CN112806341A - Orchard target spraying control system and method based on laminar layer - Google Patents
Orchard target spraying control system and method based on laminar layer Download PDFInfo
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- CN112806341A CN112806341A CN202110211137.1A CN202110211137A CN112806341A CN 112806341 A CN112806341 A CN 112806341A CN 202110211137 A CN202110211137 A CN 202110211137A CN 112806341 A CN112806341 A CN 112806341A
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- 238000005507 spraying Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 17
- 239000002420 orchard Substances 0.000 title claims abstract description 16
- 239000007921 spray Substances 0.000 claims abstract description 124
- 239000000575 pesticide Substances 0.000 claims abstract description 49
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 27
- 239000003814 drug Substances 0.000 claims description 29
- 238000005070 sampling Methods 0.000 claims description 9
- 230000000712 assembly Effects 0.000 claims description 8
- 238000000429 assembly Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 3
- 101000623895 Bos taurus Mucin-15 Proteins 0.000 claims 5
- 241000607479 Yersinia pestis Species 0.000 abstract description 2
- 201000010099 disease Diseases 0.000 abstract description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 241000238631 Hexapoda Species 0.000 abstract 1
- 238000003912 environmental pollution Methods 0.000 abstract 1
- 229940079593 drug Drugs 0.000 description 10
- 239000012530 fluid Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005260 corrosion Methods 0.000 description 3
- 230000007797 corrosion Effects 0.000 description 3
- 238000012377 drug delivery Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 210000005239 tubule Anatomy 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- -1 polytetrafluoroethylene Polymers 0.000 description 1
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 1
- 239000004810 polytetrafluoroethylene Substances 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
- A01M7/0089—Regulating or controlling systems
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Abstract
A orchard is to the control system and method of target spraying based on laminar flow layer, it is the technical field of the intellectual agricultural machinery equipment, the microcontroller is connected with drive circuit through the amplifier circuit in the invention, the drive circuit drives pressure regulator, electromagnetic valve and drip-proof valve of the module of variable pesticide application separately; the microcontroller is also connected with a filter bank in the laminar flow information acquisition module and a pressure sensor of the canopy volume acquisition module; an output port of an anti-dripping valve in the variable pesticide application module is connected with an input port of a rectifier of the laminar flow information acquisition module; the rectifier and the capillary tube of the laminar flow information acquisition module are arranged in the inner direction and the outer direction and fixedly connected to the near outer end of the laminar flow spray pipe of the variable pesticide application module, wherein the capillary tube is arranged right below the pressure sensor and between the lower ends of the two bent pipes of the variable pesticide application module; 8-16 ultrasonic sensors of the canopy volume acquisition module are uniformly distributed and fixedly connected to the middle part of a main pipe in the variable pesticide application module. The invention can improve the pesticide spraying precision, achieve good effect of preventing and controlling fruit tree diseases and insect pests, and reduce environmental pollution.
Description
Technical Field
The invention belongs to the technical field of intelligent agricultural machinery equipment, and particularly relates to a system and a method for orchard targeted spraying control based on a laminar layer.
Background
Compared with foreign countries, the intelligent pesticide spraying technology level of our country is lower, and the traditional plant protection machinery for spraying pesticide operation mostly adopts an even pesticide application method, namely, all plots are evenly sprayed, and differential pesticide application is not carried out according to the condition that different plots are damaged by diseases, pests and weeds. The spraying method of large-area uniform input leads to excessive pesticide dosage in a local field, and insufficient pesticide dosage in the other part of the field, thus causing unreasonable pesticide application.
The ultrasonic sensor is widely applied to the main technical means for detecting parameters such as fruit tree crown diameter and canopy volume of an orchard fruit tree due to the advantages of being free from the influence of dust, dirt or high-humidity environment, low in power consumption, high in precision in measurement of parallel surface distance and the like. The installation is simple and convenient, and the machine tool is easy to install.
Publication No. CN203132601U provides a laminar flow component, inlays the stainless steel tubule in the corrosion resistant macromolecular material of cylinder and constitutes laminar flow component, one shot forming, stainless steel tubule internal diameter 1mm below, and corrosion resistant macromolecular material is polytetrafluoroethylene, and laminar flow component is impressed inside the valve body, with valve body interference fit, get the setting of pressure tube seat around laminar flow component. The laminar flow effect is stable and reliable, and has excellent corrosion resistance, high volume utilization rate and small size.
