CN110199977B - Self-propelled laser target single-side sprayer - Google Patents
Self-propelled laser target single-side sprayer Download PDFInfo
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- CN110199977B CN110199977B CN201910626401.0A CN201910626401A CN110199977B CN 110199977 B CN110199977 B CN 110199977B CN 201910626401 A CN201910626401 A CN 201910626401A CN 110199977 B CN110199977 B CN 110199977B
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- 238000005507 spraying Methods 0.000 claims abstract description 89
- 239000003814 drug Substances 0.000 claims abstract description 75
- 230000008685 targeting Effects 0.000 claims abstract description 11
- 239000007921 spray Substances 0.000 claims description 67
- 239000007788 liquid Substances 0.000 claims description 53
- 238000001802 infusion Methods 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000001154 acute effect Effects 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 239000002420 orchard Substances 0.000 abstract description 10
- 238000005516 engineering process Methods 0.000 abstract description 9
- 229940079593 drug Drugs 0.000 abstract description 6
- 230000009471 action Effects 0.000 description 19
- 230000004044 response Effects 0.000 description 9
- 239000000575 pesticide Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000009826 distribution Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000003595 mist Substances 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000008602 contraction Effects 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
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
Classifications
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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
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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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
- A01M7/005—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
The technology relates to the field of agricultural and forestry machinery, and provides a self-propelled laser targeting single-side sprayer which is used for spraying and applying medicines to trees in orchards and nurseries, can freely switch between two spraying modes of quantitative spraying and variable spraying, and can perform variable spraying based on tree characteristics according to different shapes of the trees when the variable spraying is adopted; the device at least comprises a spraying system which is arranged on the crawler-type self-walking device and is used for spraying fog drops, an air conveying system which is arranged at the rear part of the crawler-type self-walking device and is used for providing power for the fog drops sprayed by the spraying system, a laser scanning sensor which is arranged at the front part of the crawler-type self-walking device and is electrically connected with an industrial computer, and a ground speed sensor which is arranged at the rear part of the crawler-type self-walking device and is electrically connected with the industrial computer.
Description
Technical Field
The technology relates to the field of agricultural and forestry machinery, and provides a self-propelled laser target unilateral sprayer which is used for spraying and applying medicines to trees in orchards and nurseries, and can be freely switched between two spraying modes of quantitative spraying and variable spraying.
Background
The trees in the orchard and the nursery have different appearance structures, and the same plant also has different growth forms in different growth periods. The plant diseases and insect pests are one of the main hazard forms of forestry production, and the drug control is a means which is widely adopted at present, so that the spraying machine can effectively lighten the labor intensity, improve the operation efficiency and the like due to the fact that the spraying machine is used more and more commonly. But the soil of the orchard and the nursery garden is loose, the ground is uneven, the barriers are more, and the running resistance of the machine tool is larger. In addition, most of spraying modes of the traditional spraying machine are widely spraying rough-type pesticide application modes, the requirements of uniform pesticide application to targets, liquid medicine saving and environment protection cannot be met, and the accurate variable spraying technology based on tree characteristics needs to be studied.
In the prior art, a target variable spraying machine based on infrared, ultrasonic, image and other technologies is easily affected by the environment. The laser technology is used as a rapid and high-precision detection means, can accurately identify the characteristics of plant targets, is combined with the pneumatic variable spraying machine, can accurately identify the characteristics of the targets, performs accurate variable spraying operation, improves the effective utilization rate of pesticides and reduces the pollution of the pesticides to the environment.
The soil in the orchard and the nursery garden is loose, the fluctuation of the ground is obvious, the sprayer is required to have good passing performance and climbing capacity, and in the prior art, the carrier of the sprayer is a crawler-type chassis carrier.
Disclosure of Invention
The self-propelled laser target single-side sprayer is used for spraying and applying medicines to trees in orchards and nurseries, can be freely switched between two spraying modes of quantitative spraying and variable spraying, and can perform variable spraying based on tree characteristics according to different shapes of the trees when the variable spraying is adopted.
The aim of the technology is realized by the following technical scheme:
the self-propelled laser targeting single-side sprayer comprises a crawler-type self-propelled travelling device, an engine, a generator driven by the engine, a battery electrically connected with the generator, a switch box, an industrial personal computer, a singlechip and a battery, wherein the engine is arranged in the crawler-type self-propelled travelling device; the left crawler belt device and the right crawler belt device of the crawler type self-walking device are respectively driven by a chassis motor which is arranged on a chassis of the crawler type self-walking device, is electrically connected with an industrial personal computer and is provided with a power supply by a storage battery, and the industrial personal computer instructs the chassis motor to start, stop, turn or change the rotating speed according to the received signal of the remote controller.
