CN112106758A - Automatic agricultural pesticide application system and pesticide application method thereof - Google Patents
Automatic agricultural pesticide application system and pesticide application method thereof Download PDFInfo
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- CN112106758A CN112106758A CN202011018550.8A CN202011018550A CN112106758A CN 112106758 A CN112106758 A CN 112106758A CN 202011018550 A CN202011018550 A CN 202011018550A CN 112106758 A CN112106758 A CN 112106758A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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Abstract
The invention discloses an automatic agricultural pesticide application system and a pesticide application method thereof, wherein the pesticide application system comprises a control center, a robot, a greenhouse internal positioning control module, a pesticide preparation device, a plurality of pesticide spraying units arranged in a greenhouse in rows and a pipeline system, the pipeline system comprises a row head joint platform corresponding to each row of pesticide spraying units, a joint switching platform arranged on the pesticide spraying units, pesticide delivery hoses and a main pipeline, hose joints are movably inserted on the row head joint platform and the joint switching platform, the hose joints are connected with the end parts of the pesticide delivery hoses, the other ends of the pesticide delivery hoses are connected to the corresponding row head joint platform or the joint switching platform, and the robot carries the hose joints to other joint switching platforms to form the pipeline system. The invention avoids the problems of increasing energy consumption and failure probability due to the fact that the robot carries insufficient medicine to replenish liquid medicine repeatedly and increase the moving distance.
Description
Technical Field
The invention relates to an automatic agricultural pesticide application system and a pesticide application method thereof.
Background
In the agricultural field, in order to prevent diseases and pests and avoid the damage of weeds to agricultural products, the growth condition of crops is monitored at any time, and corresponding chemical agents such as pesticides, bactericides, herbicides and the like are used when the diseases and pests occur and the weeds appear. The existing agricultural production adopts more and more greenhouses for planting, chemical agents with certain toxicity are sprayed and used in the relatively closed greenhouses to easily cause greater harm to human bodies, so that the personal safety is guaranteed, the dosage is reduced, the growth condition of crops is timely identified through automatic identification software through a pesticide application system, when partial plants have the growth problems of diseases, insect pests and the like, only local areas need to be applied with pesticides, the dosage is reduced, meanwhile, the automatic pesticide application system is more and more, and people are usually not required to enter the greenhouses to be prevented from being poisoned by the chemical agents.
But current pesticide application system still has some problems, and the pesticide application system commonly used is including laying the system that each independently spouts the medicine unit of pipe connection, and the liquid medicine passes through the pipeline and supplies for, spouts the medicine unit and receive system control fixed point to give medicine, and the benefit is that the liquid medicine supplies stably, and control is convenient, but the pipeline of laying often can hinder the walking and the operation of agricultural machine in the farmland, and the liquid medicine leaks when being damaged by agricultural machine easily and causing the pesticide application, leads to the environment to receive the pollution. If another kind adopts the medicine spraying robot that has the function of automatic walking, walk the medicine spraying by the robot automatically like this, the benefit lies in not having to lay the pipeline, the shortcoming lies in that the liquid medicine capacity that the robot carried is limited by the space between the plant on the one hand, and the carrying capacity is limited, need to come and go with the liquid medicine configuration department when the dosage is big, on the other hand if there are multiple growth problems, also need to spout medicine robot and come and go and change the liquid medicine in order to use different liquid medicines, so both reduced work efficiency, also can lead to the energy consumption of robot great, the control requirement improves, the probability that the robot breaks down also increases along with its displacement increase.
Disclosure of Invention
The invention aims to provide an automatic agricultural pesticide application system and a pesticide application method thereof, and aims to solve the technical problems that in the prior art, a pesticide spraying robot needs to repeatedly prepare pesticide liquid positions when spraying due to limited pesticide liquid carrying amount in the working process, the moving distance is increased, and the probability of failure of the robot is improved.