Disclosure of Invention
The invention aims to provide a system and a method for controlling orchard target spraying based on a laminar layer, which have high precision, low cost and high fruit tree spraying efficiency, aiming at solving the problems of the existing spraying technology.
The orchard targeted spraying control system based on the laminar layer is composed of a microcontroller 1, an amplifying circuit 2, a driving circuit 3, an analog-to-digital converter 4, a variable pesticide application module A, a laminar flow information acquisition module B and a canopy volume acquisition module C, wherein the microcontroller 1 is connected with the driving circuit 3 through the amplifying circuit 2, and the driving circuit 3 respectively drives a pressure regulator 9, an electromagnetic valve 11 and an anti-drip valve 12 of the variable pesticide application module A; the microcontroller 1 is also connected with a filter of a filter bank 17 in the laminar flow information acquisition module B; the output end of the pressure sensor 16 of the canopy volume acquisition module C is connected with the microcontroller 1 through the analog-to-digital converter 4; the output end of the drip-proof valve 12 in the variable pesticide application module A is connected with the input end of the rectifier 14 of the laminar flow information acquisition module B; the pressure sensor 16 of the laminar flow information acquisition module B is fixedly connected between the upper ends of a bent pipe I24 and a bent pipe II 25 in the variable pesticide application module A; and the pressure sensor 16 is connected with the microcontroller 1 through the analog-to-digital converter 4; the rectifier 14 and the capillary 15 of the laminar flow information acquisition module B are arranged in the inner direction and the outer direction and fixedly connected to the near outer end of the laminar flow spray pipe 26 of the variable pesticide application module A, wherein the capillary 15 is arranged right below the pressure sensor 16 and between the lower end of the bent pipe II 25 and the lower end of the bent pipe I24 in the variable pesticide application module A; 8-16 ultrasonic sensors of the ultrasonic sensor group 18 in the canopy volume acquisition module C are uniformly distributed and fixedly connected to the middle part of the main pipe 19 in the variable pesticide application module A, and are positioned at the communication part of the tee joint 21 and the main pipe 19 in the variable pesticide application module A and between the upper tee joint and the lower tee joint. The microcontroller 1 can realize the pressure regulation of the medicine chest 5, the opening regulation of the electromagnetic valve 11, the control of the drip-proof valve 12, the volume acquisition of the fruit tree canopy and the acquisition of the laminar flow. The variable pesticide application module A is mainly responsible for receiving an opening signal of the electromagnetic valve 11, a pressure adjusting signal of the pesticide box 1 and a control signal of the anti-dripping valve 12 transmitted by the microcontroller 1, so that variable spraying is realized.
The variable pesticide application module A comprises a pesticide box 5, a filter I6, a pump 7, a filter II 8, a pressure regulator 9, a pipeline splitter group 10, a main pipe 19, a spray head pipeline assembly Ia 1 and a spray head pipeline assembly IIa 2, wherein the pressure regulator 9 is positioned at the joint of the main pipe 19 and a tee joint 21, the input end of the pressure regulator 9 is connected with the output end of the main pipe 19, and the output end of the pressure regulator is connected with the inner end of the tee joint 21; the pipeline splitter group 10 consists of a pipeline splitter I10 a and a pipeline splitter II 10 b; the input end of the pump 7 is communicated with the bottom of the medicine box 5 through a filter I6, and the output end of the pump 7 is connected with the bottom end of the main pipe 19 through a filter II 8; the structure of the spray head pipeline assembly Ia 1 is the same as that of the spray head pipeline assembly IIa 2, and the spray head pipeline assemblies are 2-4 groups and are respectively positioned at the left side and the right side of the main pipe 19; each spray head pipeline component consists of a pressure regulator 9, an upper pipe 20, a tee joint 21, a lower pipe 22, a spray head component Ib 1 and a spray head component IIb 2; the spray head assembly Ib 1 and the spray head assembly IIb 2 are identical in structure and are composed of a spray head cover 23, a laminar flow spray pipe assembly Ib 1, a laminar