CN106106416A - A kind of intelligent walking pesticide spraying system and gather data, make up a prescription and spray method - Google Patents
A kind of intelligent walking pesticide spraying system and gather data, make up a prescription and spray method Download PDFInfo
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- CN106106416A CN106106416A CN201610709162.1A CN201610709162A CN106106416A CN 106106416 A CN106106416 A CN 106106416A CN 201610709162 A CN201610709162 A CN 201610709162A CN 106106416 A CN106106416 A CN 106106416A
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- 238000005507 spraying Methods 0.000 title claims abstract description 183
- 239000000575 pesticide Substances 0.000 title claims abstract description 109
- 239000007921 spray Substances 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 9
- 239000003814 drug Substances 0.000 claims abstract description 99
- 238000004659 sterilization and disinfection Methods 0.000 claims abstract description 40
- 238000004891 communication Methods 0.000 claims abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 50
- 239000002689 soil Substances 0.000 claims description 49
- 238000003860 storage Methods 0.000 claims description 18
- 238000005286 illumination Methods 0.000 claims description 14
- 238000002347 injection Methods 0.000 claims description 13
- 239000007924 injection Substances 0.000 claims description 13
- 229940079593 drug Drugs 0.000 claims description 12
- 238000012377 drug delivery Methods 0.000 claims description 7
- 239000007788 liquid Substances 0.000 claims description 7
- 238000013519 translation Methods 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 150000003839 salts Chemical class 0.000 claims description 3
- 241000607479 Yersinia pestis Species 0.000 abstract description 12
- 230000006378 damage Effects 0.000 abstract description 5
- 201000010099 disease Diseases 0.000 abstract description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract description 4
- 230000001954 sterilising effect Effects 0.000 abstract 4
- 239000003337 fertilizer Substances 0.000 description 7
- 238000003973 irrigation Methods 0.000 description 7
- 230000002262 irrigation Effects 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 5
- 241000238631 Hexapoda Species 0.000 description 4
- 230000000249 desinfective effect Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 235000016709 nutrition Nutrition 0.000 description 3
- 230000035764 nutrition Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 239000003621 irrigation water Substances 0.000 description 2
- 230000005541 medical transmission Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 240000008042 Zea mays Species 0.000 description 1
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 1
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 1
- 239000003905 agrochemical Substances 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 235000005822 corn Nutrition 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003631 expected effect Effects 0.000 description 1
- 230000002147 killing effect Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000018343 nutrient deficiency Nutrition 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000008685 targeting Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The present invention relates to a kind of intelligent walking pesticide spraying system and gather data, make up a prescription and spray method, belonging to pesticide spraying system field.The present invention is arranged on adjacent two pylon with spraying the two ends height adjustable of medicine main pipeline, arranges electromagnetic valve on spray medicine main pipeline and spray medicine branch pipe(tube), controls spray medicine by controlling machine, it is achieved intelligent walking of the present invention spray medicine；By arranging the walking passageway sterilization main line for walking passageway sterilization, the walking passageway sterilization branch pipe(tube) being provided with on each pylon and atomizer, the sterilization of the crop spraying medicine to pylon road wheel, walking passageway and walking passageway both sides can be realized, solve the pest and disease damage propagation problem that walking passageway brings；Control machine is connected with middle control terminal radio communication, can realize remotely controlling the present invention by middle control terminal and walk collection crop data, controls dispensing system according to the crop data gathered and makes up a prescription and walk spray medicine；The present invention also provides for a kind of spray method, it is achieved intelligent acquisition data, makes up a prescription and sprays medicine.
Description
Technical Field
The invention belongs to the field of medicine spraying systems, and particularly relates to an intelligent walking medicine spraying system and a data acquisition, medicine dispensing and medicine spraying method thereof.