The automatic agricultural pesticide application system comprises a control center, a robot, a positioning control module in a greenhouse, a pesticide preparation device capable of simultaneously preparing and storing various pesticides, a plurality of pesticide spraying units arranged in the greenhouse in rows, and a pipeline system for conveying the pesticides to each pesticide spraying unit, wherein the pipeline system comprises a row head joint platform corresponding to each row of pesticide spraying units, a joint adapter platform arranged on the pesticide spraying units, pesticide conveying hoses and a main pipeline, the pesticide preparation device is sequentially communicated with each row head joint platform through the main pipeline, hose joints are movably inserted on the row head joint platform and the joint adapter platform, the hose joints are connected with the end parts of the pesticide conveying hoses, the other ends of the pesticide conveying hoses are connected to the corresponding row head joint platforms or the joint adapter platforms, and the robot is used for movably connecting the hose joints to the adjacent joint adapter platforms, spout the medicine unit and include bearing structure, supervisory equipment and spout the medicine device, connect the switching platform through sending the pencil to be connected to spout the medicine device, the medicine mouth that advances of joint switching platform pass through automatically controlled latch mechanism with hose nipple can dismantle the connection, control center with location control module in the canopy with liquid medicine preparation device communication connection, location control module in the canopy with spout the medicine unit first connect the platform with robot communication connection.
Preferably, connect the switching platform to locate bearing structure's lower part is including mounting panel, joint connection case, joint plug block and follow the last piece that stretches out to the side of bearing structure, the mounting panel is installed stretch out below the piece, be fixed with below the mounting panel joint connection case and joint plug block, the joint connection case with the joint plug block is arranged along controlling, the joint plug block is kept away from first joint platform one side of being listed as links to each other with the hose nipple grafting that corresponds, it locates to advance the medicine mouth joint connection case orientation first joint platform one side of being listed as, it is equipped with in the medicine mouth and is used for the other hose nipple of joint automatically controlled clamping mechanism to advance, send the pencil to connect to suction pump in the joint connection case, it does not be equipped with hose nipple one end intercommunication to send the medicine hose joint connection case.
Preferably, the hose connector comprises an L-shaped connector body, the L-shaped connector body comprises a base and an upper protruding portion protruding perpendicularly from the base, an inserting column is arranged on the rear side of the upper protruding portion close to the column head connector platform, an inserting hole matched with the inserting column is formed in the connector inserting block, a first hose connector connected with a medicine delivery hose and a first medicine delivery pipe connector matched with the medicine inlet in an inserting mode are arranged on the front side of the L-shaped connector body, a clamping groove matched with the electronic control clamping mechanism is formed in the outer side of the first medicine delivery pipe connector, and the first hose connector is communicated with the medicine delivery pipe connector through a pipeline in the connector body.
Preferably, the robot includes the automobile body of automatic walking and locates connect clamping mechanism on the automobile body, connect clamping mechanism including the symmetry set up and the vertical fixation in the side shield at automobile body top and the clamp plate of rotation about under the tight motor effect of clamp, the clamp plate is located intermediate position between the side shield, the clamp plate can press from both sides the base of an L type joint body together with the side shield of this side when rotating to one side, all form the joint groove that holds the joint body between clamp plate and the side shield, still be equipped with the proximity switch who corresponds every joint groove on the automobile body.
Preferably, the column head joint platform comprises a platform body and a front convex structure extending forwards from the platform body, an inserting hole matched with the inserting column is formed in the end face of the extending end of the front convex structure, the main pipeline is connected with one end of a corresponding medicine delivery hose through an inner pipeline in the platform body, the other end of the medicine delivery hose is connected with a corresponding hose joint, a plurality of single-type medicine pipes in the same direction are arranged in the main pipeline, and the single-type medicine pipes are connected to containers of different types of liquid medicines in the liquid medicine preparation device.
Preferably, the liquid medicine preparation device is provided with a plurality of containers for storing different liquid medicines, and the single-type liquid medicine pipes and the outer pipe layer of the main pipeline are filled through flexible filling layers, so that the influence of pipeline deformation on the single-type liquid medicine pipes is reduced. The positions of the containers connected with the single-type medicine tubes are respectively provided with a first electromagnetic valve, each outlet of each single-type medicine tube is correspondingly provided with a second electromagnetic valve, the outlets of the single-type medicine tubes are connected to a cavity in the table body, and the cavity is communicated with a third hose connector at the top of the table body.