The automatic spraying device comprises a crawler-type self-walking device, a spraying system, a pneumatic conveying system, a laser scanning sensor, a ground speed sensor and a control system, wherein the spraying system is arranged on the crawler-type self-walking device and used for spraying fog drops, the pneumatic conveying system is arranged at the rear part of the crawler-type self-walking device and used for providing power for the fog drops sprayed by the spraying system, the laser scanning sensor is arranged at the front part of the crawler-type self-walking device and is electrically connected with the control system, and the ground speed sensor is arranged at the rear part of the crawler-type self-walking device and is electrically connected with the control system.
The wind transmission system comprises a rectifying volute fixedly connected to the rear part of the crawler-type self-propelled travelling device, an axial flow fan rotationally arranged in the rectifying volute, a conical guide plate fixedly connected in the rectifying volute and positioned between a rectifying volute back plate and the axial flow fan, a wind barrel which is arranged on the rectifying volute in an up-and-down swinging way through a wind barrel swinging device which is electrically connected with a single machine and is communicated with the rectifying volute, a swinging plane of the wind barrel is vertical to the longitudinal direction of the crawler-type self-propelled travelling device and the axial direction of the axial flow fan, and a plurality of radial beam wind channels are uniformly distributed on a section of the periphery of the rectifying volute on the same side as the upper opening of the wind barrel along the circumferential direction of the rectifying volute to communicate the rectifying volute with the outside.
The spraying system comprises a medicine box arranged on the crawler-type self-walking device, a plunger pump with a liquid inlet communicated with the medicine box, a medicine delivery pipe communicated with a liquid outlet of the plunger pump, a plurality of groups of volute spray heads respectively communicated with the medicine delivery pipe through electromagnetic valves, a plurality of air duct spray heads communicated with the medicine delivery pipe through electromagnetic valves, and a return pipe sequentially communicated with the medicine delivery pipe, the pressure regulating valve and the medicine box; the vortex shell spray heads are arranged at the centers of the outer openings of the beam air channels in a one-to-one correspondence manner, the direction of the vortex shell spray heads is outwards along the radial direction of the rectifying vortex shell, the wind barrel spray heads are uniformly distributed at the upper opening of the wind barrel, and the direction of the wind barrel spray heads and the axial included angle of the wind barrel are inclined inwards at an acute angle; the electromagnetic valve is electrically connected with the singlechip through an electromagnetic valve embedded controller arranged in the switch box.
The laser scanning sensor faces to one side of the spraying direction.
The beneficial effects of the technology are as follows:
the self-propelled laser target single-side sprayer works:
1. the industrial personal computer instructs the chassis motor to start according to the received signal of the remote controller, and the chassis motor drives the crawler-type self-walking device to walk in the orchard and the nursery;
2. the axial flow fan is started, and the air supply system works to generate air flow
1) Axial flow fan produces axial wind, in the rectifying volute, under the flow guiding action of the conical flow guide plate, the axial wind changes the wind flow direction into radial wind of the rectifying volute;
2) The radial wind is split into a beam air channel, axial wind of the beam air channel is formed under the further beam action of the beam air channel, and is sprayed out from the outer opening of the beam air channel to provide power for fog drops sprayed out by the volute nozzle;
3) The radial wind is split into the wind barrel, and the axial wind of the wind barrel is formed under the flow guiding and beam current effects of the wind barrel, so as to provide power for fog drops sprayed out of a spray head of the wind barrel;
3. the plunger pump is started to generate pressurized liquid medicine, and the pressurized liquid medicine is atomized by the volute spray head and the air cylinder spray head to form fog drops to spray out;
4. the fog drops sprayed out of the volute spray head are subjected to the axial wind action of the beam air duct at the outer opening of the beam air duct to send the fog drops to the tree target, and the fog drops sprayed out of the air duct spray head are subjected to the axial wind action of the air duct at the upper opening of the air duct to send the fog drops to the tree target;
1) Spray pattern for selecting a metered spray
The industrial personal computer generates a spraying instruction and sends the spraying instruction to the singlechip through the serial port, the singlechip generates an action instruction and sends the action instruction to the electromagnetic valve embedded controller, the electromagnetic valve embedded controller drives each electromagnetic valve to be in a normally open state, and fog drops continuously sprayed by the volute spray head and the air cylinder spray head are sent to the tree target through high-speed air flow to carry out continuous spraying operation on the tree target;
