CN104904698A - Air-assisted flexible spraying device based on plant features and control method thereof - Google Patents
Air-assisted flexible spraying device based on plant features and control method thereof Download PDFInfo
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Abstract
The invention discloses an air-assisted flexible spraying device based on plant features and a control method thereof. The air-assisted flexible spraying device comprises five-finger nozzles, supports, fixed cross bars, flexible air passage tubes, step motor screw slide guide rails, line fasteners, fixing bolts, nuts and a measurement and control system. The air-assisted flexible spraying device is characterized in that a laser sensor is adopted to accurately detect a target plant in real time, the information of the target plant, such as presence or absence, size, shape and branch and leaf density, is obtained on the basis of spraying speed, the control system controls a nozzle tracking mechanism to adjust the vertical positions of the eight sets of five-finger nozzles in real time according to the plant feature information, so that the five-finger nozzles are kept at best spraying positions to carry out spraying, consequently, the accuracy of spraying pesticide is increased, the amount of the sprayed pesticide is greatly reduced, and the purposes of increasing the deposition of the liquid pesticide on the canopy of a plant, increasing spraying efficiency and protecting the ecological environment are achieved.
Description
Technical field
The present invention relates to a kind of sprayer unit, especially relate to the flexible sprayer unit of a kind of wind spraying aid type based on plant morphological characteristics and control method thereof.
Background technology
The spray pesticide technology of current China is also relatively backward, causes the utilization ratio of agricultural chemicals lower, and most agricultural chemicals runs off around in environment, causes the waste of agricultural chemicals and the pollution of environment.Improve equipment for plant protection technical merit, carrying out research that is efficient, low stain pesticide application technology is a urgent task.Accurate variable rate spray, can according to the change of the crop feature that has that it's too late as the agriculture pesticide application technology of a kind of advanced person, and optionally spray pesticide, is progressively promoted in agricultural.If control sprayer nozzle sets adjusts spraying automatically upper-lower position according to the characteristic information of plant, it is made to spray in desirable spray height, then can improve the utilization ratio of agricultural chemicals, reduce the waste of agricultural chemicals, alleviate the pollution of environment, contribute to improving the automatization level of agricultural and the sustainable development of agricultural simultaneously.
Summary of the invention
The object of the invention is to devise a kind of according to plant morphological characteristics, agricultural chemicals utilization ratio can be improved, reduce the waste of agricultural chemicals, alleviate the flexible sprayer unit of the wind spraying aid type of environmental pollution and control method thereof.
The technical scheme of device of the present invention is:
The flexible sprayer unit of wind spraying aid type based on plant morphological characteristics, comprises the five fingers shower nozzle automatic tracking mechanism, measurement and control system; Described the five fingers shower nozzle automatic tracking mechanism comprises the five fingers shower nozzle, support, fixed transverse rod, air channel flexible pipe, stepper motor screw mandrel slide unit guide rail, pipeline folder; Two vertical racks and two fixed transverse rods are by bolt and nut compact siro spinning technology, and have four points of connection, every root fixed transverse rod is horizontally fixed on sprayer by bolt; Multiple described air channel flexible pipe respectively with organize the five fingers shower nozzle more and be connected one to one, and it be fixed on the slide block of stepper motor screw mandrel slide unit guide rail by pipeline fastening piece, pipeline fastening piece and slide block are fixed by bolt; The combination of many groups the five fingers shower nozzle, air channel flexible pipe and stepper motor screw mandrel slide unit guide rail is divided into left and right two rows, is separately fixed on the support on both sides; Described measurement and control system comprises laser sensor, embedded control unit, touch-screen, information acquisition module, velocity sensor, pressure sensor, flow sensor, spraying control module, DC stepper motor driver module, DC stepper motor A1 ~ A8, multi-channel PWM solenoid valve driving module, magnetic valve; Described laser sensor, touch-screen, information acquisition module and spraying control module are all connected with embedded control unit, described information acquisition module is connected with velocity sensor, pressure sensor, flow sensor respectively, described DC stepper motor driver module and multi-channel PWM solenoid valve driving module are included in spraying control module, described DC stepper motor driver module is connected with DC stepper motor A1 ~ A8, and described multi-channel PWM solenoid valve driving module is connected with magnetic valve.