flow spray pipe assembly IIc 2, a laminar flow spray pipe assembly IIIc 3 and a laminar flow spray pipe assembly IVc 4, wherein the laminar flow spray pipe assembly Ib 1, the laminar flow spray pipe assembly IIc 2, the laminar flow spray pipe assembly IIIc 3 and the laminar flow spray pipe assembly IVc 4 are all arranged in the spray head cover 23, the laminar flow spray pipe assembly Ib 1, the laminar flow spray pipe assembly IIc 2, the laminar flow spray pipe assembly IIIc 3 and the laminar flow spray pipe assembly IVc 4 are identical in structure and are composed of an electromagnetic valve 11, an anti-drip valve 12, an elbow pipe II 25, an elbow pipe I24, a laminar flow spray pipe 26 and a spray nozzle 13a, wherein the electromagnetic valve 11 and the anti-drip valve 12 are arranged in the inward and outward direction and fixedly connected to the near inner end of the laminar flow spray pipe; the nozzle 13a is fixedly connected with the outer end of the laminar flow spray pipe 26; the laminar flow spray pipe assembly IC 1, the laminar flow spray pipe assembly IIc 2, the laminar flow spray pipe assembly IIIc 3 and the laminar flow spray pipe assembly IVc 4 are arranged in parallel up and down, and the inner ends of the laminar flow spray pipe assembly IC 1, the laminar flow spray pipe assembly IIc 2, the laminar flow spray pipe assembly IIIc 3 and the laminar flow spray pipe assembly IVc 4 are communicated with the outer end of the pipeline flow divider I10 a; a pipeline flow divider I10 a of the spray head assembly Ib 1 is communicated with the upper end of a tee joint 21 through an upper pipe 20; a pipeline flow divider II 10b of the spray head assembly II b2 is communicated with the lower end of the tee joint 21 through a lower pipe 22; the 4-8 nozzle pipe assemblies a1 are arranged in left and right two rows, namely 2-4 nozzle pipe assemblies, are uniformly distributed in the middle of the main pipe 19 and are communicated with the main pipe 19 through the inner ends of the respective pressure regulators. The variable pesticide application module A is mainly responsible for receiving an opening signal of the electromagnetic valve 11, a pressure adjusting signal of the pesticide box 5 and a control signal of the anti-dripping valve 12 transmitted by the microcontroller 1, so that variable spraying is realized.
The laminar flow information acquisition module B is composed of a rectifier 14, a capillary 15 and a pressure sensor 16, wherein the rectifier 14 is arranged on the inner side of the capillary 15, and the inner end and the outer end of the pressure sensor 16 are respectively arranged on the inner end and the outer end of the capillary 15. Laminar flow is a state of flow of a fluid that flows in layers. When the fluid flows at low speed in the pipe, the fluid is presented as laminar flow, and the mass point of the laminar flow moves smoothly and linearly along the direction parallel to the pipe axis. In laminar flow conditions, on-way drag frictional resistance is entirely generated by viscous friction. The laminar flow can reduce the frictional resistance, so that the actual flow of the medicine can be accurately obtained through the pressure difference. To ensure laminar flow of the drug, the tube diameter is generally required to be small, so the capillary 15 is usually used to make laminar flow element. The flow of a single capillary is very small, and in order to realize larger flow measurement, a mode of connecting a plurality of capillaries in parallel can be adopted. The laminar flow layer information acquisition module B mainly measures the flow rate of the drug by the pressure difference generated when the drug flows through the capillary 15, and the microcontroller 1 compares the measured flow rate of the drug with the flow rate of the decision-making drug, thereby feedback-controlling the opening degree of the electromagnetic valve 11.
The canopy volume acquisition module C consists of an ultrasonic sensor group 18 and a filter group 17, wherein the ultrasonic sensor group 18 consists of 8-16 ultrasonic sensors, the filter group 17 consists of 8-16 filters, and the filter matched with the ultrasonic sensors is arranged in front of the ultrasonic sensors. The canopy volume acquisition module C is mainly responsible for acquiring information of a fruit tree canopy, the ultrasonic sensor group 18 continuously sends signals in the advancing process of the machine, the signals are reflected after encountering the fruit tree canopy, and a receiver of the ultrasonic sensor group 18 receives the signals, so that the information of the fruit tree canopy is acquired in real time.