2) Spray pattern of variable spray
The laser scanning sensor scans the point cloud information of the tree target on one side of the self-propelled laser target single-side sprayer and transmits the point cloud information to the industrial personal computer, and the ground speed sensor detects and obtains the running speed information of the self-propelled laser target single-side sprayer and transmits the running speed information to the industrial personal computer;
dividing the tree canopy by the industrial personal computer according to the point cloud information and the running speed information to generate tree canopy volume information and position information;
the industrial personal computer determines spraying delay time according to the horizontal distance between the laser scanning sensor and the center of the air duct and the running speed of the spraying machine detected by the ground speed sensor, and sends a crown volume information and position information generating instruction in the cache area to the singlechip;
the industrial personal computer determines the response time of the electromagnetic valve, namely the spraying response time, according to the tree crown volume information and the position information;
the industrial personal computer generates a spraying instruction and an air duct swinging instruction according to the crown volume information, the position information and the spraying response time;
the spraying instruction and the fan drum swinging instruction are sent to the singlechip through the serial port;
the single chip microcomputer generates an action command and sends the action command to the electromagnetic valve embedded controller and the air cylinder swinging device, the electromagnetic valve embedded controller drives the electromagnetic valve to be in a complete opening state or a closing state but not limited to the complete opening state, the wind barrel swinging device drives the wind barrel to swing so that the wind barrel is positioned at, but not limited to, a minimum dip angle of downward depression or a maximum dip angle of upward elevation;
the fog drops sprayed by the volute nozzle and the air cylinder nozzle are sent to the tree target through high-speed air flow to perform continuous spraying operation on the tree target.
The self-propelled laser target single-side sprayer is used for spraying and applying medicines to trees in orchards and nurseries, can be freely switched between two spraying modes of quantitative spraying and variable spraying, and can perform variable spraying based on tree characteristics according to different shapes of the trees when the variable spraying is adopted.
The self-propelled laser targeting single-side sprayer is characterized in that regarding an air delivery system, a rotating shaft of an axial flow fan is hinged with an output shaft of an engine, a wind port is formed in the top of a rectifying volute, a deformation device is fixedly connected to the wind port, a corrugated pipe is fixedly connected to the upper port of the deformation device and the lower port of an air duct so as to be communicated with the deformation device and the air duct, and an axial rectifying cone is arranged in the center of the air duct and used for improving the consistency of the wind flow direction; the wind barrel swinging device comprises a vertical supporting seat fixedly connected to the rectifying volute, a swinging frame fixedly connected to the wind barrel and arranged on the supporting seat in a swinging mode, an electric push rod is hinged between the supporting seat and the swinging frame, and the electric push rod is electrically connected with the single chip microcomputer through an electric push rod embedded controller arranged in the switch box.
The self-propelled laser targeting single-side sprayer relates to a spraying system, and also comprises arc-shaped liquid medicine shunt pipes which are fixedly connected to the rectifying spiral case and communicated with the infusion tube, liquid medicine shunts which are uniformly distributed on the arc-shaped liquid medicine shunt pipes and communicated with the arc-shaped liquid medicine shunt pipes, and volute spray heads fixedly connected to the liquid medicine shunts are communicated with the liquid medicine shunts through electromagnetic valves; the liquid medicine distributor is characterized by also comprising an infusion hose communicated with the infusion tube, an annular liquid medicine split-tube communicated with the infusion hose through an electromagnetic valve and fixedly connected to the upper opening of the air duct, and liquid medicine splitters uniformly distributed on the annular liquid medicine split-tube and communicated with the annular liquid medicine split-tube, wherein an air duct nozzle fixedly connected to the liquid medicine splitter is communicated with the liquid medicine splitters.
According to the self-propelled laser target single-side sprayer, the direction of the air duct nozzle and the axial included angle of the air duct are inclined inwards by 40-50 degrees.
The self-propelled laser target single-side sprayer has the advantages that the horizontal distance between the optical scanning sensor and the center of the air duct is 1.4-1.6 m, and the ground clearance is 1.5-1.7 m.
