ball valve 22, the flow sensor 20, the pressure sensor 21, the electromagnetic valve 17 and the The monitoring or control signal of the speed sensor 29 on the 27 is connected to the host computer 4, and the host computer 4 monitors the spray information in real time, and the host computer 4 integrates the biomass information of the biomass detection sensor 42 to control the opening of the electric ball valve and the solenoid valve 17. Switching frequency enables variable spraying.

The RFID card reader antenna 1 is installed on the antenna adjustment device, and the antenna adjustment device includes an inner tube 2, an outer tube 45, a steering adjustment outer sleeve 50, a steering adjustment inner sleeve 49, an axial adjustment rod 44, and an inner and outer tube connector 46 and the axial adjustment fixing bolt 43, the RFID card reader antenna 1 is arranged on the steering adjustment outer cover 50, the steering adjustment outer cover 50 is installed on the pallet of the steering adjustment inner sleeve 49, and the steering adjustment inner sleeve 49 is installed on the inner tube 2 and fastened with screws, by loosening the bolts on the steering adjustment jacket 50, turning the antenna to realize multi-angle steering adjustment, the inner tube 2 is connected to the outer tube 45 through the inner and outer tube connector 46, and the two sides of the inner tube 2 surface There is a card slot and a rack 3, the gear is fixed on the axial adjustment rod 44, and the rotating axial adjustment rod 44 generates an axial thrust through the meshing of the gear and the rack 3, so that the inner tube 2 moves in the axial direction to realize Height adjustment of antenna 1 for multiple RFID readers.

The RFID positioning device reads the information of the RFID card 47 arranged on the orchard row through the RFID card reader antenna 1, and obtains the position and the direction of motion of the sprayer through the analysis and judgment of the upper computer 4, and realizes the speed-based positioning in conjunction with the speed sensor 29. Mobile displacement monitoring to obtain the specific location of the spraying operation.

The biomass detection sensor 42 is threadedly connected to the bushing 55, the signal processing device 52 is arranged in the fixed box 40, the fixed box 40 is fixed on the bushing 55, and the bushing 55 passes through the inner flange 53 After that, it is threadedly connected with the outer flange 48, the inner flange 53 is connected with the inner protection cylinder 8, the outer flange 48 is connected with the outer protection cylinder 7, and the inner protection cylinder 8 is embedded in the outer protection cylinder through a sleeve 55 7, the inner wall of the inner protection tube 8 is provided with an absorbing layer 9, the outer wall of the inner protection tube 8 is provided with a scale, and one end of the outer protection tube 7 has an open groove, and the outer protection tube 7 is fixed by the pipe clamp 6 to realize the external protection. The fixing of the protective tube 7 and the inner protective tube 8 and the fixing of the whole protective tube device.

Adjust the depth of the inner protection cylinder 8 in the outer protection cylinder 7 to adjust the depth of the biomass detection sensor 42 in the protection cylinder device, and the depth of the biomass detection sensor in the protection cylinder device can be adjusted to the data in the protection cylinder by being flush with the protection cylinder mouth The limited position of the fixed bolt of the interface 56; due to the adoption of multiple biomass detection sensors 42, when the distance between the sensors is small, the signals sent by the biomass detection sensors 42 will interfere with each other and affect the measurement accuracy. The coverage area of the biomass detection sensor 42 signal reduces the mutual signal interference. The absorbing layer 9 in the inner protection tube 8 can absorb the signal of the biomass detection sensor 42 to prevent the signal reflection of the inner protection tube 8 from affecting the signal acquisition. By adjusting the inner protection cylinder 8, the depth adjustment of the biomass detection sensor 42 in the protection cylinder device can be realized. The scale on the outer wall of the inner protection cylinder 8 can realize the precise adjustment of the depth. Under the condition that the signals of the biomass detection sensor 42 do not interfere with each other , to ensure the maximum signal strength.

The plurality of biomass detection sensors 42 move up and down with the mobile fixing mechanism to detect the biomass of the target in layers, and the three-dimensional distribution data of the biomass of the target is calculated by the host computer 4; the biomass detection device and the RFID positioning device and the speed sensor 29 Combined with the location-based biomass spatial distribution data of the entire orchard, the biomass detected by the biomass detection device includes the three-dimensional density distribution, shape, volume and distance to the target.

The upper computer 4 integrates the three-dimensional biomass information obtained by the biomass detection device and the position information of the sprayer, and can calculate and obtain the three-dimensional distribution data of the biomass based on the location of the entire orchard.

