CN107390680A - The spray method and system of agricultural intelligent pesticide spraying system - Google Patents
The spray method and system of agricultural intelligent pesticide spraying system Download PDFInfo
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- CN107390680A CN107390680A CN201710462286.9A CN201710462286A CN107390680A CN 107390680 A CN107390680 A CN 107390680A CN 201710462286 A CN201710462286 A CN 201710462286A CN 107390680 A CN107390680 A CN 107390680A
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- 238000005507 spraying Methods 0.000 title claims abstract description 264
- 239000007921 spray Substances 0.000 title claims abstract description 153
- 239000000575 pesticide Substances 0.000 title claims abstract description 102
- 238000000034 method Methods 0.000 title claims abstract description 27
- 239000003814 drug Substances 0.000 claims abstract description 128
- 239000000126 substance Substances 0.000 claims abstract description 65
- 229940079593 drug Drugs 0.000 claims abstract description 40
- 238000012544 monitoring process Methods 0.000 claims abstract description 14
- 239000013589 supplement Substances 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims description 13
- 239000007788 liquid Substances 0.000 claims description 8
- 230000007812 deficiency Effects 0.000 claims description 6
- 241000607479 Yersinia pestis Species 0.000 claims description 3
- 239000003905 agrochemical Substances 0.000 claims description 3
- 230000009418 agronomic effect Effects 0.000 claims description 3
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 3
- 201000010099 disease Diseases 0.000 claims description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 claims description 3
- 239000002917 insecticide Substances 0.000 claims description 3
- 230000009469 supplementation Effects 0.000 claims description 3
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- 239000000047 product Substances 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000009333 weeding Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The embodiment of the invention discloses a kind of spray method and system of agricultural intelligent pesticide spraying system, methods described includes：Control centre sends the control instruction of agricultural intelligent pesticide spraying system to control device；Control instruction is acted on running gear and chemical spraying device by control device；Running gear and chemical spraying device start, and positioner monitors and adjusts walking path in real time；Chemical spraying device monitors residual drug, and proposes to alert；Control device stops the work of chemical spraying device and running gear, and supplements decoction, until completing spray work.The present invention sets the walking parameter and spray parameter of agricultural intelligent pesticide spraying system by control centre, and running gear and chemical spraying device are acted on by control device, the residual volume of solution that chemical spraying device is sprayed in case by Sensor monitoring, realize the accurate monitoring of decoction, be expert at deviation walking path when, running gear can correct walking path automatically, and the present invention can be to the accurate spray of agricultural product, and spray is uniform, efficiency high.
Description
Technical field
The present invention relates to the technical field of agricultural intelligent pesticide spraying system, especially a kind of spray of agricultural intelligent pesticide spraying system
Method and system.
Background technology
Existing agricultural mechanization development is more and more faster, and science and technology is tilled the land, mechanization is tilled the land, the demand of intelligent farming is more next
Higher, the particularly fast development in intelligent apparatus field, the application of agriculture field intelligent apparatus is also more and more extensive, agricultural intelligence
Device is widely used in proportion of crop planting monitoring, soil quality detection, ground condition monitoring, growth quality detection, weeding, spray
Medicine etc., greatly improve the efficiency of proportion of crop planting and the science of management, in the prior art, the spray to crops
Medicine is typically all manual type, and manual type efficiency is low, and produces harm to personal physical efficiency, and efficiency is low, also has a kind of use to fly
The mode of machine sprinkling, although this mode efficiency high, cost is also high, and the requirement to long-term cropping is stricter, is adapted to big
The planting area of area, application are limited.
Therefore, prior art needs to improve.