Further, described stepper motor screw mandrel slide unit guide rail adjusts the upper-lower position of the five fingers shower nozzle and air channel flexible pipe connector under control of the control system in real time.
Further, the connector of the five fingers shower nozzle and air channel flexible pipe is bolted on the slide block of stepper motor screw mandrel slide unit guide rail along the end of the five fingers shower nozzle by four by described pipeline fastening piece, make slide block and the five fingers shower nozzle have integraty, the adjustment of slide block and the five fingers shower nozzle upper-lower position has synchronism.
Further, described stepper motor screw mandrel slide unit guide rail is vertically fixed on support by four bolts, and slide block is stuck in the base groove of stepper motor screw mandrel slide unit guide rail, and the five fingers shower nozzle can only follow the adjustment that slide block vertically carries out upper-lower position.
Further, described the five fingers shower nozzle, air channel flexible pipe, stepper motor screw mandrel slide unit guide rail are all respectively eight, being evenly divided into left and right two rows, being bolted on the support on both sides by combining.
Method and technology scheme of the present invention is: the control method of the flexible sprayer unit of a kind of wind spraying aid type based on plant morphological characteristics, comprises the steps:
Step 1, laser sensor constantly scans space, both sides, and obtain both sides plant range data information, the data after scanning are transferred to embedded control unit;
Step 2, embedded control unit processes the data detected, reject hash information, retain the range information of target plant, information combines the branches and leaves density information of size, shape and the various piece spraying speed acquisition target plant accordingly again, and calculates time delay of spraying;
Step 3, before spraying frame arrives target plant position, embedded control unit controls DC stepper motor driver module according to target plant characteristic information, and then control DC stepper motor, make each group of the five fingers shower nozzle be in best spray height, realize target precision when spraying and starting;
Step 4, at the end of time delay, embedded control unit controls multi-channel PWM solenoid valve driving module according to the feedback information of the characteristic information of target plant in conjunction with pressure sensor, flow sensor, realizes the object of variable rate spray.
Further, by the detection of laser sensor and the Data Management Analysis of embedded control unit in described step 1, obtain the characteristic information of target plant, spraying control module controls the upper-lower position of the five fingers shower nozzle by the DC stepper motor of control step motor lead screw slide unit guide rail according to the characteristic information of plant.
Further, in described step 1-4, embedded control unit has following deterministic process:
Laser sensor constantly scans the plant on both sides, if can't detect the existence of target plant in the ranks plant, when namely detected data are hash, does not then spray;
If when the packet that laser sensor detects is containing useful data, hash is rejected by algorithm, and then by obtaining the characteristic information of plant to useful data process, control unit controls each group of the five fingers shower nozzle according to the characteristic information of target plant to carry out upper-lower position adjustment and implements variable rate spray;
In the five fingers shower nozzle tracking target process, when the density of branches and leaves up and down of target plant is relatively uniform, control unit carries out upper-lower position adjustment according to the size of plant, shape information to four of plant respective side groups of the five fingers shower nozzles, and four groups of the five fingers shower nozzles are uniformly distributed along target plant region to be sprayed vertical direction when ensureing that target plant region to be sprayed all covers;
When target plant upper and lower branches and leaves density is more uneven, control unit carries out the upper-lower position adjustment of certain limit to plant branches and leaves density larger part according to four groups of the five fingers shower nozzle combinations of the corresponding side of target plant branches and leaves Density Distribution feature control objectives plant, follow spraying can the principle in the whole region to be sprayed of coverage goal plant simultaneously, the height of 4 groups of the five fingers shower nozzles of Reasonable adjustment target plant side, reach can to target plant density comparatively large regions carry out concentrating spraying, target plant region to be sprayed can be made again all by object that spread of spray covers.