The combination of the spray monitoring system, the RFID positioning device and the speed sensor can obtain the position-based target spray deposition distribution data of the entire orchard based on the mathematical model of the relationship between the nozzle spray flow rate, the bellows rotation angle and the deposition distribution obtained from the deposition distribution experiment.

In each row of fruit trees, an RFID card 47 is respectively arranged at least two ends, and the row number of the row and the position information in the row of the row are at least stored in the RFID card 47, and its position information is set to:

For non-isolated rows, the position information of the RFID card 47 in each row of fruit trees is: the position information of the RFID card 47 at one end of a row of fruit trees is 0%, and the position information of the RFID card 47 at the other end is 100%. RFID card 47 exists between the two ends, then according to its position percentage between the two ends, its position information is set to the corresponding percentage;

For the isolated row, the position information of the RFID card 47 in each row of fruit trees is: the position information of the RFID card 47 at one end of a row of fruit trees is -1%, and from this end to the other end, at least the card position information is set to be 0% and 100% of the two RFID cards 47, the position information of the other end RFID card 47 is 101%.

Described mobile fixing mechanism comprises U-shaped piece 39, positioning sleeve 11, positioning pin 10 and spring 51, and described U-shaped piece 39 is installed on the positioning sleeve 11 by bolt connection, and described spring 51 is installed on the positioning pin 10, so There are positioning holes on the positioning sleeve 11, and the positioning sleeve 11 is installed on the vertical support 38 through the positioning pin 10. The movement of the mobile positioning device drives the biomass detection sensor 42 and the protection cylinder device to move, realizes the adjustment of the height distribution of the biomass detection sensor 42, realizes the three-dimensional layered measurement of the biomass, and obtains its biomass density, target volume, and target according to the target. distance.

Described spray mechanical system comprises medicine box 24, liquid pump 26, belt speed change device 32, gear box 34, spray bellows 12, centrifugal fan 13, shower nozzle 18 and bellows rotating device, wherein medicine box 24 is connected to medicine feeding by liquid pump 26 The pipe 30 and the liquid pump 26 are connected to one end of the input shaft of the gearbox 34 through the belt speed change device 32, and the electric ball valve 22 is arranged on the medicine feeding pipe 30 to form two branches, and the pipe with the overflow valve 23 is passed between the two paths. One path is connected to each nozzle 18 again, and the solenoid valve 17 is arranged at the connection. Open; the other way is connected back to the medicine box 24 through the return pipe 25, the flow sensor 29 and the pressure sensor 21 are arranged in the medicine feeding pipe 30, and there are two spray bellows 12, which are respectively arranged on both sides of the output shaft at the upper end of the gear box 34 , the centrifugal fan 13 corresponds to the nozzle 18 and is located in the spray bellows 12, the centrifugal fans 13 are respectively connected to the two ends of the output shaft at the upper end of the gear box 34 to realize constant-speed reverse rotation; the bellows rotating device includes stepping The motor 14 and its motor driver, the stepper motor 14 is connected to the spray bellows 12 to control its rotation angle.

Described spray bellows 12 is provided with bellows flange 15 and limit screw rod 31, and fan-shaped turbine 35 is arranged on described bellows flange 15, and the worm screw 16 that is engaged with described fan-shaped turbine 35 is arranged on the stepper motor 14, realizes spraying Control of the rotation angle of the bellows 12 ; the limit screw 31 is connected to the limit plate 33 to limit the rotation angle of the spray bellows 12 within the allowable angle range of the limit plate 33 .

Compared with the prior art, since the present invention is equipped with an RFID positioning device, a biomass detection device and a spray monitoring system, the upper computer can collect and record the position and movement information of the spray, obtain the biomass information of the control target, and integrate the information of the speed sensor at the same time , Real-time monitoring and recording of the operation process of the sprayer. Due to the use of a biomass detection device, the biomass of the target is measured, and the spraying amount of the sprayer is controlled variable according to the biomass information, which improves the utilization rate of the pesticide and reduces the pollution of the pesticide to the surrounding environment. Combining the comprehensive information of the RFID positioning device, the biomass detection device and the spray monitoring system, the present invention can calculate and obtain the three-dimensional distribution data of the biomass space based on the position of the whole orchard and the target spray deposition distribution data based on the position of the whole orchard, which is the traceability of the orchard. Accurate management provides reliable data support, and the location management of sprayers based on RFID positioning devices can guide the operator's spraying operations and avoid repeated spraying and missed spraying of orchard rows.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention (taking 3 biomass detection sensors and 2 RFID card reader antennas on one side as an example).

Fig. 2 is a schematic top view of the operation of the present invention.