Background
The truss type sprinkling irrigation machine is commonly used in large-scale planting bases and can be divided into a horizontal moving type sprinkling irrigation machine and a central fulcrum type sprinkling irrigation machine, irrigation water is conveyed and distributed to the field through sprinkling irrigation equipment, the irrigation water works in a controlled state, and water can be supplied according to water supply conditions and a crop water demand law; the sprinkling irrigation system has high degree of mechanization, does not need manual ridging and canal repairing, can greatly reduce the irrigation labor intensity and save a large amount of labor; the utilization rate of cultivated land is improved, the occupied area of ditches and ridges in the field can be greatly reduced by adopting spray irrigation, and the actual sowing area is increased.
However, the sprinkler in the prior art is suitable for watering a large amount of soil, the proportion of the water on the leaf surface is extremely small, the atomization degree is low, although the fertilizer or the pesticide can be applied to the soil along with the water, the sprinkler is not suitable for spraying the pesticide and the fertilizer on the leaf surface, because the flow control, the nozzle design, the walking mode and the like of the truss sprinkler in the prior art are designed aiming at the water spraying, the existing water spraying mode is rough and has larger water consumption, when the sprinkler is applied to the pesticide spraying, the pesticide spraying is caused to be the same as the water spraying, the pesticide spraying is caused to be excessive to injure crops, and the fine and uniform pesticide spraying is difficult to realize, so the water spraying pipeline of the existing sprinkler is difficult to apply to the pesticide spraying on the leaf surfaces of the crops due to the.
In addition, when the truss sprinkler travels in the field, traveling equipment rolls the soil to form a plurality of traveling channels, and meanwhile, crops on two sides of the traveling channels are inevitably scraped when the truss sprinkler travels, so that the crops on two sides of the traveling channels are damaged. And to the crops that receive the injury on walking passageway and walking passageway both sides, but seldom disinfection spouts the medicine, leads to the pest and disease to spread through the crops that receive the injury on walking passageway and walking passageway both sides for spout the medicine effect and discount greatly.
Meanwhile, although there are cases in the aspect of remote intelligent management of crops, the monitoring detection device is only fixedly arranged at one or more positions of the monitoring area, so that the real condition of crops is hardly reflected by the data, and the dynamic collection of the crop state data in the crop area is still acquired by manually walking in the crop area.
Disclosure of Invention
In view of this, the present invention aims to overcome the defects of the prior art, and provides an intelligent walking pesticide spraying system and a method for collecting data, dispensing and spraying pesticide, wherein pesticide spraying is remotely controlled in a linkage manner or individually controlled, and pest situations of crops and soil data can be collected simultaneously.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent walking pesticide spraying system comprises a plurality of towers, wherein walking wheels and a driving motor are arranged at the bottoms of the towers and are connected through a transmission device;
the intelligent walking pesticide spraying system also comprises a plurality of pesticide spraying main pipelines, a plurality of atomizing nozzles, a plurality of electromagnetic valves and a control machine; the main spraying pipeline is arranged between the adjacent towers, two ends of the main spraying pipeline are respectively arranged on the two adjacent towers, the heights of the two ends of the main spraying pipeline are adjustable, the main spraying pipelines are connected through a flexible connecting pipeline, at least one spraying branch pipeline is arranged on the main spraying pipeline between the adjacent towers, and at least one atomizing spray head is arranged at the spraying end of the spraying branch pipeline;
the electromagnetic valve is arranged at the liquid inlet end of the main pesticide spraying pipeline between the adjacent towers, and the driving motor and the electromagnetic valve are respectively connected to the control machine.
Further, intelligence walking spouts medicine system still includes walking passageway disinfection trunk line, walking passageway disinfection trunk line is followed spout medicine trunk line direction setting and is in on the pylon, still be equipped with walking passageway disinfection branch pipe way on the pylon, walking passageway disinfection branch pipe way is connected to walking passageway disinfection trunk line, walking passageway disinfection branch pipe says spout the medicine end and is equipped with at least one atomizer, walking passageway disinfection trunk line's feed liquor end is equipped with the solenoid valve, the solenoid valve is connected to the controller.
Furthermore, the spraying branch pipeline and the walking channel disinfection branch pipeline are respectively provided with the electromagnetic valve, and the electromagnetic valves are connected to the controller.
Furthermore, the intelligent walking pesticide spraying system further comprises a central control terminal, wherein the central control terminal and the control machine are both provided with wireless communication modules, and the control machine is in wireless communication connection with the central control terminal.
