CN111543412B - Spraying machine and using method thereof - Google Patents
Spraying machine and using method thereof Download PDFInfo
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- CN111543412B CN111543412B CN202010306412.3A CN202010306412A CN111543412B CN 111543412 B CN111543412 B CN 111543412B CN 202010306412 A CN202010306412 A CN 202010306412A CN 111543412 B CN111543412 B CN 111543412B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- 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
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Abstract
The embodiment of the invention provides a spraying machine and a use method thereof, wherein the spraying machine comprises: the laser radar is used for scanning the target tree to obtain a canopy region of the target tree, dividing the canopy region of the target tree into a plurality of regions and obtaining a leaf area index corresponding to each region; the controller calculates a leaf area index representation parameter of any region according to a preset correction coefficient of the target tree, the leaf area index of any region and the leaf area indexes of all regions; according to the leaf area index expression parameters and the application amount in unit area of any region, the rotating speed of the swing arm in any region is obtained; the controller controls the swing arm to spray the pesticide to each area of the canopy of the target tree according to the rotating speed of each area. The embodiment of the invention provides a spraying machine and a using method thereof, wherein different rotating speeds are selected for spraying according to the density of branches and leaves, so that the defect of uneven pesticide spraying of a traditional air-assisted spraying machine is overcome.
Description
Technical Field
The invention relates to the technical field of intelligent agriculture, in particular to a spraying machine and a using method thereof.
Background
The air-assisted orchard sprayer is an important mechanized mode for orchard plant protection operation, has a fan and a liquid pump, and can increase the deposition amount of liquid medicine in a tree chamber, so that the utilization rate of pesticide is improved. Compared with the traditional manual sprayer and the knapsack powder spraying sprayer, the sprayer has obvious advantages. The application of the advanced orchard spraying technology can improve the control effect on plant diseases and insect pests, and simultaneously can reduce the environmental pollution to the periphery of an orchard. In consideration of improving orchard spraying efficiency and reducing pesticide waste, orchard spraying technology will be developed towards the direction of more intellectualization, specialization and precision.
At present, orchard sprayers in China generally use four-wheel drive or crawler-type walking structures, and rely on a fan to generate strong airflow action to reach a preset range and enable blades to deflect to a certain extent, so that the attachment amount of liquid medicine is increased. The spraying amount of the liquid medicine is controlled by controlling the opening and closing of the liquid medicine pump and the electromagnetic valve, the utilization rate of the pesticide can be improved, and the pollution to the environment is greatly reduced.
Fig. 1 is a schematic view of the working principle of a wind-driven sprayer in the prior art, as shown in fig. 1, the distance sensor collects the distance from a spray head to a target fruit tree, and a main control module selects an STM32 series development board as a core controller to control the flow rate of the spray head according to the distance. The first, the second and the third are three normally closed electromagnetic valves, and each electromagnetic valve has a fixed angle theta when spraying.
When the whole machine is started, the distance sensor transmits the distance information between the machine body and the fruit tree to the single chip microcomputer in real time until the field distance meets the built-in proper distance of the single chip microcomputer, the spraying operation starts, the single chip microcomputer sends a control command to be transmitted to the electromagnetic valve, the electromagnetic valve is opened, the liquid medicine starts to be conveyed, and spraying is finished according to the fixed range and the fixed angle. After spraying is completed, the solenoid valve is closed, the parts are kept in place, the next appropriate distance is waited, and the above operation process is repeated.
The air flow generated by the air-assisted sprayer has the function of conveying and secondarily atomizing fog drops, so that the air-assisted sprayer becomes the mainstream of the current spraying equipment. However, the prior art solution has the following drawbacks:
when the plant protection operation is carried out in the mode, if the distance sensor arranged in front of the equipment detects that the distance between the fruit tree and the spray head is within the set expected value error, the electromagnetic valve is opened to start the spraying operation. In an actual orchard, the densities of branches and leaves of crown layers of fruit trees are different, and spraying needs to be carried out for a long time in an area with dense branches and leaves; and for the area with sparser branches and leaves, the operation can be completed by spraying for a shorter time. If the spraying is not adjusted according to the crown structure of the fruit tree, the liquid medicine deposited on the unit leaves is extremely uneven, so that the local excessive or insufficient medicine application is caused, and the quality of the fruit is seriously influenced.
