CN104621083B - Self-adaptation spraying air capacity adjusting device based on plant characteristics and method - Google Patents
Self-adaptation spraying air capacity adjusting device based on plant characteristics and method Download PDFInfo
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Abstract
The invention discloses a self-adaptation spraying air capacity adjusting device based on plant characteristics and method. The device comprises five-finger sprayers, a draught fan, a hose, electromagnetic valves, flow guide pipes, a hose, an air nozzle, a laser sensor, a touch screen, a radar speed sensor, an ARM Cortex controller and an embedded PC/104 computer, wherein the draught fan is driven by PTO; the hose enables the five-finger sprayers and an air outlet of the draught fan to be connected; the electromagnetic valves are arranged on the flow guide pipes and are used for controlling air capacity of the five-finger sprayers; the flow guide pipes are connected with the electromagnetic valves to output air; the hose are connected with all the flow guide pipes; the air nozzle enables a converge hose on the left and a converge hose on the right to be connected; the laser sensor is installed at the front end of a spraying machine; the touch screen is installed in a cab; the radar speed sensor is installed at the bottom of the spraying machine; the ARM Cortex controller is used for controlling the air capacity and variations; the embedded PC/104 computer is connected with the touch screen, the laser sensor, the speed sensor and the ARM Cortex controller. According to the device, all the five-finger sprayers can perform self-adaptation air capacity adjustment according to plant characteristics in corresponding areas, reduce fog drop drifting for areas with sparse plants, increase the penetrability of fog drops on areas with dense plants and branches and leaves and increase the attachment rate of fog drops inside the plants.
Description
Technical field
The present invention relates to a kind of spraying volume adjusting apparatus, especially relate to one kind based on plant morphological characteristics self adaptation spraying wind
Quantity regulating device and method.
Background technology
The plant such as fruit tree, flowers assume different resemblances in growth course, and the density degree of its branch and leaf is in time
Change with seasonal shift.Air-assisted type spraying machine application target technology being designed based on infrared ray, ultrasound wave is relatively broad, but by
The impact of easily examined environment in actual mechanical process, such as temperature, humidity, spraying machine spray air-flow etc., reduce detection knot
The degree of accuracy of fruit, thus affect effect and the efficiency of its spray.Using the wind spraying aid type spraying system of sensors with auxiliary electrode, due to cannot
Accurately obtain the minutia of plant target various pieces, spraying air quantity Automatic adjusument is considered less, easily in plant mesh
The mark sparse part of branch and leaf has that droplet drifts about, and have impact on the settling amount of influences of plant crown spray liquor.
Patent No. 201210549172.5 discloses a kind of orchard spraying machine with rotation speed of fan manual regulating device, leads to
Cross the relevant information of the control device being arranged on control station and display, operator can adjust the big of rotation speed of fan at any time
Little, change air quantity and the wind speed of blower fan.Patent No. 201210549173.X discloses a kind of spray of rotation speed of fan controllable type orchard
Medicine machine, provides electric power by electromotor for two groups of blower fans, adjusts rotation speed of fan by ultrasonic sensor with speed sensor signal
Size, changes air quantity and the wind speed of blower fan.Both approaches are all to realize air quantity regulation by changing rotation speed of fan size, but
During tractor is produced electric energy and then produces wind energy by motor again by electromotor, there is energy conversion twice,
Easily cause energy loss problem, simultaneously need to extra high-power blower drive module and corresponding control circuit.
Patent No. 201210545679.3 discloses a kind of air-assisted type spraying machine volume adjusting apparatus, can be according to fruit tree
Tree crown size adjust air-assisted type spraying machine air outlet size, change air-assisted spraying fan delivery size.Patent No.
201210549174.4 disclose a kind of target spraying fan delivery self-checking device, can be according to the automatic tree crown detecting fruit tree
Size automatically controls the size of adjustment air-assisted type spraying machine air outlet, changes the size of wind speed spraying fan delivery.Both
Method is all to realize air quantity regulation by changing the size of air outlet, by two pieces of baffle plate folding controls of step motor drive
The size of air outlet, thus control outlet air quantity.But this apparatus structure is complex, when air outlet is gradually reduced, blower fan
Load increases, and leads to fan efficiency to reduce.
