CN106386759B - intelligent sprayer and control method thereof - Google Patents
intelligent sprayer and control method thereof Download PDFInfo
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- CN106386759B CN106386759B CN201610790755.5A CN201610790755A CN106386759B CN 106386759 B CN106386759 B CN 106386759B CN 201610790755 A CN201610790755 A CN 201610790755A CN 106386759 B CN106386759 B CN 106386759B
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- 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
- A01M7/0089—Regulating or controlling systems
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
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Abstract
the invention relates to the field of intelligent products, in particular to an intelligent sprayer and a control method thereof. The intelligent sprayer comprises a power supply module, a power acquisition module, a controller, a communication module, a gyroscope, a satellite positioning device, a clock module and a spraying module; the power acquisition module is used for acquiring the working power output by the power supply module; the satellite positioning device is used for acquiring positioning information of the intelligent sprayer; the gyroscope is used for acquiring orientation data, acceleration data and horizontal inclination angle data of the intelligent sprayer; the clock module is used for acquiring the working time of the spraying module; the spraying module is used for spraying operation; the orientation data, the acceleration data and the horizontal inclination angle data of the intelligent sprayer are used for correcting the positioning information to obtain corrected positioning information, and the working power, the corrected positioning information and the working time are uploaded to a peripheral server through a communication module, so that the real-time monitoring effect of spraying construction is realized.
Description
Technical Field
the invention relates to the field of intelligent products, in particular to an intelligent sprayer and a control method thereof.
background
a great amount of sprayers are used in modern industry, agriculture and service industry for construction operation, such as industrial dust removal and humidification; agricultural disinsection and fertilization; the four pests in the service industry are killed, epidemic prevention and disinfection. The application of the atomizer is very extensive, but with human development, divide the work to be more and more detailed, all work is accomplished (entrusted others) by professional subcontracting staff (entrusted), and the owner does not do relevant work, but spraying construction itself has the shortcoming that the effect is not intuitive:
for example, in the four-pest killing, professional killing personnel can not judge whether the pesticide is sprayed or not after spraying the pesticide, and the owners cannot always follow the back supervision of constructors, so that the construction is carelessly or intentionally lost, mosquitoes are not reduced after slight killing, and more personnel infection is caused by serious epidemic prevention failure. The above problems are very hopeful to be solved by governments, construction enterprises and owner units.
At present, no intelligent sprayer with intelligent supervision and a control method thereof exist.
disclosure of Invention
the technical problem to be solved by the invention is as follows: an intelligent sprayer with intelligent supervision and a control method thereof are provided.
in order to solve the technical problems, the invention adopts the technical scheme that:
An intelligent sprayer comprises a power supply module, a power acquisition module, a controller, a communication module, a gyroscope, a satellite positioning device, a clock module and a spraying module;
The power supply module is connected with the controller through the power acquisition module; the power supply module is used for supplying power to the controller; the power acquisition module is used for acquiring the working power output by the power supply module;
the communication module, the gyroscope, the satellite positioning device, the clock module and the spraying module are respectively connected with the controller; the satellite positioning device is used for acquiring positioning information of the intelligent sprayer; the gyroscope is used for acquiring orientation data, acceleration data and horizontal inclination angle data of the intelligent sprayer; the clock module is used for acquiring the working time of the spraying module; the spraying module is used for spraying operation;
the controller is used for sending the obtained working power, the positioning information of the intelligent sprayer, the orientation data, the acceleration data, the horizontal inclination angle data and the working time of the spraying module to an external server through the communication module.
the other technical scheme provided by the invention is as follows:
A method of controlling a smart sprayer, comprising:
acquiring positioning information of the intelligent sprayer; acquiring orientation data, acceleration data and horizontal inclination angle data of the intelligent sprayer; correcting the positioning information through orientation data, acceleration data and horizontal inclination data of the intelligent sprayer to obtain corrected positioning information;
Acquiring working power output by a power module of the intelligent sprayer; acquiring the working time of a spraying module;
And sending the working power, the corrected positioning information and the working time to a peripheral server.
