CN111084172A - Device and method for automatically adjusting spray air volume based on volume of crown canopy - Google Patents
Device and method for automatically adjusting spray air volume based on volume of crown canopy Download PDFInfo
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- 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
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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
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Abstract
The invention belongs to the field of agricultural plant protection machinery, and relates to a device and a method for automatically adjusting spray air volume based on the volume of a crown canopy. The device comprises a speed sensor, a laser scanner, a brushless fan, a fan drive and signal control module; the speed sensor is arranged at the front part of the sprayer and faces the ground, and is used for detecting the operation speed of the sprayer; the laser scanner is arranged at the front part of the spraying machine and used for collecting information of fruit tree crowns on two sides of the spraying machine; the brushless fan is installed at the rear part of the atomizing nozzle of the spraying machine, the fan drive is connected with the brushless fan, and the brushless fan is driven to provide variable air volume for the atomizing nozzle. The invention can automatically collect the information of the tree crowns of the fruit trees at the two sides of the tree row, automatically and independently control the rotating speed of a single fan according to the air volume algorithm, realize the air volume supply by spraying according to the requirement, improve the utilization rate and the deposition uniformity of pesticide, and reduce the environmental pollution and the personal injury to operators caused by the drift of the pesticide in the pesticide application process.
Description
Technical Field
The invention belongs to the field of agricultural plant protection machinery, relates to a spraying air quantity adjusting device of a spraying machine, and particularly relates to an automatic spraying air quantity adjusting device and method based on the volume of a crown canopy.
Background
Fruit tree spraying is an effective plant protection mode commonly adopted by nurseries and fruit trees, in China, the current automatic plant protection machinery and pesticide application technology applied to fruit tree spraying are relatively backward, the pesticide utilization rate is extremely low, an orchard sprayer continuously and invariably carries out air-assisted spraying in the whole pesticide application process, severe pesticide waste and environmental pollution caused by pesticide drift and loss are extremely easy to form, and meanwhile, the pesticide residue of agricultural products exceeds the standard. The air quantity adjusting technology can improve the effective utilization rate of the pesticide, improve the deposition uniformity of the liquid medicine on the canopy, and reduce the environmental pollution and the personal injury to operators caused by pesticide drift in the pesticide applying process.
The existing automatic targeting variable spraying machine in China mainly collects tree crown information according to corresponding sensors and is realized by adjusting the flow of a spray head and an air outlet of a fan, for example, the invention patent application of China 'orchard spraying machine with a manual fan rotating speed adjusting device' (application number 20160549172.5), and an operator can adjust the rotating speed of the fan at any time and change the air volume and the air speed of the fan by using a control device arranged on a control console and displayed related information; the Chinese patent application 'an adaptive orchard sprayer' (application number 20160545679.3) discloses an air volume adjusting device of an air-assisted sprayer, which can adjust the area of an air outlet of the air-assisted sprayer according to the size of a crown of a fruit tree and change the air volume of the air-assisted sprayer; the Chinese patent application 20160545207.8 discloses an automatic air inlet regulating and controlling type targeting sprayer, which can automatically regulate the area of the air inlet of an air-assisted sprayer according to the detected size of the crown of a fruit tree and the operation speed of a tractor, change the air inlet amount of the air-assisted sprayer and further regulate the air outlet amount. The air volume adjusting technology adopts 1 central axial flow fan as an air flow source, has poor adaptability to fruit trees, realizes the integral adjustment of air volume by adjusting the area of an air inlet and an air outlet of the fan and the rotating speed of a central axial flow fan, cannot adjust local air volume according to the growth of tree crowns, and simultaneously has lower automation degree because the real-time performance of the fan and an adjusting device hardly meets the operation requirement, and the pesticide drift or uneven deposition caused by overlarge or undersize local air volume is easily caused in the pesticide applying process. Aiming at the situation that the plant protection machinery and the pesticide application technology in China fall behind and attach importance to environmental protection, a device for automatically adjusting the air volume according to the volume and the shape of the tree crown is necessary to be designed, so that the local air volume can be adjusted in real time according to the volume of the tree crown at different positions, and the environmental pollution caused by pesticide drift is reduced.