The spraying method of the orchard targeted spraying system based on the laminar layer comprises the following steps:
1.1 the carrier carries a target spraying control system to run along the planting row direction of the fruit trees, and the distance D from the ultrasonic sensor group 18 to the trunk of the fruit trees is unchanged in the running process; scanning the fruit tree once by taking the moving distance delta l of the carrier as a sampling interval, and measuring the distance d from the carrier to the outline of the crown by sensors distributed at different heightsi；
1.2 distance d between the sensors collected in step 1.1 and the outline of the crowniCalculating the distance D between the canopy and the trunkiThen, the volume V of the crown of the fruit tree scanned by each sensor in the current sampling interval can be obtained according to the sampling interval delta l and the distance h between the adjacent sensorsi；
Di＝D-di
Si＝Di×Δl
Vi＝Si×h
1.3 the microcontroller 1 obtains the volume of the canopy through the ultrasonic sensor group 18, the microcontroller 1 controls the opening of the electromagnetic valve 11, when the medicine flows through the laminar flow information obtaining module B, the pressure sensor 16 obtains the pressure loss delta P generated at the two ends of the capillary 15, and the pressure loss delta P in the whole process is the on-way friction loss delta P from the pressure taking pipe orifice to the capillary inlet respectively1Local loss of capillary inlet flow Δ P2Flow loss delta P of laminar inlet section of capillary tube3Inner laminar flow full development section on-way friction loss delta P of capillary4Local loss of capillary outlet flow Δ P5And the on-way friction loss Delta P from the outlet of the capillary tube to the middle pressure-taking tube opening6；
Δp＝ΔP1+ΔP2+ΔP3+ΔP4+ΔP5+ΔP6
1.4 calculating the pressure loss delta P acquired in the step 1.3 according to the radius r and the length L of the capillary 15 and the viscosity coefficient eta of the medicine to obtain the volume flow Q;
1.5 the microcontroller 1 calculates the actual volume flow Q through step 1.4 and controls the opening of the electromagnetic valve 11 in a feedback manner.
The invention has the beneficial effects that: in the advancing process of the machine, the volume of the canopy of the fruit tree can be obtained in real time through the ultrasonic sensor group, the spraying amount is obtained according to the volume of the canopy, and the opening degree of the electromagnetic valve is controlled. When the medicine flows through the laminar flow element, the laminar flow element enables the medicine to flow in a laminar flow state, the pressure difference between the front and the back of the laminar flow element is accurately obtained through the pressure sensor, the real-time spraying amount is obtained according to the pressure difference, and the spraying amount is compared with the spraying amount decided for the first time so as to control the opening degree of the electromagnetic valve in a feedback mode. The control precision of the medicine spraying amount is improved to a certain degree, and the efficient utilization of the medicine is achieved.
Drawings
FIG. 1 is a schematic structural diagram of a control system for targeted spraying in an orchard based on a laminar layer
FIG. 2 is a schematic structural diagram of a connection relationship between local components of a variable drug delivery module A and a laminar flow information acquisition module B
FIG. 3 is a schematic structural diagram of the connection relationship between the main pipe 19 of the variable drug delivery module A and the ultrasonic sensor group 18 of the canopy volume acquisition module C
FIG. 4 is a schematic view of a showerhead conduit assembly
FIG. 5 is a schematic view of a showerhead assembly
FIG. 6 is a schematic view of a showerhead assembly
FIG. 7 is a schematic structural diagram of a connection relationship between local components of a variable drug delivery module A and a laminar flow information acquisition module B
FIG. 8 is a general flow chart of a control method for targeted orchard spraying based on a laminar layer
FIG. 9 is a schematic view of canopy volume acquisition
FIG. 10 is a schematic view of the pressure drop of the flow channel of the laminar flow nozzle
Wherein: A. variable pesticide application module B, laminar flow information acquisition module C, crown layer volume acquisition module 1, microcontroller 2, amplification circuit 3, drive circuit 4, analog-to-digital converter 5, pesticide box 6, filter I7, pump 8, filter II 9, pressure regulator 10, pipeline flow divider 10a, pipeline flow divider I10 b, pipeline flow divider II 11, electromagnetic valve 12, drip-proof valve 13, nozzle group 13a, nozzle 14, rectifier 15, capillary 16, pressure sensor 17, filter group 18, ultrasonic sensor group 19, main pipe 20, 21, tee 22, lower pipe 23 spray head cover 24, elbow I laminar flow 25, elbow II 26, spray pipe a1. spray head pipeline assembly I a2, spray head assembly I b2. spray head assembly IIc1, laminar flow spray pipe assembly I c2. laminar flow spray pipe assembly II c3. laminar flow spray pipe assembly III c4. laminar flow spray pipe assembly IV e, fruit tree spray pipe assembly III If fruit tree II
Detailed Description
The invention is described below with reference to the drawings.