Preferably, an intelligent information terminal is arranged in the pesticide spraying unit, the intelligent information terminal is in wireless communication with the in-shed positioning control module, the electric control clamping mechanism is controlled by the intelligent information terminal, and the intelligent information terminal also controls the pesticide spraying device and the monitoring equipment; the robot control module controls the walking of the trolley and the action of the joint clamping mechanism, and the intelligent information terminal is also used for sending a positioning signal to enable the positioning control module in the shed to position the pesticide spraying unit.
The invention also provides a pesticide application method adopting the automatic agricultural pesticide application system, which comprises the following steps:
and 7, controlling the valves of the single-type pesticide pipes in each row of the first joint platform according to the sequence of the discharged pesticide spraying units for spraying pesticide, so as to realize the sequential pesticide spraying on the plants.
The application method further comprises the following steps: and 8, closing the water suction pump, the atomizing nozzle and the valve after spraying is finished, opening the electric control clamping mechanism to enable the robot to move back along the connected medicine conveying hoses, and sequentially movably inserting each hose connector to the corresponding connector switching table or the first connector table.
The invention has the advantages that: the robot has the advantages that a temporary pipeline system is established according to the plant position with the growth problem to realize liquid medicine spraying at a specific position within a period of time, the robot only carries a hose joint and does not need to carry liquid medicine for spraying, so that the robot does not need to go back and forth for multiple times and a liquid medicine preparation place, the dosage in the pesticide application process is not influenced by the carrying amount of the liquid medicine of the robot, the system is more convenient to control the liquid medicine spraying amount, the energy consumption is reduced, and the fault probability increase caused by the increase of the moving path of the robot is avoided.
2 in this device was used, owing to need not to lay the pipeline in advance, only need will spout the medicine unit insert fixed can, spout the medicine unit and arrange according to the row, can confirm its position very conveniently through location control module in the canopy, the robot only need carry out rectilinear movement in corresponding row simultaneously, therefore control mode is simple. The pipeline is not laid and fixed, so that the use of other agricultural machines cannot be influenced in the non-spraying period, the pipeline cannot be damaged by other agricultural machines, and the leakage of liquid medicine caused by pipeline damage is effectively avoided.
3 trunk line and the container intercommunication of storing different liquid medicines in this scheme to the first joint platform of the row that every row spouts medicine unit to correspond can be through the two liquid medicine kinds of controlling the use of independent solenoid valve on the single type pencil, consequently the robot need not to come and go in the liquid medicine preparation device for changing the liquid medicine, can also use different liquid medicines according to the growth problem type that appears in different rows simultaneously, thereby improved the efficiency that multiple liquid medicine sprayed greatly, and can guarantee the continuation that multiple liquid medicine was carried.
Drawings
Fig. 1 is a signal connection diagram of the component modules of the present invention, in which solid arrows indicate wired connections and dotted arrows indicate wireless connections.
Fig. 2 is a structural diagram of the arrangement of the components in the greenhouse according to the present invention.
Fig. 3 is a schematic view of the structure of the spraying unit of the present invention.
Fig. 4 is a schematic structural diagram of the column head joint station in the present invention when performing pipeline connection.
Fig. 5 is a schematic structural diagram of the joint adapting station and the robot for joint connection according to the present invention.
Fig. 6 is a rear view of the connector adapting station and the robot of the present invention.
Fig. 7 is a schematic view showing a piping structure between a main pipe, a chemical liquid preparing apparatus and a line head table in the present invention.
FIG. 8 is a schematic view of the structure of the electric telescopic tube and the liquid spraying branch tube in the invention.