The self-propelled laser target single-side sprayer has the advantages that the included angle between the ground speed sensor and the ground is 36-38 degrees.
Drawings
FIG. 1 is a schematic diagram of a self-propelled laser-to-target single-sided atomizer;
FIG. 2 is a schematic diagram of an air delivery system and a spray system;
FIG. 3 is a side view of FIG. 2;
FIG. 4 is a schematic view of a wind tunnel;
FIG. 5 is a cross-sectional view of a cartridge;
FIG. 6 is a schematic view of a rectifying scroll;
FIG. 7 is a front view of the rectifying scroll;
FIG. 8 is a top view of FIG. 7;
FIG. 9 is a side view of FIG. 8;
FIG. 10 is a schematic view of a deforming apparatus;
FIG. 11 is a top view of FIG. 10;
FIG. 12 is a schematic view of a volute spray head;
FIG. 13 is a side view of FIG. 12;
FIG. 14 is a schematic illustration of a self-propelled laser-to-target single-sided atomizer spraying operation;
FIG. 15 is a flow chart of the operation of a self-propelled laser-on-target single-sided atomizer;
fig. 16 is a block diagram of a self-propelled laser targeting single-sided atomizer control system.
Detailed Description
The present technology is further described below with reference to the accompanying drawings:
referring to fig. 1-5, a self-propelled laser target single-side sprayer is a sprayer for spraying trees on one side of a crawler-type self-propelled travelling device 4, in this case, a volute nozzle 141 and a wind barrel nozzle 16 of the sprayer face to the right side of the crawler-type self-propelled travelling device 4, and are used for spraying trees on the right side of the crawler-type self-propelled travelling device 4.
The self-propelled laser targeting single-side sprayer comprises a crawler-type self-propelled travelling device 4, an engine 5 (in the scheme, the engine 5 is a gasoline engine), a generator (not shown in the figure) driven by the engine 5, and a battery (not shown in the figure) electrically connected with the generator, wherein a switch box 1 is arranged on the crawler-type self-propelled travelling device 4 and positioned at the front part of the crawler-type self-propelled travelling device 4, an industrial personal computer is arranged in the switch box 1, and is electrically connected with the industrial personal computer through a serial port, and the industrial personal computer and the single-chip computer are all powered by the battery; the left crawler belt device and the right crawler belt device of the crawler type self-walking device are respectively driven by a chassis motor which is arranged on a chassis of the crawler type self-walking device, is electrically connected with an industrial personal computer and is provided with a power supply by a storage battery, and the industrial personal computer instructs the chassis motor to start, stop or change the rotating speed according to the received signal of the remote controller. In this example, the generator, the battery, the industrial personal computer, the single-chip microcomputer and the chassis motor are not shown in the drawings, and are all of the prior art, and are not described again.
The self-propelled laser targeting single-side sprayer further comprises a spraying system which is arranged on the crawler-type self-propelled travelling device 4 and is used for spraying mist drops, an air conveying system which is arranged at the rear part of the crawler-type self-propelled travelling device 4 and is used for providing power for the mist drops sprayed by the spraying system, a laser scanning sensor 2 which is arranged at the front part of the crawler-type self-propelled travelling device 4 and is electrically connected with an industrial computer, and a ground speed sensor 16 which is arranged at the rear part of the crawler-type self-propelled travelling device 4 and is electrically connected with the industrial computer.
Referring to fig. 6-11, the air supply system includes a rectifying volute 10 fixedly connected to the rear portion of the crawler-type self-propelled travelling device 4, an axial fan 13 rotatably disposed in the rectifying volute 10, a conical deflector 15 fixedly connected in the rectifying volute 10 and located between a rectifying volute back plate 104 and the axial fan 13 for converting axial wind generated by the axial fan 13 into radial wind of the rectifying volute, and an air duct 8 vertically swingably disposed on the rectifying volute 10 through an air duct swinging device 41 electrically connected to the single-chip and communicating with the rectifying volute 10. The swing plane of the wind cylinder 8 is perpendicular to the longitudinal direction of the crawler-type self-propelled travelling device 4 and the axial direction of the axial flow fan 13, a plurality of radial beam air channels 101 are uniformly distributed on a section of the periphery of the rectifying volute 10 on the same side with the upper opening of the wind cylinder 8 along the periphery of the rectifying volute 10 to be communicated with the outside, the circular arc central angle of the plurality of beam air channels 101 is smaller than 180 degrees, and the beam air channels 101 are boxes with regular quadrangular frustum structures with upper openings and lower openings. In this case, there are 6 beam channels 101. The conical deflector 15 converts the axial wind generated by the axial flow fan 13 into radial wind flowing toward the rectifying volute 10.
