CN110199977A - A kind of self-propelled laser is to target unilateral side spraying machine - Google Patents
A kind of self-propelled laser is to target unilateral side spraying machine Download PDFInfo
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- CN110199977A CN110199977A CN201910626401.0A CN201910626401A CN110199977A CN 110199977 A CN110199977 A CN 110199977A CN 201910626401 A CN201910626401 A CN 201910626401A CN 110199977 A CN110199977 A CN 110199977A
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- 238000005507 spraying Methods 0.000 title claims abstract description 86
- 239000007921 spray Substances 0.000 claims abstract description 134
- 239000012530 fluid Substances 0.000 claims description 40
- 238000003860 storage Methods 0.000 claims description 11
- 239000007788 liquid Substances 0.000 claims description 8
- 238000001802 infusion Methods 0.000 claims description 6
- 230000010412 perfusion Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 230000001154 acute effect Effects 0.000 claims description 3
- 238000010248 power generation Methods 0.000 claims description 3
- 239000002420 orchard Substances 0.000 abstract description 10
- 238000005516 engineering process Methods 0.000 abstract description 9
- 239000000575 pesticide Substances 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 9
- 230000004044 response Effects 0.000 description 9
- 230000009471 action Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000003825 pressing Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000005352 clarification Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000012377 drug delivery Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000002604 ultrasonography Methods 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
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- 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
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
-
- 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)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
This technology is related to agriculture and forestry machinery field, a kind of self-propelled laser is provided to target unilateral side spraying machine, for to the trees spray pesticide in orchard, nursery, can between two kinds of spray patterns of metered dose and variable rate spray free switching, when using variable rate spray, the variable rate spray based on tree features can be carried out according to the different shapes of trees；Including at least crawler type is arranged in from the spraying system walked on running gear, for spraying droplet, be arranged in crawler type from walk running gear rear portion, droplet for spraying to spraying system provides the blast system of power, crawler type is set from the scanning laser sensor for walking running gear front and industry control mechatronics, crawler type is set from the ground-speed sensor for walking running gear rear portion and industry control mechatronics.
Description
Technical field
This technology is related to agriculture and forestry machinery field, provides a kind of self-propelled laser to target unilateral side spraying machine, for orchard, seedling
Trees spray pesticide in garden, can between two kinds of spray patterns of metered dose and variable rate spray free switching, when use variable
When spraying, the variable rate spray based on tree features can be carried out according to the different shapes of trees.
Background technique
Trees in orchard, nursery have different contour structures, and same plant also has difference in different growing stage
Growthform.Pest and disease damage is one of main harm form of production of forestry, and medical treatment is the hand of current relatively broad use
Section, for drug delivery of sprayer because it has many advantages, such as effectively to reduce labor intensity, improves operating efficiency, use is more and more universal.But
Orchard, the soil in nursery are more loose, and ground out-of-flatness, barrier is more, and equipment running resistance is larger.Also, traditional spray machine
The extensive style insecticide-applying way that mostly generally sprays of spray pattern, be not able to satisfy and target be uniformly administered, saves medical fluid and protection ring
The requirement in border needs to study the precision and quantity-variation spray technique based on tree features.
In the prior art, the shadow to target variable rate spray machine vulnerable to environment of the technologies such as image is involved based on infrared ray, ultrasound
It rings.And laser technology can precisely identify plant clarification of objective as a kind of quick, high-precision detection means, by its with
Wind send variable rate spray machine to combine, and can accurately identify target signature, carries out precision and quantity-variation spraying operation, and it is effectively sharp to improve pesticide
With rate and reduce pollution of the pesticide to environment.
Orchard, the soil in nursery are more loose, and some surface relieves are more obvious, it is desirable that spraying machine need to have preferable logical
Performance and climbing capacity are crossed, in the prior art, the carrier multiselect caterpillar chassis carrier of spraying machine.
Summary of the invention
The purpose of this technology is to provide a kind of self-propelled laser to target unilateral side spraying machine, for the tree in orchard, nursery
The wooden spray pesticide, can free switching can when using variable rate spray between two kinds of spray patterns of metered dose and variable rate spray
To carry out the variable rate spray based on tree features according to the different shapes of trees.