The reference numbers of the figures are as follows: 1. a main pipeline, 11, an outer pipe layer, 12, a single-type medicine pipe, 13, a flexible filling layer, 2, a column head joint table, 21, a table body, 22, a front convex structure, 3, a liquid medicine preparation device, 31, a container, 4, a plant, 5, a greenhouse, 6, a spraying unit, 61, a stand column, 62, an electric telescopic pipe, 621, a segment pipe, 622, a spraying branch pipe, 623, a close-range camera, 624, an atomizing nozzle, 63, a monitoring camera, 64, a moving mechanism, 65, a joint switching table, 651, an extending block, 652, a joint connecting box, 6521, a hose interface II, 6522, an electric control clamping mechanism, 6523, a medicine inlet, 653, a joint inserting block, 654, a mounting plate, 7, a hose joint, 71, an L-shaped joint body, 72, a medicine conveying pipe interface, 73, a hose interface I, 8, a robot, 81, a vehicle body, 82, a side baffle, 83, a clamping plate, 84, an approach switch, 9, a medicine conveying hose, 91. a winch.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
As shown in fig. 1-8, the invention provides an automatic agricultural pesticide application system, which comprises a control center, a robot 8 capable of automatically walking, a control module for positioning in the greenhouse, a pesticide preparation device 3 capable of simultaneously preparing and storing a plurality of pesticides, a plurality of pesticide spraying units 6 arranged in the greenhouse 5 in a row, and a pipeline system for conveying the pesticides to each pesticide spraying unit 6, wherein the pipeline system comprises a row head joint platform 2 corresponding to each row of pesticide spraying units 6, a joint adapter platform 65 arranged on the pesticide spraying units 6, a pesticide delivery hose 9 and a main pipeline 1, the pesticide preparation device 3 is sequentially communicated with each row head joint platform 2 through the main pipeline 1, the robot 8 comprises an automatically walking vehicle body 81 and a joint clamping mechanism arranged on the vehicle body 81, hose joints 7 are movably inserted on the row head joint platform 2 and the joint adapter platform 65, hose nipple 7 with send the end connection of medicine hose 9, send the medicine hose 9 other end to be connected to the first joint platform 2 of row or joint switching platform 65 that correspond, it includes bearing structure, supervisory equipment and spouts the medicine device to spout medicine unit 6, connect switching platform 65 through sending the pencil to be connected to spout the medicine device, the medicine mouth 6523 that advances of joint switching platform 65 through automatically controlled clamping mechanism 6522 with hose nipple 7 can dismantle the connection, control center with in the canopy location control module with liquid medicine preparation device 3 communication connection, in the canopy location control module with spout medicine unit 6 the first joint platform 2 of row with 8 communication connection of robot.
The connector adapter 65 is provided at the lower portion of the support structure and includes a mounting plate 654, a connector connecting box 652, a connector insertion block 653, and a protrusion block 651 protruding laterally from the support structure, the mounting plate 654 is installed under the protrusion block 651, the connector connection box 652 and the connector insertion block 653 are fixed under the mounting plate 654, the connector connecting boxes 652 and the connector plug blocks 653 are arranged in the left-right direction, the side of the connector plug blocks 653 far from the column header 2 is connected with the corresponding hose connectors 7 in a plug-in manner, the drug inlet 6523 is provided on the side of the joint connection box 652 facing the column head joint block 2, the electric control clamping mechanism 6522 for clamping other hose connectors 7 is arranged in the medicine inlet 6523, the medicine delivery pipe is connected to a water pump in the joint connecting box 652, and one end of the medicine delivery hose 9, which is not provided with the hose joint 7, is communicated with the joint connecting box 652.
A winch 91 is further mounted on the mounting plate 654, and the medicine feeding hose 9 is connected to a hose connector 6521 on the top of the connector connecting box 652 from the hose connector 7 stored therein through the winch 91.
The hose connector 7 comprises an L-shaped connector body 71, the L-shaped connector body 71 comprises a base and an upward protruding part vertically protruding out of the base, an inserting column is arranged on the rear side, close to the column head connector platform 2, of the upward protruding part, an inserting hole matched with the inserting column is formed in the connector inserting block 653, a hose interface I73 connected with the medicine conveying hose 9 and a medicine conveying pipe interface 72 matched with the medicine inlet 6523 in an inserting mode are arranged on the front side of the L-shaped connector body 71, a clamping groove matched with the electronic control clamping mechanism 6522 is formed in the outer side of the medicine conveying pipe interface 72, and the medicine conveying pipe interface 72 is communicated with the hose interface I73 through a pipeline in the connector body.