Fig. 3 is a schematic diagram of the antenna adjusting device of the present invention.

Fig. 4 is a schematic diagram of the structure of the protection cylinder device of the present invention.

Fig. 5 is a structural schematic diagram of the mobile fixing mechanism of the present invention.

Fig. 6 is an interface diagram of the host computer of the present invention.

Meanings of reference signs in the figure:

1-RFID card reader antenna; 2-inner tube; 3-rack; 4-host computer; 5-tractor; 6-tube card; 7-outer protection tube; 8-inner protection tube; 9-absorbing layer; - positioning pin; 11 - positioning sleeve; 12 - spray bellows; 13 - centrifugal fan; 14 - stepping motor; 15 - bellows flange; 16 - worm; 17 - solenoid valve; 18 - nozzle; 20-flow sensor; 21-pressure sensor; 22-electric ball valve; 23-overflow valve; 24-medicine box; 25-return pipe; 26-liquid pump; 27-walking wheel; 28-chassis; 30-feeding pipe; 31-limiting screw; 32-belt speed change device; 33-limiting plate; 34-gear box; 35-sector turbine; 36-universal coupling; Straight bracket; 39-U-shaped piece; 40-fixing box; 41-traction frame; 42-biomass detection sensor; 43--axial adjustment fixing bolt; 44-axial adjustment rod; 45-outer tube; Inner and outer tube connector; 47-RFID card; 48-outer flange; 49-inner sleeve for steering adjustment; 50-outer sleeve for steering adjustment; 51-spring; 52-signal processing device; 53-inner flange; 55-sleeve ; 56 - data interface.

Detailed ways

The implementation of the present invention will be described in detail below in conjunction with the drawings and examples.

As shown in Figure 1, the concrete structure of the sprayer that the present invention supports traceability management and biomass detection comprises chassis 28, and chassis 28 adopts wheeled structure, comprises the walking wheel 27 of rear, the guide wheel 37 of front and traction frame 41, A speed sensor 29 is arranged on the road wheel 27 . The chassis 28 is connected to the tractor 5 through the traction frame 41 and the universal joint 36, and is driven forward by the tractor 5. The chassis 28 is provided with main mechanisms such as a biomass detection device, a spray monitoring system, and a spray mechanical system; the tractor 5 is provided with a host computer 4, an RFID positioning device, and the like.

Among them, the biomass detection device is arranged on both sides of the front end above the chassis 28, including a vertical support 38 with positioning holes, a plurality of biomass detection sensors 42, a corresponding pair of signal processing devices 52, a plurality of mobile fixing mechanisms, and a plurality of A protective tube device, the vertical support 38 is provided with a plurality of moving mechanisms, the protective tube device is installed on the mobile fixing mechanism through the pipe clamp 6, and the biomass detection sensor 42 and the signal processing device 52 are all arranged in the protective tube device. Each mobile fixing mechanism drives the protective tube device to move and fix up and down on the vertical support 38 .

As shown in Figure 2, the RFID positioning device includes an antenna adjustment device, an RFID card reader antenna 1 and an RFID card 47, and the antenna adjustment device is symmetrically arranged on both sides of the tractor 5, and a plurality of RFID card reader antennas 1 are installed on the antenna adjustment device. On the device, a plurality of RFID card readers are connected to the host computer 4, and each row of fruit trees is arranged with an RFID card 47 at least at the two ends of the row.

The sprayer position and movement recognition method of the RFID positioning device is as follows: the sprayer operation is carried out, and the RFID card reader antenna 1 collects and reads the information in the RFID card 47 located on the side of the sprayer; the upper computer collects the RFID cards respectively according to the left and right antennas The information in 47 and information such as whether the left and right liquid pipes of the sprayer are closed; when it is detected that the liquid pipes on both sides of the sprayer are open, it is first determined that the spraying is carried out on both sides between the rows of fruit trees; when the left and right antennas respectively detect the position If the information is 0% or 100% of the endpoint card, and the current spraying operation behavior is "unknown row", it is determined that the sprayer is at the 0% end of the fruit tree row, and it is going to the direction of the growth of the position percentage; or at the 100% end of the fruit tree row, it is going to Go in the direction where the position percentage decreases; and set the line number of the spray job to the corresponding value; when the left and right antennas respectively detect the endpoint card whose position information is 0% or 100%, and detect that the line number of the spray job is not "unknown line" , it is determined that the sprayer is at the end of the row at 0% or 100% of the row in the orchard, and at the same time set the row of spraying operation as "unknown row"; when spraying on one side row, take the right side as an example, The flow rate of the right pipeline is not 0, the flow rate of the left pipeline is 0, and the right antenna reads the RFID card 47; when the 0% or 100% terminal card of the line end is detected, and the spray line number is "unknown line", it is determined that the sprayer is in On the left side of the 0% end of the orchard row, walk in the direction of increasing the position percentage, or on the right side of the 100% end, go in the direction of decreasing the position percentage, and set the spray job line number to the corresponding value; if an end point card is detected , and the line number of the spraying operation is not "unknown line", then it is determined that the sprayer is on the left side of the 100% end or the right side of the 0% end of the line, and the spraying operation line is set as "unknown line". For the isolated row of the orchard, because there are more RFID cards 14 with -1% and 101% information, when a card with -1% or 101% is detected, no operation is performed, and then combined with the single-side spray judgment method for judgment analysis, Get the position and direction of movement of the row where the sprayer is located. At the same time, in combination with the speed sensor 29, the speed-based movement displacement monitoring can be realized, and the specific position of the spraying operation can be obtained.