Patent No. 201210545207.8 discloses a kind of air inlet auto-control formula target spraying machine, can be according to spy
The top fruit sprayer size measuring and the operating speed of tractor carry out the size of adjust automatically air-assisted type spraying machine air inlet, change
Become the size of air-assisted sprayer intake, thus adjusting the size of air output.The method is located at by one piece of step motor drive
The flapper of air inlet, realizes the control of air port size, reaches the control purpose of import air quantity.But the method is being entered
In the case that air port area diminishes, blower fan load increases, and air output reduces on the contrary, leads to fan efficiency to reduce.
Content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention devises one kind based on plant morphological characteristics self adaptation spraying air quantity
Adjusting means and method, using high accuracy, the wide high-rate laser sensor reaching 270 ° of scanning angle to spraying machine both sides plant mesh
Mark is scanned, and obtains plant three-dimensional information in conjunction with velocity sensor, is entered according to each the five fingers shower nozzle corresponding region target characteristic
Row Automatic adjusument the five fingers shower nozzle air output, reduces for the drift of branch and leaf sparse plant target droplet, increases the plant that is thick with leaves
The adhesive rate of target internal droplet, improves spraying utilization rate.
The technical scheme of assembly of the invention is：
One kind, based on plant morphological characteristics self adaptation spraying volume adjusting apparatus, is adjusted including spraying air quantity adjustment part group, air quantity
Section control unit；Described spraying air quantity adjustment part group include PTO driving blower fan, main air duct flexible pipe, manifold hose, water conservancy diversion
Pipe, the five fingers shower nozzle, air nozzle；The blower fan that described PTO drives and the inlet port of two main air duct flexible pipes are connected, and described are located at
The main air duct flexible pipe of spraying machine both sides is connected with each the five fingers shower nozzle respectively, and near each the five fingers shower nozzle on main air duct flexible pipe
Connecting line on be provided with water conservancy diversion branch road, water conservancy diversion prop up route mozzle and electromagnetic valve thereon composition, described mozzle
Outfan is all connected to manifold hose；Described manifold hose is also connected with air nozzle；Described air quantity regulation unit bag
Include touch screen, laser sensor, velocity sensor, ARM Cortex controller, built-in PC/104 computer；Described embedded
PC/104 computer is connected with touch screen, laser sensor, velocity sensor, ARM Cortex controller respectively, described ARM
Cortex controller connects solenoid valve driving module, and described solenoid valve driving module connects electromagnetic valve, for controlling the five fingers shower nozzle
Air quantity；Described touch screen is man machine operation interface, for parameter setting, status display, instruction input；Described laser sensor
For scanning both sides plant target, embedded computer is sent to by high speed interface；Described velocity sensor is used for real
When obtain spray velocity；Described built-in PC/104 computer passes through to read the scan data of laser sensor, passes in conjunction with speed
The real time speed information of sensor passback, obtains plant target three-dimensional feature, the locus further according to the five fingers shower nozzle carry out region
Segmentation, calculates each the five fingers shower nozzle corresponding plant target area feature respectively, forms corresponding Boiler pressure control instruction.
Further, described mozzle is arranged on and is become with the five fingers shower nozzle horizontal direction at the five fingers shower nozzle air inlet 15cm
30 ° of angles, from described main air duct flexible pipe 30cm.
Further, described radar speed sensor becomes 35 ° of angles, apart from ground positioned at spraying motor spindle with level ground
Vertical height is 66cm.
Further, described electromagnetic valve adopts pulsewidth modulation, in order to the output of each the five fingers shower nozzle air force of independent control.
Further, described built-in PC/104 computer connects ARM Cortex controller by CAN.