The joint clamping mechanism comprises side baffles 82 which are symmetrically arranged and vertically fixed on the top of the vehicle body 81 and clamping plates 83 which rotate left and right under the action of a clamping motor, the clamping plates 83 are located in the middle positions between the side baffles 82, when the clamping plates 83 rotate to one side, the clamping plates and the side baffles 82 on the side can clamp a base of the L-shaped joint body 71 together, joint grooves for accommodating the joint bodies are formed between the clamping plates 83 and the side baffles 82, and proximity switches 84 corresponding to the joint grooves are further arranged on the vehicle body 81. The proximity switch 84 is located at the bottom of the rear side of the connector slot, with the sensing end of the proximity switch 84 being at a lower elevation than the bottom of the connector slot to avoid interfering with the movement of the hose connector 7 along the connector slot.
The column head joint platform 2 comprises a platform body 21 and a front convex structure 22 extending forwards from the platform body 21, an inserting hole matched with the inserting column is formed in the end face of the extending end of the front convex structure 22, the main pipeline 1 is connected with one end of a corresponding medicine conveying hose 9 through an inner pipeline in the platform body 21, the other end of the medicine conveying hose 9 is connected with a corresponding hose joint 7, a plurality of unidirectional single-type medicine pipes 12 are arranged in the main pipeline, and the single-type medicine pipes 12 are connected to containers 31 of different types of liquid medicines in the liquid medicine preparation device 3.
The liquid medicine preparation device 3 is provided with a plurality of containers 31 for storing different liquid medicines, and the single-type liquid medicine pipes 12 and the outer pipe layer 11 of the main pipeline 1 are filled through the flexible filling layers 13, so that the influence of pipeline deformation on the single-type liquid medicine pipes 12 is reduced. The positions of the container 31 connected with the single-type medicine tubes 12 are respectively provided with a first electromagnetic valve, each outlet of each single-type medicine tube 12 is correspondingly provided with a second electromagnetic valve, the outlets of the single-type medicine tubes 12 are connected to a containing cavity in the table body 21, and the containing cavity is communicated with a third hose connector at the top of the table body 21. The medicine feeding hose 9 connected to the hose port three is connected to the corresponding hose connector 7 via a winch 91 provided on the top of the table body 21.
An intelligent information terminal is arranged in the pesticide spraying unit 6, the intelligent information terminal is in wireless communication with the in-shed positioning control module, the electric control clamping mechanism 6522 is controlled by the intelligent information terminal, and the intelligent information terminal also controls the pesticide spraying device and the monitoring equipment; the robot 8 control module controls the walking of the trolley and the action of the joint clamping mechanism, and the intelligent information terminal is also used for sending a positioning signal to enable the in-shed positioning control module to position the pesticide spraying unit 6.
The supporting structure includes stand 61, spout the medicine device including locating moving mechanism 64 and the electronic flexible pipe 62 on the stand 61, electronic flexible pipe 62 is located moving mechanism 64's expansion end, the connection to of electronic flexible pipe 62 send the pencil, electronic flexible pipe 62 includes the section pipe 621 that a plurality of sections cup jointed in proper order, and the extension of every section pipe 621 all is equipped with the hydrojet branch pipe 622 that stretches out perpendicularly, the end that stretches out of hydrojet branch pipe 622 is equipped with atomizing nozzle 624.
The monitoring equipment comprises a monitoring camera 63 installed on the upright post 61 and close-range cameras 623 installed on the liquid spray branch pipes 622, and the close-range cameras 623 are oriented in the same direction as the atomizing nozzles 624. The close-range cameras 623 can collect the area opposite to each close-range camera 623 in a targeted manner, and close-range images can better identify the problem of diseases, insect pests or weeds of the plants 4 and can conveniently identify the severity of the problem.
The moving mechanism 64 comprises a lifting mechanism arranged along the upright post 61 and a rotating mechanism connected to the lifting mechanism, the fixed part of the rotating mechanism is connected to the lifting platform of the lifting mechanism, the rotating part of the rotating mechanism is used for installing the electric telescopic pipe 62, and the rotating part is rotatably connected with the fixed part and is driven by a motor to rotate.