The invention has the beneficial effects that:
the intelligent sprayer provided by the invention is additionally provided with the power supply module, the power acquisition module, the controller, the communication module, the gyroscope, the satellite positioning device and the clock module on the basis of the traditional sprayer, all the modules are matched with one another to obtain working data such as working power, positioning information, orientation data, horizontal inclination angle data, working time and the like of the intelligent sprayer, the positioning information is corrected through the orientation data, the acceleration data and the horizontal inclination angle data of the intelligent sprayer to obtain corrected positioning information, the working power, the corrected positioning information and the working time are uploaded to an external server through the communication module, and the uploaded data can be displayed on a computer or a mobile phone of a client through the server, so that the effect of real-time monitoring of spraying construction is realized. The user can also analyze whether the phenomenon of missed spraying exists or the spraying amount in a certain area is insufficient through the data on the server, and comprehensive management is achieved.
Drawings
FIG. 1 is a schematic diagram of the structure of an intelligent sprayer according to the invention;
FIG. 2 is a flow chart illustrating the steps of a method of controlling the intelligent sprayer of the present invention;
description of reference numerals:
1. a power supply module; 2. a power acquisition module; 3. a controller; 4. a communication module; 5. a gyroscope; 6. a satellite positioning device; 7. a clock module; 8. and a spraying module.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
The most key concept of the invention is as follows: the orientation data, the acceleration data and the horizontal inclination angle data of the intelligent sprayer are used for correcting the positioning information to obtain corrected positioning information, and the working power, the corrected positioning information and the working time are uploaded to a peripheral server through a communication module, so that the real-time monitoring effect of spraying construction is realized.
Referring to fig. 1 and 2, the intelligent sprayer provided by the invention includes a power module 1, a power acquisition module 2, a controller 3, a communication module 4, a gyroscope 5, a satellite positioning device 6, a clock module 7 and a spraying module 8;
the power supply module 1 is connected with the controller 3 through the power acquisition module 2; the power module 1 is used for supplying power to the controller 3; the power acquisition module 2 is used for acquiring the working power output by the power module 1;
the communication module 4, the gyroscope 5, the satellite positioning device 6, the clock module 7 and the spraying module 8 are respectively connected with the controller 3; the satellite positioning device 6 is used for acquiring positioning information of the intelligent sprayer; the gyroscope 5 is used for acquiring orientation data, acceleration data and horizontal inclination angle data of the intelligent sprayer; the clock module 7 is used for acquiring the working time of the spraying module; the spraying module is used for spraying operation;
and the controller 3 is used for sending the acquired working power, the positioning information of the intelligent sprayer, the orientation data, the acceleration data and the horizontal inclination angle data of the intelligent sprayer and the working time of the spraying module to a peripheral server through the communication module.
From the above description, the beneficial effects of the present invention are: the intelligent sprayer provided by the invention is additionally provided with the power supply module, the power acquisition module, the controller, the communication module, the gyroscope, the satellite positioning device and the clock module on the basis of the traditional sprayer, all the modules are matched with one another to obtain working data such as working power, positioning information, orientation data, horizontal inclination angle data, working time and the like of the intelligent sprayer, the positioning information is corrected through the orientation data, the acceleration data and the horizontal inclination angle data of the intelligent sprayer to obtain corrected positioning information, the working power, the corrected positioning information and the working time are uploaded to an external server through the communication module, and the uploaded data can be displayed on a computer or a mobile phone of a client through the server, so that the effect of real-time monitoring of spraying construction is realized. The user can also analyze whether the phenomenon of missed spraying exists or the spraying amount in a certain area is insufficient through the data on the server, and comprehensive management is achieved.