The content of the invention
A technical problem to be solved of the embodiment of the present invention is：A kind of spray side of agricultural intelligent pesticide spraying system is provided
Method and system, the spray method of the agricultural intelligent pesticide spraying system include：
Medicine spraying gun spray flow, the high lower bound of medicine spraying gun spray, the medicine spraying gun of control centre's setting agricultural intelligent pesticide spraying system
The speed of travel of hunting period and agricultural intelligent pesticide spraying system, walking path, and control instruction is sent to control device, it is described
Medicine spraying gun spray flow is the quality that medicine spraying gun is sprayed insecticide in the unit time, and the high lower bound of the medicine spraying gun spray exists for medicine spraying gun
The maximum height and minimum constructive height lifted during spray, the medicine spraying gun hunting period are that medicine spraying gun is high in maximum within the unit interval
The number swung between degree and minimum constructive height；
Control device is by the medicine spraying gun spray flow of agricultural intelligent pesticide spraying system, the high lower bound of medicine spraying gun spray, spray gun pendulum
Dynamic cycle parameter is sent to chemical spraying device, and the speed of travel of agricultural intelligent pesticide spraying system, walking path are sent to running gear；
Control device starts the running gear and chemical spraying device of agricultural intelligent pesticide spraying system, and positioner monitors agricultural in real time
The current location of intelligent pesticide spraying system, and being compared with the walking path of setting, control device according to setting walking path,
The action of running gear is adjusted, makes the actual walking path of agricultural intelligent pesticide spraying system consistent with setting walking path；
Chemical spraying device monitors residual drug in real time, and when residual drug reaches given threshold, sends and mend to control device
Fill decoction request；
Control device stops the work of chemical spraying device and running gear, and supplements decoction, until completing spray work.
In another embodiment of the spray method based on the above-mentioned agricultural intelligent pesticide spraying system of the present invention, the medicine spraying gun
The setting of spray flow need to consider at least one condition of following condition：
The speed of travel of agricultural intelligent pesticide spraying system；
Medicine spraying gun hunting period；
The diseases and pests of agronomic crop order of severity；
Agricultural chemicals dosage requirement.
In another embodiment of the spray method based on the above-mentioned agricultural intelligent pesticide spraying system of the present invention, the medicine spraying gun
The setting of high lower bound of spraying need to consider at least one condition of following condition：
The height of crops；
The distance between the medicine outlet of medicine spraying gun and crops；
The height of the medicine outlet of medicine spraying gun；
The speed of travel of agricultural intelligent pesticide spraying system；
The once width of spray crops.
In another embodiment of the spray method based on the above-mentioned agricultural intelligent pesticide spraying system of the present invention, the positioning dress
Put the current location of monitoring agricultural intelligent pesticide spraying system in real time, and be compared with the walking path of setting including：
Positioner receives the positioning signal of the current location of agricultural intelligent pesticide spraying system, and location information is sent to control
Device processed；
Whether control device judges the current position signal of agricultural intelligent pesticide spraying system on the walking path of setting；
If it is, running gear control agricultural intelligent pesticide spraying system is walked according to current setup parameter；
If it is not, then control device judges the error of the track route of setting and the current location of agricultural intelligent pesticide spraying system
Whether given threshold is exceeded,
If it is, control device calculates the current location of agricultural intelligent pesticide spraying system and the minimum distance of walking path, adjust
The direction of travel of full line walking apparatus points to the near distance spot of walking path, and by the parameter information for adjusting direction of travel send to
Control centre；
If not, control device judges walking path in the orientation of the current location of agricultural intelligent pesticide spraying system, adjustment row
The direction of travel of walking apparatus is sent to control centre towards walking path, and by the parameter information for adjusting direction of travel；
The position of agricultural intelligent pesticide spraying system is reached on walking path, and running gear sets parameter of walking according to original and walked,
And information is completed into the adjustment of agricultural intelligent pesticide spraying system and sent to control centre.