The invention has the beneficial effects as follows, the flexible sprayer unit of a kind of wind spraying aid type based on plant morphological characteristics, by laser sensor, target plant is detected, embedded control unit is to the Data Analysis Services detected, draw the size of target plant, the branches and leaves density information of shape and each several part, then the upper-lower position residing for many group the five fingers shower nozzles is adjusted, it is made to remain on best spray position, thus improve the accuracy of spray pesticide, significantly reduce formulation rate, reach and increase influences of plant crown liquid deposition, improve nebulization efficiency, the object of preserving the ecological environment.By the adjustment to the five fingers shower nozzle spray height, the five fingers shower nozzle is sprayed in the spray position of the best, improves the utilization ratio of spray process Pesticides, decrease the waste of agricultural chemicals, alleviate the pollution of environment.
Accompanying drawing explanation
Fig. 1 is a kind of wind spraying aid type based on plant morphological characteristics flexible sprayer unit nozzle automatic tracking mechanism Facad structure schematic diagram;
Fig. 2 is a kind of wind spraying aid type based on plant morphological characteristics flexible sprayer unit nozzle automatic tracking mechanism lateral parts structural representation;
Fig. 3 is a kind of wind spraying aid type based on plant morphological characteristics flexible sprayer unit measurement and control system schematic diagram.
Wherein: 1-the five fingers shower nozzle; 2-support; 3-fixed transverse rod; 4-air channel flexible pipe; 5-stepper motor screw mandrel slide unit guide rail; 6-pipeline fastening piece; 7-the five fingers shower nozzle set bolt; 8-slide unit guide rail set bolt; 9-bracket fixing bolt; 10-cross bar set bolt; 11-support hold-down nut; 12-laser sensor; 13-embedded control unit; 14-touch-screen; 15-information acquisition module; 16-velocity sensor; 17-pressure sensor; 18-flow sensor; 19-sprays control module; 20-DC stepper motor driver module; 21-DC stepper motor A1 ~ A8; 22-multi-channel PWM solenoid valve driving module; 23-magnetic valve.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise one or more these features.In describing the invention, except as otherwise noted the implication of " multiple " is two or more.
As shown in Figure 1, based on a wind spraying aid type flexible sprayer unit nozzle automatic tracking mechanism Facad structure schematic diagram for plant morphological characteristics, be made up of parts such as the five fingers shower nozzle 1, support 2, fixed transverse rod 3, air channel flexible pipe 4, stepper motor screw mandrel slide unit guide rail 5, pipeline fastening piece 6, the five fingers shower nozzle set bolt 7, slide unit guide rail set bolt 8, bracket fixing bolt 9, cross bar set bolts 10.Described two supports are connected by bracket fixing bolt 9 with two fixed transverse rods, total four points of connection, and every root fixed transverse rod is horizontally fixed on sprayer by two cross bar set bolts 10, ensure the vertically stable of two supports; Air channel flexible pipe described in 8 is connected with 8 groups of the five fingers shower nozzles, and by each the five fingers shower nozzle and air channel flexible pipe be combined through pipeline fastening piece and 4 the five fingers shower nozzle set bolts 7 are fixed on the slide block of stepper motor screw mandrel slide unit guide rail, control system by the DC stepper motor of control step motor lead screw slide unit guide rail, and then makes the slide block being fixed with the five fingers shower nozzle on DC stepper motor screw mandrel slide unit guide rail, carry out the movement of upper-lower position; 8 stepper motor screw mandrel slide unit guide rails are be divided into two rows equally, often arrange 4, are bolted on two side stands respectively, so the combination of 8 the five fingers shower nozzles, air channel flexible pipe and stepper motor screw mandrel slide unit guide rails is fixed on support with 4.By above mechanism, nozzle spray height is adjusted, make each nozzle be in best spray position, and then performance variable spray action, the waste of agricultural chemicals, the efficiency of raising pesticide application can be reduced by this process and alleviate the pollution of environment.