Disclosure of Invention
In order to solve the above problems, embodiments of the present invention provide a sprayer and a use method thereof.
In a first aspect, an embodiment of the present invention provides a sprayer, including: laser radar, controller, swing arm and shower nozzle, laser radar with the controller is connected, the controller with the swing arm is connected, the shower nozzle is installed the end of swing arm, wherein:
the laser radar is used for scanning a target tree to obtain a canopy region of the target tree, dividing the canopy region of the target tree into a plurality of regions and obtaining a leaf area index corresponding to each region;
the controller calculates a leaf area index representation parameter of any region according to a preset correction coefficient of the target tree, the leaf area index of any region and the leaf area indexes of all regions; according to the leaf area index representation parameters and the application amount in unit area of any region, acquiring the rotation speed of the swing arm in any region;
and the controller controls the swing arm to spray pesticide on each area of the canopy of the target tree according to the rotating speed of each area.
Preferably, the device further comprises a flow meter and a liquid medicine storage, liquid medicine stored in the liquid medicine storage passes through the flow meter and is ejected from the spray head, and the amount of medicine applied per unit area is calculated according to the flow measured by the flow meter and the unit time.
Preferably, the calculating, by the controller, a leaf area index representing parameter of any one region according to a preset correction coefficient of the target tree, the leaf area index of any one region, and the leaf area indexes of all regions includes:
obtaining the product of a preset correction coefficient of the target tree and the leaf area index of any region;
and dividing the obtained product by the sum of the leaf area indexes of all the regions to obtain a leaf area index representation parameter of any one region.
Preferably, the controller calculates a leaf area index representation parameter of any region according to a preset correction coefficient of the target tree, a leaf area index of any region, and leaf area indexes of all regions, and a specific calculation formula is as follows:
wherein, CiExpressing the leaf area index of the ith area as a parameter, expressing the preset correction coefficient of the target tree as delta, and expressing the LAIiDenotes the leaf area index of the ith region, and m denotes the total number of regions.
Preferably, the rotating speed of the swing arm in any region is obtained according to the leaf area index expression parameter and the application amount per unit area of any region, and is determined by the following formula:
wherein, wiRepresenting the rotation speed of the swing arm in the ith area, CiThe leaf area index of the ith area represents a parameter, and deltaF represents the application amount per unit area.
Preferably, the laser radar is further configured to measure a canopy length of the target tree and transmit the canopy length to the controller;
and the controller determines a preset amplitude of rotation of the swing arm according to the length of the canopy of the target tree and controls the swing arm to rotate in the preset amplitude.
Preferably, the sprayer further comprises a GPS, and the GPS is used for measuring the running speed of the sprayer and transmitting the running speed to the controller;
the radar laser is also used for calculating the width of the canopy of the target tree;
and the controller calculates the stored medicine amount in the liquid medicine storage according to the running speed, the width of the canopy of the target tree and the medicine application amount per unit area.
Preferably, the controller calculates the amount of stored medicine in the liquid medicine storage according to the running speed, the width of the canopy of the target tree and the amount of applied medicine per unit area, and specifically includes:
and acquiring the stored pesticide amount in the pesticide liquid storage according to the quotient of the applied pesticide amount in unit area and a preset coefficient, the running speed and the width of the canopy of the target tree.
Preferably, the controller calculates the amount of stored medicine in the liquid medicine storage according to the running speed, the width of the canopy of the target tree and the amount of medicine applied per unit area, and the specific calculation formula is as follows:
wherein A represents the stored medicine amount, f represents the applied medicine amount per unit area, d represents the canopy width of the target tree, and v represents the running speed.
In a second aspect, an embodiment of the present invention provides a method for using a sprayer, including:
scanning a target tree through the laser radar to obtain a canopy region of the target tree, dividing the canopy region of the target tree into a plurality of regions, and obtaining a leaf area index corresponding to each region;
calculating a leaf area index representation parameter of any region according to a preset correction coefficient of the target tree, the leaf area index of any region and the leaf area indexes of all regions by the controller; according to the leaf area index representation parameters and the application amount in unit area of any region, acquiring the rotation speed of the swing arm in any region;
and controlling the swing arm to spray the pesticide to each area of the canopy of the target tree according to the rotating speed of each area through the controller.
