CN111838110B - Orchard targeting air-assisted sprayer based on laser radar and spraying method thereof - Google Patents
Orchard targeting air-assisted sprayer based on laser radar and spraying method thereof Download PDFInfo
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- CN111838110B CN111838110B CN202010664459.7A CN202010664459A CN111838110B CN 111838110 B CN111838110 B CN 111838110B CN 202010664459 A CN202010664459 A CN 202010664459A CN 111838110 B CN111838110 B CN 111838110B
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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
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Abstract
The invention relates to the technical field of agricultural machinery, and discloses a laser radar-based orchard targeting air-assisted sprayer and a spraying method thereof, wherein the sprayer comprises the following components: the two-dimensional laser radar is used for collecting target information of the fruit trees; the speed detection device is used for collecting the running speed information of the sprayer; the air delivery device is used for delivering air with the speed and the air quantity capable of being controlled in a decoupling way; the spraying end of the spraying device is positioned at the air outlet side of the air conveying device; the control device is respectively connected with the two-dimensional laser radar, the speed detection device, the air conveying device and the spraying device; the invention realizes the cooperative on-demand regulation and control of the drug amount sprayed on the fruit tree canopy and the wind power when the target is sprayed on the fruit tree, overcomes the problem of strong coupling between the wind speed and the wind quantity when the target is sprayed on the fruit tree in the prior art, and achieves better drug spraying effect.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to an orchard targeting air-assisted sprayer based on a laser radar and a spraying method thereof.
Background
In recent years, as the population ages, heavy spraying operations have become a major factor affecting orchard management. Currently, in order to overcome this problem, some robots for orchard work have been developed, but most of these robots are aimed at picking and harvesting fruits, and there are relatively few robots for orchard spraying. Most of orchard pesticide spraying robots are suitable for on-demand regulation and control of the spraying dosage, and few orchard pesticide spraying robots supporting on-demand regulation and control of dosage and wind power are provided. In the process of spraying the pesticide to the fruit trees, if the wind power is too small, insufficient deposition in the fruit tree canopy bores is caused, and the wind power is too large, so that the pesticide liquid is blown out of the fruit tree canopy, and pesticide drift is caused, so that ecological environmental pollution of farmlands is caused.
Meanwhile, with the development of a sensor and an automatic control technology, the existing automatic target-targeting sprayer can selectively apply pesticides to targets according to the existence of targets and the change of target characteristics, so that the attachment rate of pesticides on crops is effectively improved, sedimentation of pesticides in non-target areas is obviously reduced, better pesticide application effects are obtained, however, the existing automatic target-targeting sprayer has single function, mainly aims at target regulation and control of the dosage during spraying, and does not relate to target regulation and control of wind power.
Although some sprayers with automatic target wind power regulation and control functions are developed at present, wind power regulation is realized by changing the areas of an air inlet and an air outlet and the rotating speed of a fan, the sprayers can only singly regulate the wind speed or the wind quantity, and in practical application, the wind speed and the wind quantity have a strong coupling relation, namely when the area of the air outlet is independently regulated, the area of the air outlet is reduced, so that the wind quantity is reduced, but the wind speed is increased, otherwise, the wind quantity is increased, and the wind speed is reduced; when the rotating speed of the fan is independently regulated, the rotating speed of the fan is increased to synchronously increase the air quantity of the outlet air speed, and otherwise, the air quantity of the outlet air speed is synchronously reduced. Therefore, the strong coupling relation between the corresponding wind speed and the wind quantity of the existing sprayer makes the existing sprayer incapable of realizing the on-demand regulation and control of the wind speed and the wind quantity.
Based on the state of the art, when the existing target sprayer sprays the target on the fruit trees in the orchard, the on-demand regulation and control of the dosage and wind power are difficult to be realized in a coordinated manner, and the 'strong coupling' relation between the wind speed and the wind quantity during spraying is overcome, so that the better medicine spraying effect is difficult to achieve.
Disclosure of Invention
The embodiment of the invention provides a laser radar-based orchard target-facing air-assisted spraying machine, which is used for solving the problem that the existing target-facing spraying machine is difficult to realize the on-demand regulation and control of the dosage and the wind power in a coordinated manner when the fruit trees in the orchard are sprayed in a target-facing manner, and overcoming the 'strong coupling' relation between the wind speed and the wind quantity during spraying.
The embodiment of the invention also provides a spraying method of the target air-assisted sprayer for the orchard based on the laser radar.
In order to solve the technical problems, an embodiment of the present invention provides a laser radar-based orchard targeting air-assisted sprayer, including: the system comprises a two-dimensional laser radar, a data acquisition unit and a data processing unit, wherein the two-dimensional laser radar is used for acquiring target information of fruit trees, and the target information comprises position information, canopy contour information, canopy volume information and canopy density information; the speed detection device is used for collecting the running speed information of the sprayer; the air conveying device comprises an air box, a fan, an air inlet area adjusting mechanism and an air outlet area adjusting mechanism; one end of the air box is provided with an air inlet, and the other end of the air box is provided with an air outlet; the air inlet area adjusting mechanism is arranged at the air inlet, and the air outlet area adjusting mechanism is arranged at the air outlet; the spraying end of the spraying device is positioned at the air outlet side of the air conveying device; the input end of the control device is in communication connection with the two-dimensional laser radar and the speed detection device, and the output end of the control device is in communication connection with the fan, the air inlet area adjusting mechanism, the air outlet area adjusting mechanism and the spraying device respectively.
Wherein, still include: a mobile platform; the two-dimensional laser radar, the speed detection device, the air conveying device, the spraying device and the control device are arranged on the mobile platform.
The first end of the air conveying device is rotatably arranged on the base, the second end of the air conveying device is connected with the base through a telescopic driving mechanism, and/or the air conveying device comprises a plurality of air conveying devices which are distributed in two rows, and the air outlet directions of the air conveying devices are arranged in a back direction.
The air inlet area adjusting mechanism comprises a first wind deflector and a first overturning driving mechanism; the first wind shields comprise a plurality of wind shields and are distributed on the air inlet side by side; the first overturning driving mechanism is connected with the first wind shield and is in communication connection with the control device.
The air outlet area adjusting mechanism comprises an air outlet adjusting unit and a second overturning driving mechanism; the air outlet regulating and controlling units comprise a plurality of air outlets and are distributed in parallel; the second overturning driving mechanisms are in one-to-one correspondence with the air outlet regulating and controlling units and are connected with the air outlet regulating and controlling units, and the second overturning driving mechanisms are in communication connection with the control device.