The technical scheme of the method for the present invention is：
One kind is based on plant morphological characteristics self adaptation spraying air quantity control method, including step：
Step 1, set touch screen spraying relevant parameter, and be given start spraying instruction；
Step 2, in the process of moving, laser sensor scans the plant target of the left and right sides to spraying machine first, and by embedding
Enter formula PC/104 computer and plant scan data is read by high speed interface, simultaneously reading speed sensor real-time speed letter
Breath；
Step 3, by built-in PC/104 computer according to plant scan data and real time speed information, calculates and obtains plant
Target three-dimensional feature, the locus further according to the five fingers shower nozzle carry out region segmentation, calculate each the five fingers shower nozzle respectively and correspond to
Plant target area feature, form the instruction of corresponding Boiler pressure control；
Step 4, calculates, according to real-time speed, the time that the five fingers shower nozzle reaches target area；After postponing, by CAN
It is sent to ARM Cortex controller, then each mozzle is controlled respectively using PWM control technology by ARM Cortex controller
On solenoid-driven dutycycle, realize the air quantity of each the five fingers shower nozzle is adjusted, make corresponding the five fingers shower nozzle reach target position
Calculate after obtaining data before air quantity output exactly laser sensor when putting and obtain discharge quantity of fan, realize each the five fingers shower nozzle
Purpose based on plant morphological characteristics Automatic adjusument air quantity.
The invention has the beneficial effects as follows：The device of present invention design can be according to the plant of each the five fingers shower nozzle corresponding region
The air output of the corresponding the five fingers shower nozzle of feature Automatic adjusument, affects less on blower fan air output and intake；Each the five fingers shower nozzle
Air quantity is adjusted independently, is independent of each other during regulation；Using PWM drive magnetic valve realize air quantity adjust, have fast response time,
Structure is simple, realization is relatively easy to feature；Air quantity after shunting is pooled to the top of laser sensor, can be used for cleaning laser
Sensor, prevents dust to be attached to laser sensor surface.This invention for the different branch and leaf density area of plant each
The five fingers shower nozzle air quantity adjusts adaptive change, and branch and leaf sparse region decreases droplet drift, and the region that is thick with leaves increases droplet
Penetrance, increased the adhesive rate of the internal droplet of plant, improve droplet utilization rate, reduce environmental pollution, there is preferable reality
With being worth.Meanwhile, the branch and leaf density information thus obtaining can be used for the variable rate spray of each nozzle, realizes only based on plant morphological characteristics
Vertical nozzle variable rate spray, it will greatly save Pesticide use amount.
Brief description
Fig. 1 is based on plant morphological characteristics self adaptation spraying volume adjusting apparatus structural representation；
Fig. 2 is the intelligent variable spraying machine schematic diagram based on plant morphological characteristics self adaptation spraying volume adjusting apparatus；
Fig. 3 is based on plant morphological characteristics self adaptation spraying volume adjusting apparatus control principle drawing.
In figure, 1 blower fan driving for PTO, 2 is main air duct flexible pipe, and 3 is the five fingers shower nozzle, and 4 is the electromagnetic valve controlling air quantity, 5
For manifold hose, 6 is air nozzle, and 7 is laser sensor, and 8 is mozzle, and 9 is touch screen, and 10 is wire and cable connector, and 11 are
Pressure transducer, 12 is the electromagnetic valve controlling nozzle flow, and 13 is velocity sensor, and 14 is spraying machine flow transducer, and 15 are
ARM Cortex controller, 16 is built-in PC/104 computer.
Specific embodiment
Further illustrate the flesh and blood of the present invention below in conjunction with the accompanying drawings with example, but present invention is not limited to this.
As shown in figure 1, the present invention is one kind being based on plant morphological characteristics self adaptation spraying volume adjusting apparatus, mainly include spraying
The five fingers shower nozzle 3 of the machine left and right sides, the blower fan 1 that PTO drives, connect the main air duct flexible pipe 2 of the five fingers shower nozzle 3 and fan outlet,
Mozzle 8 is used for control the electromagnetic valve 4 of the five fingers shower nozzle air quantity, connects the mozzle 8 of electromagnetic valve discharge quantity of fan, about connection
The air nozzle 6 of both sides manifold hose, is installed on the laser sensor 7 of spraying machine front end, is installed on and drives indoor touch screen
9, it is installed on the radar speed sensor 13 of spraying motor spindle, the ARM Cortex controller controlling for air quantity and variable rate spray
15, connect touch screen, built-in PC/104 computer 16 of laser sensor, velocity sensor and ARM Cortex controller.