Furthermore, the intelligent walking pesticide spraying system also comprises a telescopic soil sensor, a temperature and humidity sensor, an illumination sensor, a rainfall sensor and a wind speed sensor which can be inserted into soil, wherein the telescopic soil sensor, the temperature and humidity sensor, the illumination sensor, the rainfall sensor and the wind speed sensor are respectively connected to the control machine;
wherein,
the telescopic soil sensor is arranged at the bottom of the tower and comprises one or more of a soil temperature and humidity sensor, a soil pH value sensor, a soil water content sensor and a soil salinity sensor;
the temperature and humidity sensor, the illumination sensor, the rainfall sensor and the wind speed sensor are respectively arranged on the tower.
Furthermore, the intelligent walking pesticide spraying system further comprises at least one camera device, and the camera device is arranged on the tower.
Further, intelligence walking spouts medicine system still includes medicine dispensing system, medicine dispensing system includes a plurality of medicine dispensers, a plurality of medicine dispensing pump, medicine storage device, water injection pump and defeated medicine pump, medicine dispensing device the medicine dispensing pump with the medicine storage device loops through the pipe connection, the water injection pump passes through pipe connection to the medicine storage device, the medicine storage device passes through pipe connection to defeated medicine pump, defeated medicine pump passes through pipe connection to the head end on the pylon the feed liquor end interface of spouting the medicine trunk line and/or the feed liquor end interface of walking passageway disinfection trunk line, the medicine dispensing pump the water injection pump with defeated medicine pump is connected to respectively the controller.
Further, a pressure release valve is further arranged on a pipeline between the medicine conveying pump and the liquid inlet end interface of the main medicine spraying pipeline at the head end, and the pressure release interface of the pressure release valve is connected to the medicine storage device through a pipeline.
Furthermore, the intelligent walking pesticide spraying system is a translation pesticide spraying system or a central fulcrum type pesticide spraying system.
A method for collecting data, dispensing and spraying medicine adopts the intelligent walking medicine spraying system, and comprises the following specific steps:
s1, data acquisition and analysis:
the intelligent walking pesticide spraying system walks to collect one or more data of crop images, soil temperature and humidity, soil water content, soil pH value, soil salt content, air temperature and humidity, illumination intensity, wind speed and rainfall, and the control machine wirelessly transmits the data to the central control terminal;
s2, dispensing step:
the central control terminal analyzes the data and determines a drug delivery scheme, and the control machine controls the corresponding drug dispenser to inject drugs into the drug storage device according to the drug delivery scheme and controls a water injection pump to inject water into the drug storage device;
s3, spraying:
the intelligent walking pesticide spraying system walks to spray pesticide, and the ratio of pesticide spraying time of the atomizing spray head to walking time of the walking wheels is 0.01-1: 1.
By adopting the technical scheme, the invention at least has the following beneficial effects:
the invention provides an intelligent walking type pesticide spraying system aiming at the pesticide spraying defect of a spraying machine in the prior art, wherein a pesticide spraying main pipeline is arranged between two adjacent towers, two ends of the pesticide spraying main pipeline are respectively arranged on the two adjacent towers, the heights of the two ends of the pesticide spraying main pipeline are adjustable, and the intelligent walking pesticide spraying can be realized by arranging electromagnetic valves on the pesticide spraying main pipeline and the pesticide spraying branch pipeline and controlling pesticide spraying by using a controller; the invention is also provided with a walking channel disinfection main pipeline aiming at walking channel disinfection, and the walking channel disinfection branch pipelines and the atomizing nozzles arranged on each tower can realize the pesticide spraying disinfection of the tower walking wheels, the walking channels and the crops at the two sides of the walking channels, thereby solving the problem of pest and disease transmission caused by the walking channels; meanwhile, a control machine is in wireless communication connection with a central control terminal, the walking of the intelligent agricultural chemical spraying machine can be realized by controlling the central control terminal to collect crop data, the dispensing of the dispensing system is controlled according to the collected crop data, and then the medicine is sprayed by walking; the invention also provides a medicine spraying method, which realizes intelligent data acquisition, medicine dispensing and medicine spraying.