The air outlet regulating and controlling unit comprises two second wind shields, one sides of the two corresponding second wind shields are hinged, and the other sides of the two second wind shields are connected with the second overturning driving mechanism.
Wherein the spraying device comprises a plurality of spraying heads, and the spraying heads are used for communicating with the medicine box through control valves; the air outlet regulating and controlling units are opposite to the spray heads one by one and are arranged along the air outlet direction of the air conveying device.
The embodiment of the invention also provides a spraying method of the target air-assisted sprayer for the orchard based on the laser radar, which comprises the following steps: s1, acquiring target information of fruit trees in an orchard and running speed information of a sprayer, wherein the target information comprises position information of the fruit trees, canopy profile information, canopy volume information and canopy density information; s2, calculating the medicine amount sprayed to different positions of the fruit tree canopy based on target information, controlling a spraying device to spray medicine, calculating the air speed and the air quantity conveyed to different positions of the fruit tree canopy based on target information, and performing cooperative regulation and control on a fan, an air inlet area regulating mechanism and an air outlet area regulating mechanism to regulate and control the wind distribution and the wind intensity of different positions of the fruit tree canopy; and S3, sequentially performing target spraying operation on the fruit trees based on the running speed information of the sprayer and the position information of the fruit trees.
Wherein S2 further comprises: grid division is carried out on the canopy of the fruit tree along the horizontal direction row by row according to canopy contour information and canopy volume information, and each row forms a plurality of unit grids; calculating the medicine amount sprayed to each unit grid according to the canopy volume information and canopy density information of each unit grid in a single column so as to control a single spray head to spray medicine to the unit grid corresponding to the single spray head, and simultaneously calculating the wind speed and the wind quantity sprayed to each unit grid according to the canopy volume information and canopy density information of each unit grid in the single column so as to control a single air outlet regulating unit to convey corresponding wind speed and wind quantity to the unit grid corresponding to the single air outlet regulating unit; accordingly, S3 further comprises: and carrying out row-by-row target spraying operation on the canopy of the fruit tree according to the running speed information of the sprayer and the position information of the fruit tree.
Wherein, in S1, the step of collecting target information of fruit trees in the orchard further comprises: acquiring point cloud data of the fruit tree through a two-dimensional laser radar; acquiring position information and canopy profile information of the fruit tree according to the point cloud data; the canopy contour gridding maximum algorithm is adopted for the point cloud data, so that canopy volume information of the fruit tree is calculated and obtained; the method comprises the steps of detecting the number of the point cloud data returned in the designated area volume and the theoretical number of the point cloud data distributed in the designated area volume through a two-dimensional laser radar to obtain canopy dense information of the fruit tree.
The above technical solutions in the embodiments of the present invention have at least one of the following technical effects:
according to the target air-supply spraying machine and the spraying method for the orchard based on the laser radar, target information of fruit trees can be collected through the two-dimensional laser radar, and driving speed information of the spraying machine is collected through the speed detection device, so that when the air-supply device and the corresponding spraying device are opposite to fruit tree crowns and perform air-supply spraying, the amount of medicine sprayed to the fruit trees can be calculated based on the target information of the fruit trees, the spraying device is controlled to spray medicine, the air speed and the air quantity of the air-supply device to the fruit trees are calculated based on the target information of the fruit trees, the rotating speed of the fan is cooperatively controlled, the air inlet area adjusting mechanism is controlled to adjust the air inlet quantity of the air inlet, and the air outlet quantity of the air outlet area adjusting mechanism is controlled to adjust the air outlet quantity of the air outlet, and further, the wind distribution and the wind power size at different positions of the fruit tree crowns can be controlled based on the driving speed information of the spraying machine and the position information of the fruit trees, and target spraying operations can be sequentially performed on all fruit trees of the orchard.
Therefore, the air conveying device disclosed by the invention conveys air with the air speed and the air quantity being controlled in a decoupling way when carrying out air conveying on the liquid medicine sprayed by the spraying device, and can control the air speed and the air quantity of the target spraying on the fruit trees based on the target information of the fruit trees when carrying out the target spraying on the fruit trees, realize the cooperative on-demand regulation and control on the air speed and the air quantity of the target spraying on the fruit trees, overcome the problem of strong coupling between the air speed and the air quantity when carrying out the target spraying on the fruit trees in the prior art, and achieve a better medicine spraying effect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a front view structure of a laser radar-based orchard opposite-target air-assisted sprayer according to an embodiment of the present invention;
Fig. 2 is a schematic diagram of a right-side view structure of a laser radar-based orchard opposite-target air-assisted sprayer according to an embodiment of the present invention;
FIG. 3 is a block diagram of a control structure of a laser radar-based orchard target air-assisted sprayer according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a target air-assisted sprayer spraying operation in an orchard based on a laser radar according to an embodiment of the present invention;
FIG. 5 is a schematic view of a pneumatic atomizer according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a man-machine interface of a target air-borne sprayer for a lidar-based orchard according to an embodiment of the present invention;
FIG. 7 is a flow chart of a method of spraying a target air-borne sprayer to a lidar-based orchard according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of point cloud data of a fruit tree canopy obtained based on a two-dimensional laser radar to extract a transverse cross section of the fruit tree canopy according to an embodiment of the present invention;
fig. 9 is a schematic diagram of point cloud data of a fruit tree canopy obtained based on a two-dimensional laser radar to extract a longitudinal section of the fruit tree canopy according to an embodiment of the present invention;
FIG. 10 is a schematic illustration of a polyline drawn by connecting points on a longitudinal and lateral cross-sectional profile, as shown in an embodiment of the present invention;
Fig. 11 is a schematic diagram showing calculation of air volume demand of air supplied from a sprayer to an inlet of a fruit tree canopy according to an embodiment of the present invention.