the gyroscope is mainly used for acquiring direction, acceleration and inclination data of the intelligent sprayer, and when satellite signals are weak or nonexistent, specific coordinates can be calculated according to the data of the gyroscope; the specific method comprises the following steps: when the satellite signal is weak or not (such as entering the indoor), the gyroscope takes the last satellite signal coordinate as a base point, and calculates the current coordinate value through direction, acceleration and inclination data, wherein the specific formula is as follows: { (acceleration x time) + direction + tilt angle (up or down) } ═ current coordinate. Further, the spraying module comprises a liquid outlet pipeline; a spectrophotometer is arranged on the inner wall of the liquid outlet pipeline; the intelligent sprayer also comprises a spectrum analysis module; the spectrophotometer and the controller are respectively connected with the spectral analysis module;
The spectrophotometer is used for acquiring a light transmission value of liquid flowing through the liquid outlet pipeline; the spectrum analysis module is used for analyzing the solubility data of the liquid according to the light transmission numerical value of the liquid obtained by the spectrophotometer. Because the concentration of the liquid medicine sprayed in each spray is different, the corresponding light transmission value is also different, so that the concentration of the used medicine can be judged according to the light transmission value, and under the normal condition, for example, the medicine fog with the medicine liquid with the concentration of 500 times and the application amount of 10 milliliters (the fineness is 4 microns) per square meter can achieve the effect of killing. Wherein the spectral analysis module: the method is mainly used for analyzing the components and the concentration of the liquid medicine, and comprehensively calculating the components and the concentration of the current medicine according to the liquid spectrum value and the transmittance of the medicine (the transmittance spectrum value of each medicine is different).
further, the device also comprises an alarm device; the alarm device is connected with the controller. The alarm device can alarm; for example, when one of the modules of the intelligent sprayer fails to operate, the working current is too large or too small, or the solubility corresponding to the light transmission value of the liquid acquired by the spectrophotometer is lower than a preset solubility threshold value, alarm information is sent out through an alarm device; the alarm information sending mode can be a ringing mode, an indicator light flickering mode or a vibration mode and the like.
further, the device also comprises a memory; the memory is connected with the controller. And the obtained working data such as the working power, the positioning information, the orientation data, the horizontal inclination angle data, the working time and the like of the intelligent sprayer are stored in a memory of the intelligent sprayer, so that the intelligent sprayer is convenient to query.
further, the communication module comprises a wireless communication unit; the wireless communication unit is Bluetooth or WIFI. Most present cell-phones all possess bluetooth or WIFI function, and the bluetooth or WIFI function of usable cell-phone acquires relevant data, need not to acquire from the server of peripheral hardware through the internet, convenient and fast.
Referring to fig. 2, the present invention also provides a control method of an intelligent sprayer, including:
acquiring positioning information of the intelligent sprayer; acquiring orientation data, acceleration data and horizontal inclination angle data of the intelligent sprayer; correcting the positioning information through orientation data, acceleration data and horizontal inclination data of the intelligent sprayer to obtain corrected positioning information;
Acquiring working power output by a power module of the intelligent sprayer; acquiring the working time of a spraying module;
And sending the working power, the corrected positioning information and the working time to a peripheral server.
Further, the method also comprises the following steps:
and acquiring a light transmission numerical value of the liquid flowing through the liquid outlet pipeline, analyzing the solubility data of the liquid, and sending the solubility data to an external server. Because the concentration of the liquid medicine of each spray is different, the corresponding light transmission numerical value is also different, so the concentration of the used medicine can be analyzed according to the light transmission numerical value, and under the normal condition, for example, the medicine fog with the application amount of 10 milliliters (the fineness is 4 microns) per square meter of the liquid medicine with the concentration of 500 times can achieve the effect of killing.
Further, the method also comprises the following steps:
and if the positioning information of the intelligent sprayer is not acquired, the acquired orientation data, acceleration data and horizontal inclination angle data of the intelligent sprayer are used as corrected positioning information and sent to an external server.