The embodiment of the invention provides a spraying machine and a using method thereof, wherein the density degree of branches and leaves in different regions is represented according to the leaf area index, different rotating speeds are selected for spraying medicine in different regions according to the density degree of the branches and leaves, the defect that the traditional air-assisted spraying machine is uneven in medicine application to the regions with different leaf area indexes can be overcome, the operation requirement of accurate medicine application in an orchard is met, the even distribution of medicine application amount is realized, and the problems of low pesticide utilization rate, uneven spraying and the like are particularly solved. The method is simple and convenient to operate, has good environmental protection performance, and reduces the labor intensity of orchard operators.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic view of the operating principle of a prior art wind-driven sprayer;
fig. 2 is a schematic structural diagram of a spraying machine provided by the embodiment of the invention;
FIG. 3 is a schematic diagram of the swing arm rotation amplitude in the embodiment of the present invention;
fig. 4 is a flowchart of a method for using a sprayer according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention aims to overcome the defects of uneven local pesticide application and pesticide waste of the traditional spraying machine and meet the requirement of modern pesticide application, and provides a novel spraying machine, and fig. 2 is a schematic structural diagram of the spraying machine provided by the embodiment of the invention, and as shown in fig. 2, the spraying machine comprises: laser radar 101, controller 102, swing arm 103 and shower nozzle 104, laser radar with the controller is connected, the controller with the swing arm is connected, the shower nozzle is installed the end of swing arm, wherein:
the laser radar is used for scanning a target tree 105 to obtain a canopy region of the target tree, dividing the canopy region of the target tree into a plurality of regions and obtaining a leaf area index corresponding to each region;
the controller calculates a leaf area index representation parameter of any region according to a preset correction coefficient of the target tree, the leaf area index of any region and the leaf area indexes of all regions; according to the leaf area index representation parameters and the application amount in unit area of any region, acquiring the rotation speed of the swing arm in any region;
and the controller controls the swing arm to spray pesticide on each area of the canopy of the target tree according to the rotating speed of each area.
Specifically, the spraying machine in the embodiment of the invention comprises four parts, namely a laser radar, a controller, a swing arm and a spray head, wherein the laser radar is a radar system for emitting laser beams to detect characteristic quantities such as the position, the speed and the like of a target, the working principle of the spraying machine is that a detection signal (laser beam) is emitted to the target, then a received signal (target echo) reflected from the target is compared with the emission signal, and after appropriate processing is carried out, relevant information of the target, such as parameters of target distance, direction, height, speed, attitude, even shape and the like, can be obtained, so that the targets such as airplanes, missiles and the like are detected, tracked and identified.
The controller is a scheduling and control system of the whole spraying machine and is generally realized by using an embedded chip, common embedded processors comprise a single chip microcomputer, an STM32, an FPGA and the like, the controller is connected with the swing arm, and the controller can control the rotating amplitude and direction of the swing arm.
The shower nozzle is installed at the end of swing arm, when spraying target trees, through the range and the direction of adjusting the swing arm, utilizes the shower nozzle to spout the medicine to target trees.
The target tree in the embodiment of the present invention may be a general fruit tree or an ornamental tree, and the fruit tree is exemplified in the embodiment of the present invention.
Firstly, a radar sensing method is used for scanning a fruit tree, 3D point cloud of the fruit tree can be rapidly obtained, a canopy structure chart is accurately reconstructed by a preset algorithm, a canopy is quantitatively described in time and space, the canopy of the fruit tree is divided into a plurality of regions, a leaf area index corresponding to each region is calculated according to the 3D point cloud of each region, the leaf area index can reflect the density degree of branches and leaves in the region, generally, the larger the leaf area index is, the denser the leaves in the region are, the smaller the leaf area index is, and the sparser the leaves in the region are.
Taking any one region as an example for explanation, the controller calculates a leaf area index representation parameter of the region according to a preset correction coefficient of the target fruit tree and the leaf area index corresponding to the region, and the leaf area index representation parameter of the region can reflect the leaf area index condition of the fruit tree.
And then calculating the rotating speed of the swing arm in the region according to the leaf area index representation parameter and the unit area application rate of the region. Under the condition of constant application amount per unit area, the larger the leaf area index is, the slower the swing arm rotating speed is, and the longer the spraying time is. Conversely, the faster the swing arm rotation speed, the shorter the spraying time.
Then spraying the pesticide on each area in the target fruit tree according to the rotating speed of the swing arm in each area.