In the figure, 1, a two-dimensional laser radar; 2. an air-conveying device; 21. a wind box; 22. a blower; 23. an air outlet area adjusting mechanism; 231. a second wind deflector; 232. a second overturning driving mechanism; 24. an air inlet area adjusting mechanism; 241. a first wind deflector; 242. a first flip drive mechanism; 3. a spraying device; 31. a spray head; 32. a medicine box; 4. a control device; 5. a mobile platform; 6. a base; 7. a telescopic driving mechanism; 8. a scissor-fork type bracket.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1, 2 and 5, the embodiment provides a laser radar-based orchard target air-assisted sprayer, which comprises: the two-dimensional laser radar 1 is used for acquiring target information of the fruit tree, wherein the target information comprises position information, canopy contour information, canopy volume information and canopy density information of the fruit tree; the speed detection device is used for collecting the running speed information of the sprayer; the air conveying device 2, wherein the air conveying device 2 comprises an air box 21, a fan 22, an air inlet area adjusting mechanism 24 and an air outlet area adjusting mechanism 23; one end of the bellows 21 forms an air inlet, and the other end forms an air outlet; the air inlet area adjusting mechanism 24 is arranged at the air inlet, and the air outlet area adjusting mechanism 23 is arranged at the air outlet; the spraying device 3, the spraying end of the spraying device 3 is positioned at the air outlet side of the air conveying device 2; the input end of the control device 4 is in communication connection with the two-dimensional laser radar 1 and the speed detection device, and the output end of the control device 4 is in communication connection with the fan 22, the air inlet area adjusting mechanism 24, the air outlet area adjusting mechanism 23 and the spraying device 3 respectively.
Specifically, in the sprayer shown in this embodiment, target information of the fruit tree can be collected by the two-dimensional laser radar 1, and running speed information of the sprayer is collected by the speed detection device, so that when the air-supply device 2 and the corresponding spraying device 3 are opposite to the canopy of the fruit tree and perform air-supply spraying, the amount of medicine sprayed to the fruit tree can be calculated based on the target information of the fruit tree, so as to control the spraying device 3 to spray medicine, and the air speed and the air quantity conveyed by the air-supply device 2 to the fruit tree are calculated based on the target information of the fruit tree, so as to cooperatively control the rotation speed output by the fan 22, control the air inlet area adjusting mechanism 24 to adjust the air inlet quantity of the air inlet and control the air outlet quantity of the air outlet area adjusting mechanism 23 to adjust the air outlet quantity of the air outlet, and further control of different positions of the wind distribution and the wind power of the canopy of the fruit tree can be realized, and target spraying operation can be sequentially performed on each fruit tree of the orchard based on the running speed information of the sprayer and the position information of the fruit tree.
Therefore, the air conveying device 2 in this embodiment conveys the air with the air speed and the air quantity being controlled in a decoupling way while conveying the liquid medicine sprayed by the spraying device 3, and can control the air speed and the air quantity of the target spraying for the fruit tree based on the target information of the fruit tree when the target spraying for the fruit tree is carried out, and further control the air speed and the air quantity of the target spraying for the fruit tree based on the target information of the fruit tree, thereby realizing the cooperative on-demand regulation and control of the air speed and the air quantity of the crown layer spraying for the fruit tree, overcoming the problem of 'strong coupling' between the air speed and the air quantity when the target spraying for the fruit tree is carried out in the traditional way, and achieving the better drug spraying effect.
Therefore, the sprayer disclosed by the embodiment is high in automation degree, applicable to spraying operation of fruit trees of different types and different heights in an orchard, and capable of greatly reducing labor intensity of operators.
As shown in fig. 1, the two-dimensional laser radar 1, the speed detection device, the air-assisted device 2, the spraying device 3 and the control device 4 shown in this embodiment are all installed on the mobile platform 5, and the mobile platform 5 can adopt a crawler running mechanism known in the art to adapt to complex running road conditions of an orchard, so as to facilitate target spraying of medicines on fruit trees, wherein the two-dimensional laser radar 1 can be installed on the mobile platform 5 through an adjustable bracket, so that based on adjustment of the installation height of the two-dimensional laser radar 1, acquisition of target information of fruit trees with different heights can be realized.
The two-dimensional laser radar 1 shown in this embodiment realizes non-contact ranging of fruit trees (targets) according to a laser pulse Time Flight principle (Time-of-Flight) so as to obtain characteristic point cloud data of the fruit trees, and further obtains target information of the fruit trees according to the characteristic point cloud data. Meanwhile, the two-dimensional laser radar 1 not only can be used for collecting target information of fruit trees, but also can be used for providing a navigation path for autonomous walking of the mobile platform 5, so that unmanned operation process of the whole pesticide spraying is realized, labor cost can be saved, pesticide utilization rate can be improved, and harm of pesticides to personnel health can be reduced.
The speed detection device shown in this embodiment is not illustrated in fig. 1, and the speed detection device may be a GPS positioning module known in the art, so that the running speed information of the sprayer may be obtained by monitoring the real-time position change of the sprayer, or the speed detection device may be a speed sensor known in the art for directly detecting the speed of the sprayer, or an encoder or a proximity switch may be used to detect the rotation speed of a corresponding running device (running wheel) of the sprayer, which is not specifically illustrated herein.
Meanwhile, as shown in fig. 3, the control device 4 in this embodiment may include an industrial personal computer, a drug amount control system, a wind power control system and a walking control system, where the industrial personal computer is connected to the two-dimensional laser radar 1 through network port communication and is respectively connected to the drug amount control system, the wind power control system and the walking control system through a CAN bus, and the drug amount control system is used for controlling the drug amount sprayed by the spraying device 3 based on target information of fruit trees. The wind power regulation and control system is used for controlling the wind speed and the wind quantity of the wind power supplied by the wind power supply device 2 based on the target information of the fruit trees.
In addition, based on the navigation path provided by the two-dimensional laser radar 1 for autonomous walking of the mobile platform 5, the walking control system can control the walking pose of the crawler travelling mechanism, so that the whole pesticide spraying operation process is unmanned, the labor cost is greatly saved, the pesticide utilization rate is improved, and the harm of pesticides to personnel health is reduced. The crawler traveling mechanism is arranged on the crawler, the corresponding traveling control system of the crawler traveling mechanism comprises a crawler traveling controller, the deflection angle of the crawler during traveling can be monitored based on the angle sensor, the traveling speed of the crawler is monitored by monitoring the rotating speed of a traveling motor on the crawler through the speed sensor, and accordingly the crawler traveling controller can control the traveling pose of the crawler in real time through the motor driver based on the deflection angle and the traveling speed.
In addition, in the spraying device 3, the spraying end of the spraying device 3 may be provided on the air outlet side of the air-sending device 2 in a separate manner, or the spraying end may be directly attached to the air outlet side of the air-sending device 2. The spraying device 3 can control the spraying dosage by controlling the flow of spraying medicine at the spraying end. The wind speed and the wind quantity of the wind supplied by the wind supply device 2 are controlled by the fan 22, and the wind speed and the wind quantity required by the wind supply device 2 for fruit tree transportation can be realized by adjusting the corresponding wind inlet quantity and the wind outlet quantity by combining the wind inlet area adjusting mechanism 24 and the wind outlet area adjusting mechanism 23. Thus, when actually blowing, for the fruit tree canopy with big tree crowns and sparse branches and leaves, the air blowing device 2 can be controlled to output air with big air quantity and small air speed, and for the fruit tree canopy with small tree crowns and dense branches and leaves, the air blowing device 2 can be controlled to output air with small air quantity and big air speed, so that the medicine can be uniformly delivered to each area of the fruit tree canopy.