The first embodiment of the invention is as follows:
The invention provides an intelligent sprayer which comprises a power supply module 1, a power acquisition module 2, a controller 3, a communication module 4, a gyroscope 5, a satellite positioning device 6, a clock module 7 and a spraying module 8, wherein the power acquisition module 2 is connected with the power supply module;
the power supply module 1 is connected with the controller 3 through the power acquisition module 2; the power module 1 is used for supplying power to the controller 3; the power acquisition module 2 is used for acquiring the working power output by the power module 1;
The communication module 4, the gyroscope 5, the satellite positioning device 6, the clock module 7 and the spraying module 8 are respectively connected with the controller 3; the satellite positioning device 6 is used for acquiring positioning information of the intelligent sprayer; the gyroscope 5 is used for acquiring orientation data, acceleration data and horizontal inclination angle data of the intelligent sprayer; the clock module 7 is used for acquiring the working time of the spraying module; the spraying module is used for spraying operation;
And the controller 3 is used for sending the acquired working power, the positioning information of the intelligent sprayer, the orientation data, the acceleration data and the horizontal inclination angle data of the intelligent sprayer and the working time of the spraying module to a peripheral server through the communication module.
the spraying module is motor pressure spraying or ultrasonic spraying, the working efficiency ratio of the spraying module is fixed (for example, the working voltage of the module A is 36V, the output power is 180W when the working current is 5A, the spraying amount is 10L/min, and the spraying amount is 5L/min when the working power is 90W), and by utilizing the above principle, a power acquisition module is arranged on a passage between the power module and the controller, and the working power of the power module is acquired and uploaded to a peripheral server through a communication module;
the intelligent sprayer is set with a model according to different configurations, and when the controller monitors that the intelligent sprayer is started, the controller establishes communication connection with an external server through a communication module; after the communication connection is established, the controller acquires the model of the intelligent sprayer and uploads the model to the server, the server configures and matches the model of the intelligent sprayer, data storage is conveniently carried out according to the model when data are subsequently received, and therefore follow-up data query is facilitated.
because the spraying construction does not have fixed place, in order to control the construction place, set up satellite positioning device on intelligent atomizer, satellite positioning device can acquire the locating information of intelligent atomizer in real time, and will on locating information uploads the server, can audio-visual demonstration on the map through the display screen, the backstage control personnel remote monitoring of being convenient for. Because the satellite positioning device has larger position error rate relative to the accuracy of the spraying construction meter, a gyroscope is additionally arranged on the basis of the satellite positioning device, orientation data and horizontal inclination angle data of the intelligent sprayer are acquired by the gyroscope after the intelligent sprayer enters a construction route, and positioning information can be superposed and accurately corrected through calculation. When the constructor walks forwards in the spraying process, the left side or the right side of the walking direction of the constructor is sprayed with the pesticide, and in order to monitor whether the constructor sprays to the left side or the right side more accurately, the gyroscope uploads orientation data of the rotating operation of the constructor to the server.
The server displays the received spraying time, the received spraying place, the received spraying coverage rate and the received spraying amount on the route on the server after background processing, and personnel needing to know the data can know the specific situation of the whole construction only by connecting with the server.
The calculation method of the spray coverage rate comprises the following steps:
The spraying module comprises a liquid outlet pipeline; a spectrophotometer is arranged on the inner wall of the liquid outlet pipeline; the intelligent sprayer also comprises a spectrum analysis module; the spectrophotometer and the controller are respectively connected with the spectral analysis module; the spectrophotometer is used for acquiring a light transmission value of liquid flowing through the liquid outlet pipeline; the spectrum analysis module is used for analyzing the solubility data of the liquid according to the light transmission numerical value of the liquid obtained by the spectrophotometer. Because the concentration of the liquid medicine sprayed in each spray is different, the corresponding light transmission value is also different, so that the concentration of the used medicine can be judged according to the light transmission value, and under the normal condition, for example, the medicine fog with the medicine liquid with the concentration of 500 times and the application amount of 10 milliliters (the fineness is 4 microns) per square meter can achieve the effect of killing.