The rotating shaft of the axial flow fan 13 is connected with the output shaft of the engine 5 through a coupling, the top of the rectifying volute 10 is fixedly connected with the air port 102, the upper opening of the air port 102 is rectangular (square in the present case), and the upper opening of the air port 102 is fixedly connected with the connecting body 103. The deformation device 18 is a desk type box structure with a rectangular opening at the lower opening (square in the present case) and a round opening at the upper opening, a connecting body 181 is fixedly connected at the lower opening of the deformation device 18, and a cylinder 182 is fixedly connected at the upper opening of the deformation device. The deformation device 18 is fastened to the tuyere 102 by means of the connecting bodies 103, 181 using bolts. The bellows 19 is fixedly connected with the lower opening of the air duct 8 through the cylinder 182 by using the clamp 21.
The air duct 8 is a cylindrical structure with an axis extending upwards along a straight line, extending obliquely upwards along a fixed curvature and extending obliquely upwards along a straight line, wherein the diameter of the lower section of the air duct 8 is larger, and the diameter of the upper section of the air duct is smaller and is in a truncated cone shape. An axial rectifying cone 17 is arranged in the center of the upper section of the wind barrel 8 and is used for improving the uniformity of the wind flow direction.
The beam air channel 101 forms an air flow channel from the corrugated pipe 19 to the air duct 8.
The wind barrel swinging device 41 comprises a vertical supporting seat 411 fixedly connected to the rectifying volute 10, a swinging frame 413 fixedly connected to the wind barrel 8 and swinging the supporting seat 411 by using a pin shaft 412, and an electric push rod 7 is hinged between the supporting seat 411 and the swinging frame 413, wherein the electric push rod 7 is electrically connected with the single chip through an electric push rod embedded controller (not shown in the figure) arranged in the switch box. The electric push rod 7 is powered by a battery, and the command of the embedded controller of the electric push rod is executed to adjust the overhanging length of the executing rod 71, namely the effective length of the electric push rod 7 is adjusted, so that the air duct 8 is positioned at the minimum inclination angle including but not limited to the downward inclination angle and the upward inclination angle of the air duct 8.
Referring to fig. 12 and 13, the spraying system includes a medicine box 3 disposed on the crawler-type self-walking device 4, a plunger pump 6 with a liquid inlet communicated with the medicine box 3, a medicine delivery pipe (not shown in the figure) communicated with a liquid outlet of the plunger pump 6, a plurality of sets of volute spray heads 14 respectively communicated with the medicine delivery pipe through electromagnetic valves 12, a plurality of air duct spray heads 16 communicated with the medicine delivery pipe through electromagnetic valves 12, and a return pipe (not shown in the pressure regulating valve and the return pipe) sequentially communicated with the medicine box 3, and part of the pressurized medicine liquid flows back to the medicine box through the pressure regulating valve and the return pipe to stir the medicine liquid in the medicine box in a backflow manner. The volute spray heads 14 are arranged at the centers of the outer openings of the beam air channels 101 in a one-to-one correspondence manner, and the volute spray heads 141 face outwards along the radial direction of the rectifying volute 10. The air duct spray heads 16 are uniformly distributed at the upper opening of the air duct 8, and the direction of the air duct spray heads 16 and the axial included angle of the upper section of the air duct 8 are acute angles and incline inwards.
Specifically, the spraying system further comprises an arc-shaped liquid medicine split-tube 11 fixedly connected to the rectifying volute 10 through a connecting piece 111 and communicated with the infusion tube, a liquid medicine splitter 112 uniformly distributed on the arc-shaped liquid medicine split-tube 11 and communicated with the arc-shaped liquid medicine split-tube 11, and a volute nozzle 141 fixedly connected to the liquid medicine splitter 112 is communicated with the liquid medicine splitter 112 through an electromagnetic valve 12; the liquid medicine distributor also comprises an infusion hose (not shown in the figure) communicated with the infusion tube, an annular liquid medicine distribution pipe 161 communicated with the infusion hose through a solenoid valve 12 and fixedly connected to the upper opening of the air duct 8, liquid medicine distributors 112 uniformly distributed on the annular liquid medicine distribution pipe 161 and communicated with the annular liquid medicine distribution pipe 161, and air duct spray heads 16 fixedly connected to the liquid medicine distributors 112 are communicated with the liquid medicine distributors 112. The direction of the air duct nozzle 16 and the axial included angle of the upper section of the air duct 8 are inclined inwards by 40-50 degrees, and the angle is 45 degrees in the scheme.