The purpose of this technology is achieved through the following technical solutions:
A kind of self-propelled laser is to target unilateral side spraying machine, including crawler type is from walking running gear, and setting is in crawler type from walking walking
Engine, generator driven by the engine in device, the storage battery with power generation mechatronics, setting walk walking in crawler type certainly
Switch enclosure on device, industrial personal computer, by the single-chip microcontroller of serial ports and industry control mechatronics, industrial personal computer is all mentioned by storage battery with single-chip microcontroller
Power supply source；Crawler type from walk the left and right crawler attachment of running gear respectively by be arranged in crawler type from walk on running gear chassis,
The base plate electric machine that power supply is provided with industry control mechatronics, by storage battery drives, and industrial personal computer refers to according to the signal of the remote controler received
It enables base plate electric machine starting, shut down, turn to or change revolving speed.
Further include that crawler type is set from the spraying system walked on running gear, for spraying droplet, is arranged in crawler type
From walk running gear rear portion, droplet for spraying to spraying system provides the blast system of power, setting is in crawler type from walking
Running gear front, the scanning laser sensor with industry control mechatronics, setting walk running gear rear portion and work in crawler type certainly
Control the ground-speed sensor of mechatronics.
Blast system includes connecting firmly in crawler type from the rectification spiral case for walking running gear rear portion, is rotatably arranged on rectification spiral case
Interior axial flow blower connects firmly in rectification spiral case, the conical baffle between rectification spiral case backboard and axial flow blower, passes through
The air duct for being arranged in swinging up and down on rectification spiral case with the air duct pendulous device of monolithic mechatronics, being communicated with rectification spiral case,
The swinging plane of air duct and crawler type are axially vertical from the longitudinal direction and axial flow blower for walking running gear, suitable for reading same with air duct
One section of the rectification spiral case circumferential surface of side it is upper along rectification spiral case be circumferentially evenly equipped with several radial line air duct connection rectification volutes with
It is external.
Spraying system includes the plunger that crawler type is arranged in and communicates from medicine-chest, the inlet walked on running gear with medicine-chest
Pump, the grug transportation tube communicated with plunger pump liquid outlet further include being sprayed respectively by the several groups volute that solenoid valve is communicated with grug transportation tube
Head, several air duct spray heads communicated by solenoid valve with grug transportation tube, the successively return pipe of connection grug transportation tube, pressure regulator valve and medicine-chest；
Several line air duct collar extension centers are arranged in several groups volute spray head correspondingly, and the direction of volute spray head is along rectification volute
Radially outward, several air duct spray heads are evenly arranged on that air duct is suitable for reading, and the direction and air duct axial angle of air duct spray head are that acute angle is lean-in
Tiltedly；Solenoid valve passes through the solenoid valve embedded controller being arranged in switch enclosure with single-chip microcontroller and is electrically connected.
Scanning laser sensor is towards spray direction side.
The beneficial effect of this technology is:
When above-mentioned self-propelled laser works to target unilateral side spraying machine:
1, industrial personal computer starts according to the signal instruction base plate electric machine of the remote controler received, and base plate electric machine drives crawler type from traveling
Walking apparatus walks in orchard, in nursery；
2, axial flow blower starts, and blast system work generates distinguished and admirable
1), axial flow blower generates axial wind, rectifies in spiral case, and under the guide functions of conical baffle, axial wind changes distinguished and admirable
Direction be rectify spiral case diameter aweather；
2), diameter aweather branches to line air duct, and the axial wind in line air duct is formed under the further line effect in line air duct,
It is sprayed by line air duct collar extension, the quasi- droplet sprayed to volute spray head provides power；
3), diameter aweather branches to air duct, under air duct water conservancy diversion, line effect, forms the axial wind of air duct, intends spraying air duct spray head
Droplet out provides power；
3, plunger pump startup has pressing liquid, has pressing liquid to be atomized to form droplet ejection through volute spray head and air duct spray head；
4, the droplet that volute spray head sprays is acted on by the axial wind in line air duct in line air duct collar extension and send droplet to trees
Target, the droplet that air duct spray head sprays act in the air duct axial wind suitable for reading by air duct and send droplet to trees target；
