CN112219830A - Air-assisted variable targeting sprayer for terrace orchard and targeting spraying method - Google Patents

Air-assisted variable targeting sprayer for terrace orchard and targeting spraying method Download PDF

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CN112219830A
CN112219830A CN202011073309.5A CN202011073309A CN112219830A CN 112219830 A CN112219830 A CN 112219830A CN 202011073309 A CN202011073309 A CN 202011073309A CN 112219830 A CN112219830 A CN 112219830A
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air
assisted
spraying
sprayer
slope
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CN112219830B (en
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管贤平
庄进
魏新华
代富彬
熊积奎
武晓坤
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Jiangsu University
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Jiangsu University
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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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • A01M7/0053—Mounting of the spraybooms
    • A01M7/0057—Mounting of the spraybooms with active regulation of the boom position
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • A01M7/006—Mounting of the nozzles
    • 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
    • A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Catching Or Destruction (AREA)

Abstract

The invention provides a terrace orchard air-assisted variable targeting sprayer and a targeting spraying method, and belongs to the technical field of agricultural and forestry machinery. The targetable sprayer comprises an upper air-assisted sprayer and a lower air-assisted sprayer which are arranged at different heights, when the air-assisted variable targetable sprayer for the terrace orchard works, an industrial personal computer obtains spraying delay time, plant height and tree crown volume according to point cloud data acquired by a laser radar, and a control chip adjusts the air-assisted distance of fog drops, the spraying height and the angle of the vertical direction of spraying; the industrial personal computer also performs fusion processing on information acquired by the GPS combined navigation equipment and point cloud data acquired by the laser radar, and the control chip controls the crawler-type chassis according to the processing result to plan a traveling path. The invention has the advantages of uniformity and accuracy of pesticide application to the target spraying machine and improvement of pesticide application efficiency.

Description

Air-assisted variable targeting sprayer for terrace orchard and targeting spraying method
Technical Field
The invention belongs to the technical field of agricultural and forestry machinery, and particularly relates to a terrace orchard air-assisted variable targeting sprayer and a targeting spraying method.
Background
The forestry and fruit industry is an important part of modern agriculture and forestry in China, and the planting area of an orchard in China reaches 128 by 20130 kilohm2The yield reaches 1.5 hundred million t, and the corresponding orchard pest control becomes the most important operation in orchard management and the most time-consuming and labor-consuming operation. The application of the pesticide plays an important role in the pest control of fruit trees, and is irreplaceable at present. The orchard pest control is mainly to spray chemical agents, however, in the traditional pesticide spraying technology for tree pest control, the precision of the adjustment of the spraying distance between a spray head and a target tree is low, and fog drops are unevenly distributed in different areas inside a tree canopy. The targeted spraying technology is an important technical mode for realizing accurate pesticide application, and automatically adjusts a spraying system to achieve an ideal spraying distance according to the shape information of the tree canopies obtained by detection, and performs targeted spraying operation so as to improve the distribution uniformity of fog drops on the tree canopies and the pesticide application efficiency.
The targeted spraying technology is beneficial to improving the utilization rate of pesticide, reducing pesticide residue and reducing environmental pollution. Therefore, the research can adopt fruit tree profiling to spray to target variable quantity according to the characteristic that the crown and the row spacing of the fruit tree are not uniform, thereby effectively improving the utilization rate of the pesticide and reducing the using amount of the pesticide, and solving the key problem of pesticide spraying in the fruit tree pest control. Research on a three-dimensional information acquisition and identification method of fruit trees and a fruit tree accurate target-targeting variable spraying technology are key technologies of fruit tree profiling spraying, and at present, both domestic and foreign intelligent profiling spraying technologies are actively researched and developed.
In the existing research at home and abroad, the targeting variable spraying machine based on technologies such as infrared ray, image recognition, ultrasonic radar detection and the like is easily influenced by the environment. The laser radar detection technology is used as a rapid and high-precision detection means, can accurately identify the characteristics of a plant target, is combined with a variable air-assisted spraying machine, can accurately identify the characteristics of the target, performs accurate variable spraying operation, improves the effective utilization rate of pesticides and reduces the pollution of the pesticides to the environment.