In another embodiment of the spray method based on the above-mentioned agricultural intelligent pesticide spraying system of the present invention, the spray dress
Monitoring residual drug, and when residual drug reaches given threshold in real time is put, sending supplement decoction request to control device includes：
Residual drug alarm threshold in control device setting spray case；
Sensor monitors the residual drug in spray case in real time, when Sensor monitoring reaches to the residual drug in spray case
When setting alarm threshold, alarm signal is sent to control device；
Control device sends halt instruction to running gear and chemical spraying device, and by the case that sprays residual drug deficiency please
Transmission is asked to control centre；
Control centre shows the request for requiring supplementation with decoction of agricultural intelligent pesticide spraying system, waits pending；
After the case inner liquid medicine supplement that sprays, manual type starts control device, and running gear and chemical spraying device continue according to setting
Determine parameter work.
Other side based on the embodiment of the present invention, a kind of agricultural intelligent pesticide spraying system is disclosed, including：In control
The heart, control device, running gear, chemical spraying device, positioner；
The control centre is wirelessly connected with the control device, and the control centre sends to control device
The control parameter information of running gear, chemical spraying device, passes through the location information of control device receiving positioner；
The control device is connected with the running gear and chemical spraying device, and the control device receives the control of control centre
Parameter processed, and control parameter is acted on into running gear and chemical spraying device, control the walking path of running gear, the speed of travel and
Medicine spraying gun spray flow, the medicine spraying gun of chemical spraying device spray high lower bound, medicine spraying gun hunting period；
The running gear enters under the program that the control device is set according to the walking path of setting, the speed of travel
Every trade is walked, and the running gear drives the chemical spraying device work；
The chemical spraying device is started and is stopped under the control of the control device, and by the running gear
There is provided power drive, the medicine spraying gun that the chemical spraying device is sent according to control device sprays flow, the high lower bound of medicine spraying gun spray, spray
Medicine gun pendulum moves cycle parameter work；
The positioner is connected with the control device, for gathering the position letter of agricultural intelligent pesticide spraying system in real time
Breath, and sent by control device to control centre.
In another embodiment based on the above-mentioned agricultural intelligent pesticide spraying system of the present invention, the control device includes：It is main
Control unit, travelling control unit, spraying control unit, communication unit；
The main control unit is connected with the travelling control unit, spraying control unit, communication unit, passes through the communication
Unit is communicated with the control centre, and main control unit parses the control instruction of control centre, and corresponding parsing data are sent
To travelling control unit or spraying control unit；
The decoction deficiency warning information of the main control unit reception chemical spraying device, the location information of receiving positioner, and
The work of running gear and chemical spraying device is controlled according to warning information, according to the walking parameter of location information amendment running gear；
The travelling control unit receives the control signal of the main control unit, and controls the walking motion of running gear；
The spraying control unit receives the control signal of the main control unit, and controls the spray of the chemical spraying device to make
Industry；
The communication unit exchanges for entering row information with control centre.
In another embodiment based on the above-mentioned agricultural intelligent pesticide spraying system of the present invention, the chemical spraying device includes：Spray
Medicine-chest, medicine spraying gun, spray gun controller, controlled motor, sensor；
The spray case is used to hold decoction, and the sensor is arranged in the spray case, for monitoring in spray case
Residual volume of solution；
The medicine spraying gun with it is described spray case be connected, for will spray case in medicine liquid spray in crop surface；
The spray gun controller is used to control the spray flow of medicine spraying gun, the spray height of medicine spraying gun and swing, described
Spray gun controller is connected with the control device and controlled motor, the spray flow of the control device control medicine spraying gun, spray
The spray height and hunting frequency of medicine rifle, the controlled motor provide power for the spray gun controller；
The controlled motor is connected with the running gear and spray gun controller, and the running gear carries for controlled motor
Power supply source, the controlled motor provide power for the spray gun controller.
In another embodiment based on the above-mentioned agricultural intelligent pesticide spraying system of the present invention, the positioner is determined for GPS
One kind in position terminal device or Big Dipper positioning terminal equipment.