According to the embodiment of the invention, the density degree of branches and leaves in different regions is represented according to the leaf area index, and different rotating speeds are selected for spraying the pesticide in different regions according to the density degree of branches and leaves, so that the defect of uneven pesticide application of the traditional air-assisted sprayer to the regions with different leaf area indexes can be overcome, the operation requirement of accurate pesticide application in an orchard is met, the uniform distribution of pesticide application amount is realized, and the problems of low pesticide utilization rate, uneven spraying and the like are particularly solved. The method is simple and convenient to operate, has good environmental protection performance, and reduces the labor intensity of orchard operators.
On the basis of the above embodiment, it is preferable that a flow meter 106 and a chemical liquid storage 107 are further included, the chemical liquid stored in the chemical liquid storage is ejected from the ejection head through the flow meter, and the amount to be applied per unit area is calculated according to the flow rate and the unit time measured by the flow meter.
Specifically, the sprayer further comprises a flow meter and a liquid medicine storage device, the liquid medicine storage device is connected with the flow meter, liquid medicine in the liquid medicine storage device passes through the flow meter and reaches the spray head, and the flow meter can measure the amount of the liquid medicine passing through, namely the flow rate of the spray head.
And multiplying the flow measured by the flowmeter by the unit time to obtain the application dosage in unit area.
On the basis of the foregoing embodiment, preferably, the calculating, by the controller, a leaf area index representing parameter of any one region according to a preset correction coefficient of the target tree, the leaf area index of any one region, and the leaf area indexes of all regions includes:
obtaining the product of a preset correction coefficient of the target tree and the leaf area index of any region;
and dividing the obtained product by the sum of the leaf area indexes of all the regions to obtain a leaf area index representation parameter of any one region.
In the embodiment of the invention, when the leaf area index expression parameter is calculated, the preset correction coefficient of the target tree and the leaf area index of the region are multiplied to obtain the product of the preset correction coefficient and the leaf area index.
Then calculating the sum of the leaf area indexes of all the regions, dividing the product obtained in the previous step by the sum of the leaf area indexes to obtain a quotient, namely the leaf area index representation parameter of the region.
The formulaic expression may be:
the method can also be as follows:
wherein, CiExpressing the leaf area index of the ith area as a parameter, expressing the preset correction coefficient of the target tree as delta, and expressing the LAIiDenotes the leaf area index of the ith region, and m denotes the total number of regions.
δ is the correction coefficient of different types of fruit trees, and table 1 is the correction coefficient table of several common fruit trees, as shown in table 1:
TABLE 1
| Fruit tree type | Correction factor |
| Apple (Malus pumila) | 9.21 |
| Pear (pear) | 11.32 |
| Peach (Chinese character) | 7.89 |
| Kiwi fruit | 17.65 |
On the basis of the above embodiment, preferably, the rotation speed of the swing arm in any region is obtained according to the leaf area index expression parameter and the application amount per unit area of any region, and is determined by the following formula:
wherein, wiRepresenting the rotation speed of the swing arm in the ith area, CiThe leaf area index of the ith area represents a parameter, and deltaF represents the application amount per unit area.
Specifically, the parameters and the application amount per unit area are expressed according to the leaf area index, and the quotient of the parameters and the application amount per unit area is used as the rotation speed of the swing arm in the area.
When spraying is started in a traditional spraying machine, the spraying area of the canopy is adjusted by controlling the number of the electromagnetic valves to be opened and closed. In an actual orchard, the height of each fruit tree is different from the shape of a canopy. For example, the canopy area of some fruit trees is just the area which can be sprayed by opening five electromagnetic valves at the same time, so that pesticide waste and environmental pollution are avoided. However, the canopy area of many fruit trees is not exactly within the injection angle of the solenoid valves, and it is possible that the injection range does not cover the canopy area when five solenoid valves are opened simultaneously, and the injection range is larger than the canopy area when six solenoid valves are opened simultaneously. As shown in fig. 1, when three solenoid valves are simultaneously opened, the area capable of spraying is larger than the area of the canopy L. The inaccurate application to the target area can not only cause the abuse of pesticides, but also pollute the environment.
On the basis of the above embodiment, preferably, the laser radar is further configured to measure a canopy length of the target tree, and transmit the canopy length to the controller;
and the controller determines a preset amplitude of rotation of the swing arm according to the length of the canopy of the target tree and controls the swing arm to rotate in the preset amplitude.