1) spray pattern of metered dose, is selected
Industrial personal computer generates spraying instruction and is sent to single-chip microcontroller by serial ports, and single-chip microcontroller generates action command and is sent to solenoid valve insertion
Formula controller, solenoid valve embedded controller drive each solenoid valve to be in normally open, and volute spray head and air duct spray head persistently spray
Droplet out is sent to trees target through high-speed flow to through the continuous spraying operation of row trees target；
2) spray pattern of variable rate spray, is selected
Scanning laser sensor and ground-speed sensor work, scanning laser sensor scan self-propelled laser to target unilateral side spraying machine
The point cloud information is simultaneously transmitted to industrial personal computer by the point cloud information of side trees target, and ground-speed sensor detects to obtain self-propelled laser
The driving speed information is simultaneously transmitted to industrial personal computer by driving speed information to target unilateral side spraying machine；
According to point cloud information combination driving speed information, industrial personal computer is split trees canopy and generates tree crown volume information and position
Confidence breath；
Industrial personal computer is travelled according to the spraying machine that scanning laser sensor and air duct central horizontal distance and ground-speed sensor detect
Speed determines spraying delay time, by buffer area Tree Crown Volume information and location information generate instruction and be sent to single-chip microcontroller；
Industrial personal computer determines the response time of solenoid valve according to Tree Crown Volume information and location information, i.e. response time by spraying；
Industrial personal computer generates spraying instruction according to Tree Crown Volume information, location information and spraying response time and air duct swings instruction；
Spraying instruction and air duct swing instruction and are sent to single-chip microcontroller by serial ports；
Single-chip microcontroller generates action command and is sent to solenoid valve embedded controller and air duct pendulous device, solenoid valve embedded Control
Device drive magnetic valve is in but is not limited to fully open state or closed state, and air duct pendulous device drives air duct swing to make air duct
The inclination maximum for being in but being not limited to the minimum angle-of-incidence of nutation or facing upward；
The droplet that volute spray head and air duct spray head spray is sent to trees target through high-speed flow to continuously spraying through row trees target
Operation.
Above-mentioned self-propelled laser is to target unilateral side spraying machine, for the trees spray pesticide in orchard, nursery, Ke Yi
Free switching between two kinds of spray patterns of metered dose and variable rate spray can be according to the difference of trees when using variable rate spray
Shape carries out the variable rate spray based on tree features.
Above-mentioned self-propelled laser is to target unilateral side spraying machine, and about blast system, axial flow blower shaft and engine are exported
Axis is hinged, opens up air port at the top of rectification spiral case, deformation device is connected firmly on air port, the mouth in the case where deformation device is suitable for reading with air duct
Bellows is connected firmly with connection deformation device and air duct, the axial fiaring cone of setting is for improving wind direction at the center of air duct
Consistency；Air duct pendulous device includes connecting firmly on rectification spiral case, vertical support base, is connected firmly on air duct, swing setting exists
Rocker on support base, the hinged electric push rod between support base and rocker, electric pushrod pass through the electricity being arranged in switch enclosure
Dynamic push rod embedded controller and monolithic mechatronics.
Above-mentioned self-propelled laser is to target unilateral side spraying machine, about spraying system, further include connect firmly rectification spiral case on, with
The arc medical fluid isocon that perfusion tube communicates is evenly arranged on the medical fluid point communicated on arc medical fluid isocon with arc medical fluid isocon
Device is flowed, the volute spray head connected firmly on medical fluid current divider is communicated by solenoid valve with medical fluid current divider；Further include and perfusion tube phase
Logical infusion tube is communicated, the annular medical fluid isocon connected firmly on air duct is suitable for reading with infusion tube by solenoid valve, is evenly arranged on
The medical fluid current divider communicated on annular medical fluid isocon with annular medical fluid isocon connects firmly the air duct spray head on medical fluid current divider
It is communicated with medical fluid current divider.
Above-mentioned self-propelled laser is to target unilateral side spraying machine, direction and the air duct axial angle 40o~50o of air duct spray head
Slope inwardly.
Above-mentioned self-propelled laser to target unilateral side spraying machine, optical scanning sensor away from air duct central horizontal distance 1.4m~
1.6m, terrain clearance 1.5m~1.7m.