Drawings
FIG. 1 is a schematic front view of an intelligent walking pesticide spraying system of the present invention;
FIG. 2 is a schematic side view of an intelligent walking pesticide spraying system of the present invention;
FIG. 3 is a schematic view of a control system of the intelligent walking pesticide spraying system of the present invention;
fig. 4 is a schematic diagram of a dispensing system of the intelligent walking type medicine spraying system.
In the figure: 1. a tower; 2. a traveling wheel; 3. a drive motor; 4. a main pesticide spraying pipeline; 5. an atomizing spray head; 6. an electromagnetic valve; 7. a control machine; 8. spraying a branch pipeline; 9. disinfecting the main pipeline through the walking channel; 10. a walking channel disinfects and sprays a branch pipeline; 11. a central control terminal; 12. a wireless communication module; 13. a telescoping soil sensor; 14. a temperature and humidity sensor; 15. an illumination sensor; 16. a rainfall sensor; 17. a wind speed sensor; 18. a camera device; 19. a dispensing system; 1901. a medicine dispenser; 1902. a dispensing pump; 1903. a medicine storage device; 1904. a water injection pump; 1905. a drug delivery pump; 1906. and (4) releasing the valve.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
As shown in fig. 1, the invention provides an intelligent walking pesticide spraying system, which comprises a plurality of towers 1, wherein the bottoms of the towers 1 are provided with walking wheels 2 and driving motors 3, and the walking wheels 2 are connected with the driving motors 3 through transmission devices;
the intelligent walking pesticide spraying system also comprises a pesticide spraying main pipeline 4, an atomizing spray head 5, an electromagnetic valve 6 and a control machine 7; the spraying main pipeline 4 is arranged between the adjacent towers 1, two ends of the spraying main pipeline 4 are respectively arranged on the two adjacent towers 1, the heights of the two ends of the spraying main pipeline 4 are adjustable, the spraying main pipelines 4 are connected through a flexible connecting pipeline, at least one spraying branch pipeline 8 is arranged on the spraying main pipeline 4 between the adjacent towers 1, and at least one atomizing nozzle 5 is arranged at the spraying end of the spraying branch pipeline 8;
the electromagnetic valve 6 is arranged at the liquid inlet end of the main pesticide spraying pipeline 4 between the adjacent towers 1, and the driving motor 3 and the electromagnetic valve 6 are respectively connected to the control machine 7.
The invention aims at solving the problems that the truss sprinkler can only spray water and spray water in an rough manner in the prior art, for example, the sprinkler can only spray water when running intermittently, water is sprayed on crops in a water spraying or water spraying mode, the nozzles at all positions are simultaneously opened and cannot be independently controlled, the defects are applied to the aspect of spraying, the spraying of the crops is uneven, the crops are injured due to excessive spraying, the expected effect of spraying cannot be achieved due to insufficient spraying, and the fine operation spraying work cannot be carried out by using a water spraying pipeline in the prior art. Based on the above-mentioned disadvantages and the determinations in the background of the invention, the invention provides an intelligent walking type pesticide spraying system, wherein at least one pesticide spraying branch pipe 6 is arranged on the main pesticide spraying pipe 5 between the adjacent towers 1, at least one atomizing nozzle 7 is arranged at the pesticide spraying end of the pesticide spraying branch pipe 6, an electromagnetic valve 8 is arranged at the liquid inlet end of the main pesticide spraying pipe 5, the intelligent walking type pesticide spraying system further comprises a controller 8, and the motor 3 and the electromagnetic valve 8 are connected to the controller 9, so that the intelligent walking type pesticide spraying system can realize intelligent walking type pesticide spraying and control the pesticide spraying amount of the atomizing nozzles at each position, and the precise and uniform pesticide spraying is realized.