Disclosure of Invention
In view of the above technical problems, an object of the present invention is to provide an automatic spraying air volume adjusting device based on the volume of a crown layer, which can adjust the air volume according to the existence of the crown target and the density of the crown layer by using a laser scanning detection device and an air volume adjusting device to improve the effective pesticide utilization rate, thereby improving the uniformity of fogdrop deposition on the crown layer target, reducing pesticide waste caused in the pesticide application process, and reducing environmental pollution and personal injury to operators caused by pesticide drift in the pesticide application process.
The invention also aims to provide a method for automatically adjusting the spray air volume based on the crown characteristics.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a spraying amount of wind automatic regulating apparatus based on crown canopy volume, the device includes speed sensor 1, laser scanner 6, brushless fan 9, fan drive 7 and signal control module.
The speed sensor 1 is arranged at the front part of the sprayer and faces the ground and is used for detecting the operation speed of the sprayer.
The laser scanner 6 is arranged at the front part of the spraying machine and used for collecting information of fruit tree crowns on two sides of the spraying machine.
Brushless fan 9 installs the rear portion at the atomizer of sprayer, fan drive 7 is connected with brushless fan 1, and drive brushless fan 9 provides variable amount of wind for the atomizer.
The signal control module comprises an embedded control platform 2 and a signal control mainboard 5, wherein the embedded control platform 2 is arranged in a cab of the spraying machine and is connected with the signal control mainboard 5; the signal control main board 5 is respectively connected with the speed sensor 1, the laser scanner 6 and the fan driver 7.
The speed sensor 1 and the laser scanner 6 respectively transmit the acquired operation speed and the acquired information of the boundary distance, the shape and the height of the canopy to the embedded control platform 2 through the signal control mainboard 5, and the embedded control platform 2 acquires the unit volume of each canopy of the tree crown of the fruit tree according to the information acquired by the speed sensor 1 and the laser scanner 6 and transmits the unit volume to the signal control mainboard 5; the signal control mainboard 5 converts the received information into PWM signals, transmits the PWM signals to the fan drive 7 of the brushless fan 9 corresponding to each canopy unit, and controls the rotating speed of each brushless fan 9 to change the wind speed and the wind quantity so as to realize accurate targeting variable spraying.
The signal control mainboard 5 simultaneously and independently controls the multi-path fan drive 7, so that the multi-path brushless fans 9 respectively and independently act to realize variable air volume spraying.
The device further comprises a generator 8, and the generator 8 is connected with the brushless fan 9 through a power transformer.
The embedded control platform 2 takes an ARM as a core processing unit.
The signal control mainboard 5 is connected with the fan driver 7 and the speed sensor 1 through aviation plugs, and the embedded control platform 2 is connected with the signal control mainboard 5 and the laser scanner 6 through Ethernet ports and a USB-to-RS 232 connection.
Connecting wires between the fan drive 7 and the brushless fan 9 are all accommodated in the drag chain, and the wire connection positions are all in a quick insertion mode.