Chinese patent (CN110388225A) discloses an infrared random induction spray dust-settling system, which utilizes an infrared sensor and a pressure sensor to receive signals so as to judge spray time and spray quantity by a detection system consisting of an external sensor, a processor, a CAN controller, a CAN transceiver and a photoelectric isolator; the system has poor spraying detection effect, poor adaptability and insufficient accuracy for the plants in the field orchard. Chinese patent (CN110463672A) discloses an automatic spraying system for an orchard based on a single chip microcomputer, wherein a stay wire sensor and an infrared converter are connected with the single chip microcomputer, and an electromagnetic valve, a regulating mechanism and a spray rod swinging mechanism are arranged at the output end of the single chip microcomputer and are connected with a nozzle, so that the purposes of improving the utilization rate of pesticides and reducing the labor intensity are achieved; however, the specific design of the adjustment mechanism and the boom swing mechanism is not described in detail. Chinese patent (CN104996387A) discloses a hand-push type air-assisted sprayer, which adopts a manual trolley to carry out spraying operation, adopts a battery pack to supply power to a diaphragm pump, and is used for pest control in a tea garden; therefore, the spraying amount and the spraying effect are not suitable for large-scale planted orchards, and the labor cost is high.
At present, for the situation of rough hillside orchards, efficient targeting spraying equipment needs to be developed; the spraying machine is required to have better passing performance and climbing capacity, and in the prior art, a carrier of the spraying machine is a crawler-type chassis carrier in multiple choices; in addition, automation and intellectualization should be advanced in view of the labor saving.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the terrace orchard air-assisted variable targeting spraying machine and the targeting spraying method, which are beneficial to improving the liquid medicine distribution uniformity and accuracy of fruit trees in hilly orchards, improving the pesticide application efficiency and reducing the labor intensity of operators.
The present invention achieves the above-described object by the following technical means.
A terrace orchard air-assisted variable targeting spraying machine comprises an advancing system, a navigation detection control system and an air-assisted targeting spraying system;
the travelling system comprises a crawler-type chassis and a bearing rack arranged on the upper part of the crawler-type chassis, wherein a front driving cab is arranged at the front end of the bearing rack, a spraying equipment mounting bracket is arranged at the rear part of the bearing rack, and a gasoline generator and a general electric cabinet are arranged on the spraying equipment mounting bracket;
the navigation detection control system comprises a laser radar and a GPS combined navigation device, the laser radar is installed at the front end of the front driving platform, and the GPS combined navigation device is arranged on the bearing rack; the navigation detection control system is communicated with an industrial personal computer;
the air-assisted targeting spraying system comprises an upper air-assisted spraying machine and a lower air-assisted spraying machine which are arranged at different heights, a spray head of the air-assisted spraying machine is communicated with a diaphragm pump, and the diaphragm pump is communicated with a large pesticide box; the air-assisted sprayer is communicated with a control chip of the main electric cabinet, and the control chip is communicated with the industrial personal computer.
In the technical scheme, the air-assisted sprayer comprises an electric telescopic rod, an arched mounting bracket, a centrifugal fan, a middle air duct and a front air outlet; the tail end of the electric telescopic rod is arranged at the upper end of the spraying equipment mounting bracket through an electric rotary table, the upper end of the electric telescopic rod is fixedly provided with an arched mounting bracket, a disc provided with a limiting hole is arranged between the arched mounting bracket and the electric telescopic rod, and the limiting hole is matched with a limiter on the electric rotary table; the top end of the arched mounting bracket is fixedly provided with a centrifugal fan outer barrel which is fixedly connected with one end of a middle air barrel into a whole, the other end of the middle air barrel is fixedly provided with a front air outlet, and a spray head is arranged outside the front air outlet; a rotation control electric box is fixed on one side of the arched mounting support, a rotary connecting block is fixed on one side of the rotation control electric box, the rotary connecting block is rotatably connected with one end of a connecting rod, the other end of the connecting rod is fixedly connected with a crank, and the tail end of the crank is fixed on an outer barrel of the centrifugal fan.
In the technical scheme, the spray head is arranged on the spray head mounting rod, the spray head mounting rod is fixed on the fixing patch, and the fixing patch is fixed on two sides of the edge of the front air outlet.
In the technical scheme, the included angle between the spraying angle of the spray head and the central plane of the front air outlet is 0-60 degrees.