As the sprinkler system for spraying water in the prior art has a translation sprinkler and a central fulcrum type sprinkler, the intelligent walking type spraying system of the invention can be designed as a translation type spraying system as shown in fig. 1, and can also be designed as a central fulcrum type spraying system. Different from the integral advancing mode of the translation type pesticide spraying system, the tower frame at the head end of the center fulcrum type pesticide spraying system is designed into a rotating shaft type and is fixed on the ground, and the pesticide spraying system integrally rotates around the rotating shaft to walk to spray pesticide.
It is adjacent still be equipped with between the pylon 1 spout medicine trunk line 4, spout the both ends of medicine trunk line 4 and set up respectively on two adjacent pylons 1, spout the both ends height-adjustable of medicine trunk line 4. The adjustable mode can be realized by arranging hooks oppositely at the same height on the adjacent towers 1, specifically arranging a plurality of groups of opposite hooks according to the heights of different crops, and hanging the two ends of the main pesticide spraying pipeline 4 on the hooks with proper height according to the height of the crops to be sprayed.
As another height adjusting mode, a sliding rail device with adjustable height can be oppositely arranged on the adjacent tower, and two ends of the main pesticide spraying pipe 4 can be fixed at the adjusting ends of the sliding rail device, so that the lifting adjustment of the main pesticide spraying pipe on the adjacent tower is realized, and the device is suitable for crops with different heights. In addition, the slide rail device is preferably designed as an electric slide rail device and is connected to the control machine, so that all the slide rail devices can be adjusted through the control machine, and manual adjustment one by one is avoided.
The height adjustment of the main pesticide spraying pipe 4 is not limited to the above-mentioned scheme, and can be realized by other modes, such as a buckle and the like.
As shown in fig. 2, further, medicine system is spouted in intelligence walking still includes walking passageway disinfection trunk line 9, walking passageway disinfection trunk line 9 is followed spout medicine trunk line direction 4 and is set up on the pylon 1, still be equipped with walking passageway disinfection branch pipe way 10 on the pylon 1, walking passageway disinfection branch pipe way 10 is connected to walking passageway disinfection trunk line 9, the medicine end of spouting of walking passageway disinfection branch pipe way 10 is equipped with at least one atomizer 5, the inlet end of walking passageway disinfection trunk line 9 is equipped with solenoid valve 6, solenoid valve 6 is connected to controller 7.
It is understood that the position of the atomizer 5 on the tower 1 for disinfecting the walking path can be specifically set according to the purpose of spraying and disinfecting. For example: the spraying disinfection of the walking wheels can be set while the spraying disinfection of the walking channels is set, in addition, the tower frame 1 inevitably scrapes and scratches crops on two sides of the walking channels during walking, so that the crops on two sides of the walking channels are damaged, and the spraying disinfection of the crops on two sides of the walking channels can also be set. The arrangement position of the atomizing nozzle 5 on the tower frame 1 is not limited to the above example, and the atomizing nozzle can be specifically arranged according to actual conditions and requirements, so that the problem of pest and disease transmission caused by a walking channel is solved.
As shown in fig. 1 and 2, the spraying branch pipe 8 and the walking path disinfecting branch pipe 10 are respectively provided with the electromagnetic valve 6, and the electromagnetic valve 6 is connected to the controller 7.
It can be understood that the electromagnetic valves 6 are respectively arranged on the spraying branch pipeline 8 and the walking channel disinfection branch pipeline 10, so that the independent control of each branch pipeline can be realized, the spraying of the spraying branch pipeline 8 and the walking channel disinfection branch pipeline 10 at different positions of the invention can be further independently controlled, and the fine and uniform spraying of the invention can be further realized. Meanwhile, when the invention is a central fulcrum type truss pesticide spraying system, the walking distance and the walking time of each atomizer are different, so that the pesticide spraying time of each atomizer is controlled by the electromagnetic valve, and the integral pesticide spraying of crops can be realized.
As shown in fig. 1, as a further improvement, the intelligent walking pesticide spraying system further includes a central control terminal 11, the central control terminal 11 and the control machine 7 are both provided with a wireless communication module 12, and the control machine 7 and the central control terminal 11 are in wireless communication connection.