Compared with prior art, the present invention has advantages below：
The present invention sets the walking parameter and spray parameter of agricultural intelligent pesticide spraying system by control centre, and passes through control
Device acts on the running gear and chemical spraying device of agricultural intelligent pesticide spraying system, and chemical spraying device is sprayed in case by Sensor monitoring
Residual volume of solution, realize the accurate monitoring of decoction, running gear can walk according to walking path, deviation of being expert at walking road
During footpath, walking path can be corrected automatically, the present invention can be to the accurate spray of agricultural product, and it is uniform to spray, efficiency high.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
The accompanying drawing of a part for constitution instruction describes embodiments of the invention, and is used to explain together with description
The principle of the present invention.
Referring to the drawings, according to following detailed description, the present invention can be more clearly understood, wherein：
Fig. 1 is the structural representation of one embodiment of the agricultural intelligent pesticide spraying system of the present invention.
Fig. 2 is the structural representation of one embodiment of the control device of the agricultural intelligent pesticide spraying system of the present invention.
Fig. 3 is the structural representation of one embodiment of the chemical spraying device of the agricultural intelligent pesticide spraying system of the present invention.
Fig. 4 is the flow chart of one embodiment of the spray method of the agricultural intelligent pesticide spraying system of the present invention.
Fig. 5 is the flow chart of another embodiment of the spray method of the agricultural intelligent pesticide spraying system of the present invention.
Fig. 6 is the flow chart of another embodiment of the spray method of the agricultural intelligent pesticide spraying system of the present invention.
In figure：1 control centre, 2 control devices, 21 main control units, 22 travelling control units, 23 spraying control units, 24
Communication unit, 3 running gears, 4 chemical spraying devices, 41 spray casees, 42 medicine spraying guns, 43 spray gun controllers, 44 controlled motors, 45 pass
Sensor, 5 positioners.
Embodiment
The various exemplary embodiments of the present invention are described in detail now with reference to accompanying drawing.It should be noted that：Unless have in addition
Body illustrates that the unlimited system of part and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The scope of invention.
Simultaneously, it should be appreciated that for the ease of description, the size of the various pieces shown in accompanying drawing is not according to reality
Proportionate relationship draw.
The description only actually at least one exemplary embodiment is illustrative to be never used as to the present invention below
And its application or any restrictions that use.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as part for specification.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent accompanying drawing in individual accompanying drawing.
Fig. 1 is the structural representation of agricultural intelligent pesticide spraying system one embodiment of the present invention, as shown in figure 1, the implementation
The agricultural intelligent pesticide spraying system of example includes：
Control centre 1, control device 2, running gear 3, chemical spraying device 4, positioner 5；
The control centre 1 is wirelessly connected with the control device 2, and the control centre 1 is to control device 2
Running gear 3, the control parameter information of chemical spraying device 4 are sent, passes through the location information of the receiving positioner 5 of control device 2；
The control device 2 is connected with the running gear 3 and chemical spraying device 4, and the control device 2 receives control centre
1 control parameter, and control parameter is acted on into running gear 3 and chemical spraying device 4, control the walking path, OK of running gear 3
Medicine spraying gun spray flow, the medicine spraying gun for walking speed and chemical spraying device 4 spray high lower bound, medicine spraying gun hunting period；
The running gear 3 is under the program that the control device 2 is set, according to the walking path of setting, the speed of travel
Walked, the running gear 3 drives the chemical spraying device 4 to work；
The chemical spraying device 4 is started and is stopped under the control of the control device 2, and is filled by the walking
3 offer power drives are put, the medicine spraying gun that the chemical spraying device 4 is sent according to control device 2 sprays flow, medicine spraying gun spray just
Boundary, the work of medicine spraying gun parameter hunting period；
The positioner 5 is connected with the control device 2, for gathering the position letter of agricultural intelligent pesticide spraying system in real time
Breath, and sent by control device 2 to control centre 1.