The invention also provides a pesticide application method of the automatic agricultural pesticide application system, and the pesticide application method comprises the following steps:
And 2, controlling the electric extension pipe 62 corresponding to the pesticide spraying unit 6 to move the corresponding atomizing nozzle 624 and the close-range camera 623 to the corresponding plant 4 for close-range image acquisition, and identifying the type and severity of the growth problem.
And 3, configuring corresponding liquid medicines according to the type and the severity of the growth problem, and storing the liquid medicines with different types and proportions in different containers 31 when various problems and severities exist.
And 4, determining the laying structure of the pipeline system according to the position of each row of spraying units 6 needing spraying, and enabling the robot 8 to convey the hose connectors 7 on the first connector table 2 of the row to the nearest connector adapter table 65 of the row and connect the hose connectors with the nearest connector adapter table.
And 5, controlling the clamping plate 83 to rotate in the other direction to release the connected hose connector 7, clamping the other hose connector 7, continuing to advance the robot 8 to connect the clamped hose connector 7 to the next connector adapter 65, and repeating the step until the medicine conveying hose 9 is connected to the farthest medicine spraying unit 6 needing to spray medicine in the row.
And 6, determining the growth problem to be treated in each row and discharging the sequence of spraying the liquid medicine by the spraying units 6 in the row when a plurality of problems exist.
And 7, opening corresponding valves on a pipeline system, water pumps on the pesticide spraying units 6 and corresponding atomizing nozzles 624, and controlling the valves of the single pesticide pipes 12 in each row of the first joint platform 2 according to the pesticide spraying sequence of the discharged row of the pesticide spraying units 6 to realize pesticide spraying on the plants 4 in sequence.
And 8, closing the water suction pump, the atomizing nozzle 624 and the valve after spraying is finished, opening the electric control clamping mechanism 6522 to enable the robot 8 to move back, and sequentially moving and inserting each hose connector 7 to the corresponding connector switching table 65 or the first connector table 2.
The present invention employs a specific structure of the connector clamping mechanism in cooperation with the corresponding connector adapting table 65, when a temporary pipeline system is established, the robot 8 basically only needs to insert the medicine feeding pipe interface 72 of the hose connector 7 into the corresponding medicine inlet 6523, and the clamping plate 83 is clamped by the hose connector 7 on the other side after connection, so that the hose connector 7 of the current connector adapter 65 can be taken down and conveyed to the next connector adapter 65, compared with the conventional working process (firstly connecting the held hose connector, loosening the hose connector, moving to the new hose connector on the current connector adapter, clamping the new hose connector and taking down the new hose connector), the working process of the invention is greatly simplified, and the problem that the robot 8 is obstructed by the connected medicine delivery hose 9 when searching for a new hose joint 7 is avoided, so that the efficiency of connecting pipelines is effectively improved.
The invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the inventive concept and solution of the invention, or to apply the inventive concept and solution directly to other applications without modification.
Claims (9)
1. An automated agricultural pesticide application system, comprising a control center and a robot (8), characterized in that: the automatic pesticide spraying device is characterized by further comprising a shed positioning control module, a pesticide solution preparation device (3) capable of simultaneously preparing and storing various pesticide solutions, a plurality of pesticide spraying units (6) arranged in a shed (5) in a row mode and a pipeline system for conveying the pesticide solutions to the pesticide spraying units (6), wherein the pipeline system comprises row first joint platforms (2) corresponding to each row of pesticide spraying units (6), joint switching platforms (65) arranged on the pesticide spraying units (6), pesticide conveying hoses (9) and a main pipeline (1), the pesticide solution preparation device (3) is sequentially communicated with the row first joint platforms (2) through the main pipeline (1), hose joints (7) are movably inserted into the row first joint platforms (2) and the joint switching platforms (65), the hose joints (7) are connected with the end portions of the pesticide conveying hoses (9), the other ends of the pesticide conveying hoses (9) are connected to the corresponding row first joint platforms (2) or the joint switching platforms (65), robot (8) be used for with hose nipple (7) mobile connection is to adjacent joint switching platform (65), it includes bearing structure, supervisory equipment and spouts the medicine device to spout medicine unit (6), connect switching platform (65) through sending the pencil and being connected to spout the medicine device, the medicine inlet (6523) of connecting switching platform (65) through automatically controlled clamping mechanism (6522) with hose nipple (7) can dismantle the connection, control center with location control module in the canopy with liquid medicine preparation device (3) communication connection, location control module in the canopy with spout medicine unit (6) first joint platform (2) of row with robot (8) communication connection.