Further, as shown in fig. 3, in order to implement the means for automatically collecting crop data by the intelligent control system of the present invention, the intelligent walking pesticide spraying system further includes a telescopic soil sensor 13 capable of being inserted into soil, a temperature and humidity sensor 14, an illumination sensor 15, a rainfall sensor 16 and an air velocity sensor 17, wherein the telescopic soil sensor 13, the temperature and humidity sensor 14, the illumination sensor 15, the rainfall sensor 16 and the air velocity sensor 17 are respectively connected to the controller 7;
wherein,
the telescopic soil sensor 13 is arranged at the bottom of the tower frame 1, and the telescopic soil sensor 13 comprises one or more of a soil temperature and humidity sensor, a soil pH value sensor, a soil water content sensor and a soil salinity sensor;
the temperature and humidity sensor 14, the illumination sensor 15, the rainfall sensor 16 and the wind speed sensor 17 are respectively arranged on the tower frame 1.
It can be understood that by arranging various sensors, the invention can acquire various soil data, temperature and humidity data, illumination data, rainfall data and wind speed data in a traveling manner, and the sensors are fixedly arranged at one or more positions in comparison, so that the acquired data only aim at the fixed positions. The invention acquires data dynamically in a traveling way, and the data has higher validity than data acquired at a fixed position and is data required by data analysis.
As shown in fig. 1 and 2, the intelligent walking pesticide spraying system further comprises at least one camera 18, and the camera 18 is disposed on the tower 1.
It can be understood that when crop data is collected by manual camera shooting, when facing crops with higher height, such as corn, the manually collected data is only a local part, and the plant condition is difficult to reflect on the whole, and even the pest and disease damage area is possibly missed when the data is collected. In the invention, the position of the camera 18 is arranged at the top of the tower as shown in fig. 2, so that the camera 18 is higher than the height of crops, the whole condition of the leaf surfaces of the crop area can be obtained, the pest and disease damage area and the nutrient deficiency area of the leaf surfaces of the crops can be more easily acquired, and the purposes of targeting and pertinence are achieved. The position of the camera device is not limited to the position at the top of the tower as shown in fig. 2, and can also be arranged at the middle or the bottom of the tower 1, and the like, and can be arranged at an optimal position for conveniently collecting the crop condition according to the requirement. The camera device 18 can dynamically acquire data in a traveling mode, the condition of the leaf surface of the crop can be known in a more targeted mode through remote control, and as a preferred scheme of the camera device 18, the camera device 18 can be a camera rotating type camera device and/or a focusing type camera device.
As shown in fig. 3 and 4, the dispensing system 19 includes a plurality of dispensers 1901, a plurality of dispensing pumps 1902, a dispenser 1903, a water injection pump 1904, and a medicine delivery pump 1905, the dispensers 1901, the dispensing pumps 1902 and the dispenser 1903 sequentially pass through the pipe connection, the water injection pump 1904 is connected to the dispenser 1903 through the pipe, the dispenser 1903 is connected to the medicine delivery pump 1905 through the pipe connection, the medicine delivery pump 1905 is connected to the head end of the tower 1 at the inlet port of the main medicine delivery pipeline 4 and/or at the inlet port of the main walking channel disinfection pipeline 9, and the dispensing pumps 1902, the water injection pump 1905, and the medicine delivery pump 1904 are respectively connected to the controller 7.
Because of control atomizer 5 6 switching quantity of solenoid valve can constantly change, for guaranteeing to spout medicine pressure even, can defeated medicine pump 1905 and head end still be equipped with relief valve 1906 between the medicine end interface of advancing of spouting medicine trunk line 4, relief valve 1906's pressure release interface passes through the pipe connection to store ware 1903. When the medicine was spouted in the walking, spout medicine trunk line 4 different positions atomizer 5 spouts the medicine time and passes through 6 controls of solenoid valve, works as spout medicine trunk line 4 upward work when atomizer 5 reduces, pipeline pressure can rise, and partial liquid medicine accessible the pressure release mouth of relief valve 1906 flows back in the storage ware 1903, can make the intraductal pressure be in controlled like this, further guarantees to spout the homogeneity of medicine. In addition, the constant pressure pump can be used for replacing the pressure relief backflow device according to requirements.