As shown in Figure 2, based on a wind spraying aid type flexible sprayer unit automatic tracking mechanism lateral parts structural representation for plant morphological characteristics, be made up of parts such as the five fingers shower nozzle 1, support 2, fixed transverse rod 3, stepper motor screw mandrel slide unit guide rail 5, pipeline fastening piece 6, the five fingers shower nozzle set bolt 7, slide unit guide rail set bolt 8, bracket fixing bolt 9 and support hold-down nuts 11.Nozzle automatic tracking mechanism part-structure schematic diagram clearly illustrates the five fingers shower nozzle, stepper motor screw mandrel slide unit guide rail, support, the positional structure relation of fixed transverse rod and connected mode each other.The five fingers shower nozzle is fixed on the slide block on stepper motor screw mandrel slide unit guide rail by pipeline fastening piece and bolt, makes slide block and the five fingers shower nozzle have integraty, then the adjustment of slide block and the five fingers shower nozzle upper-lower position has synchronism.Stepper motor screw mandrel slide unit guide rail is bolted on the outside of support equally, and namely the five fingers shower nozzle, air channel flexible pipe and being combined through of stepper motor screw mandrel slide unit guide rail 5 are bolted to stent outer.Stepper motor screw mandrel slide unit guide rail is vertically fixed on support by 4 bolts, support is vertically fixed on a fixed transverse rod by bolts and nuts, and slide block is stuck in the base groove of stepper motor screw mandrel slide unit guide rail 5, therefore the five fingers shower nozzle can only follow the adjustment that slide block vertically carries out upper-lower position.The combination of each the five fingers shower nozzle, air channel flexible pipe and stepper motor screw mandrel slide unit guide rail has independence, for convenience detach and installation.
As shown in Figure 3, the flexible sprayer unit measurement and control system of wind spraying aid type based on plant morphological characteristics, is made up of the part such as laser sensor 12, embedded control unit 13, touch-screen 14, information acquisition module 15, velocity sensor 16, pressure sensor 17, flow sensor 18, spraying control module 19, DC stepper motor driver module 20, DC stepper motor 21, multi-channel PWM solenoid valve driving module 22, magnetic valve 23.
Embedded control unit 13, for the treatment of the plant range data detected, obtains target plant characteristic information, and controls DC stepper motor and magnetic valve; Laser sensor 12, for detecting both sides plant, obtains the range information of target plant; Touch-screen 14 is for man-machine interaction; Velocity sensor 16 is for detecting in real time spraying locomotive speed; Pressure sensor 17 and the detection of flow sensor 18 for spray parameters pressure versus flow; The DC stepper motor driver module 20 and the multi-channel PWM solenoid valve driving module 22 that are included in spraying control module 19 are respectively used to carry out drived control to DC stepper motor 21 and magnetic valve 23.Constantly both sides plant is scanned by laser sensor 12, send the target plant range information scanned to embedded control unit 13, embedded control unit 13 combines the speed that sprays again and obtains target plant size, shape and branches and leaves density information, spraying control module 19 controls the DC stepper motor 21 for adjusting spray height according to target plant characteristic information, the five fingers shower nozzle is made to be in best spray position, then control unit is according to target plant characteristic information and in conjunction with pressure sensor 17, flow sensor 18 feedack controls multi-channel PWM solenoid valve driving module 22, realize variable rate spray.
The course of work of the flexible sprayer unit of a kind of wind spraying aid type based on plant morphological characteristics of the present invention is illustrated below in conjunction with Fig. 1 and Fig. 3.Laser sensor constantly scans the plant on both sides, if can't detect the existence of target plant in the ranks plant, when namely detected data are hash, does not then spray; If when the packet that laser sensor detects is containing useful data, hash is rejected by algorithm, again useful data, the i.e. range information of target plant, be transferred to embedded control unit, embedded control unit combines the speed that sprays again and forms target plant 3-D view, the branches and leaves density information of target plant various piece is calculated through feature extracting method, thus the density information of the size of acquisition target plant, shape and each several part, spray time delay in conjunction with velocity sensor calculating place simultaneously.Spray in time delay, spraying control module, according to the upper-lower position of characteristic information adjustment many groups the five fingers shower nozzle of target plant, realizes the object of nozzle automatically track target plant.When the density of branches and leaves up and down of target plant is relatively uniform, four groups of the five fingers shower nozzles of plant respective side can carry out upper-lower position adjustment according to the size of plant, shape under control of the control system, and four groups of the five fingers shower nozzles are uniformly distributed along plant region to be sprayed vertical direction when ensureing that target plant region to be sprayed all covers; When target plant upper and lower branches and leaves density is more uneven, spraying control module carries out the upper-lower position adjustment of certain limit to plant branches and leaves density larger part according to four groups of the five fingers shower nozzle combinations of the corresponding side of target plant branches and leaves Density Distribution feature control objectives plant, follow spraying can the principle in the whole region to be sprayed of coverage goal plant simultaneously, the height of 4 groups of the five fingers shower nozzles of Reasonable adjustment target plant side, reach can to target plant branches and leaves density comparatively large regions carry out concentrating spraying, target plant region to be sprayed can be made again all by object that spread of spray covers.Spray after terminating time delay, embedded control unit then controls multi-channel PWM solenoid valve driving module in conjunction with pressure sensor, flow sensor feedack according to the characteristic information of target plant, carries out variable rate spray.By the flexible sprayer unit of so a kind of wind spraying aid type based on plant morphological characteristics can improve spray process Pesticides utilization ratio, reduce the waste of agricultural chemicals, alleviate the pollution of environment, contribute to improving the automatization level of agricultural and the sustainable development of agricultural simultaneously.
