CN112544598B - Intelligent orchard pesticide spraying system and method - Google Patents
Intelligent orchard pesticide spraying system and method Download PDFInfo
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- CN112544598B CN112544598B CN202011553540.4A CN202011553540A CN112544598B CN 112544598 B CN112544598 B CN 112544598B CN 202011553540 A CN202011553540 A CN 202011553540A CN 112544598 B CN112544598 B CN 112544598B
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- 238000005507 spraying Methods 0.000 title claims abstract description 238
- 239000000575 pesticide Substances 0.000 title claims abstract description 159
- 239000002420 orchard Substances 0.000 title claims abstract description 64
- 238000000034 method Methods 0.000 title claims abstract description 14
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 77
- 239000003814 drug Substances 0.000 claims abstract description 40
- 239000007921 spray Substances 0.000 claims description 77
- 238000012790 confirmation Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 238000002474 experimental method Methods 0.000 claims description 4
- 230000007797 corrosion Effects 0.000 claims description 2
- 238000005260 corrosion Methods 0.000 claims description 2
- 239000007788 liquid Substances 0.000 abstract description 8
- 239000002699 waste material Substances 0.000 abstract description 5
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 238000003825 pressing Methods 0.000 description 4
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- 206010063385 Intellectualisation Diseases 0.000 description 1
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- 238000012271 agricultural production Methods 0.000 description 1
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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
- A01M7/005—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
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The invention discloses an intelligent orchard pesticide spraying system and method.A control end sends a full-automatic pesticide spraying command to a driving device, and a pesticide spraying vehicle starts a full-automatic pesticide spraying mode; the mobile device advances according to a preset track based on the position information acquired by the positioning device; after reaching the pesticide spraying area, the distance detector collects the distance from the fruit tree at the corresponding height; when the distance between the distance detector and the fruit tree at the corresponding height is out of the preset range, the distance adjusting device adjusts the distance between the detecting device and the spraying device and the fruit tree, so that the distance between the distance detector and the fruit tree at the corresponding height is within the preset range. Compared with the prior art, the automatic planning of route can be realized to the medicine spraying vehicle to the distance of automatically regulated shower nozzle and fruit tree makes and spouts the medicine distance moderately in predetermineeing the within range, has guaranteed effectively to spout the medicine, has avoided the waste of liquid medicine, can realize that the orchard is high-efficient, the full-automatic medicine that spouts of low cost spouts.
Description
Technical Field
The invention relates to the technical field of agricultural implements, in particular to an intelligent orchard pesticide spraying system and method.
Background
China's fruit yield is the world's forefront, and orchard planting is the main form of the fruit industry in China. With the inevitable trend of the development of agricultural production and agricultural machinery equipment along with automation, informatization and intellectualization.
However, nowadays, orchard pesticide application technology in China is relatively lagged behind, most of orchard pesticide application technology still stays in a backpack manual pesticide application state, and manual pesticide spraying has many adverse factors: (1) the medicine is harmful to human body and can cause potential lesion harm to human body. (2) The medicine spraying efficiency is low, and manual medicine spraying not only consumes physical strength, but also delays time. (3) The medicine utilization ratio is low, and artifical the spouting medicine can cause to spout the medicine inhomogeneous, and the medicine drips the hourglass scheduling problem, leads to the waste of medicine. Although some mechanical spraying devices are used in orchard spraying, the following disadvantages exist: (1) the whole spraying process cannot be automatically realized by depending on manual control; (2) the spraying mode is single, which causes a great amount of waste of the medicine.
Therefore, how to realize targeted full-automatic spraying in an orchard becomes a problem which needs to be solved urgently by technical personnel in the field.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems actually solved by the invention are as follows: how to realize the targeted full-automatic pesticide spraying in the orchard.
In order to solve the technical problems, the invention adopts the following technical scheme:
an intelligent orchard pesticide spraying system comprises a control end and a pesticide spraying vehicle; the pesticide spraying vehicle comprises a moving device, and a driving device, a positioning device, a detection device and a spraying device which are arranged on the moving device; wherein: the control end is in communication connection with the driving device and is used for sending a control command input by a user to the driving device so as to control the pesticide spraying vehicle to realize automatic pesticide spraying; the driving device is respectively electrically connected with the positioning device, the detecting device, the spraying device and the moving device; the spraying device comprises a plurality of spray heads which are arranged towards the fruit trees and are different in height, the detecting device comprises a plurality of distance detectors which are arranged towards the fruit trees and are different in height, the spray heads correspond to the detectors one by one, the spray heads and the distance detectors are installed on the moving device through distance adjusting devices which are electrically connected with the driving device, the distance adjusting devices can adjust the distances between the detecting devices and the spraying device as well as the fruit trees, and further the distances between the spray heads and the distance detectors as well as the fruit trees are adjusted.