A spray air volume automatic regulating method based on the volume of a crown canopy comprises the following steps:
a. collecting crown information of fruit trees to obtain unit volume of each crown layer
The sprayer is in the operation of marcing between two lines of fruit trees row, speed sensor 1 and laser scanner 6 send the operating speed and canopy information of gathering to embedded control platform 2 respectively through signal control mainboard 5, and embedded control platform 2 is according to the information that speed sensor 1 and laser scanner 6 gathered to and the row spacing and the trunk height information of two lines of fruit trees, calculate the canopy unit volume V that every brushless fan 9 of sprayer both sides corresponds through formula (one)i：
Vi＝Hw×(D-dpXsin theta) xS (one)
In the formula, i is the number of the brushless fans 9 on one side of the sprayer; p is a point on the boundary of the canopy cell; s is the width of the canopy unit, S ═ v × t, in m; v is the operating speed of the sprayer, and the unit is m/s; t is the scanning unit time of the laser scanner 6 and the unit is s; hwIs the height of a canopy unit in m; dpIs the distance between the laser scanner 6 and the p point on the canopy cell boundary, in m; theta is an included angle between a connecting line between the point p and the laser scanner 6 and the vertical direction, and the unit is DEG; d is the distance from the laser scanner 6 to the center of the trunk and is equal to one half of the row spacing of two rows of fruit trees; the unit is m;
b. calculating the air quantity required by each canopy unit
According to the replacement principle, the instantaneous air quantity generated by each atomizing nozzle should replace the volume of the corresponding canopy unit, and then the air quantity Q required by each canopy unit is calculated by the formula (II)i：
In the formula, QiThe air quantity required by each canopy unit is m3S; i is the number of the brushless fans 9 at one side of the sprayer; p is a point on the boundary of the canopy cell; s is the width of the canopy unit, S ═ v × t, in m; v is the operating speed of the sprayer, and the unit is m/s; t is the scanning unit time of the laser scanner 6 and the unit is s; hwBeing a canopy unitHeight, in m; dpIs the distance between the laser scanner 6 and the p point on the canopy cell boundary, in m; theta is an included angle between a connecting line between the point p and the laser scanner 6 and the vertical direction, and the unit is DEG; d is the distance from the laser scanner 6 to the center of the trunk and is equal to one half of the row spacing of two rows of fruit trees; the unit is m; kq is the air flow attenuation coefficient, and kq is 1; ks is a displacement space coefficient, and ks is 0.6;
c. air volume control
The signal control main board 5 converts the air quantity required by each canopy unit into PWM signal duty ratio r through a formula (III), transmits the PWM signal duty ratio r to the corresponding fan drive 7 of the brushless fan 9, controls the rotating speed of each brushless fan 9 to change the air speed and the air quantity so as to realize accurate targeting variable spraying,
in the formula, r is the duty ratio of the PWM signal and the unit is%; i is the number of the brushless fans 9 at one side of the sprayer; p is a point on the boundary of the canopy cell; s is the width of the canopy unit, S ═ v × t, in m; v is the operating speed of the sprayer, and the unit is m/s; t is the scanning unit time of the laser scanner 6 and the unit is s; hwIs the height of a canopy unit in m; dpIs the distance between the laser scanner 6 and the p point on the canopy cell boundary, in m; theta is an included angle between a connecting line between the point p and the laser scanner 6 and the vertical direction, and the unit is DEG; d is the distance from the laser scanner 6 to the center of the trunk and is equal to one half of the row spacing of two rows of fruit trees; the unit is m; kq is the air flow attenuation coefficient, and kq is 1; ks is a displacement space coefficient, and ks is 0.6; sKIs the area of the air outlet of the atomizing nozzle, and the unit is m2。
Air outlet wind speed V of brushless fan 9WThe relationship with the duty cycle r is:
VW15.625ln (r) +53.426 (four)
In the formula, VWThe unit is m/s, and the unit is the air outlet air speed of the brushless fan 9; r is the duty cycle of the PWM signal in%.
Compared with the prior art, the invention has the beneficial effects that:
the invention realizes the independent control of the air quantity based on the information of the crown canopy of the fruit tree collected by the laser scanner. The control system contains 8 paths of brushless fans to be independently adjusted, each brushless fan corresponds to the height of a 75cm tree crown, and the action of a single brushless fan can be quickly adjusted by adopting PWM control signals, so that accurate pesticide application is realized.
The invention has good applicability. The maximum adjusting height is 3.85m, the pesticide can be applied to short fruit trees, the modern spindle-type orchard can work, a generator is used for supplying power, and the working time is greatly prolonged.
The invention can select the working mode according to the user. The control system is divided into an automatic mode and a manual mode, and the automatic mode utilizes the laser scanner to collect automatic pesticide application; and an operator in the manual mode can manually input the duty ratio of each fan according to the growth condition of the canopy of the fruit tree to realize automatic air volume adjustment.
The invention adopts the laser scanner as a detection source, can change the air quantity of the corresponding fan in real time according to the unit volume of the fruit tree canopy, and can adjust the spray lance according to the growth of the fruit tree canopy to realize profile-modeling spraying, thereby effectively improving the pesticide utilization rate, improving the deposition uniformity of the pesticide liquid on the canopy, and reducing the environmental pollution and the personal injury to operators caused by pesticide drift in the pesticide application process. The invention has the characteristics of good applicability, high working efficiency, quick response of a control system and accurate pesticide application, and is beneficial to popularization of a pesticide saving technology.