Preferably, as shown in fig. 2 and 5, the first end of the air-sending device 2 is rotatably mounted on the base 6, and the second end of the air-sending device 2 is connected with the base 6 through a telescopic driving mechanism 7, wherein the telescopic driving mechanism 7 can be any one of a hydraulic cylinder, an air cylinder and an electric push rod, and a distance sensor can be mounted on the base 6 to monitor the turning angle of the air-sending device 2 relative to the first end thereof in real time, so as to control the telescopic amount of the telescopic driving mechanism 7 in real time.
Specifically, because corresponding medicine spraying is required in different growth periods of the fruit trees, the heights of the fruit trees in different growth periods are different, the forms of the fruit tree crowns are also different, and meanwhile, under different terrain conditions, the heights of the fruit trees to the medicine air conveying devices 2 are also different, in order to meet the medicine spraying requirements of the fruit trees with different heights, in the embodiment, the first end of the air conveying device 2 is hinged with the base 6, the second end of the air conveying device 2 is hinged with the base of the electric push rod, and the telescopic end of the electric push rod is hinged with the corresponding end of the base 6. Therefore, the control device 4 can control the expansion and contraction amount of the expansion and contraction driving mechanism 7 (electric push rod) based on the distance information of the wind conveying device 2 deviated from the base 6 acquired by the distance sensor, so that the wind conveying device 2 can be driven to turn over a corresponding angle relative to the first end of the wind conveying device 2 when the expansion and contraction end of the expansion and contraction driving mechanism 7 performs expansion and contraction actions, and the wind conveying device 2 can be ensured to perform target spraying operation on fruit trees suitable for different heights.
Further, in order to ensure the stability and reliability of the overturning of the air conveying device 2, the embodiment may further design a scissor-fork support 8, wherein the bottom of the scissor-fork support 8 is connected with the base 6, and the top of the scissor-fork support 8 is movably connected with the air conveying device 2, so that the scissor-fork support 8 can be adaptively unfolded when the air conveying device 2 is overturned towards a position far away from the base 6, and the scissor-fork support 8 can be adaptively retracted when the air conveying device 2 is overturned towards a position near to the base 6, and can provide auxiliary support for the air conveying device 2 in the process.
Preferably, the air delivery devices 2 in this embodiment include a plurality of air delivery devices and are arranged in two rows, and correspondingly, the spraying ends of the spraying devices 3 are arranged on the air outlet side of each air delivery device 2, and the spraying directions of the spraying ends are in the same direction as the air outlet directions of the corresponding air delivery devices 2, so that the air outlet sides of the two rows of air delivery devices 2 can be arranged back to back.
As shown in fig. 4, the fruit trees planted in the orchard are generally arranged in an array, so in fig. 4, two rows of fruit trees are correspondingly represented by tree-shaped graphs on two sides, and the sprayer shown in this embodiment is placed between the two rows of fruit trees and performs target spraying operation on the fruit trees. In order to improve the efficiency of spraying targets on fruit trees and reduce the equipment cost, the sprayer shown in the embodiment can specifically set two air conveying devices 2, and when the two air conveying devices 2 and the corresponding spraying devices 3 spray medicines on the targets on the fruit trees, the spraying directions of the targets are respectively towards the left side and the right side of the movable platform 5, so that the target spraying operation on the fruit trees on the left side and the right side can be realized.
It should be noted that, the control device 4 can independently control the air-sending device 2 and the spraying device 3 on the corresponding sides to independently perform the target spraying operation based on different growth conditions of the fruit trees on the two sides of the sprayer detected by the two-dimensional laser radar 1.
Preferably, as shown in fig. 3 and 5, for the air feeding device 2 shown in this embodiment, the outer contour of the air box 21 is in an "eight" shape, the large end of the air box 21 forms an air outlet, and the side wall close to the small end of the air box 21 forms an air inlet. Because compared with the axial flow fan, the centrifugal fan can generate larger wind speed and wind quantity during operation, so that the fan 22 shown in the embodiment is preferably a centrifugal fan, the centrifugal fan comprises a centrifugal wind wheel and a direct current driving motor, the centrifugal wind wheel is rotatably arranged in the wind box 21, the direct current driving motor is arranged on the outer side of the wind box 21, the output end of the direct current driving motor is connected with the centrifugal wind wheel through a belt transmission mechanism, and the installation position of the centrifugal wind wheel in the wind box 21 corresponds to the air inlet of the wind box 21. Therefore, the rotation speed of the centrifugal wind wheel can be adjusted by adjusting the rotation speed of the direct current driving motor.
Meanwhile, as shown in fig. 5, for the air intake area adjusting mechanism 24 shown in this embodiment, the air intake area adjusting mechanism 24 includes a first wind deflector 241 and a first overturning driving mechanism 242, where the first wind deflector 241 includes a plurality of air inlets distributed in parallel to the air box 21, and the first overturning driving mechanism 242 is connected to the first wind deflector 241 and is in communication connection with the control device 4.
Specifically, the first overturning driving mechanism 242 includes a stepping motor and a gear transmission mechanism, each first wind shield 241 is correspondingly mounted on one rotating shaft, the gear transmission mechanism includes a plurality of gears meshed sequentially, each gear is coaxially connected with one end of the corresponding rotating shaft of the first wind shield 241, the output end of the stepping motor is coaxially connected with one of the gears, and accordingly the control device 4 can control the rotating angle of the stepping motor to control the corresponding angle of each first wind shield 241 to synchronously overturn, and accordingly the corresponding air inlet quantity is adjusted based on the adjustment of the air inlet area at the air inlet of the air box 21.
As shown in fig. 3, the corresponding wind power control system of the control device 4 comprises a wind power control controller, wherein an encoder for monitoring the rotation angle of the stepping motor is arranged on the stepping motor, and the wind power control controller is based on the rotation angle of the stepping motor monitored in real time so as to control the rotation angle of the stepping motor, thereby controlling each first wind shield 241 to synchronously overturn by a corresponding angle.