For above-mentioned self-propelled laser to target unilateral side spraying machine, the angle on ground-speed sensor and ground is 36o~38o.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of self-propelled laser to target unilateral side spraying machine；
Fig. 2 is the schematic diagram of blast system and spraying system；
Fig. 3 is the side view of Fig. 2；
Fig. 4 is the schematic diagram of air duct；
Fig. 5 is the cross-sectional view of air duct；
Fig. 6 is the schematic diagram for rectifying volute；
Fig. 7 is the main view for rectifying volute；
Fig. 8 is the top view of Fig. 7；
Fig. 9 is the side view of Fig. 8；
Figure 10 is the schematic diagram of deformation device；
Figure 11 is the top view of Figure 10；
Figure 12 is the schematic diagram of volute spray head；
Figure 13 is the side view of Figure 12；
Figure 14 is a kind of schematic diagram of self-propelled laser to target unilateral side spraying machine spraying operation；
Figure 15 is a kind of work flow diagram of self-propelled laser to target unilateral side spraying machine；
Figure 16 is a kind of self-propelled laser to target unilateral side spraying machine control system block diagram.
Specific embodiment
With reference to the accompanying drawing, this technology is described further:
Referring to shown in Fig. 1-Fig. 5, a kind of self-propelled laser to target unilateral side spraying machine, be it is a kind of for crawler type from walking running gear
The trees of 4 sides apply the spraying machine of spray operation, in this case, the volute spray head 141 of the spraying machine and all courts of air duct spray head 16
To crawler type from the right side for walking running gear 4, for carrying out applying spray operation from the trees for walking 4 right side of running gear to crawler type.
The self-propelled laser is to target unilateral side spraying machine, including crawler type is from walking running gear 4, and setting is in crawler type from traveling
In engine 5(this case in walking apparatus 4, engine 5 is petrol engine), the generator that is driven by engine 5 (do not show in figure
Out), with the storage battery (not shown) of power generation mechatronics, setting is in crawler type from walking on running gear 4, be located at crawler type certainly
Industrial personal computer in switch enclosure 1 is arranged in, by the monolithic of serial ports and industry control mechatronics in the switch enclosure 1 for walking 4 front of running gear
Machine, industrial personal computer and single-chip microcontroller all provide power supply by storage battery；Crawler type walks the left and right crawler attachment of running gear respectively by being arranged certainly
It is driven in crawler type from the base plate electric machine for walking to provide power supply on running gear chassis, with industry control mechatronics, by storage battery, industrial personal computer
According to the starting of the signal instruction base plate electric machine of the remote controler received, shut down or change revolving speed.In this example, generator, storage battery, work
Control machine, single-chip microcontroller, base plate electric machine are not all shown in drawing, and are all the prior art, are repeated no more.
The self-propelled laser further includes setting in crawler type from walking on running gear 4, for spraying to target unilateral side spraying machine
The spraying system of droplet is arranged in crawler type and walks 4 rear portion of running gear, the droplet offer power for spraying to spraying system certainly
Blast system, be arranged in crawler type from walk 4 front of running gear, with the scanning laser sensors 2 of industry control mechatronics, setting
Walk the ground-speed sensor 16 of 4 rear portion of running gear and industry control mechatronics certainly in crawler type.
Again referring to shown in Fig. 6-Figure 11, blast system includes the rectification snail for connecting firmly to walk 4 rear portion of running gear certainly in crawler type
Shell 10, the axial flow blower 13 being rotatably arranged in rectification spiral case 10 connect firmly in rectification spiral case 10, are located at rectification spiral case backboard
Axial wind between 104 and axial flow blower 13, for generating axial flow blower 13 is changed into the taper of the diameter of rectification volute aweather
Deflector 15, by the air duct pendulous device 41 with monolithic mechatronics with swinging up and down be arranged in rectification spiral case 10 on, with it is whole
Flow the logical air duct 8 of spiral case phase 10.The swinging plane of air duct 8 and crawler type are from the longitudinal direction and axial flow blower 13 for walking running gear 4
It is axially vertical, if one section of upper edge rectification spiral case 10 in rectification 10 circumferential surface of spiral case with the same side suitable for reading of air duct 8 is circumferentially evenly equipped with
Trunk diameter to 101 connection of line air duct rectification volute 10 and external, the circular arc central angle where several line air ducts 101 is less than
180 °, line air duct 101 is the cabinet of the positive truncated rectangular pyramids structure of upper lower open mouth.In this case, line air duct 101 has 6.Taper is led
The axial wind transformation that flowing plate 15 generates axial flow blower 13 flows to rectify the diameter of spiral case 10 aweather.