Drawings
FIG. 1 is a schematic diagram of the automatic spray air volume adjusting device based on the volume of the crown canopy according to the present invention;
FIG. 2 is a rear view of the sprayer of the present invention;
FIG. 3 is a side view of the sprayer of the invention;
FIG. 4 is a schematic view of a laser scanner and a fruit tree canopy unit according to the present invention;
FIG. 5 is a schematic view of an atomizing nozzle and a fruit tree canopy unit according to the present invention;
fig. 6 is a graph showing a relationship between the wind speed and the duty ratio of the air outlet of the brushless fan according to the present invention.
Wherein the reference numerals are:
1 speed sensor 2 embedded control platform
3 diaphragm pump 4 power transformer
5 signal control mainboard 6 laser scanner
7 blower fan driven 8 generator
9 brushless fan
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1, fig. 2 and fig. 3, the automatic spraying air quantity adjusting device based on the volume of the crown canopy is used for realizing the precise pesticide application operation of a spraying machine, and comprises a speed sensor 1, a laser scanner 6, a brushless fan 9, a fan driver 7 and a signal control module.
The speed sensor 1 is arranged at the front part of the sprayer and faces the ground and is used for detecting the operation speed of the sprayer.
The laser scanner 6 is arranged on the front portion of the spraying machine and used for collecting information of fruit tree crowns on two sides of the spraying machine.
Brushless fan 9 installs the rear portion at the atomizer of sprayer, fan drive 7 is connected with brushless fan 1, and drive brushless fan 9 provides variable amount of wind for the atomizer.
The signal control module comprises an embedded control platform 2 and a signal control main board 5, wherein the embedded control platform 2 is arranged in a cab of the spraying machine and is respectively connected with a laser scanner 6 and the signal control main board 5; the signal control main board 5 is respectively connected with the speed sensor 1, the laser scanner 6 and the fan driver 7.
The speed sensor 1 and the laser scanner 6 respectively transmit the acquired operation speed and information such as canopy boundary distance, shape, height and the like to the embedded control platform 2 through the signal control mainboard 5, and the embedded control platform 2 acquires the unit volume of each canopy of the fruit tree crown according to the information acquired by the speed sensor 1 and the laser scanner 6 and transmits the unit volume to the signal control mainboard 5; the signal control mainboard 5 converts the received information into PWM signals, transmits the PWM signals to the fan drive 7 of the brushless fan 9 corresponding to each canopy unit, and controls the rotating speed of each brushless fan 9 to change the wind speed and the wind quantity so as to realize accurate targeting variable spraying.
The signal control mainboard 5 can simultaneously and independently control the multi-path fan drive 7, so that the multi-path brushless fans 9 respectively and independently act to realize variable air volume spraying.
The device further comprises a generator 8, and the generator 8 is connected with the brushless fan 9 through a power transformer.
The embedded control platform 2 adopted by the invention takes the ARM as a core processing unit, can acquire information transmitted by a laser detection source in real time, and integrates information such as speed, line spacing, trunk height and the like to quickly calculate the volume of the canopy unit on the basis of a pesticide application algorithm.
The signal control mainboard 5 is connected with the fan drive 7 and the signal output of the speed sensor 1 by adopting an aviation plug, and the embedded control platform 2 is connected with the signal control mainboard 5 and the laser scanner 6 by adopting an Ethernet port and a USB-to-RS 232 interface respectively, so that the assembly and disassembly are convenient.
Connecting wires between the fan drive 7 and the brushless fan 9 are all accommodated in the drag chain, and the wire connection positions are all in a quick insertion mode.