In the solution shown in this embodiment, the first wind deflectors 241 are specifically provided with five, and the five first wind deflectors 241 are installed in the fixed frame through corresponding rotating shafts, and since the air inlet area of the fixed frame is the same as the air inlet area of the air box 21, different overturning angles of the first wind deflectors 241 can achieve that the air inlet area of the air box 21 is adjusted within a range of 0-100%.
Preferably, as shown in fig. 3, the air outlet area adjusting mechanism 23 in this embodiment includes an air outlet adjusting unit and a second overturning driving mechanism 232; the air outlet regulating and controlling units comprise a plurality of air outlets which are distributed in parallel on the air box 21; the second overturning driving mechanisms 232 are in one-to-one correspondence with the air outlet regulating and controlling units and are connected with the air outlet regulating and controlling units, the second overturning driving mechanisms 232 are in communication connection with the control device 4, wherein the air outlet regulating and controlling unit comprises two second wind shields 231, one sides of the two second wind shields 231 corresponding to each other are hinged, and the other sides of the two second wind shields 231 away from the hinged ends of the two second wind shields are connected with the second overturning driving mechanisms 232. Therefore, the air outlet of the air box 21 is divided into a plurality of air outlet areas by the plurality of air outlet regulating units, and the control device 4 can control the opening degrees of the two second wind shields 231 of the corresponding air outlet areas by controlling the corresponding second overturning driving mechanism 232 of each air outlet regulating unit, so that the air outlet of the air outlet area is regulated.
Correspondingly, when the wind speed of the corresponding position of the air outlet of the air box 21 is regulated, a corresponding encoder can be configured for each fan 22, and the wind power regulation controller regulates the rotating speed of the fan 22 in real time based on the target information of the corresponding position of the fruit tree so as to regulate the wind speed of the corresponding position of the air outlet of the air box 21.
Preferably, as shown in fig. 3 and 5, the spraying device 3 in this embodiment includes a plurality of spraying heads 31, and the air outlet regulating units are opposite to the spraying heads 31 one by one and are arranged along the air outlet direction of the air conveying device 2.
Specifically, when the target spraying of the medicine is performed on the fruit tree, the fruit tree canopy can be subjected to grid division in a row-by-row manner along the horizontal direction according to the canopy contour information and the canopy volume information of the fruit tree, each row forms a plurality of unit grids, the spray heads 31 are in one-to-one correspondence with the unit grids corresponding to each row, the medicine amount sprayed on each unit grid can be calculated according to the canopy volume information and the canopy density information of each unit grid of a single row, and the corresponding spraying operation is performed by the corresponding spray heads 31.
Here, when the air velocity and the air volume of the corresponding unit cells are adjusted by the one-to-one correspondence of the spray heads 31 and the air outlet control units, the air velocity of the air supplied to each unit cell is controlled by the fan 22 according to the canopy volume information and the canopy density information of each unit cell in a single row, and the air volume of the air supplied to each unit cell is controlled by controlling the opening/closing state of the air outlet control units, and the operation of opening/closing the air outlet control units is as follows:
The two second wind shields 231 corresponding to the air outlet regulating unit are turned over in opposite directions by a preset angle to open the air outlet of the corresponding area of the spray head 31, so that the air outlet direction of the air box 21 is not greatly influenced, wherein when the two second wind shields 231 are turned over in opposite directions by 90 degrees, the two second wind shields 231 are attached to each other to completely open the air outlet of the corresponding area of the spray head 31; and when the two second wind shields 231 corresponding to the air outlet regulating and controlling unit are controlled to turn over 90 degrees and spread mutually, the air outlet of the air outlet area corresponding to the spray head 31 can be closed, so that the control of the air quantity conveyed by each unit grid is realized.
As shown in fig. 5, in order to ensure reliable adjustment of the current air outlet area of the air nozzle 31, six air nozzles 31 are disposed at the air outlet of the air box 21, the air outlets of the air box 21 are vertically arranged, the six air nozzles 31 are uniformly arranged from top to bottom at the air outlet, and correspondingly, 12 air baffles corresponding to the air outlets of the air nozzles are disposed in the air box 21, namely, two adjacent second air baffles 231 correspond to one air nozzle 31. A fixed shaft corresponding to the second wind deflector 231 is provided in the bellows 21, and one side corresponding to two adjacent second wind deflectors 231 is rotatably mounted on the same fixed shaft.
For the second overturning driving mechanism 232, the second overturning driving mechanism 232 comprises a driving overturning mechanism and a driven overturning mechanism, the driving overturning mechanism and the driven overturning mechanism are distributed on opposite sides of the second wind shield 231 along the corresponding fixed shaft direction of the second wind shield, and the driving overturning mechanism and the driven overturning mechanism are both provided with connecting rod mechanisms, wherein one end of each connecting rod mechanism corresponding to the driving overturning mechanism is hinged with one side of the second wind shield 231 away from the fixed shaft of the second wind shield, the other end of each connecting rod mechanism is connected with the output end of a steering engine, the steering engine is arranged on the wind box 21 on the corresponding side of the second wind shield 231, one end of each connecting rod mechanism corresponding to the driven overturning mechanism is hinged with one side of the second wind shield 231 away from the fixed shaft of the second wind shield, and the other end of each connecting rod mechanism is rotatably connected with the wind box 21 on the corresponding side of the second wind shield 231.
As shown in fig. 3 and 5, since 12 second wind shields 231 corresponding to the air outlets are provided in the bellows 21 corresponding to each air feeder 2, each air feeder 2 is configured with 12 steering engines in total, and one encoder can be configured for each steering engine. When the air output of the corresponding position of the air outlet of the air box 21 is regulated, for each second wind shield 231, the wind power regulation controller can monitor the rotation angle of the steering engine corresponding to the second wind shield 231 in real time based on the encoder, and control the steering engine to rotate by a corresponding angle according to the target information of the corresponding position of the fruit tree, so as to drive the second wind shield 231 to turn over by a corresponding angle.
Meanwhile, with the spray head 31 shown in the present embodiment, the spray head 31 is used to communicate with the medicine tank 32 through a control valve, which may be a solenoid valve. The medicine amount regulating system comprises a medicine spraying controller, the medicine spraying controller calculates medicine amount required to be sprayed by the spray heads 31 based on target information of fruit trees, and based on flow information of medicine liquid passing through the electromagnetic valve and monitored in real time by the flow sensor, the on-off state of the electromagnetic valve is controlled through the solid relay, wherein in actual control operation, the medicine spraying controller can specifically control the on-off frequency of the electromagnetic valve through the PWM driving circuit, so that the control of the medicine amount sprayed by the spray heads 31 is realized, and the accurate control of medicine amounts at different positions of the fruit trees can be realized based on the spray heads 31.