Preferably, the moving means is a crawler moving means.
Preferably, the distance from the detector to the front end of the spray vehicle is smaller than the distance from the spray head to the front end of the spray vehicle.
Preferably, the pesticide spraying vehicle further comprises a panoramic image acquisition device which is arranged towards the front end of the pesticide spraying vehicle and electrically connected with the driving device, and the control end comprises a display device for displaying panoramic images acquired by the panoramic image acquisition device.
Preferably, the orchard intelligent pesticide spraying system further comprises a tree crown scanning radar electrically connected with the control end.
The intelligent orchard pesticide spraying method is realized by using the intelligent orchard pesticide spraying system and comprises the following steps:
s1, the control end sends a full-automatic pesticide spraying command to the driving device, and the pesticide spraying vehicle starts a full-automatic pesticide spraying mode;
s2, the mobile device advances according to a preset track based on the position information acquired by the positioning device;
s3, after the fruit tree reaches a pesticide spraying area, the distance detector collects the distance between the fruit tree and the fruit tree in the corresponding height;
s4, judging whether the distance between the distance detector and the fruit tree at the corresponding height is within a preset range by the driving device;
s5, when the distance between the distance detector and the fruit tree at the corresponding height is within a preset range, spraying by the corresponding spray head;
s6, when the distance between the distance detector and the fruit tree at the corresponding height is out of the preset range, the distance adjusting device adjusts the distance between the detecting device and the spraying device and the fruit tree, so that the distance between the distance detector and the fruit tree at the corresponding height is within the preset range.
Preferably, in the intelligent orchard pesticide spraying system, the distance between the distance detector and the front end of the pesticide spraying vehicle is smaller than the distance between the spray head and the front end of the pesticide spraying vehicle; in the intelligent orchard pesticide spraying method, when the distance between the distance detector and the fruit tree at the corresponding height is within a preset range, the corresponding sprayer starts to spray pesticide after the mobile device advances for a preset distance, and the preset distance is the difference between the distance detector and the front end of the pesticide spraying vehicle and the distance between the distance detector and the front end of the pesticide spraying vehicle.
Preferably, in the intelligent orchard pesticide spraying system, the control end comprises a display device; the intelligent orchard spraying method comprises the following steps:
when the control end sends a semi-automatic spraying command and a spray head selection command to the driving device, the spraying vehicle starts a semi-automatic spraying mode and determines a selected spray head, and a distance detector corresponding to the selected spray head collects the distance of the fruit tree at the corresponding height and displays the distance through the display device; the control end sends a confirmation instruction to the driving device, the mobile device advances according to a preset track based on the position information obtained by the positioning device, and the selected spray head starts spraying medicine;
when the control end sends a manual pesticide spraying command and a spray head selection command to the driving device, the pesticide spraying vehicle starts a manual pesticide spraying mode, determines the selected spray head, and a distance detector corresponding to the selected spray head collects the distance of the fruit tree at the corresponding height and displays the distance through the display device; the control end sends a confirmation instruction to the driving device, the selected spray head starts spraying medicine, and the moving device stops moving forward.
Preferably, in the intelligent orchard pesticide spraying system, the pesticide spraying vehicle further comprises a panoramic image acquisition device which is arranged towards the front end of the pesticide spraying vehicle and electrically connected with the driving device; the orchard intelligent pesticide spraying method further comprises the following steps: the panoramic image acquisition device acquires panoramic images and sends the panoramic images to the driving device, and the driving device sends the panoramic images to the control end and displays the panoramic images through the display device.
Preferably, the orchard intelligent pesticide spraying system further comprises a tree crown scanning radar electrically connected with the control end; in the intelligent orchard pesticide spraying method, before pesticide spraying, crown scanning is carried out on fruit trees in an orchard by using a crown scanning radar, the volume of the crown is modeled and calculated, during pesticide spraying, the pesticide spraying amount of each fruit tree is determined based on the volume of the crown, and pesticide spraying is carried out based on the determined pesticide spraying amount.