Fig. 3 is a schematic diagram of the swing arm rotation amplitude in the embodiment of the present invention, as shown in fig. 3, the swing arm rotation amplitude is within a range of a dotted line in the diagram, and the range of the dotted line can be determined according to the following manner:
after the laser radar carries out 3D scanning, the canopy length of obtaining laser radar can be measured to give the controller with this canopy length transmission, the controller is according to the canopy length of this target fruit tree, confirms the rotatory predetermined range of swing arm, and control this swing arm at predetermined range internal rotation.
When the sprayer runs to a certain position away from the fruit tree, the spraying operation is started. Assuming that the length of the canopy of the fruit tree is measured by lidar to be L, the controller will determine the amplitude of the swing arm rotation (i.e., the area between the two dashed lines in fig. 3).
The spray head is arranged at the tail end of the swing arm, the included angle formed during spraying is theta, and the main controller controls the swing arm to circularly swing only in the dotted line area until the spraying of the fruit tree is finished. The target position is accurately positioned, so that the waste of pesticide is avoided, and the efficiency of accurate spraying is improved.
On the basis of the above embodiment, preferably, the sprayer further comprises a GPS108, wherein the GPS is used for measuring the running speed of the sprayer and transmitting the running speed to the controller;
the radar laser is also used for calculating the width of the canopy of the target tree;
and the controller calculates the stored medicine amount in the liquid medicine storage according to the running speed, the width of the canopy of the target tree and the medicine application amount per unit area.
Specifically, when the pesticide application operation is carried out, when the sprayer runs forwards along a set path, the GNSS receiver analyzes speed information, the speed information is communicated through a serial port of the single chip microcomputer, data are transmitted to the core control chip, and a relation model of spraying flow and pesticide application amount is established:
f＝(30·d·v)·A，
wherein f (L/min) is the flow of the spray head measured by the flow sensor, d (m) is the width of the fruit tree canopy scanned by the laser radar, v represents the running speed of the spraying machine, and the preset coefficient is 30.
The application rate A of the fruit tree can be calculated by the following formula:
it can also be calculated by the following formula:
the application amount is influenced by factors such as the running speed of the sprayer, the density of the canopy, the swing amplitude of the swing arm and the like, and in the actual operation process, application amount data is input by an operator on a control panel, so that the amount of the stored medicine of the medicine liquid storage is controlled, and the medicine liquid is prevented from being wasted.
In summary, the spraying machine provided by the embodiment of the invention, when the spraying machine runs to the vicinity of the target fruit tree, the laser radar scans the approximate outline and the density of branches and leaves of the fruit tree to determine the target area of the spraying.
The outer atomizer that connects of right side edge of swing arm, the shower nozzle can produce a conical angle during the spraying, and main control unit can confirm the rotatory range of swing arm according to the canopy region of fruit tree, guarantees to spray each region of canopy.
For the dense part of the canopy of the fruit tree, the rotating speed of the swing arm is reduced; and for the part with sparse fruit tree canopy, the rotating speed of the swing arm becomes faster correspondingly.
The GPS can measure the advancing speed of the equipment, and the controller determines the size of the application amount according to the relationship between the advancing speed of the equipment and the width of the canopy and the rotation amplitude of the swing arm.
The sprayer is driven by four wheels to drive forwards along a set path, and when the distance between the sprayer and a target fruit tree reaches a preset range, the laser radar scans the outline and the density degree of the fruit tree and transmits data to the main controller.
The GPS feeds back the advancing speed of the sprayer in real time. After main control unit received data, open the pneumatic conveying equipment, improve the penetrability that the spraying medicine dropped.
The angle that the shower nozzle spraying formed is theta, and after the spraying began, main control unit controlled the rotation speed of swing arm according to the data control swing arm that laser radar returned, and the swing arm from the top down rotates, guarantees to spout each position of fruit tree.
For the area with dense branches and leaves, the rotating angle of the swing arm is slowed down, and the spraying time is longer; for the area with sparse branches and leaves, the rotating angle of the swing arm becomes fast, and the spraying time is short. The field operation can make the spraying more accurate like this, promotes the utilization ratio of pesticide greatly.