A volute spray head 141 and an electromagnetic valve 12 form a group of volute spray heads 14, in the scheme, the volute spray heads 14 are 6 groups, the numbers of the 6 volute spray heads are volute spray heads 1, volute spray heads 2, volute spray heads 3, volute spray heads 4, volute spray heads 5 and volute spray heads 6 from bottom to top, and the spraying range (trunk layer) of each corresponding volute spray head from low to high is I, II, III, IV, V and VI. The front end of the annular liquid medicine shunt tube 161 where the plurality of air duct spray heads 16 are arranged is provided with an electromagnetic valve 12, the spraying range of the plurality of air duct spray heads 16 is VII positioned above VI, and in the scheme, 4 air duct spray heads 16 are counted.
The electromagnetic valve 12 is electrically connected with the single-chip microcomputer through an electromagnetic valve embedded controller (not shown in the figure) arranged in the switch box 1.
The electromagnetic valve embedded controller executes instructions of the industrial personal computer to adjust the opening, closing and opening of the corresponding electromagnetic valve.
The horizontal distance between the laser scanning sensor 2 and the center of the air duct 8 is 1.4-1.6 m (the distance is 1.5m in the present case), and the height from the ground is 1.5-1.7 m (the height is 1.6m in the present case). The laser scanning sensor 2 faces the spray direction side.
The included angle between the ground speed sensor 16 and the ground is 36-38 degrees (in the scheme, the included angle is taken to be 37 degrees).
Referring to fig. 14, 15 and 16, the self-propelled laser target single-side sprayer is operated as follows:
1. the industrial personal computer instructs the chassis motor to start according to the received signal of the remote controller, and the chassis motor drives the crawler-type self-walking device to walk in the orchard and the nursery;
2. the axial flow fan is started, and the air supply system works to generate air flow
1) Axial flow fan produces axial wind, in the rectifying volute, under the flow guiding action of the conical flow guide plate, the axial wind changes the wind flow direction into radial wind of the rectifying volute;
2) The radial wind is split into a beam air channel, axial wind of the beam air channel is formed under the further beam action of the beam air channel, and is sprayed out from the outer opening of the beam air channel to provide power for fog drops sprayed out by the volute nozzle;
3) The radial wind is split into the wind barrel, and under the action of the wind barrel, the flow guide cone and the beam flow, the axial wind of the wind barrel is formed, and the power is provided for fog drops sprayed out of a spray head of the wind barrel;
3. the plunger pump is started to generate pressurized liquid medicine, and the pressurized liquid medicine is atomized by the volute spray head and the air cylinder spray head to form fog drops to spray out;
4. the fog drops sprayed out of the volute spray head are subjected to the axial wind action of the beam air duct at the outer opening of the beam air duct to send the fog drops to the tree target, and the fog drops sprayed out of the air duct spray head are subjected to the axial wind action of the air duct at the upper opening of the air duct to send the fog drops to the tree target;
1) Spray pattern for selecting a metered spray
The industrial personal computer generates a spraying instruction and sends the spraying instruction to the singlechip through the serial port, the singlechip generates an action instruction and sends the action instruction to the electromagnetic valve embedded controller, the electromagnetic valve embedded controller drives each electromagnetic valve to be in a normally open state, and fog drops continuously sprayed by the volute spray head and the air cylinder spray head are sent to the tree target through high-speed air flow to carry out continuous spraying operation on the tree target;
2) Spray pattern of variable spray
The laser scanning sensor scans the point cloud information of the tree targets on the right side of the self-propelled laser target single-side sprayer and transmits the point cloud information to the industrial personal computer, and the ground speed sensor detects and obtains the running speed information of the self-propelled laser target single-side sprayer and transmits the running speed information to the industrial personal computer;
according to the point cloud information and the running speed information, the industrial personal computer divides the tree canopy to generate tree canopy volume information and position information, and the tree canopy volume information and the position information are stored in a cache area;
the industrial personal computer determines spraying delay time according to the horizontal distance between the laser scanning sensor and the center of the air duct and the running speed of the spraying machine detected by the ground speed sensor, and sends a crown volume information and position information generating instruction in the cache area to the singlechip;
the industrial personal computer determines response time of the electromagnetic valve, namely spraying corresponding time, according to the tree crown volume information and the position information;
the industrial personal computer generates a spraying instruction and an electric push rod action instruction according to the crown volume information, the position information and the spraying response time;
the spraying instruction and the action of the electric push rod are sent to the singlechip through the serial port;
the singlechip generates an action instruction and sends the action instruction to the electromagnetic valve embedded controller and the electric push rod embedded controller, the electromagnetic valve embedded controller drives the electromagnetic valve to be in a completely opened state or a closed state, and the electric push rod embedded controller instructs the electric push rod to execute rod expansion and contraction so that the air cylinder swinging device drives the air cylinder to swing so that the air cylinder is in a minimum dip angle of being in a dip angle of being out of a dip angle of being in a maximum;
the fog drops sprayed by the volute nozzle and the air cylinder nozzle are sent to the tree target through high-speed air flow to perform continuous spraying operation on the tree target.