Described mozzle 8 is arranged at the five fingers shower nozzle air inlet 15cm and is become 30 ° of folders with the five fingers shower nozzle 3 horizontal direction
Angle, with main air duct flexible pipe 2 apart from for 30cm.The five fingers shower nozzle 3 intake air way relatively independent, electromagnetic valve 4 carry out air quantity adjust defeated
When going out, decrease impact each other.
Described laser sensor 7 is located at spraying machine front end, using being horizontally mounted form, can using its 270 ° scanning angle
Scanning left and right sides plant simultaneously.
Described velocity sensor 13 adopts the vehicle-mounted radar speed sensor of high accuracy, positioned at spraying motor spindle and level ground
Form 35 ° of angles, be 66cm apart from ground vertical height.Sensor has carried out place calibration after mounting and has demarcated, Neng Gouda
To higher service precision it is ensured that the degree of accuracy of acquired spray velocity and reliability.
Described PC/104 computer 16 reads scan data information and the radar of laser sensor 7 by high-speed communication means
The velocity information of velocity sensor 13, calculates and obtains plant target three-dimensional information, the locus further according to the five fingers shower nozzle are carried out
Region segmentation, obtains each the five fingers shower nozzle corresponding plant target area feature, forms corresponding Boiler pressure control instruction, passes through
CAN is sent to ARM Cortex controller 15, then controls electromagnetic valve 4 by ARM Cortex controller 15.
Described electromagnetic valve 4 adopts the size of each the five fingers shower nozzle 3 discharge quantity of fan of pulse modulation technology (PWM) independent control.
The distribution characteristicss spraying plant target in interval according to corresponding to each the five fingers shower nozzle 3 for the described electromagnetic valve 4, independent
Control the discharge quantity of fan of corresponding the five fingers shower nozzle 3.
Each electromagnetic valve 4 described is controlled the discharge quantity of fan of mozzle 8 and is connected to above laser sensor 7 by flexible pipe 5
Air nozzle 6, formed air-flow air curtain, prevent dust impact laser sensor 7 performance.
As shown in Fig. 2 this volume adjusting apparatus is located on rear side of spraying machine.Touch screen 9, built-in PC/104 computer 16 are pacified
It is loaded on driving indoor, be connected with ARM Cortex controller 15 by wire and cable connector 10；Laser sensor 7 is horizontally arranged at one
On the vertical aluminium sheet of block, positioned at the front of spraying machine；The air quantity controlling output is pooled to air nozzle 6 by flexible pipe, forms gas
Stream air curtain, stops dust pollution laser sensor, also can blow away the dust on laser sensor simultaneously.40 way solenoid valve groups 12 are used
In the flow of each nozzle controlling respectively in the five fingers shower nozzle, realize nozzle variable-flow independent control；Pressure transducer 11 and stream
Quantity sensor 14 is used for flow-control and monitoring in spray process.
As shown in figure 3, being volume adjusting apparatus control principle drawing of the present invention.Touch screen 9 is man machine operation interface, for joining
Number setting, status display, instruction input etc.；Laser sensor 7 is used for scanning both sides plant target, is passed by high speed interface
Give embedded computer；Velocity sensor 13 is used for real-time acquisition spray velocity, and synchronized update is to embedded computer；Embedding
Enter the major control core that formula PC/104 computer 16 is spraying machine system, for Operational Data Analysis, feature extraction and control
Algorithm；Calculate the control algolithm completing and ARM Cortex controller 15 is sent to by CAN, ARM controller parsing controls
Instruction forms the PWM drive signal of each Boiler pressure control electromagnetic valve, realizes the air quantity to electromagnetic valve 4 through solenoid valve driving module
Control.