In the process of controlling the dosage spraying, the medicine spraying controller further performs PID constant pressure control on the medicine liquid output by the medicine box 32 through the diaphragm pump and the pressure sensor, specifically, the medicine box 32 sequentially provides the medicine liquid to the spray head 31 through the diaphragm pump and the pressure regulating valve, a filter is arranged at the inlet of the diaphragm pump, a pressure sensor is arranged at the outlet of the diaphragm pump, and the pressure regulating valve is a three-way valve, so that the pressure regulating valve is also communicated with the medicine box 32 through a return pipe. When the pressure sensor detects that the outlet pressure of the diaphragm pump is too high, the pressure regulating valve returns a part of liquid medicine to the medicine box 32 through the return pipe so as to control the constant pressure of the liquid medicine delivered by the spray head 31, thereby being convenient for realizing the accurate control of the spraying dosage of the spray head 31 under the condition that the pressure of the liquid medicine delivered by the spray head 31 is constant.
In addition, as shown in fig. 6, the present embodiment also designs a corresponding man-machine interface based on the working process of the sprayer. Through the human-computer interface, the communication parameters, the row spacing of fruit trees, the mounting height of the sensors, the distance between the sensors and the spraying device and the spraying width can be set, and real-time display of the volume of the fruit trees, the thickness of branches and leaves, the operation speed, the concentration of liquid medicine, the application amount per unit volume, the rotating speed of a fan, the area of an air inlet, the area of an air outlet, the wind speed, the wind quantity, the inclination angle of a wind box and the left offset distance and the right offset distance of a crawler belt travelling mechanism can be realized. Meanwhile, the man-machine interface can show the target spraying state of the fruit trees on the left side and the right side through image indication, and display the spraying amount change of different positions of the fruit trees in real time through dynamic scroll bars, and the functions of communication setting, speed calibration, laser radar connection, operation starting, operation stopping and the like of the machine can be completed through the man-machine interface.
As shown in fig. 7, this embodiment also provides a spraying method for the target air-assisted sprayer based on the orchard based on the laser radar, which includes: s1, acquiring target information of fruit trees in an orchard and running speed information of a sprayer, wherein the target information comprises position information of the fruit trees, canopy profile information, canopy volume information and canopy density information; s2, calculating the medicine amount sprayed to different positions of the fruit tree canopy based on target information, controlling a spraying device to spray medicine, calculating the air speed and the air quantity conveyed to different positions of the fruit tree canopy based on target information, and performing cooperative regulation and control on a fan, an air inlet area regulating mechanism and an air outlet area regulating mechanism to regulate and control the wind distribution and the wind intensity of different positions of the fruit tree canopy; and S3, sequentially performing target spraying operation on the fruit trees based on the running speed information of the sprayer and the position information of the fruit trees.
Specifically, in the embodiment, in step S1, point cloud data of the fruit tree can be obtained based on the two-dimensional laser radar, and position information and canopy profile information of the fruit tree can be obtained according to the point cloud data; adopting a canopy contour gridding maximum algorithm to the point cloud data to calculate and acquire canopy volume information of the fruit tree; and detecting the number of the point cloud data returned in the designated area volume and the theoretical number of the point cloud data distributed in the designated area volume through a two-dimensional laser radar to obtain canopy dense information of the fruit tree.
The canopy contour gridding optimization algorithm shown in this embodiment is as follows:
and acquiring the outline of the fruit tree canopy based on the point cloud data corresponding to the canopy of the fruit tree, wherein the outline of the fruit tree canopy is a set of outer wrapping lines of the fruit tree canopy, contains all information of canopy geometric characteristic parameters and is formed by connecting outermost edge points at different positions of the canopy. In this case, the fruit tree canopy contours are each gridded in the transverse direction and in the longitudinal direction at predetermined point spacings, for example: when the point taking distance is 0.1m, the corresponding size of each grid unit is 0.1m multiplied by 0.1m, wherein the grid unit coordinates are the walking direction of the sprayer, the z direction is the height direction of the fruit tree canopy, the x direction is the thickness direction of the fruit tree canopy, and the x direction is the direction of the sprayer horizontally facing the fruit tree and is perpendicular to the y direction.
As shown in fig. 8, based on the point cloud data of the fruit tree canopy acquired by the two-dimensional laser radar 1, the transverse section of the canopy can be obtained by extracting sections with different canopy heights, and the half tree profile area corresponding to the two-dimensional laser radar 1 in fig. 8 represents the transverse section of the canopy extracted in this embodiment.
As shown in fig. 9, based on the point cloud data of the canopy of the fruit tree acquired by the two-dimensional laser radar 1, the longitudinal section of the canopy is obtained by extracting sections of different horizontal detection positions. In fig. 9, the lateral grid lines represent lateral contour extraction lines, the longitudinal grid lines represent longitudinal contour extraction lines, the intersections of the lateral grid lines and the longitudinal grid lines represent contour points, and the tree-like contour area in fig. 9 represents a longitudinal cross section of the canopy extracted in the present embodiment.
As shown in fig. 10, the longitudinal and transverse cross-sectional profiles of the canopy are obtained by connecting points on the longitudinal and transverse cross-sectional profiles and drawing a line graph. In fig. 10, the coordinate y represents the traveling direction of the sprayer in m; the coordinate x represents the thickness direction of the fruit tree canopy, and the unit is m; the coordinate z is the height direction of the fruit tree canopy, and the value is 1.33m.
Therefore, after removing the point with the thickness of the canopy contour of 0m, calculating the area between adjacent coordinate points according to a trapezoid area method, accumulating, calculating the cross-sectional area, and accumulating according to the obtained canopy cross-sectional area multiplied by the extraction interval of the cross section to obtain the canopy volume, wherein the specific formula is as follows:
Meanwhile, the number of the returned point cloud data in the designated area volume detected by the two-dimensional laser radar can be divided by the theoretical number of the point cloud data which is distributed in the designated area volume, and the canopy dense information of the fruit tree can be obtained by combining corresponding conversion coefficients, and the principle is as follows:
the objective of conventional pesticide spraying is to uniformly spray the agent onto each leaf, i.e. the application rate q is a function of the leaf area s, i.e. q=f(s), but it is difficult to calculate the leaf area rapidly by a non-destructive measurement method due to the large number of leaves and the presence of partial occlusions. The leaf area s can be indirectly calculated by multiplying the leaf area density ρ by the volume V of the designated area, i.e., s=ρv, where the leaf area density ρ is used to describe the sparsity of branches and leaves in the canopy of the fruit tree, which refers to the leaf area (m 2 /m 3) I.e., ρ=s/V.