A terrace orchard air-assisted variable targeted spraying machine works, a terrace orchard air-assisted targeted spraying machine collects point cloud data of an operation object fruit tree and sends the point cloud data to an industrial personal computer, and spraying delay time, plant height and tree crown volume are calculated; the control chip regulates and controls the starting of a motor of the centrifugal fan according to the spraying delay time, and then adjusts the rotating speed of the motor of the fan according to the plant height, so that the air conveying distance of the fog drops is adjusted; the industrial personal computer generates action instructions of the electric telescopic rod and the rotation control electric box according to the volume of the tree crown and the height of the plant, sends the action instructions to the control chip, and adjusts the spraying height and the angle of the spraying vertical direction; the GPS integrated navigation equipment determines real-time attitude and pitch angle information of the spraying machine, the industrial personal computer performs fusion processing on the information acquired by the GPS integrated navigation equipment and point cloud data acquired by the laser radar, a processing result is sent to the control chip, and the control chip controls a servo motor of the crawler-type chassis to plan a traveling path.
Further, the motor rotating speed comprises the motor rotating speed n of the upper air-assisted sprayert1And the motor rotating speed n of the lower air-assisted sprayert2The motor speed n and the fan speed V meet
Figure BDA0002715905170000031
The air speed of a fan is used for adjusting the air conveying distance of the fog drops; the above-mentioned
Figure BDA0002715905170000032
Wherein H1Is the height of the plant under the slope, H2Is the height of the plant on the slope, Hs、HxRespectively showing the height of the center of the bearing seat of the upper air-assisted sprayer from the ground and the height of the center of the bearing seat of the lower air-assisted sprayer from the ground, h is the slope height, n is the slope heightmin1、nmin2Is the fan rotating speed under the minimum coverage range of the operation plants, and the range of n is [1600, 2500 ]]。
Further, said nmin1、nmin2Determined according to the following relationship:
Figure BDA0002715905170000033
wherein a is the horizontal distance between the middle position of the targeting sprayer and the plant trunk on the slope, b is the horizontal distance between the middle position of the targeting sprayer and the plant trunk on the slope, and | a-b | is more than or equal to 0 and less than or equal to 0.15 m.
Further, the spray height and the spray vertical direction angle are adjusted according to the following formulas:
upper air-assisted sprayer:
Figure BDA0002715905170000034
lower air-assisted sprayer:
Figure BDA0002715905170000035
wherein alpha is1Is the angle of the vertical direction of the spray, alpha, of the upper air-assisted sprayer2Is the angle of the vertical direction of the spray of a lower air-assisted sprayer, L1The electric push rod of the upper air-assisted sprayer stretches by a certain amount L2The stretching amount of an electric push rod of the lower air-assisted sprayer.
Furthermore, the information acquired by the GPS integrated navigation device and the point cloud data acquired by the laser radar are fused, specifically:
Figure BDA0002715905170000041
Figure BDA0002715905170000042
wherein S is1、S2、S3、S4、S5、S6Respectively representing the length of the laser line swept by the laser radar to the top end of the plant under the slope, the lower slope surface, the upper slope surface, the lower end of the plant on the slope and the top end of the plant on the slope, and j, y, g, m and r respectively represent S1S2、S2S3、S3S4、S4S5、S5S6The included angle between two laser lines, d is the distance from the middle position of the targeting sprayer to the boundary of the slope surface, and f is the distance between the center of the plant on the slope and the boundary of the slope surfaceAnd (5) separating.
The invention has the beneficial effects that:
(1) the terrace orchard air-assisted variable targeting sprayer comprises an upper air-assisted sprayer and a lower air-assisted sprayer which are arranged at different heights, when the terrace orchard air-assisted variable targeting sprayer works, a laser radar collects point cloud data of an operation object fruit tree, an industrial personal computer obtains spraying delay time, plant height and tree crown volume according to the point cloud data, a control chip adjusts the motor rotating speed of a fan according to the plant height so as to adjust the air delivery distance of fog drops, and the industrial personal computer adjusts the spraying height and the angle in the vertical spraying direction according to the tree crown volume and the plant height so as to improve the uniformity of liquid medicine distribution and the pesticide application efficiency;
(2) when the terrace orchard air-assisted variable targeting sprayer works, the GPS integrated navigation equipment determines real-time attitude pitch angle information of the sprayer, the industrial personal computer performs fusion processing on the information acquired by the GPS integrated navigation equipment and point cloud data acquired by the laser radar, and the control chip controls the crawler-type chassis according to the processing result to plan a traveling path, so that the accuracy of pesticide application of the targeting sprayer is realized.