Referring to the drawings, taking tree 1 and tree 2 as examples:
1) When the travelling speed of the crawler-type self-walking device is 1.5m/s, the delay response time of the spraying system is 1s.
2) The volute spray head 1, the point cloud information acquired by the industrial personal computer does not have a crown in the spraying range I of the volute spray head 1, so that the electromagnetic valve is closed when the self-propelled laser pair target single-side sprayer passes through the tree 1 and the tree 2, and the volute spray head 1 does not spray; the scroll nozzle 2, the industrial personal computer only collects the point cloud information of the tree 1 crown in the crown layer length L2, in the spraying range II, the response time of the electromagnetic valve of the scroll nozzle 2 is T2, and when the tree 2 passes through, the electromagnetic valve of the scroll nozzle 2 is closed; the scroll nozzle 3, the industrial personal computer collects the point cloud information in the tree crown layer length L3 in the tree 1 spraying range III and the point cloud information in the tree crown layer length L3 'in the tree 2 spraying range III, and when the tree 1 is carried out, the electromagnetic valve of the scroll nozzle is opened, the response time of the electromagnetic valve of the scroll nozzle 3 is T3, when the tree 2 is passed, the response time of the electromagnetic valve of the scroll nozzle 3 is T3', and when the tree 2 is passed, the opening of the electromagnetic valve of the scroll nozzle 3 is subjected to the change process of maximum opening, gradually reduced opening, gradually increased opening and maximum opening; volute nozzle 4 … …
3) The industrial personal computer collects the point cloud information of tree 1 and tree 2 spraying range VII of tree crowns, the electromagnetic valve of the air duct nozzle is opened, the air duct swinging device drives the air duct to swing, and the center of the air duct sprays according to the center motion track of the air duct formed by .
4) And the industrial personal computer collects the point cloud information of the crowns of the trees 1 and 2, and all the electromagnetic valves are closed.
The beneficial effects of the technology are as follows:
the self-propelled laser target single-side sprayer is used for spraying and applying medicines to trees in orchards and nurseries, can be freely switched between two spraying modes of quantitative spraying and variable spraying, and can perform variable spraying based on tree characteristics according to different shapes of the trees when the variable spraying is adopted.
The automatic degree is higher, the economic performance is better, and the use is convenient.