Fig. 2 be the present invention agricultural intelligent pesticide spraying system control device one embodiment structural representation, such as Fig. 2
Shown, the control device 2 includes：Main control unit 21, travelling control unit 22, spraying control unit 23, communication unit 24；
The main control unit 21 is connected with the travelling control unit 22, spraying control unit 23, communication unit 24, is passed through
The communication unit 24 communicates with the control centre 1, and main control unit 21 parses the control instruction of control centre 1, will be corresponding
Parsing data send to travelling control unit 22 or spraying control unit 23；
The main control unit 21 receives the decoction deficiency warning information of chemical spraying device 4, the positioning letter of receiving positioner 5
Breath, and according to the work of warning information control running gear 3 and chemical spraying device 4, according to the row of location information amendment running gear 3
Walk parameter；
The travelling control unit 22 receives the control signal of the main control unit 21, and controls the walking of running gear 3
Action；
The spraying control unit 23 receives the control signal of the main control unit 1, and controls the spray of the chemical spraying device 4
Medicine operation；
The communication unit 24 exchanges for entering row information with control centre 1.
Fig. 3 be the present invention agricultural intelligent pesticide spraying system chemical spraying device one embodiment structural representation, such as Fig. 3
Shown, the chemical spraying device 4 includes：Spray case 41, medicine spraying gun 42, spray gun controller 43, controlled motor 44, sensor 45；
The spray case 41 is used to hold decoction, and the sensor 45 is arranged in the spray case 41, sprayed for monitoring
Residual volume of solution in medicine-chest 41；
The medicine spraying gun 42 with it is described spray case 41 be connected, for will spray case 41 in medicine liquid spray in crops table
Face；
The spray gun controller 43 is used for the spray height and pendulum for controlling the spray flow of medicine spraying gun 42, medicine spraying gun 42
Dynamic, the spray gun controller 43 is connected with the control device 2 and controlled motor 44, and the control device 2 controls medicine spraying gun
43 spray flow, the spray height of medicine spraying gun 43 and hunting frequency, the controlled motor 44 are the spray gun controller 43
Power is provided；
The controlled motor 44 is connected with the running gear 3 and spray gun controller 43, and the running gear 3 is control
Motor 44 provides power supply, and the controlled motor 44 provides power for the spray gun controller 43.
The positioner 5 is one kind in GPS location terminal device or Big Dipper positioning terminal equipment.
Fig. 4 is the flow chart of one embodiment of the spray method of the agricultural intelligent pesticide spraying system of the present invention, such as Fig. 4 institutes
Show, the spray method of the agricultural intelligent pesticide spraying system includes：
10, control centre 1 sets the medicine spraying gun spray flow, the high lower bound of medicine spraying gun spray, spray of agricultural intelligent pesticide spraying system
Medicine rifle hunting period and the speed of travel, the walking path of agricultural intelligent pesticide spraying system, and control instruction is sent to control device
2, the medicine spraying gun spray flow is the quality that medicine spraying gun 42 is sprayed insecticide in the unit time, and the high lower bound of the medicine spraying gun spray is
The maximum height and minimum constructive height that medicine spraying gun 42 lifts in spray, the medicine spraying gun hunting period are medicine spraying gun 42 in unit
The interior number swung between maximum height and minimum constructive height；
20, control device 2 sprays spray flow, medicine spraying gun of the medicine spraying gun of agricultural intelligent pesticide spraying system high lower bound, spray
Gun pendulum moves cycle parameter and sent to chemical spraying device 4, and the speed of travel of agricultural intelligent pesticide spraying system, walking path are sent to walking
Device 3；
30, control device 2 starts the running gear 3 and chemical spraying device 4 of agricultural intelligent pesticide spraying system, and positioner 5 is real-time
The current location of agricultural intelligent pesticide spraying system is monitored, and is compared with the walking path of setting, control device 2 is according to setting
Walking path, the action of running gear 3 is adjusted, make the actual walking path and setting walking path one of agricultural intelligent pesticide spraying system
Cause；
40, chemical spraying device 4 monitors residual drug in real time, and when residual drug reaches given threshold, is sent out to control device 2
Send supplement decoction request；
50, control device 2 stops the work of chemical spraying device and running gear, and supplements decoction, until completing spray work.