Drawings
FIG. 1 is a schematic structural view of a pneumatic conveying type sprayer for terrace orchards according to the invention;
FIG. 2 is a schematic structural view of an air-assisted sprayer according to the present invention, FIG. 2(a) is a side view of the air-assisted sprayer according to the present invention, and FIG. 2(b) is a main view of the air-assisted sprayer according to the present invention;
FIG. 3 is a schematic view of the connecting rod and crank connecting structure according to the present invention;
FIG. 4 is a schematic view of an adjustable mounting plate according to the present invention;
FIG. 5 is a schematic view of the sprinkler head of the present invention installed;
FIG. 6 is a flow chart of a targeted spraying method of the air-assisted targeted spraying machine for terrace orchards according to the invention;
FIG. 7 is a schematic diagram of the target spraying of the air-assisted sprayer of the invention;
FIG. 8 is a schematic diagram of the fusion processing of the information acquired by the GPS integrated navigation device and the point cloud data acquired by the laser radar;
in the figure: 1-laser radar, 2-front driving stage, 3-angle adjustable support, 4-navigation equipment mounting rack, 5-main antenna, 6-auxiliary antenna, 7-large medicine box, 8-upper air-assisted sprayer, 9-lower air-assisted sprayer, 10-spraying equipment mounting rack, 11-diaphragm pump, 12-total electric cabinet, 13-servo motor, 14-gasoline generator, 15-crawler chassis, 16-industrial personal computer, 17-touch display screen, 801-electric telescopic rod, 802-limiter, 803-bow mounting rack, 804-rotation control electric cabinet, 805-rotary connecting block, 806-connecting rod, 807-crank, 808-bearing seat, 809-centrifugal fan outer cylinder and 810-centrifugal fan cover, 811-centrifugal fan blade, 812-middle wind tube, 813-front air outlet, 814-fixed patch, 815-spray head mounting rod, 816-spray head.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 1, the air-assisted variable targeting sprayer for terrace orchards comprises a traveling system, a navigation detection control system and an air-assisted targeting spraying system.
The advancing system comprises a crawler-type chassis 15, a bearing rack and a front driving platform 2, wherein the bearing rack is arranged at the upper part of the crawler-type chassis 15, the front driving platform 2 is arranged at the front end of the bearing rack, a vertical rod is fixedly arranged at the front end of the front driving platform 2, and an angle-adjustable bracket 3 is also arranged on the front driving platform 2; a spraying equipment mounting bracket 10 is mounted at the rear part of the bearing rack, and a gasoline generator 14 and a general electric cabinet 12 are mounted on the spraying equipment mounting bracket 10; the gasoline generator 14 is used for providing a power supply required by the whole machine, the gasoline generator 14 converts generated voltage to a voltage value required by each device through a voltage conversion device, the laser radar 1, the industrial personal computer 16, the touch display screen 17 and the GPS combined navigation device are connected with the output end of the voltage conversion device through a USB (universal serial bus) line, the servo motor 13 for driving the crawler-type chassis 15 is connected with the output end of the voltage conversion device through a power line, the diaphragm pump 11 is connected with the output end of the voltage conversion device through a power line, and the upper air-assisted sprayer 8 and the lower air-assisted sprayer 9 are connected with the output end of the voltage conversion; compared with the single storage battery power supply, the hybrid power supply mode is more stable and reliable, and the effective working time is also ensured; the general electric control box 12 is used for controlling the on-off between the voltage conversion device and each device.
The navigation detection control system communicated with the industrial personal computer 16 through a serial port comprises a laser radar 1, a GPS combined navigation device and a touch display screen 17; the laser radar 1 is fixed on the mounting upright rod through an adjustable mounting plate (figure 4); the GPS combined navigation equipment comprises a main antenna 5, a slave antenna 6, a base station radio station and a signal receiver, wherein the main antenna 5 and the slave antenna 6 are installed on a navigation equipment installation frame 4, the navigation equipment installation frame 4 is arranged on a bearing rack at the rear part of a front driving cab 2, the vertical height between the installation plane of the main antenna 5 and the installation plane of the slave antenna 6 and the upper end of the bearing rack is 1500mm, the base station radio station and the signal receiver which are used as navigation information receiving and collecting main equipment are installed on the bearing rack (not shown in the figure), and the signal receiver is in signal connection with an industrial personal computer 16; the touch display screen 17 is arranged on the angle-adjustable bracket 3; the laser radar 1 is a three-dimensional laser radar, the scannable angle is 270 degrees, the 90-degree scanning blind area faces upwards, the distance between the laser radar 1 and the horizontal ground is 1000-1500mm in the vertical direction, and the distance between the laser radar 1 and the center of the bottom of the upper air-assisted sprayer 8 is 2200mm in the horizontal direction.