The invention further provides a spraying machine which comprises a two-dimensional space moving swing arm, a spraying head of the spraying machine, a core controller, a GNSS receiver, a laser radar, a fan and the like. The core controller selects STM32F103RBT6, adopts Cortex-M3 kernel and 43 interrupt channels, and has the characteristics of low power consumption, long data storage time and the like. CE30 solid-state area array laser radar is selected for the laser radar, and the all-solid-state design is adopted, so that the laser radar is stable and reliable, long in service life, small in size, convenient to assemble and adaptable to various machine types, and original point cloud data can be output by three-dimensional detection. And the Ublox-M8NGPS receiver analyzes the GPS data by adopting a UBX protocol. The flow sensor can be an YF-S401 water flow sensor, the working voltage of the sensor is 5V-8V, and the flow sensor can be directly driven by a power supply end of the single chip microcomputer.
Assuming that the current operation object is an apple orchard, starting the spraying machine, and when the flow rate of the spray head measured by the flow sensor is 900ml/min and the unit time is 1min, the application rate delta F of the unit area is as follows:
900ml×1min＝900ml。
the leaf area index distribution of the apple tree canopy is detected by laser radar, and the canopy is assumed to be divided into five different regions from top to bottom, namely 0.63, 0.75, 1.32, 0.94 and 0.36. The apple orchard was consulted to have a correction factor delta of 9.21.
The leaf area index in the first region of the canopy is then given by:
speed omega of swing arm rotating in first area of canopy1Comprises the following steps:
the leaf area index in the second region of the canopy is given by:
speed omega of swing arm rotating in second area of canopy2Comprises the following steps:
the leaf area index in the third region of the canopy is given by:
speed omega of swing arm rotating in third area of canopy3Comprises the following steps:
the leaf area index in the fourth region of the canopy is given by:
speed omega of swing arm rotating in fourth area of canopy4Comprises the following steps:
the leaf area index in the fifth region of the canopy is given by:
speed omega of swing arm rotating in fifth area of canopy5Comprises the following steps:
in five different areas of the canopy, the rotational speed of the swing arm is changed accordingly.
The larger the leaf area index, the larger the value of C, and the smaller ω, the slower the swing arm rotation speed, and the longer the spray time. Otherwise, the spraying time is shortened.
In the spraying process, the application amount is determined according to the flow of the spray head and the speed of the sprayer, so that the rotation of the swing arm is controlled, and vector type variable spraying is realized.
Fig. 4 is a flowchart of a method for using a sprayer according to an embodiment of the present invention, as shown in fig. 4, the method includes:
s1, scanning the target tree through the laser radar to obtain a canopy region of the target tree, dividing the canopy region of the target tree into a plurality of regions, and obtaining a leaf area index corresponding to each region;
s2, calculating a leaf area index representing parameter of any region according to a preset correction coefficient of the target tree, the leaf area index of any region and the leaf area indexes of all regions through the controller; according to the leaf area index representation parameters and the application amount in unit area of any region, acquiring the rotation speed of the swing arm in any region;
and S3, controlling the swing arm to spray the pesticide on each area of the canopy of the target tree according to the rotating speed of each area through the controller.
Specifically, the implementation process of the embodiment of the method is the same as that of the previous embodiment of the spraying machine, and please refer to the embodiment of the spraying machine for details, which is not described herein again.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A sprayer, comprising: laser radar, controller, swing arm and shower nozzle, laser radar with the controller is connected, the controller with the swing arm is connected, the shower nozzle is installed the end of swing arm, wherein:
the laser radar is used for scanning a target tree to obtain a canopy region of the target tree, dividing the canopy region of the target tree into a plurality of regions and obtaining a leaf area index corresponding to each region;
the controller calculates a leaf area index representation parameter of any region according to a preset correction coefficient of the target tree, the leaf area index of any region and the leaf area indexes of all regions; according to the leaf area index representation parameters and the application amount in unit area of any region, acquiring the rotation speed of the swing arm in any region;
the controller controls the swing arm to spray pesticide on each area of the canopy of the target tree according to the rotating speed of each area;
the controller calculates a leaf area index representation parameter of any region according to a preset correction coefficient of the target tree, the leaf area index of any region and the leaf area indexes of all regions, and specifically comprises the following steps:
obtaining the product of a preset correction coefficient of the target tree and the leaf area index of any region;
and dividing the obtained product by the sum of the leaf area indexes of all the regions to obtain a leaf area index representation parameter of any one region.