2. An automated agricultural application system according to claim 1, wherein: the joint adapter table (65) is arranged at the lower part of the supporting structure and comprises a mounting plate (654), a joint connecting box (652), a joint inserting block (653) and a protruding block (651) protruding from the supporting structure to the side surface, the mounting plate (654) is arranged below the protruding block (651), the joint connecting box (652) and the joint inserting block (653) are fixed below the mounting plate (654), the joint connecting box (652) and the joint inserting block (653) are arranged along the left and right sides, one side of the joint inserting block (653) far away from the column head joint table (2) is connected with a corresponding hose joint (7) in an inserting manner, the medicine inlet (6523) is arranged at one side of the joint connecting box (652) facing the column head joint table (2), and an electric control clamping mechanism (6522) for clamping other hose joints (7) is arranged in the medicine inlet (6523), the medicine delivery pipe is connected to a water suction pump in the joint connecting box (652), and one end, which is not provided with the hose joint (7), of the medicine delivery hose (9) is communicated with the joint connecting box (652).
3. An automated agricultural application system according to claim 2, wherein: the hose connector (7) comprises an L-shaped connector body (71), the L-shaped connector body (71) comprises a base and an upper protruding part protruding out of the base vertically, an inserting column is arranged on the rear side, close to the column head connector platform (2), of the upper protruding part, an inserting hole matched with the inserting column is formed in the connector inserting block (653), a first hose interface (73) connected with a medicine conveying hose (9) and a medicine conveying pipe interface (72) matched with the medicine inlet (6523) in an inserting mode are arranged on the front side of the L-shaped connector body (71), a clamping groove matched with the electric control clamping mechanism (6522) is formed in the outer side of the medicine conveying pipe interface (72), and the medicine conveying pipe interface (72) is communicated with the first hose interface (73) through a pipeline in the connector body.
4. An automated agricultural application system according to claim 3, wherein: robot (8) including the automobile body (81) of automatic walking with locate joint clamping mechanism on automobile body (81), joint clamping mechanism is including the symmetry setting and vertical fixation side shield (82) at automobile body (81) top and clamping plate (83) of controlling the pivoted under the clamping motor effect, clamping plate (83) are located intermediate position between side shield (82), clamping plate (83) can press from both sides the base of an L type joint body (71) together with side shield (82) of this side when rotating to one side, all form the joint groove that holds the joint body between clamping plate (83) and side shield (82), still be equipped with proximity switch (84) that correspond every joint groove on automobile body (81).
5. An automated agricultural application system according to claim 4, wherein: the column head joint platform (2) comprises a platform body (21) and a front convex structure (22) extending forwards from the platform body (21), an inserting hole matched with the inserting column is formed in the end face of the extending end of the front convex structure (22), the main pipeline (1) is connected with one end of a corresponding medicine feeding hose (9) through an inner pipeline in the platform body (21), the other end of the medicine feeding hose (9) is connected with a corresponding hose joint (7), a plurality of single medicine pipes (12) in the same direction are arranged in the main pipeline, and the single medicine pipes (12) are connected to containers (31) of different kinds of liquid medicines in the liquid medicine preparation device (3).
6. An automated agricultural application system according to claim 1, wherein: the liquid medicine preparation device (3) is provided with a plurality of containers (31) for storing different liquid medicines, and the single-type liquid medicine pipes (12) and the outer pipe layer (11) of the main pipeline (1) are filled through flexible filling layers (13), so that the influence of pipeline deformation on the single-type liquid medicine pipes (12) is reduced. The position of the container (31) connected with the single-type medicine tube (12) is respectively provided with a first electromagnetic valve, each outlet of the single-type medicine tube (12) is correspondingly provided with a second electromagnetic valve, the outlet of the single-type medicine tube (12) is connected to a containing cavity in the table body (21), and the containing cavity is communicated with a third hose connector at the top of the table body (21).