In summary, compared with the prior art, the invention has the following advantages:
(1) the pesticide spraying vehicle can realize automatic planning of the path, automatically adjust the distance between the spray head and the fruit tree, enable the pesticide spraying distance to be moderate within a preset range, ensure effective pesticide spraying and avoid waste of pesticide liquid. Compared with the prior art, the full-automatic spraying machine can realize the full-automatic spraying of high efficiency and low cost in an orchard.
(2) To the hilly mountain area topography in orchard, preferably adopt crawler-type mobile device, can advance under the topography that the biggest slope is 15, guarantee the normal operating of medicine spraying system.
(3) The distance detector and the spray head are arranged at intervals in the front-back direction, so that the distance detector can determine the distance before the spray head is over against a target, and further the distance is adjusted in advance. In the period of time that the pesticide spraying vehicle advances the preset distance, the distance between the pesticide spraying vehicle and the fruit tree in the corresponding height can be adjusted to the preset range, the pesticide spraying vehicle does not need to stop advancing or the sprayer stops spraying pesticide, efficient utilization of pesticide liquid can be achieved, and pesticide spraying efficiency is improved.
(4) The panoramic image acquisition device is used for acquiring the site image of the pesticide spraying, and the worker can remotely control the pesticide spraying condition through the control end and perform remote control.
(5) Except for the full-automatic pesticide spraying mode, the worker can also perform semi-automatic control or manual control through the control end, and then local accurate pesticide spraying in the orchard is realized.
(6) The tree crown of each fruit tree is modeled before spraying, and the spraying amount of each fruit tree is determined, so that the liquid medicine can be more efficiently utilized under the condition of ensuring the spraying effect.
Drawings
For purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made in detail to the present invention as illustrated in the accompanying drawings, in which:
fig. 1 is a structural block diagram of a specific embodiment of an intelligent orchard pesticide spraying system disclosed by the invention;
FIG. 2 is a partial front view of an intelligent orchard pesticide spraying system disclosed by the invention;
FIG. 3 is a partial side view of an intelligent orchard pesticide spraying system disclosed by the invention;
fig. 4 is an exemplary diagram of a control interface of a control end in the intelligent orchard spraying method disclosed by the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in figure 1, the invention discloses an intelligent orchard pesticide spraying system, which comprises a control end and a pesticide spraying vehicle; the pesticide spraying vehicle comprises a moving device, and a driving device, a positioning device, a detection device and a spraying device which are arranged on the moving device; wherein: the control end is in communication connection with the driving device and is used for sending a control command input by a user to the driving device so as to control the pesticide spraying vehicle to realize automatic pesticide spraying; the driving device is respectively electrically connected with the positioning device, the detecting device, the spraying device and the moving device; the spraying device comprises a plurality of spray heads 2 which are arranged towards the fruit trees and have different heights, the detecting device comprises a plurality of distance detectors 1 which are arranged towards the fruit trees and have different heights, the spray heads 2 correspond to the detectors one to one, the spray heads 2 and the distance detectors 1 are arranged on the moving device through distance adjusting devices which are electrically connected with the driving device, the distance adjusting devices can adjust the distances between the detecting device and the spraying device and the fruit trees, and then the distance between the spray heads 2 and the distance detectors 1 and the fruit trees is adjusted.
In the invention, the moving device can adopt various moving devices such as wheels, tracks, crawler belts and the like. The positioning device can adopt GPS positioning or image positioning. The detector may be a laser range finder or an ultrasonic range finder or the like. The driving device can independently control each spray head 2, and control the opening and closing, the flow rate and the like of each spray head 2, and specifically, an independent electromagnetic valve can be arranged for each spray head 2 to realize the independent control of the spray heads 2; in addition, each spray head 2 can be individually provided with a hydraulic pump for controlling the pressure of the spray head 2 and further adjusting the spraying distance of the spray head 2. The hydraulic pump and the canister may be located on a mobile device and communicate with each spray head 2 via a conduit. As shown in fig. 2, in the present invention, two sets of detecting devices and spraying devices can be disposed towards the left and right sides of the spraying vehicle, respectively, and the distance adjusting device can adopt a sliding rail or a push rod or other devices disposed along the width direction of the spraying vehicle, so that the spraying vehicle can move forward between two rows of fruit trees to simultaneously spray two rows of fruit trees.