The power acquisition module is arranged between the power module and the controller and used for acquiring working power output by the power module, and the ammeter can be used for acquiring working current and working voltage.
the intelligent sprayer is provided with a GPS positioning device, and the geographic position information of the intelligent sprayer is collected in real time, so that the working path of the intelligent sprayer is calculated.
Install the gyroscope on intelligent atomizer, the gyroscope can gather equipment and spout the medicine direction, for example spout the medicine or spout the medicine to the north to the south, can gather acceleration data simultaneously, with GPS superimposed signal can be accurate know the work coordinate, under the condition that does not have the GPS signal, calculation work route that still can be accurate.
The calculation method of the spray coverage area comprises the following steps:
Assuming that the concentration of the liquid medicine is a (a represents concentration efficiency such as a being 30% in a data formula), the operating current is B (B represents coverage area such as B being 2 m away when the operating current is 3.5 a, the operating sector is 0.4 m, the operating coverage area is 0.8 m square), the GPS data is C (C is a coordinate point), and the gyroscope data is D (direction, high speed, and height in D are all data for correcting C and serving C), wherein the gyroscope is mainly used for acquiring direction, acceleration, and inclination data of the intelligent sprayer, and when satellite signals are weak or non-weak, the data of the gyroscope can calculate specific coordinates; the specific method comprises the following steps: when the satellite signal is weak or not (such as entering the indoor), the gyroscope takes the last satellite signal coordinate as a base point, and calculates the current coordinate value through direction, acceleration and inclination data, wherein the specific formula is as follows: { (acceleration x time) + direction + tilt angle (up or down) } ═ current coordinate; the spray coverage area of the CD spot is then equal to a (30%) B (0.8 square meter) working time (automatically calculated by the GPS dwell time server as 10 seconds, assuming a working volume per second of 0.8 square meter);
namely: CD 0.8 0.3 10 2.4 square meters (working coverage area of smart sprayer).
The formula parameters of each type of equipment can be set independently, high-power high-efficiency equipment and low-power small-size equipment are provided, and high-concentration medicines and low-concentration medicines can be used according to the environment, so that the equipment is applied to various different scenes.
In summary, the intelligent sprayer provided by the invention is additionally provided with the power module, the power acquisition module, the controller, the communication module, the gyroscope, the satellite positioning device and the clock module on the basis of the traditional sprayer, all the modules are matched with each other to obtain working data such as working power, positioning information, orientation data, horizontal inclination angle data and working time of the intelligent sprayer, the positioning information is corrected through the orientation data, the acceleration data and the horizontal inclination angle data of the intelligent sprayer to obtain corrected positioning information, the working power, the corrected positioning information and the working time are uploaded to an external server through the communication module, and the uploaded data can be displayed on a computer or a mobile phone of a client through the server, so that the real-time monitoring effect of spraying construction is realized. The user can also analyze whether the phenomenon of missed spraying exists or the spraying amount in a certain area is insufficient through the data on the server, and comprehensive management is achieved.