As shown in figures 4 and 5, the fruit tree crown is divided into a plurality of crown layer units from top to bottom, the height of each crown layer unit is determined according to the number of brushless fans 9 of the spraying machine, the spraying machine is provided with a plurality of brushless fans 9 capable of adjusting the rotating speed in real time according to PWM signals, and each brushless fan 9 is provided with a fan drive 7, so that the rotating speed of each fan can be independently and independently adjusted. Each brushless fan 9 corresponds to a canopy unit, and the height of each canopy unit is determined. When the sprayer works, a laser diode of the laser scanner 6 emits 905nm infrared pulse waves, and the pulse waves are shot on a mirror surface rotating at a high speed, so that laser is emitted to each angle to form a two-dimensional scanning coverage area; the light waves reach the surface of the fruit tree canopy and are reflected back to the receiver, the system calculates the distance from the laser scanner 6 to the surface of the fruit tree canopy according to the TOF principle, the volume of each canopy unit is obtained according to a formula, and according to the air volume calculation method-replacement principle of the spraying machine, the air volume output by the fan is equal to the volume of the canopy unit, so that the air volume corresponding to each fan is calculated. And according to the air quantity value, the PWM signal is adjusted, the rotating speed of the fan is changed, the correspondence of the air quantity is realized, and the adjustment of the air quantity is completed. The number of the fans of the spraying machine can be increased or decreased according to actual conditions, and the height of each divided canopy unit is also determined according to actual conditions. The air quantity required by the canopy unit is related to the running speed of the sprayer and the distance between the boundary of the canopy unit and the trunk.
A spray air volume automatic regulating method based on the volume of a crown canopy comprises the following steps:
a. collecting crown information of fruit trees to obtain unit volume of each crown layer
The sprayer is in the operation of marcing between two lines of fruit trees row, speed sensor 1 and laser scanner 6 send the operating speed and canopy information of gathering to embedded control platform 2 respectively through signal control mainboard 5, and embedded control platform 2 is according to the information that speed sensor 1 and laser scanner 6 gathered to and the row spacing and the trunk height information of two lines of fruit trees, calculate the canopy unit volume V that every brushless fan 9 of sprayer both sides corresponds through formula (one)i：
Vi＝Hw×(D-dpXsin theta) xS (one)
In the formula, i is the number of the brushless fans 9 on one side of the sprayer; p is a point on the boundary of the canopy cell; s is the width S of the canopy unit, which is v × t, and is m, where v is the operation speed of the spraying machine and is m/S, and t is the scanning unit time of the laser scanner 6 and is S; hwIs the height of a canopy unit in m; dpIs the distance between the laser scanner 6 and the p point on the canopy cell boundary, in m; theta is an included angle between a connecting line between the point p and the laser scanner 6 and the vertical direction, and the unit is DEG; d is the distance from the laser scanner 6 to the center of the trunk and is equal to one half of the row spacing of two rows of fruit trees; the unit is m.
b. Calculating the air quantity required by each canopy unit
According to the replacement principle, the instantaneous air quantity generated by each atomizing nozzle should replace the corresponding canopyThe unit volume is calculated by the formula (II) to obtain the required air quantity Q of each canopy uniti：
In the formula, QiThe air quantity required by each canopy unit is m3S; i is the number of the brushless fans 9 at one side of the sprayer; p is a point on the boundary of the canopy cell; s is the width S of the canopy unit, which is v × t, and is m, where v is the operation speed of the spraying machine and is m/S, and t is the scanning unit time of the laser scanner 6 and is S; hwIs the height of a canopy unit in m; dpIs the distance between the laser scanner 6 and the p point on the canopy cell boundary, in m; theta is an included angle between a connecting line between the point p and the laser scanner 6 and the vertical direction, and the unit is DEG; d is the distance from the laser scanner 6 to the center of the trunk and is equal to one half of the row spacing of two rows of fruit trees; the unit is m; kq is the air flow attenuation coefficient, and kq is 1; ks is the displacement space coefficient, and ks is 0.6.