The method for realizing full-automatic orchard pesticide spraying by adopting the intelligent orchard pesticide spraying system comprises the following steps:
s1, the control end sends a full-automatic pesticide spraying command to the driving device, and the pesticide spraying vehicle starts a full-automatic pesticide spraying mode;
in the invention, the control end can be a computer, a mobile terminal or a control terminal fixedly arranged on the pesticide spraying vehicle and the like, and is in communication connection with the driving device of the pesticide spraying vehicle in a wired or wireless mode, the driving device can receive the command of the control end and control the pesticide spraying vehicle to work, and can also send data in the working condition of the pesticide spraying vehicle to the control end.
S2, the mobile device advances according to a preset track based on the position information acquired by the positioning device;
in the invention, the positioning device can acquire the current position of the pesticide spraying vehicle, and after entering the full-automatic pesticide spraying mode, the driving device can complete the planning of the pesticide spraying path according to the position information provided by the positioning device and the orchard map information (the orchard map information can be acquired in advance through the prior art, and then can be prestored in the driving device, and also can be called from the control terminal by the driving device). Positioning and path planning can be achieved by the prior art, and are not described in detail herein.
S3, after the fruit tree reaches a pesticide spraying area, the distance detector 1 collects the distance between the fruit tree and the fruit tree in the corresponding height;
s4, judging whether the distance between the distance detector 1 and the fruit tree at the corresponding height is within a preset range by the driving device;
s5, when the distance between the distance detector 1 and the fruit tree at the corresponding height is within a preset range, spraying by the corresponding spray head 2;
s6, when the distance between the distance detector 1 and the fruit tree at the corresponding height is out of the preset range, the distance adjusting device adjusts the distance between the detecting device and the spraying device and the fruit tree, so that the distance between the distance detector 1 and the fruit tree at the corresponding height is in the preset range.
In the invention, the area where the fruit tree is located is divided into the pesticide spraying area, other areas are divided into the non-pesticide spraying area, and the distance detector 1 and the spray head 2 can start to work only after the pesticide spraying vehicle reaches the pesticide spraying area. Because the shape of the crown is irregular, the corresponding distance detector 1 and the corresponding spray head 2 are positioned at the same height, and the different spray heads 2 are positioned at different heights, so that the targeted medicine spraying can be carried out according to the different distances between the spray heads 2 at different heights and the crown, and the waste of liquid medicine is avoided. In addition, the medicine spraying vehicle is carrying out the in-process of full-automatic medicine that spouts, has the automatic calibration function, for example, it is 250mm to 1000mm to set up the scope of predetermineeing, when the distance detector 1 is outside predetermineeing the scope with the distance of fruit tree on corresponding highly, the distance adjusting device adjustment detecting device and the distance of sprinkler and fruit tree, make distance detector 1 and fruit tree in corresponding highly apart from predetermineeing the within range, before accomplishing the adjustment, steerable mobile device stops advancing, shower nozzle 2 stops to spout the medicine, accomplish the adjustment after, shower nozzle 2 and mobile device resume work again, and then guarantee effectively to spout the medicine, avoid the liquid medicine extravagant. In addition, if the distance between the distance adjusting device and the fruit tree and the distance between the spraying device and the detecting device are adjusted integrally, the spraying device and the detecting device at a certain height cannot be adjusted independently, and then, whether the average distance between the distance detector 1 at each height and the fruit tree is within a preset range or not is judged, and the adjustment is carried out according to the judgment result.
In addition, since there is a distance between trees, if the distances collected by all the distance detectors 1 on one side are greater than a certain value (for example, 3000 mm), the pesticide spraying vehicle is considered to be located at the distance between two trees, and at this time, no distance adjustment is performed.
In particular, the mobile device is a crawler-type mobile device.
In the invention, the crawler-type moving device is preferably adopted for the landform of the hilly and mountainous areas of the orchard, so that the moving device can advance under the landform with the maximum gradient of 15 degrees, and the normal operation of the pesticide spraying system is ensured.
In specific implementation, the distance between the distance detector 1 and the front end of the pesticide spraying vehicle is smaller than the distance between the spray head 2 and the front end of the pesticide spraying vehicle.
Taking fig. 3 as an example, the pesticide spraying vehicle unilateral can set up 4 shower nozzles 2 of highly different, is being close to the one side of spraying the pesticide vehicle front end and is being apart from detector 1, and this moment apart from detector 1 and fruit tree when corresponding the distance on highly when predetermineeing the within range, mobile device advances to predetermine after the distance, corresponding shower nozzle 2 begins to spout the medicine, predetermine the distance for apart from detector 1 and spout the distance of pesticide vehicle front end and shower nozzle 2 and the distance difference of the distance of spraying the vehicle front end.