The setting of the medicine spraying gun spray flow need to consider at least one condition of following condition：
The speed of travel of agricultural intelligent pesticide spraying system；
Medicine spraying gun 42 hunting period；
The diseases and pests of agronomic crop order of severity；
Agricultural chemicals dosage requirement.
The setting of the high lower bound of the medicine spraying gun spray need to consider at least one condition of following condition：
The height of crops；
The distance between the medicine outlet of medicine spraying gun 42 and crops；
The height of the medicine outlet of medicine spraying gun 42；
The speed of travel of agricultural intelligent pesticide spraying system；
The once width of spray crops.
Fig. 5 is the flow chart of another embodiment of the spray method of the agricultural intelligent pesticide spraying system of the present invention, such as Fig. 5 institutes
Show, the positioner 5 monitors the current location of agricultural intelligent pesticide spraying system in real time, and is compared with the walking path of setting
Including：
101, positioner 5 receives the positioning signal of the current location of agricultural intelligent pesticide spraying system, and location information is sent out
Deliver to control device 2；
102, control device 2 judge agricultural intelligent pesticide spraying system current position signal whether setting walking path
On；
103, if it is, running gear 3 controls being walked according to current setup parameter for agricultural intelligent pesticide spraying system；
104, if it is not, then control device 2 judges the track route of setting and the current location of agricultural intelligent pesticide spraying system
Error whether exceed given threshold,
105, if it is, control device 2 calculates the current location of agricultural intelligent pesticide spraying system and the most low coverage of walking path
From the direction of travel of adjustment running gear 3 points to the near distance spot of walking path, and the parameter information that will adjust direction of travel
Send to control centre 1；
106, if not, control device 2 judges walking path in the orientation of the current location of agricultural intelligent pesticide spraying system, tune
The direction of travel of full line walking apparatus 3 is sent to control centre 1 towards walking path, and by the parameter information for adjusting direction of travel；
107, the position of agricultural intelligent pesticide spraying system is reached on walking path, and running gear 3 sets parameter of walking according to original
Walking, and information is completed into the adjustment of agricultural intelligent pesticide spraying system and sent to control centre 1.
Fig. 6 is the flow chart of another embodiment of the spray method of the agricultural intelligent pesticide spraying system of the present invention, such as Fig. 6 institutes
Show, the chemical spraying device 4 monitors residual drug in real time, and when residual drug reaches given threshold, sends and mend to control device 2
Filling decoction request includes：
201, control device 2 sets residual drug alarm threshold in spray case；
202, the residual drug that monitoring sprays in case 41 in real time of sensor 45, when sensor 45 monitors to spray in case 41
When residual drug reaches setting alarm threshold, alarm signal is sent to control device 2；
203, control device 2 sends halt instruction to running gear 3 and chemical spraying device 4, and remaining medicine in the case 41 that will spray
The request of amount deficiency is sent to control centre 1；
204, control centre 1 shows the request for requiring supplementation with decoction of agricultural intelligent pesticide spraying system, waits pending；
205, after spray case 41 inner liquid medicine supplement, manual type start control device 2, running gear 3 and chemical spraying device 4 after
It is continuous to be worked according to setup parameter.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and its
The difference of its embodiment, same or analogous part cross-reference between each embodiment.For system embodiment
For, because it is substantially corresponding with embodiment of the method, so description is fairly simple, referring to the portion of embodiment of the method in place of correlation
Defend oneself bright.