The present invention, during spraying, first passes through and drives the relevant parameter that indoor touch screen sets spraying, and be given
Start spraying instruction.In the process of moving, laser sensor scans the plant target of the left and right sides to spraying machine first, and by embedding
Formula PC/104 computer reads plant scan data by high speed interface, simultaneously reading speed sensor 13 real-time speed letter
Breath, by algorithm routine, a little information calculate acquisition plant target three-dimensional feature accordingly, and the locus further according to the five fingers shower nozzle are carried out
Region segmentation, calculates each the five fingers shower nozzle corresponding plant target area feature respectively, forms corresponding Boiler pressure control instruction；
According to real-time speed, calculate the time that shower nozzle reaches target area；After postponing, ARMCortex control is sent to by CAN
Device processed, then accounting for of the solenoid-driven on each mozzle is controlled respectively by ARM Cortex controller using PWM control technology
Empty ratio, realizes each the five fingers shower nozzle air quantity and adjusts, and so that the air quantity output that corresponding the five fingers shower nozzle reaches during target location is exactly swashed
Calculate after obtaining data before photoscanning sensor and obtain discharge quantity of fan, realize each the five fingers shower nozzle and be based on plant morphological characteristics self adaptation
Adjust the purpose of air quantity.
The discharge quantity of fan device of the electromagnetic valve independent control the five fingers shower nozzle that the present invention adopts, structure is simple, control process is rung
Answer that speed is fast, real-time is good, control is simple, can preferably realize carrying out independent air quantity regulation for plant local feature, in branch
The sparse part of leaf decreases droplet drift, and the plant part that is thick with leaves increases the penetrance of droplet, increased the internal droplet of plant
Adhesive rate.
Finally it should be noted that above example is merely to illustrate technical scheme, rather than the present invention is protected
The restriction of scope, although having made to explain to the present invention with reference to preferred embodiments, those of ordinary skill in the art should manage
Solution, technical scheme can be modified or equivalent, without deviating from technical solution of the present invention essence and
Scope, it all should be covered within scope of the presently claimed invention.
Claims (6)
1. a kind of based on plant morphological characteristics self adaptation spraying volume adjusting apparatus it is characterised in that：Including spraying air quantity adjustment part
Group, air quantity regulation unit；
Described spraying air quantity adjustment part group include PTO driving blower fan (1), main air duct flexible pipe (2), manifold hose (5), water conservancy diversion
Pipe (8), the five fingers shower nozzle (3), air nozzle (6)；Blower fan (1) and the inlet port of two main air duct flexible pipes (2) that described PTO drives
It is connected, the main air duct flexible pipe (2) positioned at spraying machine both sides is connected with each the five fingers shower nozzle (3) respectively, and main air duct flexible pipe
(2) upper be provided with water conservancy diversion branch road on the connecting line of each the five fingers shower nozzle (3), water conservancy diversion prop up route mozzle (8) and its
On electromagnetic valve (4) constitute, the outfan of described mozzle (8) is all communicated in manifold hose (5), described manifold hose (5)
Also it is connected with air nozzle (6)；
Described air quantity regulation unit includes touch screen (9), laser sensor (7), velocity sensor (13), ARM Cortex
Controller (15), built-in PC/104 computer (16)；Described built-in PC/104 computer (16) respectively with touch screen (9),
Laser sensor (7), velocity sensor (13), ARM Cortex controller (15) are connected, described ARM Cortex controller
(15) connect solenoid valve driving module, described solenoid valve driving module connects electromagnetic valve (4), for controlling the wind of the five fingers shower nozzle
Amount；Described touch screen (9) is man machine operation interface, for parameter setting, status display, instruction input；Described laser sensor
(7) it is used for scanning both sides plant target, built-in PC/104 computer is sent to by high speed interface；Described velocity pick-up
Device (13) is used for real-time acquisition spray velocity；Described built-in PC/104 computer (16) are in order to calculate each the five fingers shower nozzle pair
The plant target area feature answered, forms corresponding Boiler pressure control instruction.
2. according to claim 1 a kind of based on plant morphological characteristics self adaptation spraying volume adjusting apparatus it is characterised in that：Institute
State mozzle (8) and be arranged on and become 30 ° of angles with the five fingers shower nozzle (3) horizontal direction at the five fingers shower nozzle air inlet 15cm, from institute
State main air duct flexible pipe (2) 30cm.