Above to the flexible sprayer unit of the wind spraying aid type based on plant morphological characteristics provided by the present invention and method thereof and to this has been detailed introduction, apply specific case herein to set forth principle of the present invention and embodiment, be noted that, the foregoing is only preferred embodiment of the present invention, not in order to limit the present invention.All any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1., based on the flexible sprayer unit of wind spraying aid type of plant morphological characteristics, it is characterized in that, comprise the five fingers shower nozzle automatic tracking mechanism, measurement and control system;
Described the five fingers shower nozzle automatic tracking mechanism comprises the five fingers shower nozzle (1), support (2), fixed transverse rod (3), air channel flexible pipe (4), stepper motor screw mandrel slide unit guide rail (5), pipeline folder (6); Two vertical racks (2) and two fixed transverse rods (3) are by bolt and nut compact siro spinning technology, and have four points of connection, every root fixed transverse rod (3) is horizontally fixed on sprayer by bolt; Multiple described air channel flexible pipe (4) respectively with organize the five fingers shower nozzle (1) more and be connected one to one, and being passed through pipeline fastening piece (6) is fixed on the slide block of stepper motor screw mandrel slide unit guide rail (5), pipeline fastening piece (6) and slide block are fixed by bolt; The combination of many groups the five fingers shower nozzle (1), air channel flexible pipe (4) and stepper motor screw mandrel slide unit guide rail (5) is divided into left and right two rows, is separately fixed on the support (2) on both sides;
Described measurement and control system comprises laser sensor (12), embedded control unit (13), touch-screen (14), information acquisition module (15), velocity sensor (16), pressure sensor (17), flow sensor (18), spraying control module (19), DC stepper motor driver module (20), DC stepper motor A1 ~ A8 (21), multi-channel PWM solenoid valve driving module (22), magnetic valve (23);
Described laser sensor (12), touch-screen (14), information acquisition module (15) and spraying control module (19) are all connected with embedded control unit (13), described information acquisition module (15) respectively with velocity sensor (16), pressure sensor (17), flow sensor (18) is connected, described DC stepper motor driver module (20) and multi-channel PWM solenoid valve driving module (22) are included in spraying control module (19), described DC stepper motor driver module (20) is connected with DC stepper motor A1 ~ A8 (21), described multi-channel PWM solenoid valve driving module (22) is connected with magnetic valve (23).
2. the flexible sprayer unit of a kind of wind spraying aid type based on plant morphological characteristics according to claim 1, it is characterized in that, described stepper motor screw mandrel slide unit guide rail (5) adjusts the upper-lower position of the five fingers shower nozzle (1) and air channel flexible pipe (4) connector under control of the control system in real time.
3. the flexible sprayer unit of a kind of wind spraying aid type based on plant morphological characteristics according to claim 1, it is characterized in that, the connector of the five fingers shower nozzle (1) and air channel flexible pipe (4) is bolted on the slide block of stepper motor screw mandrel slide unit guide rail (5) along the end of the five fingers shower nozzle by four by described pipeline fastening piece (6), make slide block and the five fingers shower nozzle (1) have integraty, the adjustment of slide block and the five fingers shower nozzle (1) upper-lower position has synchronism.