Claims (4)
1. The self-propelled laser targeting single-side sprayer comprises a crawler-type self-propelled travelling device, an engine, a generator driven by the engine, a battery electrically connected with the generator, a switch box, an industrial personal computer, a singlechip and a battery, wherein the engine is arranged in the crawler-type self-propelled travelling device; the crawler-type self-walking device is driven by a chassis motor which is arranged on a chassis of the crawler-type self-walking device, is electrically connected with an industrial personal computer and is provided with a power supply by a storage battery, the industrial personal computer instructs the chassis motor to start, stop, turn or change the rotating speed according to the received signal of the remote controller,
the device also comprises a spraying system which is arranged on the crawler-type self-walking device and is used for spraying fog drops, an air conveying system which is arranged at the rear part of the crawler-type self-walking device and is used for providing power for the fog drops sprayed by the spraying system, a laser scanning sensor which is arranged at the front part of the crawler-type self-walking device and is electrically connected with an industrial computer, and a ground speed sensor which is arranged at the rear part of the crawler-type self-walking device and is electrically connected with the industrial computer;
the wind transmission system comprises a rectifying volute fixedly connected to the rear part of the crawler-type self-propelled travelling device, an axial flow fan rotationally arranged in the rectifying volute, a conical guide plate fixedly connected in the rectifying volute and positioned between a rectifying volute back plate and the axial flow fan, a wind barrel which is arranged on the rectifying volute in a vertical swinging way through a wind barrel swinging device which is electrically connected with a single chip and is communicated with the rectifying volute, a swinging plane of the wind barrel is vertical to the longitudinal direction of the crawler-type self-propelled travelling device and the axial direction of the axial flow fan, and a plurality of radial beam wind channels are uniformly distributed on a section of the periphery of the rectifying volute on the same side as the upper opening of the wind barrel along the circumferential direction of the rectifying volute to communicate the rectifying volute with the outside;
the spraying system comprises a medicine box arranged on the crawler-type self-walking device, a plunger pump with a liquid inlet communicated with the medicine box, a medicine delivery pipe communicated with a liquid outlet of the plunger pump, a plurality of groups of volute spray heads respectively communicated with the medicine delivery pipe through electromagnetic valves, a plurality of air duct spray heads communicated with the medicine delivery pipe through electromagnetic valves, and a return pipe sequentially communicated with the medicine delivery pipe, the pressure regulating valve and the medicine box; the vortex shell spray heads are arranged at the centers of the outer openings of the beam air channels in a one-to-one correspondence manner, the direction of the vortex shell spray heads is outwards along the radial direction of the rectifying vortex shell, the wind barrel spray heads are uniformly distributed at the upper opening of the wind barrel, and the direction of the wind barrel spray heads and the axial included angle of the wind barrel are inclined inwards at an acute angle; the electromagnetic valve is electrically connected with the singlechip through an electromagnetic valve embedded controller arranged in the switch box;
the laser scanning sensor faces one side of the spraying direction;
regarding the air supply system, a rotating shaft of an axial flow fan is hinged with an output shaft of an engine, a wind gap is formed at the top of a rectifying volute, a deformation device is fixedly connected to the wind gap, a corrugated pipe is fixedly connected to the upper opening of the deformation device and the lower opening of an air duct to communicate the deformation device with the air duct, and an axial rectifying cone is arranged in the center of the air duct and used for improving the consistency of the wind flow direction; the wind barrel swinging device comprises a vertical supporting seat fixedly connected to the rectifying volute, a swinging frame fixedly connected to the wind barrel and arranged on the supporting seat in a swinging mode, an electric push rod is hinged between the supporting seat and the swinging frame, and the electric push rod is electrically connected with the single chip microcomputer through an electric push rod embedded controller arranged in the switch box;
the spray system also comprises an arc-shaped liquid medicine split-flow pipe fixedly connected to the rectifying volute and communicated with the infusion tube, and liquid medicine splitters uniformly distributed on the arc-shaped liquid medicine split-flow pipe and communicated with the arc-shaped liquid medicine split-flow pipe, wherein a volute nozzle fixedly connected to the liquid medicine splitter is communicated with the liquid medicine splitter through an electromagnetic valve; the liquid medicine distributor is characterized by also comprising an infusion hose communicated with the infusion tube, an annular liquid medicine split-tube communicated with the infusion hose through an electromagnetic valve and fixedly connected to the upper opening of the air duct, and liquid medicine splitters uniformly distributed on the annular liquid medicine split-tube and communicated with the annular liquid medicine split-tube, wherein an air duct nozzle fixedly connected to the liquid medicine splitter is communicated with the liquid medicine splitters.
2. The self-propelled laser targeting single-side sprayer according to claim 1, wherein the direction of the air duct nozzle and the axial direction of the air duct form an included angle of 40-50 degrees and are inclined inwards.
3. The self-propelled laser targeting single-side sprayer according to claim 1, wherein the horizontal distance between the laser scanning sensor and the center of the air duct is 1.4-1.6 m, and the ground clearance is 1.5-1.7 m.
4. The self-propelled laser targeting single-side sprayer according to claim 1, wherein an included angle between the ground speed sensor and the ground is 36-38 degrees.
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| CN112219830B (en) * | 2020-10-09 | 2022-03-18 | 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 |
| CN114128696B (en) * | 2021-11-11 | 2023-04-07 | 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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