the above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (6)
1. an intelligent sprayer is characterized by comprising a power supply module, a power acquisition module, a controller, a communication module, a gyroscope, a satellite positioning device, a clock module and a spraying module;
The power supply module is connected with the controller through the power acquisition module; the power supply module is used for supplying power to the controller; the power acquisition module is used for acquiring the working power output by the power supply module;
The communication module, the gyroscope, the satellite positioning device, the clock module and the spraying module are respectively connected with the controller; the satellite positioning device is used for acquiring positioning information of the intelligent sprayer; the gyroscope is used for acquiring orientation data, acceleration data and horizontal inclination angle data of the intelligent sprayer; the clock module is used for acquiring the working time of the spraying module; the spraying module is used for spraying operation;
The controller is used for sending the obtained working power, the positioning information of the intelligent sprayer, the orientation data, the acceleration data and the horizontal inclination angle data of the intelligent sprayer and the working time of the spraying module to an external server through the communication module;
The server calculates the spraying coverage rate and the spraying amount according to the received working power, the positioning information of the intelligent sprayer, the orientation data, the acceleration data and the horizontal inclination angle data of the intelligent sprayer and the working time of a spraying module so as to realize remote monitoring;
the spraying module comprises a liquid outlet pipeline; a spectrophotometer is arranged on the inner wall of the liquid outlet pipeline; the intelligent sprayer also comprises a spectrum analysis module; the spectrophotometer and the controller are respectively connected with the spectral analysis module;
the spectrophotometer is used for acquiring a light transmission value of liquid flowing through the liquid outlet pipeline; the spectrum analysis module is used for analyzing the solubility data of the liquid according to the light transmission numerical value of the liquid obtained by the spectrophotometer.
2. the intelligent sprayer according to claim 1, further comprising an alarm device; the alarm device is connected with the controller.
3. The smart sprayer of claim 1, further comprising a memory; the memory is connected with the controller.
4. The smart sprayer of claim 1, wherein the communication module comprises a wireless communication unit; the wireless communication unit is Bluetooth or WIFI.
5. A control method of the intelligent sprayer according to claim 1, comprising:
acquiring positioning information of the intelligent sprayer; acquiring orientation data, acceleration data and horizontal inclination angle data of the intelligent sprayer; correcting the positioning information through orientation data, acceleration data and horizontal inclination data of the intelligent sprayer to obtain corrected positioning information;
Acquiring working power output by a power module of the intelligent sprayer; acquiring the working time of a spraying module;
sending the working power, the corrected positioning information and the working time to a peripheral server;
The server calculates the spraying coverage rate and the spraying amount according to the received working power, the positioning information of the intelligent sprayer, the orientation data, the acceleration data and the horizontal inclination angle data of the intelligent sprayer and the working time of a spraying module so as to realize remote monitoring;
Further comprising:
And acquiring a light transmission numerical value of the liquid flowing through the liquid outlet pipeline, analyzing the solubility data of the liquid, and sending the solubility data to an external server.
6. the method of controlling an intelligent sprayer according to claim 5, further comprising:
And if the positioning information of the intelligent sprayer is not acquired, the acquired orientation data, acceleration data and horizontal inclination angle data of the intelligent sprayer are used as corrected positioning information and sent to an external server.
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| CN201610790755.5A CN106386759B (en) | 2016-08-31 | 2016-08-31 | intelligent sprayer and control method thereof |
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| CN106386759B true CN106386759B (en) | 2019-12-06 |
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| CN113625807B (en) * | 2021-09-07 | 2022-08-19 | 上海领奢广告有限公司 | Temperature and humidity control system for indoor spray painting |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104670496A (en) * | 2015-03-11 | 2015-06-03 | 西南大学 | Six-shaft type pesticide spray flight device and control method |
| CN104834313A (en) * | 2015-05-15 | 2015-08-12 | 济南大学 | RFID-based greenhouse intelligent medicine spraying robot and method |
| CN205220854U (en) * | 2015-04-12 | 2016-05-11 | 陈田来 | Multipurpose intelligence car reaches intelligence equipment of giving medicine to poor free of charge including this car |
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2016
- 2016-08-31 CN CN201610790755.5A patent/CN106386759B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104670496A (en) * | 2015-03-11 | 2015-06-03 | 西南大学 | Six-shaft type pesticide spray flight device and control method |
| CN205220854U (en) * | 2015-04-12 | 2016-05-11 | 陈田来 | Multipurpose intelligence car reaches intelligence equipment of giving medicine to poor free of charge including this car |
| CN104834313A (en) * | 2015-05-15 | 2015-08-12 | 济南大学 | RFID-based greenhouse intelligent medicine spraying robot and method |
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