13 shaft of axial flow blower is connect with the output shaft of engine 5 by shaft coupling, is connected firmly at the top of rectification spiral case 10
Air port 102, the suitable for reading of air port 102 is rectangle (being square in this case), and suitable for reading in air port 102 connects firmly connector 103.Deformation
It is that transit to opening suitable for reading be circular desk-top body structure to rectangle (being square in this case) that device 18, which is by lower mouth opening,
Connector 181 is connected firmly at 18 lower mouthfuls of deformation device, connects firmly cylinder 182 at mouth on it.Using bolt, by connector 103,
181 connect firmly deformation device 18 on air port 102.It will join under bellows 19 and air duct 8 using clip 21, by cylinder 182
Mouth connects firmly.
Air duct 8, which upwardly extends for axis along straight line, to be extended obliquely upward along fixed curvature not only but also extends obliquely upward along straight line
Tubular construction, 8 lower section of air duct is relatively large in diameter, and upper diameter is smaller and is in truncated cone.It is arranged at the center of 8 upper section of air duct
Axial fiaring cone 17 is used to improve the consistency of wind direction.
Distinguished and admirable channel is formed to air duct 8 through bellows 19 by line air duct 101.
Air duct pendulous device 41 includes connecting firmly on rectification spiral case 10, vertical support base 411, connects firmly on air duct 8, makes
The rocker 413 being arranged on support base 411, the hinged electric push rod between support base 411 and rocker 413 are swung with pin shaft 412
7, electric pushrod 7 passes through the electric pushrod embedded controller (not shown) being arranged in switch enclosure and is electrically connected with single-chip microcontroller
It connects.Electric pushrod 7 provides power supply by storage battery, and the instruction for executing electric pushrod embedded controller adjusts it and executes the overhanging of bar 71
Length, that is, adjust electric pushrod 7 effective length, make air duct 8 be in include but is not limited to 8 nutation of air duct minimum angle-of-incidence, on
The inclination maximum faced upward.
Again referring to shown in Figure 12, Figure 13, spraying system include be arranged in crawler type from the medicine-chest 3 walked on running gear 4, into
Plunger pump 6 that liquid mouth is communicated with medicine-chest 3, the grug transportation tube (not shown) communicated with 6 liquid outlet of plunger pump, further include logical respectively
The several groups volute spray head 14 that solenoid valve 12 is communicated with grug transportation tube is crossed, several air ducts spray communicated by solenoid valve 12 with grug transportation tube
First 16, successively the return pipe (pressure regulator valve and return pipe are not shown in the figure) of connection grug transportation tube, pressure regulator valve and medicine-chest 3, partially there is pressure
Medical fluid flows back to medicine-chest to the medical fluid return stirring in medicine-chest by pressure regulator valve and return pipe.Several groups volute spray head 14 corresponds
Setting at several 101 collar extension centers of line air duct, the direction of volute spray head 141 along rectification volute 10 radially outward.It is several
Air duct spray head 16 is evenly arranged on that air duct 8 is suitable for reading, and the direction and 8 upper section axial angle of air duct of air duct spray head 16 are that acute angle slopes inwardly.
Specifically, spraying system further includes connecting firmly to communicate on rectification spiral case 10, with perfusion tube by connector 111
Arc medical fluid isocon 11 is evenly arranged on the medical fluid current divider communicated on arc medical fluid isocon 11 with arc medical fluid isocon 11
112, the volute spray head 141 connected firmly on medical fluid current divider 112 is communicated by solenoid valve 12 with medical fluid current divider 112；Further include
The infusion tube (not shown) communicated with perfusion tube, communicated by solenoid valve 12 with infusion tube, connect firmly it is suitable for reading in air duct 8
On annular medical fluid isocon 161, be evenly arranged on the medical fluid communicated on annular medical fluid isocon 161 with annular medical fluid isocon 161
Current divider 112, the air duct spray head 16 connected firmly on medical fluid current divider 112 are communicated with medical fluid current divider 112.The court of air duct spray head 16
Slope inwardly to 8 upper section axial angle 40o~50o of air duct, it is 45o that the angle is taken in this case.