7. An automated agricultural application system according to claim 1, wherein: an intelligent information terminal is arranged in the pesticide spraying unit (6), the intelligent information terminal is in wireless communication with the in-shed positioning control module, the electronic control clamping mechanism (6522) is controlled by the intelligent information terminal, and the intelligent information terminal also controls the pesticide spraying device and the monitoring equipment; and the robot (8) control module controls the walking of the trolley and the action of the joint clamping mechanism, and the intelligent information terminal is also used for sending a positioning signal to enable the in-shed positioning control module to position the pesticide spraying unit (6).
8. A method of application of an automated agricultural application system according to claims 1-7, wherein: comprises the following steps:
step 1, collecting a growth image of a crop through a monitoring camera (63), identifying an image with a growth problem and the position of a corresponding plant (4) by a control center, and finding a corresponding pesticide spraying unit (6) according to the image;
step 2, controlling the corresponding spraying unit (6) to move the corresponding atomizing nozzle (624) and the close-range camera (623) to the corresponding plant (4) for close-range image acquisition, and identifying the type and the severity of the growth problem;
step 3, corresponding liquid medicines are configured according to the type and the severity of the growth problem, and when various problems and severities exist, the liquid medicines with different types and proportions are stored in different containers (31);
step 4, determining a laying structure of a pipeline system according to the position of each row of spraying units (6) needing spraying, and enabling the robot (8) to convey the hose connectors (7) on the first connector table (2) to the nearest connector switching table (65) of the row and connect the hose connectors with the nearest connector switching table;
step 5, controlling the clamping plate (83) to rotate towards the other direction to release the connected hose connector (7), clamping the other hose connector (7), continuing to advance the robot (8) to connect the clamped hose connector (7) to the next connector transfer table (65), and repeating the step until the medicine conveying hose (9) is connected to the farthest medicine spraying unit (6) needing medicine spraying in the row;
step 6, determining the growth problem to be treated in each row and discharging the sequence of spraying the liquid medicine by the spraying units (6) in the row when a plurality of problems exist;
and 7, controlling valves of the single-type pesticide pipes (12) in each row of the first joint platform (2) according to the sequence of the discharged pesticide spraying units (6) to spray pesticide, so as to realize the pesticide spraying on the plants (4) in sequence.
9. The method of claim 8, wherein the method comprises: further comprising: and 8, closing the water suction pump, the atomizing nozzle (624) and the valve after spraying is finished, opening the electric control clamping mechanism (6522) to enable the robot (8) to move back along the connected medicine conveying hose (9), and sequentially moving and inserting each hose connector (7) to the corresponding connector switching table (65) or the first connector table (2).
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| CN201069960Y (en) * | 2007-06-18 | 2008-06-11 | 关哲夫 | Nuisance free deinsectization disinfection device |
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| CN202095434U (en) * | 2011-01-03 | 2012-01-04 | 王华弟 | Novel pesticide application device |
| CN110432247A (en) * | 2019-08-22 | 2019-11-12 | 杨红坤 | A kind of greenhouse suspension type pesticide automatic spraying device |
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| CN201069960Y (en) * | 2007-06-18 | 2008-06-11 | 关哲夫 | Nuisance free deinsectization disinfection device |
| KR20080059539A (en) * | 2008-06-10 | 2008-06-30 | 정석화 | Agricultural chemicals - spreader of cart-type |
| CN101663984A (en) * | 2009-04-09 | 2010-03-10 | 邱正伟 | Artesian drip strip, drip-irrigation device formed by artesian drip strip, drip-irrigation system formed by drip-irrigation device and use method of artesian drip strip |
| CN202095434U (en) * | 2011-01-03 | 2012-01-04 | 王华弟 | Novel pesticide application device |
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Address after: Room 225, Building 2, Pioneering Avenue, 8 Longhu Road, Sanshan District, Wuhu City, Anhui Province, 241000 Patentee after: Anhui Zhongke intelligent perception Technology Co.,Ltd. Address before: Room 225, Building 2, Pioneering Avenue, 8 Longhu Road, Sanshan District, Wuhu City, Anhui Province, 241000 Patentee before: ANHUI ZHONGKE INTELLIGENT SENSING INDUSTRY TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. |