c. Air volume control
The signal control mainboard 5 converts the required air volume of each canopy unit into the fan drive 7 that PWM signal duty ratio r conveyed corresponding brushless fan 9 through formula (three), and the rotational speed of controlling every brushless fan 9 changes air outlet wind speed and amount of wind to realize accurate target variable spraying:
in the formula, r is the duty ratio of the PWM signal and the unit is%; i is the number of the brushless fans 9 at one side of the sprayer; p is a point on the boundary of the canopy cell; s is the width of the canopy unit, S ═ v × t, in m; v is the operating speed of the sprayer, and the unit is m/s; t is the scanning unit time of the laser scanner 6 and the unit is s; hwIs the height of a canopy unit in m; dpIs the distance between the laser scanner 6 and the p point on the canopy cell boundary, in m; theta is an included angle between a connecting line between the point p and the laser scanner 6 and the vertical directionIn degrees; d is the distance from the laser scanner 6 to the center of the trunk and is equal to one half of the row spacing of two rows of fruit trees; the unit is m; kq is the air flow attenuation coefficient, and kq is 1; ks is a displacement space coefficient, and ks is 0.6; sKIs the area of the air outlet of the atomizing nozzle, and the unit is m2。
As shown in fig. 6, the wind speed V at the outlet of the brushless fan 9WIn relation to the duty cycle r
VW15.625ln (r) +53.426 (four)
In the formula, VWThe unit is m/s, and the unit is the air outlet air speed of the brushless fan 9; r is the duty cycle of the PWM signal in%.
Claims (9)
1. The utility model provides a spraying amount of wind automatic regulating apparatus based on crown canopy volume which characterized in that: the device comprises a speed sensor (1), a laser scanner (6), a brushless fan (9), a fan drive (7) and a signal control module;
the speed sensor (1) is arranged at the front part of the sprayer and faces the ground, and is used for detecting the operation speed of the sprayer;
the laser scanner (6) is arranged at the front part of the spraying machine and used for collecting information of fruit tree crowns on two sides of the spraying machine;
the brushless fan (9) is arranged at the rear part of an atomizing nozzle of the sprayer, the fan driver (7) is connected with the brushless fan (1), and the brushless fan (9) is driven to provide variable air volume for the atomizing nozzle;
the signal control module comprises an embedded control platform (2) and a signal control main board (5), wherein the embedded control platform (2) is arranged in a cab of the spraying machine and is connected with the signal control main board (5); and the signal control main board (5) is respectively connected with the speed sensor (1), the laser scanner (6) and the fan drive (7).
2. The automatic spray air volume adjusting device based on the volume of the crown canopy according to claim 1, characterized in that: the speed sensor (1) and the laser scanner (6) respectively transmit the acquired operation speed and the acquired information of the boundary distance, the shape and the height of the canopy to the embedded control platform (2) through the signal control mainboard (5), and the embedded control platform (2) acquires the unit volume of each canopy of the tree crown of the fruit tree according to the information acquired by the speed sensor (1) and the laser scanner (6) and transmits the unit volume to the signal control mainboard (5); the signal control mainboard (5) converts the received information into PWM signals, transmits the PWM signals to the fan drive (7) of the brushless fan (9) corresponding to each canopy unit, and controls the rotating speed of each brushless fan (9) to change the wind speed and the wind volume so as to realize accurate targeting variable spraying.
3. The automatic spray air volume adjusting device based on the volume of the crown canopy according to claim 1, characterized in that: the signal control main board (5) simultaneously and independently controls the multi-path fan drive (7), so that the multi-path brushless fans (9) respectively and independently act to realize variable air volume spraying.
4. The automatic spray air volume adjusting device based on the volume of the crown canopy according to claim 1, characterized in that: the device further comprises a generator 8, and the generator 8 is connected with the brushless fan 9 through a power transformer.
5. The automatic spray air volume adjusting device based on the volume of the crown canopy according to claim 1, characterized in that: the embedded control platform (2) takes an ARM as a core processing unit.
6. The automatic spray air volume adjusting device based on the volume of the crown canopy according to claim 1, characterized in that: the signal control mainboard 5 is connected with the fan driver 7 and the speed sensor 1 through aviation plugs, and the embedded control platform 2 is connected with the signal control mainboard 5 and the laser scanner 6 through Ethernet ports and a USB-to-RS 232 connection.
7. The automatic spray air volume adjusting device based on the volume of the crown canopy according to claim 1, characterized in that: connecting wires between the fan drive (7) and the brushless fan (9) are all stored in the drag chain, and the wire connection position adopts a quick insertion mode.