As shown in fig. 1, the orchard targeted spraying control system based on a laminar layer of the invention is composed of a microcontroller 1, an amplifying circuit 2, a driving circuit 3, an analog-to-digital converter 4, a variable pesticide application module a, a laminar flow information acquisition module B and a canopy volume acquisition module C, wherein the microcontroller 1 is connected with the driving circuit 3 through the amplifying circuit 2, and the driving circuit 3 respectively drives a pressure regulator 9, an electromagnetic valve 11 and an anti-drip valve 12 of the variable pesticide application module a; the microcontroller 1 is also connected with a filter of a filter bank 17 in the laminar flow information acquisition module B; the output end of the pressure sensor 16 of the canopy volume acquisition module C is connected with the microcontroller 1 through the analog-to-digital converter 4; the output end of the drip-proof valve 12 in the variable pesticide application module A is connected with the input end of the rectifier 14 of the laminar flow information acquisition module B; the pressure sensor 16 of the laminar flow information acquisition module B is fixedly connected between the upper ends of a bent pipe I24 and a bent pipe II 25 in the variable pesticide application module A; and the pressure sensor 16 is connected with the microcontroller 1 through the analog-to-digital converter 4; the rectifier 14 and the capillary 15 of the laminar flow information acquisition module B are arranged in the inner direction and the outer direction and fixedly connected to the near outer end of the laminar flow spray pipe 26 of the variable pesticide application module A, wherein the capillary 15 is arranged right below the pressure sensor 16 and between the lower end of the bent pipe II 25 and the lower end of the bent pipe I24 in the variable pesticide application module A; 8-16 ultrasonic sensors of the ultrasonic sensor group 18 in the canopy volume acquisition module C are uniformly distributed and fixedly connected to the middle part of the main pipe 19 in the variable pesticide application module A, and are positioned at the communication part of the tee joint 21 and the main pipe 19 in the variable pesticide application module A and between the upper tee joint and the lower tee joint. The microcontroller 1 can realize the pressure regulation of the medicine chest 5, the opening regulation of the electromagnetic valve 11, the control of the drip-proof valve 12, the volume acquisition of the fruit tree canopy and the acquisition of the laminar flow. The variable pesticide application module A is mainly responsible for receiving an opening signal of the electromagnetic valve 11, a pressure adjusting signal of the pesticide box 1 and a control signal of the anti-dripping valve 12 transmitted by the microcontroller 1, so that variable spraying is realized.
The variable dispensing module a shown in fig. 2 to 7 is composed of a medicine box 5, a filter i 6, a pump 7, a filter ii 8, a pressure regulator 9, a pipeline splitter group 10, a main pipe 19, a spray head pipeline assembly ia 1 and a spray head pipeline assembly iia 2, wherein the pressure regulator 9 is positioned at the connection position of the main pipe 19 and a tee 21, the input end of the pressure regulator 9 is connected with the output end of the main pipe 19, and the output end is connected with the inner end of the tee 21; the pipeline splitter group 10 consists of a pipeline splitter I10 a and a pipeline splitter II 10 b; the input end of the pump 7 is communicated with the bottom of the medicine box 5 through a filter I6, and the output end of the pump 7 is connected with the bottom end of the main pipe 19 through a filter II 8; the structure of the spray head pipeline assembly Ia 1 is the same as that of the spray head pipeline assembly IIa 2, and the spray head pipeline assemblies are 2-4 groups and are respectively positioned at the left side and the right side of the main pipe 19; each spray head pipeline component consists of a pressure regulator 9, an upper pipe 20, a tee joint 21, a lower pipe 22, a spray head component Ib 1 and a spray head component IIb 2; the spray head assembly Ib 1 and the spray head assembly IIb 2 are identical in structure and are composed of a spray head cover 23, a laminar flow spray pipe assembly Ib 1, a laminar flow spray pipe assembly IIc 2, a laminar flow spray pipe assembly IIIc 3 and a laminar flow spray pipe assembly IVc 4, wherein the laminar flow spray pipe assembly Ib 1, the laminar flow spray pipe assembly IIc 2, the laminar flow spray pipe assembly IIIc 3 and the laminar flow spray pipe assembly IVc 4 are all arranged in the spray head cover 23, the laminar flow spray pipe assembly Ib 1, the laminar flow spray pipe assembly IIc 2, the laminar flow spray pipe assembly IIIc 3 and the laminar flow spray pipe assembly IVc 4 are identical in structure and are composed of an electromagnetic valve 11, an anti-drip valve 12, an elbow pipe II 25, an elbow pipe I24, a laminar flow spray pipe 26 and a spray nozzle 13a, wherein the electromagnetic valve 11 and the anti-drip valve 12 are arranged in the inward and outward direction and fixedly connected to the near inner end of the laminar flow spray pipe; the nozzle 13a is fixedly connected with the outer end of the laminar flow spray pipe 26; the laminar flow spray pipe assembly IC 1, the laminar flow spray pipe assembly IIc 2, the laminar flow spray pipe assembly IIIc 3 and the laminar flow spray pipe assembly IVc 4 are arranged in parallel up and down, and the inner ends of the laminar flow spray pipe assembly IC 1, the laminar flow spray pipe assembly IIc 2, the laminar flow spray pipe assembly IIIc 3 and the laminar flow spray pipe assembly IVc 4 are communicated with the outer end of the pipeline flow divider I10 a; a pipeline flow divider I10 a of the spray head assembly Ib 1 is communicated with the upper end of a tee joint 21 through an upper pipe 20; a pipeline flow divider II 10b of the spray head assembly II b2 is communicated with the lower end of the tee joint 21 through a lower pipe 22; the 4-8 nozzle pipe assemblies a1 are arranged in left and right two rows, namely 2-4 nozzle pipe assemblies, are uniformly distributed in the middle of the main pipe 19 and are communicated with the main pipe 19 through the inner ends of the respective pressure regulators. The variable pesticide application module A is mainly responsible for receiving an opening signal of the electromagnetic valve 11, a pressure adjusting signal of the pesticide box 5 and a control signal of the anti-dripping valve 12 transmitted by the microcontroller 1, so that variable spraying is realized.