Setting the number of blades in the designated area volume V to be n l The area of each leaf is S i ，i＝1，2，…，n l Sorting the leaf numbers, setting the difference between the leaf areas of each leaf and the first leaf as DeltaS i ，i＝1，2，…，n l -1, then the leaf area within the specified zone volume V can be expressed as:
assume that
I.e. the variation of the area of each blade in the specified area volume V is relatively small, so that in the specified area volume V Leaf area of (c) is reduced to s=s 1 n l Thus, ρ=s/v=s can be further obtained 1 n l /V。
It can be seen that in the first leaf area S 1 In the case of determination of the value of the specified area volume V, the leaf area density ρ is n l Is changed by a change in (a).
Accordingly, based on the fact that the more the number of blades in the specified area volume V is, the larger the blade area is, the more the point cloud data output by the two-dimensional laser radar is, and therefore the embodiment can utilize the point cloud density to represent the blade area density, and a calculation formula is as follows:
wherein n is p For detecting the number of returned point cloud data of a target in a designated area volume, n max For distributing the theoretical number of the point cloud data in the designated area volume, it is obvious that the theoretical number is the maximum value which can be reached by the point cloud data in the designated area volume in theory, namely, n max In the case of value determination, the point cloud density ρ p With n p To change as long as n is determined by data analysis l And n p The functional relation between the two can be used for determining the parameter leaf area density rho and the point cloud density rho through coefficient calculation p A functional relationship between, and thus, cloud density ρ of a volume of a region can be specified by p And acquiring canopy dense information of the fruit trees more conveniently.
Further, the embodiment can refer to the following wind speed and wind volume combined regulation and control model based on the obtained target information of the fruit tree, so as to realize the regulation and control of the wind speed and the wind volume of the wind delivery device on the canopy of the fruit tree:
(WindSpeed,Volume)＝F(S IN ,S OUT ,FanSpeed)；
Wherein WindSpeed is the wind speed of the wind outlet of the wind box, and the unit is m/s; volume is the air output of the air outlet of the bellows, and the unit is m 3 /s；S IN Is the air inlet area of the bellows, and the unit is，m 2 ；S OUT The unit of the air outlet area of the air box is m 2 The method comprises the steps of carrying out a first treatment on the surface of the FanSpeed is the rotational speed of the fan in r/s; f is a cooperative relation function between the wind speed and the wind quantity of the wind-feeding device and the wind inlet and outlet areas of the wind box and the rotating speed of the fan.
The wind speed and air volume combined regulation model shown in the embodiment can be obtained through training through a deep neural network model, the input quantity of the wind speed and air volume combined regulation model is the wind speed and air volume of air supplied by an air supply device, and the output quantity of the wind speed and air volume combined regulation model is the air inlet and outlet areas of a wind box and the rotating speed of the fan, which correspond to the wind speed and the air volume of the air supplied by the air supply device. Therefore, the optimal control of wind power distribution and wind power in different positions of the canopy of the fruit tree can be realized based on the wind speed and wind volume combined regulation model.
In addition, as shown in fig. 11, when the speed and the quantity of the air supplied by the air supply device are regulated, the speed of the air flow supplied by the sprayer and the travelling speed of the sprayer are kept unchanged, so that the air quantity demand Volume at the inlet of the canopy of the fruit tree CanopyIN The volume of the fruit tree canopy towards the sprayer side is not smaller than that of the fruit tree canopy, wherein the shape of the fruit tree canopy towards the sprayer side can be simplified into a trapezoid cube, and the following constraint conditions can be obtained:
in Volume CanopyIN The unit is m for the air volume requirement at the entrance of the fruit tree canopy 3 /s；H 1 The height of the canopy of the fruit tree is m; h 2 The height of the entrance of the canopy of the fruit tree is m; h 3 The unit of the height of the air outlet of the sprayer is m, the unit of v is the advancing speed of the sprayer, and the unit of v is m/s; l is the distance between the sprayer and the vertical center of the fruit tree, and the unit is m; l (L) 1 The unit of the distance between the sprayer and the fruit tree canopy inlet is m; l (L) 2 The unit is m, which is the distance between the entrance of the fruit tree canopy and the vertical center of the fruit tree canopy; k isAir loss coefficient in the fruit tree chamber.
Of course, the shape type of the fruit tree canopy can also be other forms, and the corresponding mathematical model can be established according to the volume and canopy density information of the fruit tree canopy and by combining the shape type of the fruit tree canopy so as to control the wind speed and wind quantity of the transportation to the fruit tree canopy.
Furthermore, in the embodiment, the canopy of the fruit tree can be divided into grids column by column along the horizontal direction according to canopy contour information and canopy volume information, and each column forms a plurality of unit grids; calculating the medicine amount sprayed to each unit grid according to the canopy volume information and canopy density information of each unit grid in a single column so as to control a single spray head to spray medicine to the unit grid corresponding to the single spray head, and simultaneously calculating the wind speed and the wind quantity sprayed to each unit grid according to the canopy volume information and canopy density information of each unit grid in the single column so as to control a single air outlet regulating unit to convey corresponding wind speed and wind quantity to the unit grid corresponding to the single air outlet regulating unit; correspondingly, the crown layer of the fruit tree can be subjected to row-by-row target spraying operation according to the running speed information of the sprayer and the position information of the fruit tree. Therefore, when the target air-assisted spraying is carried out on fruit trees in an orchard, the cooperation of the drug amount and wind power at each position of the fruit trees is regulated and controlled according to the requirement, the better spraying effect is ensured, the sprayed drug amount is greatly saved, and the farmland ecological environment pollution caused by pesticide drift is prevented.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (10)
1. Orchard is to target air-assisted spraying machine based on laser radar, its characterized in that includes: the system comprises a two-dimensional laser radar, a data acquisition unit and a data processing unit, wherein the two-dimensional laser radar is used for acquiring target information of fruit trees, and the target information comprises position information, canopy profile information, canopy volume information and canopy density information of the fruit trees;
the speed detection device is used for collecting the running speed information of the sprayer;
the air conveying device comprises an air box, a fan, an air inlet area adjusting mechanism and an air outlet area adjusting mechanism; one end of the air box is provided with an air inlet, and the other end of the air box is provided with an air outlet; the air inlet area adjusting mechanism is arranged at the air inlet, and the air outlet area adjusting mechanism is arranged at the air outlet;
the spraying end of the spraying device is positioned at the air outlet side of the air conveying device;
the input end of the control device is in communication connection with the two-dimensional laser radar and the speed detection device, and the output end of the control device is in communication connection with the fan, the air inlet area adjusting mechanism, the air outlet area adjusting mechanism and the spraying device respectively;
The control device calculates the dosage of the spraying agent on different positions of the fruit tree canopy based on the target information, and controls the spraying device to spray the dosage; the control device also calculates the wind speed and the wind quantity which are transmitted to different positions of the fruit tree canopy based on the target information, and performs cooperative regulation and control on the fan, the air inlet area regulating mechanism and the air outlet area regulating mechanism so as to regulate and control the wind distribution and the wind intensity of different positions of the fruit tree canopy;
the control device adopts the following wind speed and wind volume combined regulation and control model to realize the regulation and control of the wind speed and the wind volume of the wind delivery device for the crown layer delivery of the fruit tree:
(WindSpeed,Volume)＝F(S IN ,S OUT ,FanSpeed)；
wherein WindSpeed is the wind speed of the air outlet of the air box; volume is the air outlet of the air box; s is S IN The area of an air inlet of the air box is; s is S OUT The air outlet area of the air box is; fanSpeed is the rotational speed of the fan; f is a cooperative relation function between the wind speed and the wind quantity of the wind conveying device and the wind speed of the wind conveying device relative to the wind inlet area and the wind outlet area of the wind box and the rotating speed of the fan.