Wherein, as shown in FIG. 3 , the antenna adjustment device includes an inner tube 2 , an outer tube 45 , a steering adjustment outer sleeve 50 , a steering adjustment inner sleeve 49 , an axial adjustment rod 44 , an inner and outer tube connector 46 , and an axial adjustment fixing bolt 43 . The RFID card reader antenna 4 is arranged on the steering adjustment overcoat 50, and the steering adjustment overcoat 50 is installed on the pallet of the steering adjustment inner sleeve 49, and the steering adjustment inner sleeve 49 is installed on the inner tube 2, and is fastened with screws. Turn the bolt on the adjustment jacket 50 to rotate the antenna to realize multi-angle steering adjustment. The inner tube 2 is connected to the outer tube 45 through the inner and outer tube connector 46, and the inner tube 52 is provided with a slot and a rack 3 on both sides of the surface. The gear is fixed on the axial adjustment rod 44, and the axial adjustment rod 44 is rotated to generate an axial thrust through the meshing of the gear and the rack 3, so that the inner tube 2 moves in the axial direction to realize the positioning of multiple RFID card reader antennas 1. height adjustment.

As shown in Figure 4, the protective cylinder device includes an outer protective cylinder 7, an inner protective cylinder 8 with a scale, an absorption layer 9, an outer flange 48, an inner flange 53, a sleeve 55, a fixing box 40, and a data interface 56, The signal processing device 52 is arranged in the fixed box 40, and the fixed box 40 is fixed on the sleeve 55, and the sleeve 55 is threaded through the inner flange 53 and the outer flange 48, and the inner flange 53 is connected with the inner protection cylinder 8, the outer flange 48 is connected with the outer protection cylinder 7, the inner protection cylinder 8 is embedded in the outer protection cylinder 8 through the sleeve 55, and the inner wall of the inner protection cylinder 8 is provided with an absorbing layer 9. A scale is provided on the outer wall of the inner protective cylinder 8, and one end of the outer protective cylinder 7 has an open groove, and the outer protective cylinder 7 is fixed by the pipe clamp 6 to realize the fixing and overall protection of the outer protective cylinder 7 and the inner protective cylinder 8. To fix the cylinder device, adjust the depth of the inner protection cylinder 8 in the outer protection cylinder 7 to adjust the depth of the biomass detection sensor 42 in the protection cylinder device, and the depth of the biomass detection sensor in the protection cylinder device can be adjusted by being flush with the mouth of the protection cylinder To the limited position of the data interface 56 fixing bolt in the protection cylinder.

As shown in Figure 5, the mobile fixing mechanism includes a U-shaped piece 39, a positioning sleeve 11, a positioning pin 10, and a spring 55. 10, positioning holes are arranged on the positioning sleeve 11, and the positioning sleeve 11 is installed and positioned on the vertical support 38 with several positioning holes through the positioning pin 10 with the spring 55.

The spray mechanical system includes a medicine box 24, a liquid pump 26, a belt speed change device 32, a gear box 34, a spray bellows 12, a centrifugal fan 13, and a bellows rotating device. One end of the input shaft of the gear box 34 is connected through the belt transmission device 32, and the medicine feeding pipe 30 is provided with an electric ball valve 22 to form a shunt. . The two paths are connected by a pipeline with a relief valve 23 . A solenoid valve 17 is provided at the branch connection between each spray head and the medicine feeding pipe 30 , and each solenoid valve 17 controls one spray head 18 . A flow sensor 29 and a pressure sensor 21 are arranged in the medicine feeding tube 30 . There are two spray bellows 12, which are respectively arranged on both sides of the output shaft at the upper end of the gear box 34, and the spray nozzles 18 are all located in the spray bellows 12. The bellows rotating device comprises a stepper motor 14 and its motor driver, and the stepper motor 14 is connected to the spray bellows 12 to control its rotation angle.