The air-assisted targeting spraying system comprises two air-assisted spraying machines with the same functions: the upper air-assisted sprayer 8 and the lower air-assisted sprayer 9 are respectively arranged at different heights and are used for adapting to the situation that the plant planting planes of the terrace orchard are different in height; the air-assisted targeting spraying system also comprises a large medicine box 7 arranged on the bearing frame, a liquid medicine conveying pipeline (not shown in the attached drawing) and a diaphragm pump 11 for pumping liquid medicine to the spraying pipeline during operation.
The design and the effect of the upper air-assisted sprayer 8 and the lower air-assisted sprayer 9 are the same, and the structure of the upper air-assisted sprayer 8 is taken as an example below to concretely describe the structure of the air-assisted sprayer; as shown in fig. 2(a), (b), the upper air-assisted sprayer 8 comprises an electric telescopic rod 801, an arch-shaped mounting bracket 803, a centrifugal fan outer cylinder 809, a middle air cylinder 812 and a front air outlet 813; the tail end of an electric telescopic rod 801 is arranged at the upper end of a spraying equipment mounting bracket 10 through an electric turntable, the electric telescopic rod 801 and the electric turntable are controlled by a control chip in a main electric cabinet 12 (the control chip is in serial port communication with an industrial personal computer 16), a stopper 802 is fixed on the electric turntable, an arch-shaped mounting bracket 803 is fixed at the upper end of the electric telescopic rod 801, a disc with a side surface provided with a limiting hole is arranged between the upper end of the electric telescopic rod 801 and the arch-shaped mounting bracket 803, the limiting hole is matched with the stopper 802, the rotation of an outer cylinder 809 of a centrifugal fan in the circumferential direction is realized under the driving of the electric turntable, and the rotation angle is between [ -30 degrees and 30 degrees; the top end of the arched mounting bracket 803 is provided with a bearing seat 808 for fixing a centrifugal fan outer cylinder 809, the centrifugal fan outer cylinder 809 is fixedly connected with one end of a middle air cylinder 812 into a whole, and the other end of the middle air cylinder 812 is fixed with a front air outlet 813; fixed patches 814 are fixed on two sides of the edge of the front air outlet 813, the fixed patches 814 fix a spray head mounting rod 815 through bolts and nuts, a plurality of spray heads 816 are uniformly mounted on the spray head mounting rod 815, the spray angle of each spray head 816 and the included angle of the central plane of the front air outlet 813 are 0-60 degrees, the spray heads 816 are communicated with a diaphragm pump 11 through a spray pipeline, and the diaphragm pump 11 is communicated with a big medicine box 7 through a liquid medicine conveying pipeline; in this embodiment, the number of the nozzles 816 is preferably 3, and the installation angle of the nozzles 816 and the central plane of the front air outlet is set to be 15 °, that is, the included angle between the spraying directions of the nozzles at the two sides is 30 ° (fig. 5); the tail end of the centrifugal fan outer cylinder 809 is provided with a centrifugal fan cover 810, a centrifugal fan blade 811 is arranged inside the centrifugal fan outer cylinder 809, the centrifugal fan blade 811 is connected with an output shaft of a motor, the motor is arranged on a through type cross beam inside the centrifugal fan outer cylinder 809, and the motor is controlled by a control chip; as shown in fig. 3, a rotation control electrical box 804 is fixed on one side of an arched mounting bracket 803, a rotation connecting block 805 is fixed on one side of the rotation control electrical box 804, the rotation connecting block 805 is rotatably connected with one end of a connecting rod 806, the other end of the connecting rod 806 is fixedly connected with a crank 807, and the tail end of the crank 807 is fixed on an outer cylinder 809 of the centrifugal fan; the rotation control electronic box 804 is controlled by a control chip in the overall electric cabinet 12.
As shown in fig. 6, when the terrace orchard air-assisted variable-target spraying machine works, the terrace orchard working area is entered, the gasoline generator 14 is started, then the servo motor 13 and the diaphragm pump 11 are started, and the laser radar 1, the GPS combined navigation device, the industrial personal computer 16 and the touch display screen 17 are synchronously started.