One volute spray head 141 and solenoid valve 12 constitute one group of volute spray head 14, in this case, volute spray head 14 in respect of
6 groups, the number of 6 volute spray heads is followed successively by volute spray head 1, volute spray head 2, volute spray head 3, volute spray head 4, whirlpool from lower to upper
Shell spray head 5, volute spray head 6, corresponding each volute spray head from low to high applying spray range (trunk layer) be I, II, III,
Ⅳ,Ⅴ,Ⅵ.A solenoid valve 12, several air duct sprays are arranged in annular 161 front end of medical fluid isocon where several air duct spray heads 16
First 16 apply sprays range for VII above VI, and in this case, air duct spray head 16 is in respect of 4.
Solenoid valve 12 and single-chip microcontroller pass through the solenoid valve embedded controller (not shown) electricity being arranged in switch enclosure 1
Connection.
The instruction that solenoid valve embedded controller executes industrial personal computer adjusts the open and close and aperture of corresponding solenoid valve.
Scanning laser sensor 2 away from taken in 8 central horizontal distance 1.4m~1.6m(this case of air duct the distance be 1.5m), from
It is highly 1.6m that this is taken in ground height 1.5m~1.7m(this case).Scanning laser sensor 2 is towards spray direction side.
The angle on ground-speed sensor 16 and ground is that the angle is taken in 36o~38o(this case is 37 o).
Again referring to shown in Figure 14, Figure 15, Figure 16, when above-mentioned self-propelled laser works to target unilateral side spraying machine:
1, industrial personal computer starts according to the signal instruction base plate electric machine of the remote controler received, and base plate electric machine drives crawler type from traveling
Walking apparatus walks in orchard, in nursery；
2, axial flow blower starts, and blast system work generates distinguished and admirable
1), axial flow blower generates axial wind, rectifies in spiral case, and under the guide functions of conical baffle, axial wind changes distinguished and admirable
Direction be rectify spiral case diameter aweather；
2), diameter aweather branches to line air duct, and the axial wind in line air duct is formed under the further line effect in line air duct,
It is sprayed by line air duct collar extension, the quasi- droplet sprayed to volute spray head provides power；
3), diameter aweather branches to air duct, under air duct and fiaring cone water conservancy diversion, line effect, forms the axial wind of air duct, intends to wind
The droplet that cylinder spray head sprays provides power；
3, plunger pump startup has pressing liquid, has pressing liquid to be atomized to form droplet ejection through volute spray head and air duct spray head；
4, the droplet that volute spray head sprays is acted on by the axial wind in line air duct in line air duct collar extension and send droplet to trees
Target, the droplet that air duct spray head sprays act in the air duct axial wind suitable for reading by air duct and send droplet to trees target；
1) spray pattern of metered dose, is selected
Industrial personal computer generates spraying instruction and is sent to single-chip microcontroller by serial ports, and single-chip microcontroller generates action command and is sent to solenoid valve insertion
Formula controller, solenoid valve embedded controller drive each solenoid valve to be in normally open, and volute spray head and air duct spray head persistently spray
Droplet out is sent to trees target through high-speed flow to through the continuous spraying operation of row trees target；
2) spray pattern of variable rate spray, is selected
Scanning laser sensor and ground-speed sensor work, scanning laser sensor scan self-propelled laser to target unilateral side spraying machine
The point cloud information is simultaneously transmitted to industrial personal computer by the point cloud information of right side trees target, and ground-speed sensor detects to obtain self-propelled laser
The driving speed information is simultaneously transmitted to industrial personal computer by driving speed information to target unilateral side spraying machine；
According to point cloud information combination driving speed information, industrial personal computer is split trees canopy and generates tree crown volume information and position
Confidence breath deposit buffer area；
Industrial personal computer is travelled according to the spraying machine that scanning laser sensor and air duct central horizontal distance and ground-speed sensor detect
Speed determines spraying delay time, by buffer area Tree Crown Volume information and location information generate instruction and be sent to single-chip microcontroller；
Industrial personal computer determines the response time i.e. spraying corresponding time of solenoid valve according to Tree Crown Volume information and location information；
Industrial personal computer generates spraying instruction according to Tree Crown Volume information, location information and spraying response time and electric pushrod movement refers to
It enables；
Spraying instruction and electric pushrod, which are acted, is sent to single-chip microcontroller by serial ports；
Single-chip microcontroller generates action command and is sent to solenoid valve embedded controller and electric pushrod embedded controller, and solenoid valve is embedding
Enter formula controller drive magnetic valve and be in but be not limited to fully open state or closed state, electric pushrod embedded controller refers to
It enables electric pushrod execute the flexible minimum for making air duct pendulous device that air duct swing be driven to be in air duct but being not limited to nutation of bar to incline
Angle or the inclination maximum faced upward；
The droplet that volute spray head and air duct spray head spray is sent to trees target through high-speed flow to continuously spraying through row trees target
Operation.