The distance detector 1 and the spray head 2 are arranged at intervals in the front-back direction, so that the distance detector 1 can determine the distance before the spray head 2 is over against a target, and further the distance is adjusted in advance. In the period of time that the pesticide spraying vehicle advances the preset distance, the distance between the pesticide spraying vehicle and the fruit tree in the corresponding height can be adjusted to the preset range, the pesticide spraying vehicle does not need to stop advancing or the spray head 2 stops spraying pesticide, efficient utilization of pesticide liquid can be achieved, and pesticide spraying efficiency is improved.
In the intelligent orchard pesticide spraying system, a control end comprises a display device; the intelligent orchard spraying method comprises the following steps:
when the control end sends a semi-automatic spraying command and a spray head 2 selection command to the driving device, the spraying vehicle starts a semi-automatic spraying mode and determines the selected spray head 2, and a distance detector 1 corresponding to the selected spray head 2 collects the distance of the fruit tree on the corresponding height and displays the distance through a display device; the control end sends a confirmation instruction to the driving device, the mobile device advances according to a preset track based on the position information obtained by the positioning device, and the selected spray head 2 starts spraying medicine;
when the control end sends a manual pesticide spraying command and a spray head 2 selection command to the driving device, the pesticide spraying vehicle starts a manual pesticide spraying mode, determines the selected spray head 2, and the distance detector 1 corresponding to the selected spray head 2 collects the distance from the fruit tree in the corresponding height and displays the distance through the display device; the control end sends a confirmation instruction to the driving device, the selected spray head 2 starts spraying medicine, and the moving device stops moving forward.
In the invention, the pesticide spraying vehicle can perform semi-automatic pesticide spraying besides full-automatic pesticide spraying. Taking the control end control interface shown in fig. 4 as an example, a and B are start and stop keys, respectively. 1. 2, 3 correspond to full automatic, semi-automatic and manual modes, respectively. X1, X2, X3 and X4 are selection keys of 4 heads 2 having different heights, respectively. Y and R are the confirm and return keys, respectively.
When spraying the medicine, firstly, the medicine spraying vehicle is started through the key A. If the full-automatic mode is selected, a full-automatic pesticide spraying command is sent by pressing 1, and then the pesticide spraying vehicle performs full-automatic pesticide spraying by pressing a Y key. If the semi-automatic mode is selected, a semi-automatic pesticide spraying command is sent according to 2, in addition, a spray head 2 selection command can be sent according to the needs from X1 to X4 (if the selection is not carried out, all the spray heads 2 are defaulted to spray pesticide), then a Y key is pressed, the pesticide spraying vehicle carries out semi-automatic pesticide spraying, in the pesticide spraying process, the display device displays the distance between the display device and a fruit tree on the corresponding height, and a worker can change the spray head 2 for pesticide spraying according to needs. If the manual mode is selected, a manual medicine spraying command is sent according to the number 3, in addition, a selection command of the spray nozzles 2 can be sent according to the needs by pressing X1 to X4 (if the selection is not carried out, all the spray nozzles 2 are acquiescently sprayed with medicine), then the spray cart carries out manual medicine spraying by pressing a Y key, in the medicine spraying process, the distance between the display device and the fruit tree on the corresponding height is displayed, and a worker can change the spray nozzles 2 for spraying medicine according to the needs.
During the concrete implementation, the pesticide spraying vehicle further comprises a panoramic image acquisition device which is arranged towards the front end of the pesticide spraying vehicle and electrically connected with the driving device, and the control end comprises a display device used for displaying panoramic images acquired by the panoramic image acquisition device.
Panoramic image gathers can be for installing the camera in the spray truck top, and in order to obtain more images, the vertical installation pole of camera accessible is connected with the spray truck, makes the camera install in higher position.
At the moment, the panoramic image acquisition device acquires the panoramic image and sends the panoramic image to the driving device, and the driving device sends the panoramic image to the control end and displays the panoramic image through the display device. The staff can remotely control the spraying condition through the control end and carry out remote control.
When the orchard intelligent pesticide spraying system is implemented specifically, the orchard intelligent pesticide spraying system further comprises a tree crown scanning radar electrically connected with the control end.