3. according to claim 1 a kind of based on plant morphological characteristics self adaptation spraying volume adjusting apparatus it is characterised in that：Speed
Degree sensor (13) is located at spraying motor spindle and is become 35 ° of angles with level ground, and the vertical height apart from ground is 66cm.
4. according to claim 1 a kind of based on plant morphological characteristics self adaptation spraying volume adjusting apparatus it is characterised in that：Institute
State electromagnetic valve (4) and adopt pulsewidth modulation, in order to the output of each the five fingers shower nozzle (3) air force of independent control.
5. according to claim 1 a kind of based on plant morphological characteristics self adaptation spraying volume adjusting apparatus it is characterised in that：Institute
State built-in PC/104 computer (16) and ARM Cortex controller (15) is connected by CAN.
6. a kind of plant morphological characteristics self adaptation that is based on sprays air quantity control method it is characterised in that including step：
Step 1, sets touch screen (9) relevant parameter sprayed, and is given and starts spraying instruction；
Step 2, in the process of moving, laser sensor (7) scans the plant target of the left and right sides to spraying machine first, and by embedding
Formula PC/104 computer (16) reads plant scan data by high speed interface, and reading speed sensor (13) is real-time simultaneously
Velocity information；
Step 3, is calculated according to plant scan data and real time speed information by built-in PC/104 computer (16) and obtains plant
Target three-dimensional feature, the locus further according to the five fingers shower nozzle carry out region segmentation, calculate each the five fingers shower nozzle respectively and correspond to
Plant target area feature, form the instruction of corresponding Boiler pressure control；
Step 4, calculates, according to real-time speed, the time that the five fingers shower nozzle (3) reaches target area；After postponing, by CAN
It is sent to ARM Cortex controller (15), then controlled respectively respectively using PWM control technology by ARM Cortex controller (15)
The dutycycle of the solenoid-driven on individual mozzle, realizes the air quantity to each the five fingers shower nozzle (3) and adjusts, and makes corresponding the five fingers shower nozzle
(3) reaching air quantity output during target location is exactly to calculate after laser sensor (7) obtains data before to obtain discharge quantity of fan.
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| CN201510044751.8A CN104621083B (en) | 2015-01-28 | 2015-01-28 | Self-adaptation spraying air capacity adjusting device based on plant characteristics and method |
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| CN105532623B (en) * | 2016-02-18 | 2019-06-28 | 江苏大学 | A kind of electrostatic target spraying machine of intelligence self-propelled air-feeding |
| CN106259264A (en) * | 2016-08-15 | 2017-01-04 | 南京农业大学 | Multi-arm type orchard wind send variable farm chemical applying device |
| RU174409U1 (en) * | 2016-11-25 | 2017-10-12 | Федеральное государственное бюджетное научное учреждение "Федеральный научный агроинженерный центр ВИМ" (ФГБНУ ФНАЦ ВИМ) | Universal sprayer for fruit nurseries and berry shrubs |
| CN108377900B (en) * | 2018-03-20 | 2023-02-03 | 农业部南京农业机械化研究所 | Self-adaptive uniform pollination device |
| CN109730048A (en) * | 2019-03-08 | 2019-05-10 | 重庆西玛福科技有限公司 | It waves drug spraying equipment and waves spray method |
| CN110301419B (en) * | 2019-06-26 | 2020-09-18 | 中国农业大学 | Variable bilateral leaf stirring type pesticide spraying device for forest orchard |
| CN111084171A (en) * | 2020-01-09 | 2020-05-01 | 中国农业大学 | Air-assisted atomizing system for adjusting rotating speed of fan by adopting pulse width modulation |
| CN111066765A (en) * | 2020-01-09 | 2020-04-28 | 中国农业大学 | Orchard automatic variable spraying machine based on laser scanning technology |
| CN111838113B (en) * | 2020-07-10 | 2023-06-27 | 北京农业智能装备技术研究中心 | Target-alignment sprayer and method for jointly adjusting rotating speed and air outlet area of fan |
| CN114229005B (en) * | 2021-12-20 | 2023-08-29 | 华南农业大学 | Airborne spraying wind shield downshifting device and flight target following operation method |
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