The laminar flow information acquisition module B is composed of a rectifier 14, a capillary 15 and a pressure sensor 16, wherein the rectifier 14 is arranged on the inner side of the capillary 15, and the inner end and the outer end of the pressure sensor 16 are respectively arranged on the inner end and the outer end of the capillary 15. Laminar flow is a state of flow of a fluid that flows in layers. When the fluid flows at low speed in the pipe, the fluid is presented as laminar flow, and the mass point of the laminar flow moves smoothly and linearly along the direction parallel to the pipe axis. In laminar flow conditions, on-way drag frictional resistance is entirely generated by viscous friction. The laminar flow can reduce the frictional resistance, so that the actual flow of the medicine can be accurately obtained through the pressure difference. To ensure laminar flow of the drug, the tube diameter is generally required to be small, so the capillary 15 is usually used to make laminar flow element. The flow of a single capillary is very small, and in order to realize larger flow measurement, a mode of connecting a plurality of capillaries in parallel can be adopted. The laminar flow layer information acquisition module B mainly measures the flow rate of the drug by the pressure difference generated when the drug flows through the capillary 15, and the microcontroller 1 compares the measured flow rate of the drug with the flow rate of the decision-making drug, thereby feedback-controlling the opening degree of the electromagnetic valve 11.
The canopy volume acquisition module C consists of an ultrasonic sensor group 18 and a filter group 17, wherein the ultrasonic sensor group 18 consists of 8-16 ultrasonic sensors, the filter group 17 consists of 8-16 filters, and the filter matched with the ultrasonic sensors is arranged in front of the ultrasonic sensors. The canopy volume acquisition module C is mainly responsible for acquiring information of a fruit tree canopy, the ultrasonic sensor group 18 continuously sends signals in the advancing process of the machine, the signals are reflected after encountering the fruit tree canopy, and a receiver of the ultrasonic sensor group 18 receives the signals, so that the information of the fruit tree canopy is acquired in real time.
The spraying method of the orchard targeted spraying system based on the laminar layer comprises the following steps:
1.1 the carrier carries a target spraying control system to run along the planting row direction of the fruit trees, and the distance D from the ultrasonic sensor group 18 to the trunk of the fruit trees is unchanged in the running process; scanning the fruit tree once by taking the moving distance delta l of the carrier as a sampling interval, and measuring the distance d from the carrier to the outline of the crown by sensors distributed at different heightsi；
1.2 distance d between the sensors collected in step 1.1 and the outline of the crowniCalculating the distance D between the canopy and the trunkiThen, the volume V of the crown of the fruit tree scanned by each sensor in the current sampling interval can be obtained according to the sampling interval delta l and the distance h between the adjacent sensorsi；
Di＝D-di
Si＝Di×Δl
Vi＝Si×h
1.3 the microcontroller 1 obtains the volume of the canopy through the ultrasonic sensor group 18, the microcontroller 1 controls the opening of the electromagnetic valve 11, when the medicine flows through the laminar flow information obtaining module B, the pressure sensor 16 obtains the pressure loss delta P generated at the two ends of the capillary 15, and the pressure loss delta P in the whole process is the on-way friction loss delta P from the pressure taking pipe orifice to the capillary inlet respectively1Local loss of capillary inlet flow Δ P2Flow loss delta P of laminar inlet section of capillary tube3Inner laminar flow full development section on-way friction loss delta P of capillary4Local loss of capillary outlet flow Δ P5And the on-way friction loss Delta P from the outlet of the capillary tube to the middle pressure-taking tube opening6；
Δp＝ΔP1+AP2+ΔP3+ΔP4+ΔP5+ΔP6
1.4 calculating the pressure loss delta P acquired in the step 1.3 according to the radius r and the length L of the capillary 15 and the viscosity coefficient eta of the medicine to obtain the volume flow Q;
1.5 the microcontroller 1 calculates the actual volume flow Q through step 1.4 and controls the opening of the electromagnetic valve 11 in a feedback manner.