In the walking process of the crawler-type chassis 15, the laser radar 1 collects point cloud data of an operation object fruit tree and sends the point cloud data to the industrial personal computer 16, and spraying delay time, plant height and tree crown volume are calculated; the control chip regulates and controls the starting of a motor of the centrifugal fan according to the spraying delay time, and also regulates the rotating speed of the motor of the fan according to the plant height so as to regulate the air conveying distance of the fog drops;
motor speed of upper air-assisted sprayer 8
Figure BDA0002715905170000071
Motor speed of lower air-assisted sprayer 9
Figure BDA0002715905170000072
And the motor speed nt1、nt2Are all in [1600, 2500 ]]Within the range, the motor rotating speed and the fan wind speed are satisfied
Figure BDA0002715905170000073
n is the rotating speed (r/min) of the fan, and the air conveying distance of the fog drops is adjusted by the air speed V of the fan; as shown in FIG. 7, H1Is the height of the plant under the slope, H2Is the height of the plant on the slope, Hs、HxRespectively showing the height of the center of a bearing seat of an upper air-assisted sprayer 8 from the ground and the height of the center of a bearing seat of a lower air-assisted sprayer 9 from the ground, h is the slope height, nmin1、nmin2The fan rotating speed under the minimum coverage range of the operation plant can be determined by a control chip, and specifically comprises the following steps:
Figure BDA0002715905170000074
wherein: a is the horizontal distance between the middle position of the targeting sprayer and the plant trunk under the slope, b is the horizontal distance between the middle position of the targeting sprayer and the plant trunk on the slope, and | a-b | is more than or equal to 0 and less than or equal to 0.15 m;
the industrial personal computer 16 generates action instructions of the electric telescopic rod 802 and the rotary control electric box 804 according to the volume of the tree crown and the height of the plant, and sends the action instructions to the control chip through the serial port, namely, the spraying height and the spraying vertical direction angle are adjusted according to the action instructions; the method specifically comprises the following steps:
the formula for adjusting the upper air-assisted sprayer 8 is as follows:
Figure BDA0002715905170000075
the adjustment formula of the lower air-assisted sprayer 9 is as follows:
Figure BDA0002715905170000076
wherein: alpha is alpha1Is the angle of the vertical direction of the spray, alpha, of the upper air-assisted sprayer 82Is the angle of the vertical direction of the spray of the lower air-assisted sprayer 9, and the range of the spray angle is [ -15 degrees ], 15 degrees DEG]；L1The electric push rod of the upper air-assisted sprayer 8 has the expansion amount L2The stretching amount of an electric push rod of the lower air-assisted sprayer 9.
Meanwhile, the GPS integrated navigation equipment determines real-time attitude and pitch angle information of the spraying machine and transmits the information to the industrial personal computer 16, the industrial personal computer 16 performs fusion processing on the information acquired by the GPS integrated navigation equipment and point cloud data acquired by the laser radar 1 and sends the processed information to the control chip, and the control chip feeds action instructions back to a driver of the servo motor 13 of the crawler-type chassis 15, so that the purpose of planning a travelling path is achieved.
As shown in fig. 8, the information acquired by the GPS integrated navigation device and the point cloud data acquired by the laser radar 1 are fused, specifically:
Figure BDA0002715905170000081
Figure BDA0002715905170000082
in the formula, S1、S2、S3、S4、S5、S6Respectively representing the length of a laser line swept by the laser radar 1 to the top end of a plant under a slope, the lower end of the plant under the slope, the lower slope surface, the upper slope surface, the lower end of the plant on the slope and the top end limit range of the plant on the slope, wherein the length of the laser line is obtained by scanning the plant by the laser radar to obtain the space coordinate of each position of the plant and carrying out fusion calculation with the position information determined by the GPS combined navigation equipment; j. y, g, m and r are S1S2、S2S3、S3S4、S4S5、S5S6The included angles between the two laser lines are obtained by fusion processing according to the laser lines with different emission angles in the laser radar and the real-time attitude pitching angle information of the spraying machine acquired by the GPS integrated navigation equipment; d is the distance from the middle position of the targeting sprayer to the boundary of the slope surface, and f is the distance from the center of the plant on the slope to the boundary of the slope surface;
if a is less than b, the chassis control command is deflected to the right side of the advancing direction, and is deflected to the left side.
In the process, the touch display screen 17 displays point cloud data obtained by post-processing of the laser radar 1 in scanning the surrounding environment of operation, a GPS combined navigation advancing path diagram, pitch attitude angle information and a data fusion processing interface in real time.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.