People can remotely control functional devices such as the dispensing device, the water spraying device, the pesticide spraying device, the camera device, the soil sensors and the like to work independently or in a linkage manner through the central control terminal 11, and can obtain various data of crops in time without personally arriving at the site. When water is sprayed during walking, the insect pest situation and the nutrition situation of the leaf surface of the crop are monitored by controlling the camera 18, the insect pest type and the nutrient missing on the leaf surface of the crop are known in time, and the dispensing system 19 is controlled to dispense the medicine in time; if the camera device 18 and the telescopic soil sensor 13 are controlled to work in a linkage mode while pesticide spraying is carried out, various data of soil in a walking area are collected while the pest killing effect is monitored in real time, and the nutrition condition of crop soil is known in time through remote data analysis; under the condition that water spraying and pesticide spraying are not needed, the walking monitoring data collection work can be realized, specifically, the camera device 18 is controlled to collect the conditions of insect pests on the leaf surface and nutrition on the leaf surface, and the telescopic soil sensor 13 is controlled to collect data such as moisture, salinity, PH value and the like of soil in a walking area.
In addition, the intelligent walking type pesticide spraying system can control pesticide spraying and data collecting monitoring work of the intelligent walking type pesticide spraying systems through the central control terminal, so that pesticide spraying and data collecting monitoring work of large-area crops are facilitated, the distribution of water, fertilizer, insect pests and the like of the large-area crops can be integrally known, and more effective measures can be taken.
In addition, the invention can also be used for spraying water or fertilizer, and when the invention is used for spraying water or fertilizer, compared with the extensive water spraying of the sprinkler in the prior art, the invention can realize fine water spraying and fertilizer spraying, so that the crops can uniformly receive water and fertilizer, and further the water is saved.
The working mode of the intelligent walking pesticide spraying system is not limited to the embodiment listed above, and the intelligent walking pesticide spraying system provided by the invention can be made into an embodiment suitable for crops according to the specific practical situation of local crops.
The invention provides a method for collecting data, dispensing and spraying medicine, which adopts the intelligent walking medicine spraying system and comprises the following specific steps:
s1, data acquisition and analysis:
the intelligent walking pesticide spraying system walks to collect one or more data of crop images, soil temperature and humidity, soil water content, soil pH value, soil salt content, air temperature and humidity, illumination intensity, wind speed and rainfall, and the control machine wirelessly transmits the data to the central control terminal;
s2, dispensing step:
the central control terminal analyzes the data and determines a drug delivery scheme, and the control machine controls the corresponding drug dispenser to inject drugs into the drug storage device according to the drug delivery scheme and controls a water injection pump to inject water into the drug storage device;
s3, spraying:
the intelligent walking pesticide spraying system walks to spray pesticide, and the ratio of pesticide spraying time of the atomizing spray head to walking time of the walking wheels is 0.01-1: 1.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An intelligent walking pesticide spraying system comprises a plurality of towers, wherein walking wheels and a driving motor are arranged at the bottoms of the towers and are connected through a transmission device;
the method is characterized in that:
the intelligent walking pesticide spraying system also comprises a plurality of pesticide spraying main pipelines, a plurality of atomizing nozzles, a plurality of electromagnetic valves and a control machine; the main spraying pipeline is arranged between the adjacent towers, two ends of the main spraying pipeline are respectively arranged on the two adjacent towers, the heights of the two ends of the main spraying pipeline are adjustable, the main spraying pipelines are connected through a flexible connecting pipeline, at least one spraying branch pipeline is arranged on the main spraying pipeline between the adjacent towers, and at least one atomizing spray head is arranged at the spraying end of the spraying branch pipeline;
the electromagnetic valve is arranged at the liquid inlet end of the main pesticide spraying pipeline between the adjacent towers, and the driving motor and the electromagnetic valve are respectively connected to the control machine.