Referring to attached drawing, by taking trees 1 and trees 2 as an example:
1), when the travel speed that crawler type walks running gear certainly is 1.5m/s, spraying system Latency response time is 1s.
2), volute spray head 1, the collected point cloud information of industrial personal computer are applied in spray range I without tree crown, then volute spray head 1
Self-propelled laser to target unilateral side spraying machine pass through trees 1 and trees 2 when solenoid valve close, volute spray head 1 is not spraying；Volute spray head
2, the industrial personal computer only collected point cloud information for 1 tree crown of trees in crown canopy length L2 is being applied in spray range II, volute
The solenoid valve response time of spray head 2 is T2, and when passing through trees 2, the solenoid valve of volute spray head 2 is closed；Volute spray head 3, industry control
Machine collect trees 1 apply point cloud information in spray range III in crown canopy length L3 and trees 2 to apply crown canopy in spray range III long
Spend the interior point cloud information of L3 ', in addition, it at b, c two is gap, then when carrying out trees 1, the solenoid valve unlatching of volute spray head, whirlpool
The response time of 3 solenoid valve of shell spray head is T3, and when passing through trees 2, the response time of 3 solenoid valve of volute spray head is T3 ', is expert at
When through at b, c two, the aperture of 3 solenoid valve of volute spray head pass through by aperture maximum-aperture it is gradually small-gradually big-aperture is maximum for aperture
Change procedure；Volute spray head 4 ...
3), air duct spray head, industrial personal computer collects trees 1, trees 2 apply the point cloud information for spraying crown canopy in range VII, air duct spray head
Solenoid valve open, air duct pendulous device drive air duct swing, air duct center according to model at air duct center movement track apply spray.
4), trees 1, trees 2 gap a at, industrial personal computer collects the point cloud information of no trees 1,2 tree crown of trees, institute
There is solenoid valve closing.
The beneficial effect of this technology is:
Above-mentioned self-propelled laser is to target unilateral side spraying machine, for that can quantify to the trees spray pesticide in orchard, nursery
The spraying free switching between two kinds of spray patterns of variable rate spray can be according to the different shapes of trees when using variable rate spray
Carry out the variable rate spray based on tree features.
The degree of automation is higher, and economic performance is preferable, easy to use.