The crown scanning radar can be arranged on the pesticide spraying vehicle, and can automatically complete crown scanning of all fruit trees in the orchard according to a preset track. According to the fruit tree spraying method and device, before spraying, crown scanning can be conducted on fruit trees in an orchard through the crown scanning radar, the size of the crown is calculated through modeling, during spraying, the spraying amount of each fruit tree is determined based on the size of the crown, and spraying is conducted based on the determined spraying amount, so that liquid medicine can be used more efficiently under the condition that the spraying effect is guaranteed.
The specific method for scanning by utilizing the radar and determining the medicine spraying amount comprises the following steps:
1) collecting data by using a laser radar and calculating the leaf area:
a. collecting leaves with different specifications, taking three specifications of large (A), medium (B) and small (C) leaves as an example, and determining proportionality coefficients k1, k2 and k3 of a leaf image and a leaf real object;
b. and after the image is converted into a gray map, solving a gray map threshold value by a maximum inter-class variance method, and carrying out image binarization and corrosion by using the threshold value to obtain a complete binary image without holes on leaves.
c. And (3) performing outline connecting line leaf area approximation by using a convex hull algorithm to obtain complete leaf areas x1, x2 and x3 without holes.
2) And optimizing the leaf area by using a fuzzy PID algorithm, performing multiple experiments on the same tree (for example, comparing the A1 of another large-specification leaf with the A to obtain a ratio e 1), and designing the compensation quantity of the leaf area to obtain the functional relation of the compensation quantity W with respect to the ratio e. And establishing a pesticide spraying amount database of all fruit trees in the orchard through the relation.
3) In the experiment, data comparison is carried out through a square reference object arranged in front of each tree, the actual leaf area value of the tree is quickly calculated by utilizing the ratio Q of the area scanned by the laser radar by the square reference object to the actual area of the square reference object and the leaf area value of the radar scanning surface, and the compensation amount is increased or reduced according to the number of the tree in a database, so that real-time accurate variable pesticide spraying is achieved.
Finally, it is noted that the above-mentioned embodiments illustrate rather than limit the invention, and that, while the invention has been described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. An intelligent orchard pesticide spraying method is characterized in that an intelligent orchard pesticide spraying system is adopted and comprises a control end and a pesticide spraying vehicle; the pesticide spraying vehicle comprises a moving device, and a driving device, a positioning device, a detection device and a spraying device which are arranged on the moving device; wherein: the control end is in communication connection with the driving device and is used for sending a control command input by a user to the driving device so as to control the pesticide spraying vehicle to realize automatic pesticide spraying; the driving device is respectively electrically connected with the positioning device, the detecting device, the spraying device and the moving device; the spraying device comprises a plurality of spray heads with different heights arranged towards the fruit trees, the detecting device comprises a plurality of distance detectors with different heights arranged towards the fruit trees, the spray heads correspond to the detectors one by one, the spray heads and the distance detectors are arranged on the moving device through distance adjusting devices electrically connected with the driving device, the distance adjusting devices can adjust the distances between the detecting device and the spraying device and the fruit trees, and further the distances between the spray heads and the distance detectors and the fruit trees are adjusted; the orchard intelligent pesticide spraying system further comprises a crown scanning radar electrically connected with the control end;
the method comprises the following steps:
s1, the control end sends a full-automatic pesticide spraying command to the driving device, and the pesticide spraying vehicle starts a full-automatic pesticide spraying mode;
s2, the mobile device advances according to a preset track based on the position information acquired by the positioning device;
s3, after the fruit tree reaches a pesticide spraying area, the distance detector collects the distance between the fruit tree and the fruit tree in the corresponding height;
s4, judging whether the distance between the distance detector and the fruit tree at the corresponding height is within a preset range by the driving device;
s5, when the distance between the distance detector and the fruit tree at the corresponding height is within a preset range, spraying by the corresponding spray head;
s6, when the distance between the distance detector and the fruit tree at the corresponding height is out of the preset range, the distance between the detection device and the spraying device and the fruit tree is adjusted by the distance adjusting device, so that the distance between the distance detector and the fruit tree at the corresponding height is in the preset range;
the specific method for scanning by utilizing the radar and determining the medicine spraying amount comprises the following steps:
1) collecting data by using a laser radar and calculating the leaf area:
a. collecting leaves with different specifications, taking three specifications of large, medium and small leaves as an example, and determining proportion coefficients k1, k2 and k3 of the leaf image and a leaf real object;
b. after the image is converted into a gray-scale image, solving a threshold value of the gray-scale image through a maximum inter-class variance method, and carrying out image binarization and corrosion by using the threshold value to obtain a complete binary image without holes on leaves;
c. carrying out outline connecting line leaf area approximation by using a convex hull algorithm to obtain complete leaf areas x1, x2 and x3 without holes;
2) optimizing the leaf area by using a fuzzy PID algorithm, carrying out multiple experiments on the same tree, and designing the compensation quantity of the leaf area to obtain the functional relation of the compensation quantity W on the ratio e;
establishing a pesticide spraying amount database of all fruit trees in the orchard through the relation;
3) in the experiment, data comparison is carried out through a square reference object arranged in front of each tree, the actual leaf area value of the tree is rapidly calculated by utilizing the ratio Q of the area scanned by the square reference object in a laser radar to the actual area of the square reference object and the leaf area value scanned by the radar, and the compensation amount is increased or reduced according to the number of the tree in a database, so that real-time accurate variable spraying is achieved.