Description of the invention provides for the sake of example and description, and is not exhaustively or by the present invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Select and retouch
State embodiment and be to more preferably illustrate the principle and practical application of the present invention, and one of ordinary skill in the art is managed
The present invention is solved so as to design the various embodiments with various modifications suitable for special-purpose.
Claims (9)
- A kind of 1. spray method of agricultural intelligent pesticide spraying system, it is characterised in that including：Medicine spraying gun spray flow, the high lower bound of medicine spraying gun spray, the medicine spraying gun of control centre's setting agricultural intelligent pesticide spraying system are swung The speed of travel of cycle and agricultural intelligent pesticide spraying system, walking path, and control instruction is sent to control device, the spray Rifle spray flow is the quality that medicine spraying gun is sprayed insecticide in the unit time, and the high lower bound of the medicine spraying gun spray is spraying for medicine spraying gun When the maximum height lifted and minimum constructive height, the medicine spraying gun hunting period be medicine spraying gun within the unit interval in maximum height and The number swung between minimum constructive height；Control device sprays the medicine spraying gun of agricultural intelligent pesticide spraying system flow, the high lower bound of medicine spraying gun spray, medicine spraying gun swing week Period parameters are sent to chemical spraying device, and the speed of travel of agricultural intelligent pesticide spraying system, walking path are sent to running gear；Control device starts the running gear and chemical spraying device of agricultural intelligent pesticide spraying system, and positioner monitors agricultural intelligent in real time The current location of pesticide spraying system, and be compared with the walking path of setting, control device is according to the walking path of setting, adjustment The action of running gear, make the actual walking path of agricultural intelligent pesticide spraying system consistent with setting walking path；Chemical spraying device monitors residual drug in real time, and when residual drug reaches given threshold, supplement medicine is sent to control device Liquid is asked；Control device stops the work of chemical spraying device and running gear, and supplements decoction, until completing spray work.
- 2. the spray method of agricultural intelligent pesticide spraying system according to claim 1, it is characterised in that the medicine spraying gun spray The setting of flow need to consider at least one condition of following condition：The speed of travel of agricultural intelligent pesticide spraying system；Medicine spraying gun hunting period；The diseases and pests of agronomic crop order of severity；Agricultural chemicals dosage requirement.
- 3. the spray method of agricultural intelligent pesticide spraying system according to claim 1, it is characterised in that the medicine spraying gun spray The setting of high lower bound need to consider at least one condition of following condition：The height of crops；The distance between the medicine outlet of medicine spraying gun and crops；The height of the medicine outlet of medicine spraying gun；The speed of travel of agricultural intelligent pesticide spraying system；The once width of spray crops.
- 4. the spray method of agricultural intelligent pesticide spraying system according to claim 1, it is characterised in that the positioner is real When monitor the current location of agricultural intelligent pesticide spraying system, and be compared with the walking path of setting including：Positioner receives the positioning signal of the current location of agricultural intelligent pesticide spraying system, and location information is sent to control and filled Put；Whether control device judges the current position signal of agricultural intelligent pesticide spraying system on the walking path of setting；If it is, running gear control agricultural intelligent pesticide spraying system is walked according to current setup parameter；If it is not, then control device judge the current location of track route and the agricultural intelligent pesticide spraying system of setting error whether More than given threshold,If it is, control device calculates the current location of agricultural intelligent pesticide spraying system and the minimum distance of walking path, adjustment row The direction of travel of walking apparatus points to the near distance spot of walking path, and the parameter information for adjusting direction of travel is sent to control Center；If not, control device judges walking path in the orientation of the current location of agricultural intelligent pesticide spraying system, adjustment walking dress The direction of travel put is sent to control centre towards walking path, and by the parameter information for adjusting direction of travel；The position of agricultural intelligent pesticide spraying system is reached on walking path, and running gear sets parameter of walking according to original and walked, and will The adjustment of agricultural intelligent pesticide spraying system is completed information and sent to control centre.