2. The spraying machine according to claim 1, further comprising a flow meter and a liquid medicine storage, wherein the liquid medicine stored in the liquid medicine storage passes through the flow meter and is ejected from the spray head, and the amount applied per unit area is calculated according to the flow rate measured by the flow meter and the unit time.
3. The spraying machine as claimed in claim 1, wherein the controller calculates a leaf area index representation parameter of any region according to a preset correction coefficient of the target tree, a leaf area index of any region and leaf area indexes of all regions, and the specific calculation formula is as follows:
wherein, CiExpressing the leaf area index of the ith area as a parameter, expressing the preset correction coefficient of the target tree as delta, and expressing the LAIiDenotes the leaf area index of the ith region, and m denotes the total number of regions.
4. The spraying machine as claimed in claim 1, characterized in that the rotation speed of the swing arm in any one of the regions is obtained according to the leaf area index expression parameter and the application amount per unit area of the swing arm, and is determined by the following formula:
wherein, wiRepresenting the rotation speed of the swing arm in the ith area, CiThe leaf area index of the ith area represents a parameter, and deltaF represents the application amount per unit area.
5. The sprayer according to claim 1, characterized in that said lidar is also adapted to measure a canopy length of said target tree and to transmit said canopy length to said controller;
and the controller determines a preset amplitude of rotation of the swing arm according to the length of the canopy of the target tree and controls the swing arm to rotate in the preset amplitude.
6. The sprayer according to claim 2, characterized in that it further comprises a GPS for measuring the travel speed of the sprayer and transmitting it to the controller;
the radar laser is also used for calculating the width of the canopy of the target tree;
and the controller calculates the stored medicine amount in the liquid medicine storage according to the running speed, the width of the canopy of the target tree and the medicine application amount per unit area.
7. The spraying machine according to claim 6, wherein the controller calculates the amount of stored medicine in the medicine liquid storage according to the running speed, the canopy width of the target tree and the amount of medicine applied per unit area, and specifically comprises:
and acquiring the stored pesticide amount in the pesticide liquid storage according to the quotient of the applied pesticide amount in unit area and a preset coefficient, the running speed and the width of the canopy of the target tree.
8. The spraying machine as claimed in claim 7, wherein the controller calculates the amount of stored pesticide in the pesticide storage according to the running speed, the width of the canopy of the target tree and the amount of pesticide applied per unit area, and the specific calculation formula is as follows:
wherein A represents the stored medicine amount, f represents the applied medicine amount per unit area, d represents the canopy width of the target tree, and v represents the running speed.
9. A method of using a sprayer according to any of claims 1 to 8, comprising:
scanning a target tree through the laser radar to obtain a canopy region of the target tree, dividing the canopy region of the target tree into a plurality of regions, and obtaining a leaf area index corresponding to each region;
calculating a leaf area index representation parameter of any region according to a preset correction coefficient of the target tree, the leaf area index of any region and the leaf area indexes of all regions by the controller; according to the leaf area index representation parameters and the application amount in unit area of any region, acquiring the rotation speed of the swing arm in any region;
and controlling the swing arm to spray the pesticide to each area of the canopy of the target tree according to the rotating speed of each area through the controller.
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| CN112298564A (en) * | 2020-10-19 | 2021-02-02 | 北京农业智能装备技术研究中心 | Variable pesticide application control method and device based on image recognition |
| CN112772611B (en) * | 2020-12-24 | 2022-08-23 | 农业农村部南京农业机械化研究所 | Plant protection spraying operation control system and method |
| CN112965514B (en) * | 2021-01-29 | 2022-07-01 | 北京农业智能装备技术研究中心 | Air-ground cooperative pesticide application method and system |
| CN113695108A (en) * | 2021-10-13 | 2021-11-26 | 南通市广益机电有限责任公司 | Electric sprayer |
| CN113951231B (en) * | 2021-10-19 | 2023-07-14 | 农业农村部南京农业机械化研究所 | Double-system combined pesticide spraying machine |
| 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 |
| CN114342903B (en) * | 2022-01-21 | 2023-03-14 | 定州市绿谷农业科技发展有限公司 | Forestry farming sprinkler |
| CN116171962B (en) * | 2023-03-23 | 2024-03-08 | 广东省农业科学院植物保护研究所 | Efficient targeted spray regulation and control method and system for plant protection unmanned aerial vehicle |
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