2. The lidar-based orchard targeting air-borne sprayer of claim 1, further comprising: a mobile platform; the two-dimensional laser radar, the speed detection device, the air conveying device, the spraying device and the control device are arranged on the mobile platform.
3. The laser radar-based orchard targeted air-assisted sprayer according to claim 1, wherein a first end of the air-assisted device is rotatably mounted on a base, and a second end of the air-assisted device is connected with the base through a telescopic driving mechanism;
and/or the air conveying devices comprise a plurality of air conveying devices which are distributed in two rows, and the air outlet directions of the two rows of air conveying devices are arranged in a back direction.
4. The lidar-based orchard targeting air-assisted sprayer of claim 1, wherein the air intake area adjustment mechanism comprises a first wind deflector and a first flip drive mechanism; the first wind shields comprise a plurality of wind shields and are distributed on the air inlet side by side; the first overturning driving mechanism is connected with the first wind shield and is in communication connection with the control device.
5. The lidar-based orchard targeting air-assisted sprayer according to claim 1, wherein the air-out area adjusting mechanism comprises an air-out adjusting unit and a second overturning driving mechanism; the air outlet regulating and controlling units comprise a plurality of air outlets and are distributed in parallel; the second overturning driving mechanisms are in one-to-one correspondence with the air outlet regulating and controlling units and are connected with the air outlet regulating and controlling units, and the second overturning driving mechanisms are in communication connection with the control device.
6. The lidar-based orchard targeted air-assisted sprayer according to claim 5, wherein the air-out regulation unit comprises two second wind shields, one sides of the two second wind shields corresponding to each other are hinged, and the other sides of the two second wind shields are connected with the second overturning driving mechanism.
7. The lidar-based orchard on-target air-assisted sprayer of claim 5, wherein the sprayer comprises a plurality of spray heads for communicating with a medicine chest through a control valve;
the air outlet regulating and controlling units are opposite to the spray heads one by one and are arranged along the air outlet direction of the air conveying device.
8. A method of spraying a target air-borne sprayer to a lidar-based orchard as claimed in any one of claims 1 to 7, comprising:
s1, acquiring target information of fruit trees in an orchard and running speed information of a sprayer, wherein the target information comprises position information of the fruit trees, canopy profile information, canopy volume information and canopy density information;
s2, calculating the medicine amount sprayed to different positions of the fruit tree canopy based on target information, controlling a spraying device to spray medicine, calculating the air speed and the air quantity conveyed to different positions of the fruit tree canopy based on target information, and performing cooperative regulation and control on a fan, an air inlet area regulating mechanism and an air outlet area regulating mechanism to regulate and control the wind distribution and the wind intensity of different positions of the fruit tree canopy;
And S3, sequentially performing target spraying operation on the fruit trees based on the running speed information of the sprayer and the position information of the fruit trees.
9. The spraying method according to claim 8, wherein,
s2 further comprises: grid division is carried out on the canopy of the fruit tree along the horizontal direction row by row according to canopy contour information and canopy volume information, and each row forms a plurality of unit grids;
calculating the medicine amount sprayed to each unit grid according to the canopy volume information and canopy density information of each unit grid in a single column so as to control a single spray head to spray medicine to the unit grid corresponding to the single spray head, and simultaneously calculating the wind speed and the wind quantity sprayed to each unit grid according to the canopy volume information and canopy density information of each unit grid in the single column so as to control a single air outlet regulating unit to convey corresponding wind speed and wind quantity to the unit grid corresponding to the single air outlet regulating unit;
accordingly, S3 further comprises: and carrying out row-by-row target spraying operation on the canopy of the fruit tree according to the running speed information of the sprayer and the position information of the fruit tree.
10. The spraying method according to claim 8, wherein,
the step S1 of collecting the target information of the fruit trees in the orchard further comprises the following steps:
Acquiring point cloud data of the fruit tree through a two-dimensional laser radar;
acquiring position information and canopy profile information of the fruit tree according to the point cloud data; the canopy contour gridding maximum algorithm is adopted for the point cloud data, so that canopy volume information of the fruit tree is calculated and obtained; the method comprises the steps of detecting the number of the point cloud data returned in the designated area volume and the theoretical number of the point cloud data distributed in the designated area volume through a two-dimensional laser radar to obtain canopy dense information of the fruit tree.
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| CN113712015A (en) * | 2021-09-13 | 2021-11-30 | 南京农业大学 | Orchard accurate positioning compensation formula wind send sprayer system |
| 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 |
| CN114916524B (en) * | 2022-06-27 | 2023-06-13 | 华南农业大学 | Lifting target follow-up pneumatic spraying vehicle and control method |
| CN116548412B (en) * | 2023-03-20 | 2024-04-26 | 南京林业大学 | Self-propelled orchard pneumatic conveying variable precise pesticide application device and method |
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| CN107125229B (en) * | 2017-04-20 | 2020-06-30 | 北京农业智能装备技术研究中心 | Orchard targeting sprayer and spraying method for fruit tree canopies |
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