Claims (5)
1. An orchard targeted spraying control system based on a laminar layer is characterized by comprising a microcontroller (1), an amplifying circuit (2), a driving circuit (3), an analog-to-digital converter (4), a variable pesticide application module (A), a laminar flow information acquisition module (B) and a canopy volume acquisition module (C), wherein the microcontroller (1) is connected with the driving circuit (3) through the amplifying circuit (2), and the driving circuit (3) respectively drives a pressure regulator (9), an electromagnetic valve (11) and an anti-drip valve (12) of the variable pesticide application module (A); the microcontroller (1) is also connected with a filter of a filter bank (17) in the laminar flow information acquisition module (B); the output end of a pressure sensor (16) of the canopy volume acquisition module (C) is connected with the microcontroller (1) through an analog-to-digital converter (4); the output end of an anti-drip valve (12) in the variable pesticide application module (A) is connected with the input end of a rectifier (14) of the laminar flow information acquisition module (B); a pressure sensor (16) of the laminar flow information acquisition module (B) is fixedly connected between the upper ends of a bent pipe I (24) and a bent pipe II (25) in the variable pesticide application module (A); the pressure sensor (16) is connected with the microcontroller (1) through the analog-to-digital converter (4); a rectifier (14) and a capillary tube (15) of the laminar flow information acquisition module (B) are arranged in the inner direction and the outer direction and fixedly connected to the near outer end of a laminar flow spray pipe (26) of the variable pesticide application module (A), wherein the capillary tube (15) is arranged right below the pressure sensor (16) and between the lower end of a bent pipe II (25) and the lower end of a bent pipe I (24) in the variable pesticide application module (A); 8-16 ultrasonic sensors of the ultrasonic sensor group (18) in the canopy volume acquisition module (C) are uniformly distributed and fixedly connected to the middle part of a main pipe (19) in the variable pesticide application module (A), and are positioned at the communication part of a tee joint (21) and the main pipe (19) in the variable pesticide application module (A) and between an upper tee joint and a lower tee joint.
2. The laminar-flow-layer-based orchard targeted spraying control system is characterized in that the variable spraying module (A) consists of a medicine box (5), a filter I (6), a pump (7), a filter II (8), a pressure regulator (9), a pipeline splitter group (10), a main pipe (19), a spray head pipeline assembly I (a1) and a spray head pipeline assembly II (a2), wherein the pressure regulator (9) is positioned at the joint of the main pipe (19) and a tee joint (21), the input end of the pressure regulator (9) is connected with the output end of the main pipe (19), and the output end of the pressure regulator is connected with the inner end of the tee joint (21); the pipeline diverter group (10) consists of a pipeline diverter I (10a) and a pipeline diverter II (10 b); the input end of the pump (7) is communicated with the bottom of the medicine chest (5) through a filter I (6), and the output end of the pump (7) is connected with the bottom end of the main pipe (19) through a filter II (8); the spray head pipeline assembly I (a1) and the spray head pipeline assembly II (a2) have the same structure and are respectively 2-4 groups and are respectively positioned at the left side and the right side of the main pipe (19); each spray head pipeline component consists of a pressure regulator (9), an upper pipe (20), a tee joint (21), a lower pipe (22), a spray head component I (b1) and a spray head component II (b 2); the spray head component I (b1) and the spray head component II (b2) have the same structure and are respectively composed of a spray head cover (23), a laminar flow spray pipe component I (c1), a laminar flow spray pipe component II (c2), a laminar flow spray pipe component III (c3) and a laminar flow spray pipe component IV (c4), the laminar flow spray pipe component I (c1), the laminar flow spray pipe component II (c2), the laminar flow spray pipe component III (c3) and the laminar flow spray pipe component IV (c4) are respectively arranged in the spray head cover (23), the laminar flow spray pipe component I (c1), the laminar flow spray pipe component II (c2), the laminar flow spray pipe component III (c3) and the laminar flow spray pipe component IV (c4) have the same structure and