Wherein, a bellows flange 15 is arranged on the spray bellows 12, a fan-shaped turbine 35 is arranged on the bellows flange 15, and a worm 16 meshing with the fan-shaped turbine 35 is arranged on the stepping motor 14 to realize the control of the rotation angle of the spray bellows 12. A limit screw 31 is arranged on the spray bellows 12 , and the limit screw 31 is connected with a limit plate 33 to limit the rotation angle of the spray bellows 12 within the allowable angle range of the limit plate 33 . The spray bellows 12 is provided with a centrifugal fan 13 corresponding to the nozzles 18, and two adjacent nozzles 18 are separated by angle-adjustable deflectors 19, and the deflectors 19 can be manually adjusted according to the tree shape. Centrifugal fans 13 are respectively connected to the two ends of the output shaft at the upper end of the gear box 39 to realize constant speed and reverse rotation.

The spray monitoring system includes an electric ball valve 22, a flow sensor 20, a pressure sensor 21, a speed sensor 29, and a solenoid valve 17. The host computer collects the information of the flow sensor 20, pressure sensor 21, and speed sensor 29, and integrates the biomass detection device. information, comprehensively control the switching frequency of the solenoid valve 17 of each nozzle 18, and realize variable spraying.

The present invention collects the information of the RFID positioning device, the biomass detection device, the speed sensor 29, and the pesticide application monitoring system, realizes the management of the tractor 5 working position, the biomass detection of the orchard control target, and the real-time monitoring of the sprayer's working state. 4 At the same time, the fusion calculation of the entire information can calculate the specific position of the sprayer and the three-dimensional distribution data of the biomass based on the position of the whole orchard. Based on the mathematical model of nozzle spray flow rate, bellows rotation angle and deposition distribution obtained from the deposition distribution experiment, the position-based target spray deposition distribution data of the entire orchard can be obtained. These data provide data support for the traceable and precise management of the orchard. Based on the RFID positioning device The position management of the sprayer can guide the operator's spraying operation and avoid repeated spraying and missed spraying of the orchard.

As shown in Figure 6, it is the interface diagram of the upper computer taking 3 biomass detection sensors and 2 RFID card reader antennas on one side as an example in the present invention. The present invention uses a vehicle-mounted computer as the 4 processing cores of the upper computer to obtain and display in real time and Store the position of the sprayer, the number of times of spraying in a row, the total amount of spraying in a row, the biomass information of the biomass detection sensor 42, the working state of the solenoid valve 17, the rotation angle of the spray bellows 12 and the spray volume, and can handle the RFID positioning device. Information, calculating and judging the position and movement direction of the sprayer, can comprehensively process the information of the speed sensor 29, pressure sensor 21, flow sensor 20, and biomass detection device and control the action of the electric ball valve 22 and solenoid valve 17 to achieve precise and variable spraying .

Working process of the present invention is as follows:

When starting work, manually adjust the distribution position of each biomass detection sensor 42 according to the tree shape of the control target in the orchard, and simultaneously control the rotation angles of the two spray bellows 12 through the interface of the host computer 4, set the operating parameters of the host computer 4, and then Create or open the existing stored data file name, click "Start", the system starts to work, collects the information of the RFID positioning device and the information of the speed sensor 29, calculates and judges the position and movement direction of the sprayer, collects, stores and displays the biomass Detect the information of the sensor 42, the speed sensor 29, the pressure sensor 21, and the flow sensor 20, and control the action of the electric ball valve 22 and the solenoid valve 17 after integration and processing, so as to realize precise and variable pesticide application; Calculation, display and storage, the upper computer 4 simultaneously integrates the information of the RFID positioning device, the biomass detection device, the spray monitoring device and the speed sensor 29, and comprehensively calculates and stores the three-dimensional distribution data of the biomass based on the location of the entire orchard and the location-based data of the entire orchard. The target spray deposition distribution data; the upper computer software of the sprayer provides operation guidance for the operator during operation, avoiding repeated spraying and missed spraying of fruit tree rows in the orchard. When the spraying operation is completed, click the "Exit" button, and the system ends the work.

Claims (7)

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,

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 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;

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;

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.

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 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.

4. 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%.

5. 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).

6. 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 (20) 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.

7. support the sprayer of tracing management and biomass detection according to claim 6, 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).