8. An automatic spraying air volume adjusting method based on the volume of a crown canopy by using the device of any one of claims 1 to 7, which is characterized in that: the method comprises the following steps:
a. collecting crown information of fruit trees to obtain unit volume of each crown layer
The sprayer is at two lines of fruit tree inter-row operation of marcing, velocity sensor (1) and laser scanner (6) are through signal control mainboard (5) respectively with the operating speed and the canopy information transmission who gathers to embedded control platform (2), and embedded control platform (2) are according to velocity sensor (1) and the information that laser scanner (6) gathered to and the row spacing and the trunk height information of two lines of fruit trees, calculate the canopy unit volume V that every brushless fan (9) in sprayer both sides correspond through formula (one)i：
Vi＝Hw×(D-dpXsin theta) xS (one)
In the formula, i is the number of the brushless fans (9) at one side of the sprayer; p is a point on the boundary of the canopy cell; s is the width of the canopy unit, S ═ v × t, in m; v is the operating speed of the sprayer, and the unit is m/s; t is scanning unit time of the laser scanner (6) and the unit is s; hwIs the height of a canopy unit in m; dpIs the distance between the laser scanner (6) and the p point on the boundary of the canopy cell, and has the unit of m; theta is an included angle between a connecting line between the point p and the laser scanner (6) and the vertical direction, and the unit is DEG; d is the distance from the laser scanner (6) to the center of the trunk and is equal to one half of the row spacing of two rows of fruit trees; the unit is m;
b. calculating the air quantity required by each canopy unit
According to the replacement principle, the instantaneous air quantity generated by each atomizing nozzle should replace the volume of the corresponding canopy unit, and then the air quantity Q required by each canopy unit is calculated by the formula (II)i：
In the formula, QiRequired air quantity for each canopy unitUnit is m3S; i is the number of the brushless fans (9) at one side of the sprayer; p is a point on the boundary of the canopy cell; s is the width of the canopy unit, S ═ v × t, in m; v is the operating speed of the sprayer, and the unit is m/s; t is scanning unit time of the laser scanner (6) and the unit is s; hwIs the height of a canopy unit in m; dpIs the distance between the laser scanner (6) and the p point on the boundary of the canopy cell, and has the unit of m; theta is an included angle between a connecting line between the point p and the laser scanner (6) and the vertical direction, and the unit is DEG; d is the distance from the laser scanner (6) to the center of the trunk and is equal to one half of the row spacing of two rows of fruit trees; the unit is m; kq is the air flow attenuation coefficient, and kq is 1; ks is a displacement space coefficient, and ks is 0.6;
c. air volume control
The signal control main board (5) converts the air quantity required by each canopy unit into PWM signal duty ratio r through a formula (III) and transmits the PWM signal duty ratio r to the corresponding fan drive 7 of the brushless fan 9, the rotating speed of each brushless fan 9 is controlled to change the air speed and the air quantity so as to realize accurate targeting variable spraying,
in the formula, r is the duty ratio of the PWM signal and the unit is%; i is the number of the brushless fans (9) at one side of the sprayer; p is a point on the boundary of the canopy cell; s is the width of the canopy unit, S ═ v × t, in m; v is the operating speed of the sprayer, and the unit is m/s; t is scanning unit time of the laser scanner (6) and the unit is s; hwIs the height of a canopy unit in m; dpIs the distance between the laser scanner (6) and the p point on the boundary of the canopy cell, and has the unit of m; theta is an included angle between a connecting line between the point p and the laser scanner (6) and the vertical direction, and the unit is DEG; d is the distance from the laser scanner (6) to the center of the trunk and is equal to one half of the row spacing of two rows of fruit trees; the unit is m; kq is the air flow attenuation coefficient, and kq is 1; ks is a displacement space coefficient, and ks is 0.6; sKIs the area of the air outlet of the atomizing nozzle, and the unit is m2。
9. The method of claim 8, wherein: air outlet wind speed V of brushless fan (9)WThe relationship with the duty cycle r is:
VW15.625ln (r) +53.426 (four)
In the formula, VWThe wind speed of an air outlet of the brushless fan (9) is in m/s; r is the duty cycle of the PWM signal in%.
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| CN112314565A (en) * | 2020-10-22 | 2021-02-05 | 贵州省烟草公司毕节市公司 | Medicine handcart is spouted to tobacco plant |
| CN112970706B (en) * | 2021-02-05 | 2022-05-03 | 盐城工学院 | Continuous profiling variable spraying method based on laser scanning detection |
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