4. the flexible sprayer unit of a kind of wind spraying aid type based on plant morphological characteristics according to claim 1, it is characterized in that, described stepper motor screw mandrel slide unit guide rail (5) is vertically fixed on support (2) by four bolts, and slide block is stuck in the base groove of stepper motor screw mandrel slide unit guide rail (5), the five fingers shower nozzle (1) can only follow the adjustment that slide block vertically carries out upper-lower position.
5. the flexible sprayer unit of a kind of wind spraying aid type based on plant morphological characteristics according to claim 1, it is characterized in that, described the five fingers shower nozzle (1), air channel flexible pipe (4), stepper motor screw mandrel slide unit guide rail (5) are all respectively eight, evenly being divided into left and right two rows by combining, being bolted on the support (2) on both sides.
6., based on a control method for the flexible sprayer unit of the wind spraying aid type based on plant morphological characteristics according to claim 1, it is characterized in that, comprise the steps:
Step 1, laser sensor (12) constantly scans space, both sides, and obtain the range data information of both sides plant, the data after scanning are transferred to embedded control unit (13);
Step 2, embedded control unit (13) processes the data detected, reject hash information, retain the range information of target plant, information combines the branches and leaves density information of size, shape and the various piece spraying speed acquisition target plant accordingly again, and calculates time delay of spraying;
Step 3, before spraying frame arrives target plant position, embedded control unit (13) controls DC stepper motor driver module according to target plant characteristic information, and then control DC stepper motor (21), make each group of the five fingers shower nozzle be in best spray height, realize target precision when spraying and starting;
Step 4, at the end of time delay, embedded control unit (13) controls multi-channel PWM solenoid valve driving module (22) according to the feedback information of the characteristic information of target plant in conjunction with pressure sensor (17), flow sensor (18), realizes the object of variable rate spray.
7. a kind of control method based on the flexible sprayer unit of the wind spraying aid type based on plant morphological characteristics according to claim 1 according to claim 6, it is characterized in that, by the detection of laser sensor (12) and the Data Management Analysis of embedded control unit (13) in described step 1, obtain the characteristic information of target plant, spraying control module (19) controls the upper-lower position of the five fingers shower nozzle (1) by the DC stepper motor (21) of control step motor lead screw slide unit guide rail (5) according to the characteristic information of plant.
8. a kind of control method based on the flexible sprayer unit of the wind spraying aid type based on plant morphological characteristics according to claim 1 according to claim 6, it is characterized in that, in described step 1-4, embedded control unit (13) has following deterministic process:
Laser sensor (12) constantly scans the plant on both sides, if can't detect the existence of target plant in the ranks plant, when namely detected data are hash, does not then spray;
If when the packet that laser sensor (12) detects is containing useful data, hash is rejected by algorithm, and then by obtaining the characteristic information of plant to useful data process, control unit controls each group of the five fingers shower nozzle according to the characteristic information of target plant to carry out upper-lower position adjustment and implements variable rate spray;
In the five fingers shower nozzle tracking target process, when the density of branches and leaves up and down of target plant is relatively uniform, control unit carries out upper-lower position adjustment according to the size of plant, shape information to four of plant respective side groups of the five fingers shower nozzles, and four groups of the five fingers shower nozzles are uniformly distributed along target plant region to be sprayed vertical direction when ensureing that target plant region to be sprayed all covers;
When target plant upper and lower branches and leaves density is more uneven, control unit carries out the upper-lower position adjustment of certain limit to plant branches and leaves density larger part according to four groups of the five fingers shower nozzle combinations of the corresponding side of target plant branches and leaves Density Distribution feature control objectives plant, follow spraying can the principle in the whole region to be sprayed of coverage goal plant simultaneously, the height of 4 groups of the five fingers shower nozzles of Reasonable adjustment target plant side, reach can to target plant density comparatively large regions carry out concentrating spraying, target plant region to be sprayed can be made again all by object that spread of spray covers.
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