2. An intelligent orchard spraying method according to claim 1, wherein the moving device is a crawler-type moving device.
3. An intelligent orchard spraying method according to claim 1, wherein the distance from the detector to the front end of the spraying vehicle is less than the distance from the spray head to the front end of the spraying vehicle.
4. An intelligent orchard pesticide spraying method as defined in claim 1, wherein the pesticide spraying vehicle further comprises a panoramic image acquisition device which is arranged towards the front end of the pesticide spraying vehicle and electrically connected with the driving device, and the control end comprises a display device for displaying the panoramic image acquired by the panoramic image acquisition device.
5. An intelligent orchard spraying method according to claim 1, wherein in the intelligent orchard spraying system, the distance between the detector and the front end of the spraying vehicle is smaller than the distance between the spray head and the front end of the spraying vehicle; in the intelligent orchard pesticide spraying method, when the distance between the distance detector and the fruit tree at the corresponding height is within a preset range, the corresponding sprayer starts to spray pesticide after the mobile device advances for a preset distance, and the preset distance is the difference between the distance detector and the front end of the pesticide spraying vehicle and the distance between the distance detector and the front end of the pesticide spraying vehicle.
6. An intelligent orchard spraying method according to claim 1, wherein in the intelligent orchard spraying system, the control end comprises a display device; the intelligent orchard spraying method comprises the following steps:
when the control end sends a semi-automatic spraying command and a spray head selection command to the driving device, the spraying vehicle starts a semi-automatic spraying mode and determines a selected spray head, and a distance detector corresponding to the selected spray head collects the distance of the fruit tree at the corresponding height and displays the distance through the display device; the control end sends a confirmation instruction to the driving device, the mobile device advances according to a preset track based on the position information obtained by the positioning device, and the selected spray head starts spraying medicine;
when the control end sends a manual pesticide spraying command and a spray head selection command to the driving device, the pesticide spraying vehicle starts a manual pesticide spraying mode, determines the selected spray head, and a distance detector corresponding to the selected spray head collects the distance of the fruit tree at the corresponding height and displays the distance through the display device; the control end sends a confirmation instruction to the driving device, the selected spray head starts spraying medicine, and the moving device stops moving forward.
7. An intelligent orchard pesticide spraying method according to claim 6, wherein in the intelligent orchard pesticide spraying system, the pesticide spraying vehicle further comprises a panoramic image acquisition device which is arranged towards the front end of the pesticide spraying vehicle and electrically connected with the driving device; the orchard intelligent pesticide spraying method further comprises the following steps: the panoramic image acquisition device acquires panoramic images and sends the panoramic images to the driving device, and the driving device sends the panoramic images to the control end and displays the panoramic images through the display device.
8. An orchard intelligent pesticide spraying method as claimed in any one of claims 5 to 7, wherein the orchard intelligent pesticide spraying system further comprises a crown scanning radar electrically connected with the control end; in the intelligent orchard pesticide spraying method, before pesticide spraying, crown scanning is carried out on fruit trees in an orchard by using a crown scanning radar, the volume of the crown is modeled and calculated, during pesticide spraying, the pesticide spraying amount of each fruit tree is determined based on the volume of the crown, and pesticide spraying is carried out based on the determined pesticide spraying amount.
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