2. The intelligent walking pesticide spraying system according to claim 1, characterized in that: medicine system is spouted in intelligence walking still includes walking passageway disinfection trunk line, walking passageway disinfection trunk line is followed spout medicine trunk line direction and sets up on the pylon, still be equipped with walking passageway disinfection small transfer line on the pylon, walking passageway disinfection small transfer line is connected to walking passageway disinfection trunk line, walking passageway disinfection small transfer line's the medicine end of spouting is equipped with at least one atomizer, walking passageway disinfection trunk line's feed liquor end is equipped with the solenoid valve, the solenoid valve is connected to the controller.
3. The intelligent walking pesticide spraying system according to claim 2, characterized in that: the spraying branch pipeline and the walking channel disinfection branch pipeline are respectively provided with the electromagnetic valve, and the electromagnetic valves are connected to the control machine.
4. The intelligent walking pesticide spraying system according to any one of claims 1 to 3, wherein: the intelligent walking pesticide spraying system further comprises a central control terminal, the central control terminal and the control machine are both provided with wireless communication modules, and the control machine is in wireless communication connection with the central control terminal.
5. The intelligent walking pesticide spraying system according to claim 4, characterized in that: the intelligent walking pesticide spraying system further comprises a telescopic soil sensor capable of being inserted into soil, a temperature and humidity sensor, an illumination sensor, a rainfall sensor and a wind speed sensor, wherein the telescopic soil sensor, the temperature and humidity sensor, the illumination sensor, the rainfall sensor and the wind speed sensor are respectively connected to the control machine;
wherein,
the telescopic soil sensor is arranged at the bottom of the tower and comprises one or more of a soil temperature and humidity sensor, a soil pH value sensor, a soil water content sensor and a soil salinity sensor;
the temperature and humidity sensor, the illumination sensor, the rainfall sensor and the wind speed sensor are respectively arranged on the tower.
6. The intelligent walking pesticide spraying system according to claim 5, characterized in that: the intelligent walking pesticide spraying system further comprises at least one camera device, and the camera device is arranged on the tower.
7. The intelligent walking pesticide spraying system according to claim 5 or 6, characterized in that: medicine system is spouted in intelligence walking still includes dispensing system, dispensing system includes a plurality of dispensers, a plurality of dispensing pumps, medicine storage device, water injection pump and defeated medicine pump, the dispenser the dispensing pump with the medicine storage device loops through the pipe connection, the water injection pump passes through pipe connection to the medicine storage device, the medicine storage device passes through pipe connection to defeated medicine pump, defeated medicine pump passes through pipe connection to the head end on the pylon the feed liquor end interface of spouting the medicine trunk line and/or the feed liquor end interface of walking passageway disinfection trunk line, the dispensing pump the water injection pump with defeated medicine pump is connected to respectively the controller.
8. The intelligent walking pesticide spraying system according to claim 7, characterized in that: and a pressure relief valve is further arranged on a pipeline between the medicine conveying pump and a liquid inlet end interface of the main medicine spraying pipeline at the head end, and a pressure relief interface of the pressure relief valve is connected to the medicine storage device through a pipeline.
9. The intelligent walking pesticide spraying system according to claim 1, characterized in that: the intelligent walking pesticide spraying system is a translation pesticide spraying system or a central fulcrum type pesticide spraying system.
10. A method for collecting data, dispensing and spraying medicine is characterized in that: the method adopts the intelligent walking pesticide spraying system of claim 7, and comprises the following specific steps:
s1, data acquisition and analysis:
the intelligent walking pesticide spraying system walks to collect one or more data of crop images, soil temperature and humidity, soil water content, soil pH value, soil salt content, air temperature and humidity, illumination intensity, wind speed and rainfall, and the control machine wirelessly transmits the data to the central control terminal;
s2, dispensing step:
the central control terminal analyzes the data and determines a drug delivery scheme, and the control machine controls the corresponding drug dispenser to inject drugs into the drug storage device according to the drug delivery scheme and controls a water injection pump to inject water into the drug storage device;
s3, spraying:
the intelligent walking pesticide spraying system walks to spray pesticide, and the ratio of pesticide spraying time of the atomizing spray head to walking time of the walking wheels is 0.01-1: 1.
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