are respectively composed of an electromagnetic valve (11), a drip-proof valve (12), an elbow II (25), an elbow I (24), the laminar flow spray pipe (26) and a nozzle (13a), wherein the electromagnetic valve (11) and the drip-proof valve (12) are arranged in, the lower ends of the bent pipe I (24) and the bent pipe II (25) are arranged in the inner and outer directions and are communicated with the upper surface of the laminar flow spray pipe (26) close to the outer end; the nozzle (13a) is fixedly connected with the outer end of the laminar flow spray pipe (26); the inner ends of the laminar flow spray pipe assembly I (c1), the laminar flow spray pipe assembly II (c2), the laminar flow spray pipe assembly III (c3) and the laminar flow spray pipe assembly IV (c4) are communicated with the outer end of the pipeline splitter I (10 a); a pipeline flow divider I (10a) of the spray head assembly I (b1) is communicated with the upper end of the tee joint (21) through an upper pipe (20); a pipeline flow divider II (10b) of the spray head assembly II (b2) is communicated with the lower end of the tee joint (21) through a lower pipe (22); the 4-8 nozzle pipeline assemblies (a1) are arranged in left and right two rows, namely 2-4 nozzle pipeline assemblies, are uniformly distributed in the middle of the main pipe (19), and are communicated with the main pipe (19) through the inner ends of the respective pressure regulators.
3. The system for controlling target spraying in an orchard based on a laminar layer as claimed in claim 1, wherein the laminar information acquisition module (B) comprises a rectifier (14), a capillary tube (15) and a pressure sensor (16), wherein the rectifier (14) is arranged inside the capillary tube (15), and the inner end and the outer end of the pressure sensor (16) are respectively arranged at the inner end and the outer end of the capillary tube (15).
4. The stratospheric-based orchard targeted spray control system according to claim 1, wherein said canopy volume acquisition module (C) consists of an ultrasonic sensor bank (18) and a filter bank (17), wherein the ultrasonic sensor bank (18) consists of 8-16 ultrasonic sensors and the filter bank (17) consists of 8-16 filters, the filter matched to the ultrasonic sensors being placed in front of the ultrasonic sensors.
5. A method of applying the laminar-layer-based orchard-to-target-spray system according to claim 1, comprising the steps of:
5.1 the carrier carries the target spraying control system to drive along the planting row direction of the fruit trees, and the distance D between the ultrasonic sensor group (18) and the trunk of the fruit trees is unchanged in the driving process; scanning the fruit tree once by taking the moving distance delta l of the carrier as a sampling interval, and measuring the distance d from the carrier to the outline of the crown by sensors distributed at different heightsi；
5.2 distance of the collected sensor to the crown outline in the step 5.1From diCalculating the distance Di between the canopy and the trunk, and then obtaining the volume V of the fruit tree crown scanned by each sensor in the current sampling interval according to the sampling interval delta l and the distance h between the adjacent sensorsi；
Di＝D-di
Si＝Di×Δl
Vi＝Si×h
5.3 the microcontroller (1) obtains the volume of the canopy through the ultrasonic sensor group (18), the microcontroller (1) controls the opening of the electromagnetic valve (11), when the medicine flows through the laminar flow information acquisition module (B), the pressure sensor (16) acquires the pressure loss delta P generated at the two ends of the capillary tube (15), and the pressure loss delta P in the whole process is the on-way friction loss delta P from the pressure taking tube opening to the capillary tube inlet respectively1Local loss of capillary inlet flow Δ P2Flow loss delta P of laminar inlet section of capillary tube3Inner laminar flow full development section on-way friction loss delta P of capillary4Local loss of capillary outlet flow Δ P5And the on-way friction loss Delta P from the outlet of the capillary tube to the middle pressure-taking tube opening6；
Δp＝ΔP1+ΔP2+ΔP3+ΔP4+ΔP5+ΔP6
5.4 calculating the pressure loss delta P acquired in the step 5.3 according to the radius r and the length L of the capillary tube (15) and the viscosity coefficient eta of the medicine to obtain the volume flow Q;
5.5 the microcontroller (1) calculates the actual volume flow Q through the step 5.4, and the opening of the electromagnetic valve (11) is controlled in a feedback mode.
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