Claims (6)
1. a kind of self-propelled laser is to target unilateral side spraying machine, including crawler type is from walking running gear, and setting is in crawler type from traveling
Engine, generator driven by the engine in walking apparatus, the storage battery with power generation mechatronics, setting is in crawler type from traveling
Switch enclosure on walking apparatus, industrial personal computer, by the single-chip microcontroller of serial ports and industry control mechatronics, industrial personal computer and single-chip microcontroller are all by storage battery
Power supply is provided；Crawler type from walk running gear by be arranged in crawler type from walk on running gear chassis, with industry control mechatronics, by
Storage battery provides the base plate electric machine driving of power supply, and industrial personal computer starts according to the signal instruction base plate electric machine of the remote controler received, stops
Machine, steering change revolving speed, characterized in that
It further include that crawler type is set from the spraying system walked on running gear, for spraying droplet, setting is walked certainly in crawler type
Running gear rear portion, the droplet for spraying to spraying system provide the blast system of power, and setting walks walking in crawler type certainly
Device front, the scanning laser sensor with industry control mechatronics, setting walk running gear rear portion and industrial personal computer in crawler type certainly
The ground-speed sensor of electrical connection；
Blast system includes connecting firmly in crawler type from the rectification spiral case for walking running gear rear portion, is rotatably arranged in rectification spiral case
Axial flow blower, connect firmly rectification spiral case in, positioned at rectification spiral case backboard and axial flow blower between conical baffle, by with list
The air duct that the air duct pendulous device of piece mechatronics is arranged on rectification spiral case, communicates with rectification spiral case with swinging up and down, air duct
Swinging plane and crawler type from walk running gear longitudinal direction and axial flow blower it is axially vertical, with air duct the same side suitable for reading
One section of rectification spiral case circumferential surface is above circumferentially evenly equipped with several radial line air duct connection rectification volutes and outside along rectification spiral case；
Spraying system include be arranged in plunger pump that crawler type communicates from medicine-chest, the inlet walked on running gear with medicine-chest, with
The grug transportation tube that plunger pump liquid outlet communicates further includes the several groups volute spray head communicated respectively by solenoid valve with grug transportation tube, is led to
Several air duct spray heads that solenoid valve is communicated with grug transportation tube are crossed, successively the return pipe of connection grug transportation tube, pressure regulator valve and medicine-chest；Several groups
Volute spray head is arranged in several line air duct collar extension centers correspondingly, the direction of volute spray head along rectification volute it is radial to
Outside, several air duct spray heads are evenly arranged on that air duct is suitable for reading, and the direction and air duct axial angle of air duct spray head are that acute angle slopes inwardly；Electromagnetism
Valve passes through the solenoid valve embedded controller being arranged in switch enclosure with single-chip microcontroller and is electrically connected；
Scanning laser sensor is towards spray direction side.
2. self-propelled laser according to claim 1 is to target unilateral side spraying machine, characterized in that about blast system, axis stream
Fan shaft is hinged with engine output shaft, opens up air port at the top of rectification spiral case, deformation device is connected firmly on air port, is being become
Shape dress sets mouth under suitable for reading and air duct and connects firmly bellows with connection deformation device and air duct, in the rectification of the center of air duct setting axial direction
Bore the consistency for improving wind direction；Air duct pendulous device includes connecting firmly on rectification spiral case, vertical support base, is connected firmly
On air duct, the rocker being arranged on support base, the hinged electric push rod between support base and rocker are swung, electric pushrod passes through
Electric pushrod embedded controller and monolithic mechatronics in switch enclosure are set.
3. self-propelled laser according to claim 1 is to target unilateral side spraying machine, characterized in that about spraying system, also wrap
It includes and connects firmly on rectification spiral case, the arc medical fluid isocon that is communicated with perfusion tube, be evenly arranged on arc medical fluid isocon and arc
The medical fluid current divider that medical fluid isocon communicates, the volute spray head connected firmly on medical fluid current divider pass through solenoid valve and medical fluid current divider
It communicates；Further include the infusion tube communicated with perfusion tube, is communicated, connected firmly on air duct is suitable for reading with infusion tube by solenoid valve
Annular medical fluid isocon is evenly arranged on the medical fluid current divider communicated on annular medical fluid isocon with annular medical fluid isocon, connects firmly
Air duct spray head on medical fluid current divider is communicated with medical fluid current divider.
4. self-propelled laser according to claim 1 or 3 is to target unilateral side spraying machine, characterized in that the direction of air duct spray head
Slope inwardly with air duct axial angle 40o~50o.
5. self-propelled laser according to claim 1 is to target unilateral side spraying machine, characterized in that scanning laser sensor is away from wind
Cylinder central horizontal distance 1.4m~1.6m, terrain clearance 1.5m~1.7m.
6. self-propelled laser according to claim 1 is to target unilateral side spraying machine, characterized in that ground-speed sensor and ground
Angle is 36o~38o.
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| CN112219830A (en) * | 2020-10-09 | 2021-01-15 | 江苏大学 | Air-assisted variable targeting sprayer for terrace orchard and targeting spraying method |
| CN112544596A (en) * | 2020-12-17 | 2021-03-26 | 深圳市森斯环境艺术工程有限公司 | A high efficiency device of dosing for forest pest control |
| CN114128696A (en) * | 2021-11-11 | 2022-03-04 | 江苏大学 | Variable spray control system based on annular pesticide application structure and plant canopy volume calculation method thereof |
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| CN110199977B (en) | 2024-03-08 |
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