Claims (9)

1. A terrace orchard air-assisted variable targeting spraying machine is characterized by comprising an advancing system, a navigation detection control system and an air-assisted targeting spraying system;
the travelling system comprises a crawler-type chassis (15) and a bearing rack arranged on the upper part of the crawler-type chassis (15), wherein a front driving cab (2) is arranged at the front end of the bearing rack, a spraying equipment mounting bracket (10) is arranged at the rear part of the bearing rack, and a gasoline generator (14) and a general electric cabinet (12) are arranged on the spraying equipment mounting bracket (10);
the navigation detection control system comprises a laser radar (1) and a GPS combined navigation device, wherein the laser radar (1) is arranged at the front end of a front driving platform (2), and the GPS combined navigation device is arranged on a bearing rack; the navigation detection control system is communicated with an industrial personal computer (16);
the air-assisted targeting spraying system comprises an upper air-assisted spraying machine (8) and a lower air-assisted spraying machine (9) which are arranged at different heights, a spray head of the air-assisted spraying machine is communicated with a diaphragm pump (11), and the diaphragm pump (11) is communicated with a large pesticide box (7); the air-assisted sprayer is communicated with a control chip of the main electric cabinet (12), and the control chip is communicated with the industrial personal computer (16).
2. The terrace orchard air-assisted variable-target spraying machine of claim 1, which comprises an electric telescopic rod, an arched mounting bracket, a centrifugal fan, a middle air duct and a front air outlet; the tail end of the electric telescopic rod is arranged at the upper end of a spraying equipment mounting bracket (10) through an electric rotary table, an arched mounting bracket is fixed at the upper end of the electric telescopic rod, a disc provided with a limiting hole is arranged between the arched mounting bracket and the electric telescopic rod, and the limiting hole is matched with a limiter on the electric rotary table; the top end of the arched mounting bracket is fixedly provided with a centrifugal fan outer barrel which is fixedly connected with one end of a middle air barrel into a whole, the other end of the middle air barrel is fixedly provided with a front air outlet, and a spray head is arranged outside the front air outlet; a rotation control electric box is fixed on one side of the arched mounting support, a rotary connecting block is fixed on one side of the rotation control electric box, the rotary connecting block is rotatably connected with one end of a connecting rod, the other end of the connecting rod is fixedly connected with a crank, and the tail end of the crank is fixed on an outer barrel of the centrifugal fan.
3. The air-assisted variable targeting sprayer for terraced fields and orchards according to claim 2 wherein the spray head is mounted on a spray head mounting bar, the spray head mounting bar is fixed on a fixing patch, and the fixing patch is fixed on both sides of the edge of the front air outlet.
4. The air-assisted variable-target spraying machine for the terrace orchard, according to claim 3, is characterized in that the spraying angle of the spraying head and the central plane of the front air outlet form an included angle of 0-60 degrees.
5. The terrace orchard air-assisted variable target spraying machine is operated according to any one of claims 1 to 4, wherein the terrace orchard air-assisted target spraying machine is used for acquiring point cloud data of an operation target fruit tree and sending the point cloud data to an industrial personal computer (16) by a laser radar (1), and spraying delay time, plant height and tree crown volume are acquired; the control chip regulates and controls the starting of a motor of the centrifugal fan according to the spraying delay time, and then adjusts the rotating speed of the motor of the fan according to the plant height, so that the air conveying distance of the fog drops is adjusted; the industrial personal computer (16) generates action instructions of the electric telescopic rod and the rotation control electric box according to the volume of the tree crown and the height of the plant, sends the action instructions to the control chip, and adjusts the spraying height and the angle of the spraying vertical direction; the GPS integrated navigation equipment determines real-time attitude and pitch angle information of the spraying machine, the industrial personal computer (16) performs fusion processing on the information acquired by the GPS integrated navigation equipment and point cloud data acquired by the laser radar (1), and sends a processing result to the control chip, and the control chip controls the servo motor (13) of the crawler-type chassis (15) to plan a traveling path.