- 5. the spray method of agricultural intelligent pesticide spraying system according to claim 1, it is characterised in that the chemical spraying device is real When monitor residual drug, and when residual drug reaches given threshold, sending supplement decoction request to control device includes：Residual drug alarm threshold in control device setting spray case；Sensor monitors the residual drug in spray case in real time, when Sensor monitoring reaches setting to the residual drug in spray case During alarm threshold, alarm signal is sent to control device；Control device sends halt instruction to running gear and chemical spraying device, and the request of residual drug deficiency in the case that sprays is sent out Deliver to control centre；Control centre shows the request for requiring supplementation with decoction of agricultural intelligent pesticide spraying system, waits pending；After the case inner liquid medicine supplement that sprays, manual type starts control device, and running gear and chemical spraying device continue to join according to setting Number work.
- A kind of 6. agricultural intelligent pesticide spraying system, it is characterised in that including：Control centre, control device, running gear, spray dress Put, positioner；The control centre is wirelessly connected with the control device, and the control centre sends to control device and walked The control parameter information of device, chemical spraying device, passes through the location information of control device receiving positioner；The control device is connected with the running gear and chemical spraying device, and the control device receives the control ginseng of control centre Number, and control parameter is acted on into running gear and chemical spraying device, control walking path, the speed of travel and the spray of running gear Medicine spraying gun spray flow, the medicine spraying gun of device spray high lower bound, medicine spraying gun hunting period；The running gear enters every trade under the program that the control device is set, according to the walking path of setting, the speed of travel Walk, the running gear drives the chemical spraying device work；The chemical spraying device is started and is stopped under the control of the control device, and is provided by the running gear Power drive, medicine spraying gun spray flow, the high lower bound of medicine spraying gun spray, the medicine spraying gun that the chemical spraying device is sent according to control device Parameter work hunting period；The positioner is connected with the control device, for gathering the positional information of agricultural intelligent pesticide spraying system in real time, and Sent by control device to control centre.
- 7. agricultural intelligent pesticide spraying system according to claim 6, it is characterised in that the control device includes：Master control list Member, travelling control unit, spraying control unit, communication unit；The main control unit is connected with the travelling control unit, spraying control unit, communication unit, passes through the communication unit Communicated with the control centre, main control unit parses the control instruction of control centre, and corresponding parsing data are sent to row Walk control unit or spraying control unit；The decoction deficiency warning information of the main control unit reception chemical spraying device, the location information of receiving positioner, and according to Warning information controls the work of running gear and chemical spraying device, according to the walking parameter of location information amendment running gear；The travelling control unit receives the control signal of the main control unit, and controls the walking motion of running gear；The spraying control unit receives the control signal of the main control unit, and controls the spray drug operation of the chemical spraying device；The communication unit exchanges for entering row information with control centre.
- 8. agricultural intelligent pesticide spraying system according to claim 6, it is characterised in that the chemical spraying device includes：Spray case, Medicine spraying gun, spray gun controller, controlled motor, sensor；The spray case is used to hold decoction, and the sensor is arranged in the spray case, for monitoring the medicine in spray case Liquid surplus；The medicine spraying gun with it is described spray case be connected, for will spray case in medicine liquid spray in crop surface；The spray gun controller is used to control the spray flow of medicine spraying gun, the spray height of medicine spraying gun and swing, the spray Gun controller is connected with the control device and controlled motor, spray flow, the medicine spraying gun of the control device control medicine spraying gun Spray height and hunting frequency, the controlled motor for it is described spray gun controller power is provided；The controlled motor is connected with the running gear and spray gun controller, and the running gear provides electricity for controlled motor Source, the controlled motor provide power for the spray gun controller.
- 9. agricultural intelligent pesticide spraying system according to claim 6, it is characterised in that the positioner is that GPS location is whole One kind in end equipment or Big Dipper positioning terminal equipment.
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