6. The targeted spraying method of the air-assisted variable targeted spraying machine for the terrace orchard according to claim 5, wherein the motor speed comprises a motor speed n of the upper air-assisted spraying machine (8)t1And the motor rotating speed n of the lower air-assisted sprayer (9)t2The motor speed n and the fan speed V meet
Figure FDA0002715905160000021
The air speed of a fan is used for adjusting the air conveying distance of the fog drops; the above-mentioned
Figure FDA0002715905160000022
Wherein H1Is the height of the plant under the slope, H2Is the height of the plant on the slope, Hs、HxRespectively showing the height of the center of a bearing seat of the upper air-assisted sprayer (8) from the ground and the height of the center of a bearing seat of the lower air-assisted sprayer (9) from the ground, h is the slope height, n is the heightmin1、nmin2Is the fan rotating speed under the minimum coverage range of the operation plants, and the range of n is [1600, 2500 ]]。
7. The targeted spraying method of the air-assisted variable targeted spraying machine for terrace orchards according to claim 6, wherein n ismin1、nmin2Determined according to the following relationship:
Figure FDA0002715905160000023
wherein a is the horizontal distance between the middle position of the targeting sprayer and the plant trunk on the slope, b is the horizontal distance between the middle position of the targeting sprayer and the plant trunk on the slope, and | a-b | is more than or equal to 0 and less than or equal to 0.15 m.
8. The targeted spraying method of the air-assisted variable targeted spraying machine for the terrace orchard according to claim 7, wherein the spraying height and the spraying vertical direction angle are adjusted according to the following formulas:
upper air-assisted sprayer (8):
Figure FDA0002715905160000024
lower air-assisted sprayer (9):
Figure FDA0002715905160000025
wherein alpha is1Is the angle of the vertical direction of the spray of the upper air-assisted sprayer (8), alpha2Is the angle of the vertical direction of the spray of a lower air-assisted sprayer (9), L1The electric push rod of the upper air-assisted sprayer (8) stretches by a certain amount L2The stretching amount of an electric push rod of the lower air-assisted sprayer (9).
9. The targeted spraying method of the terrace orchard air-assisted variable targeted spraying machine according to claim 8, wherein the information acquired by the GPS integrated navigation equipment and the point cloud data acquired by the laser radar (1) are subjected to fusion processing, specifically:
Figure FDA0002715905160000031
Figure FDA0002715905160000032
wherein S is1、S2、S3、S4、S5、S6Respectively represents the length of a laser line swept by the laser radar (1) to the top end of a plant under the slope, the lower end of the plant under the slope, the lower slope surface, the upper slope surface, the lower end of the plant on the slope and the top end of the plant on the slope, and j, y, g, m and r respectively represent S1S2、S2S3、S3S4、S4S5、S5S6The included angle between the two laser lines, d is the distance from the middle position of the targeting sprayer to the boundary of the slope surface, and f is the distance from the center of the plant on the slope to the boundary of the slope surface.
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CN112965514A (en) * 2021-01-29 2021-06-15 北京农业智能装备技术研究中心 Air-ground cooperative pesticide application method and system
CN113341961A (en) * 2021-05-26 2021-09-03 江苏大学 Independent accurate variable air supply spraying robot structure for greenhouse and path planning method
CN114128695A (en) * 2021-11-11 2022-03-04 江苏大学 Crawler-type autonomous accurate variable air-assisted spraying robot structure and path planning and variable spraying method thereof
CN114916524A (en) * 2022-06-27 2022-08-19 华南农业大学 Lifting type target follow-up air-assisted spraying vehicle and control method
CN115486425A (en) * 2022-09-06 2022-12-20 徐州市果园 Automatic atomizer of fruit tree
CN116548412A (en) * 2023-03-20 2023-08-08 南京林业大学 Self-propelled orchard pneumatic conveying variable precise pesticide application device and method

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CN112965514A (en) * 2021-01-29 2021-06-15 北京农业智能装备技术研究中心 Air-ground cooperative pesticide application method and system
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CN113341961A (en) * 2021-05-26 2021-09-03 江苏大学 Independent accurate variable air supply spraying robot structure for greenhouse and path planning method
CN114128695A (en) * 2021-11-11 2022-03-04 江苏大学 Crawler-type autonomous accurate variable air-assisted spraying robot structure and path planning and variable spraying method thereof
CN114916524A (en) * 2022-06-27 2022-08-19 华南农业大学 Lifting type target follow-up air-assisted spraying vehicle and control method
CN115486425A (en) * 2022-09-06 2022-12-20 徐州市果园 Automatic atomizer of fruit tree
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CN116548412A (en) * 2023-03-20 2023-08-08 南京林业大学 Self-propelled orchard pneumatic conveying variable precise pesticide application device and 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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