CN112806341B - Orchard targeting spraying control system and method based on laminar layer - Google Patents
Orchard targeting spraying control system and method based on laminar layer Download PDFInfo
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Abstract
The invention relates to a control system and a control method for targeted spraying in an orchard based on a laminar layer, which belong to the technical field of intelligent agricultural machinery equipment, wherein a microcontroller is connected with a driving circuit through an amplifying circuit, and the driving circuit respectively drives a pressure regulator, an electromagnetic valve and an anti-drip valve of a variable pesticide application module; 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-drip valve in the variable dosing module is connected with an input port of a rectifier of the laminar flow information acquisition module; the rectifier of the laminar flow information acquisition module and the capillary tube are arranged in an inward-outward direction and fixedly connected to the near outer end of the laminar flow spray pipe of the variable dosing module, wherein the capillary tube is arranged right below the pressure sensor and between the lower ends of two bent pipes of the variable dosing module; 8-16 ultrasonic sensors of the canopy volume acquisition module are uniformly distributed and fixedly connected to the middle part of the main pipe in the variable dosing module. The invention can improve the pesticide spraying precision, achieve good effect of preventing and controlling the diseases and insect pests of fruit trees 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 controlling targeted spraying of an orchard based on a laminar layer.
Background
Compared with abroad, the intelligent pesticide spraying technology level in China is lower, and the traditional plant protection machinery for pesticide spraying operation mostly adopts a uniform pesticide spraying method, namely, all plots are uniformly sprayed, and differentiated pesticide spraying is not carried out according to the condition that different plots suffer from diseases and insect pests. The pesticide spraying method with large-area average input leads to excessive pesticide dosage in local fields, while the other part of fields has insufficient pesticide dosage, which leads to unreasonable pesticide application.
The ultrasonic sensor is widely used as a main technical means for detecting parameters such as the crown diameter, the canopy volume and the like of an orchard fruit tree by virtue of the advantages of no influence of dust, dirt or high humidity environment, low power consumption, high precision in parallel surface distance measurement and the like. The device is simple and convenient to install and is easy to install on the machine tool.
Publication number CN203132601U provides a laminar flow component, inlays stainless steel tubule in the corrosion-resistant macromolecular material of cylinder and constitutes laminar flow component, and one shot forming, stainless steel tubule internal diameter is below 1mm, and corrosion-resistant macromolecular material is polytetrafluoroethylene, and the laminar flow component is pressed into inside the valve body, with valve body interference fit, and the pressure tube seat sets up around the laminar flow component. The laminar flow effect is stable and reliable, has excellent corrosion resistance, and has high volume utilization rate and small size.
Disclosure of Invention
The invention aims to provide a system and a method for controlling targeted spraying of an orchard based on a laminar layer, which are high in accuracy, low in cost and high in fruit tree spraying efficiency, aiming at the problems of the existing pesticide spraying technology.
The orchard targeted spraying control system based on the laminar flow layer comprises 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-dripping valve 12 of the variable pesticide application module A; the microcontroller 1 is also connected with a filter of the 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 valve 12 in the variable dispensing 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 the bent pipe I24 and the 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 tube 15 of the laminar flow information acquisition module B are arranged in an outward direction and fixedly connected to the near outer end of the laminar flow spray tube 26 of the variable dosing module A, wherein the capillary tube 15 is arranged right below the pressure sensor 16 and between the bent tube II 25 and the lower end of the bent tube I24 in the variable dosing 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 dosing module A, and are positioned at the communication part of the tee joint 21 and the main pipe 19 in the variable dosing module A and between the upper tee joint and the lower tee joint. The microcontroller 1 can be used for adjusting the pressure of the medicine box 5, adjusting the opening of the electromagnetic valve 11, controlling the anti-dripping valve 12, acquiring the volume of the canopy of the fruit tree and acquiring the laminar flow. The variable dispensing module A is mainly responsible for receiving opening signals of the electromagnetic valve 11, pressure adjusting signals of the medicine box 1 and control signals of the drip-proof valve 12 transmitted by the microcontroller 1, so that variable spraying is realized.
The variable pesticide application module A consists of a pesticide box 5, a filter I6, a pump 7, a filter II 8, a pressure regulator 9, a pipeline diverter group 10, a main pipe 19, a spray nozzle pipeline assembly Ia 1 and a spray nozzle 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 is connected with the inner end of the tee joint 21; the pipeline diverter group 10 consists of a pipeline diverter I10 a and a pipeline diverter 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 nozzle pipeline component Ia 1 and the structure of the nozzle pipeline component IIa 2 are the same, and each nozzle pipeline component is 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 have the same structure and are composed of a spray head cover 23, a laminar flow spray pipe assembly ic 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 ic 1, the laminar flow spray pipe assembly ic 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 ic 1, the laminar flow spray pipe assembly ic 2, the laminar flow spray pipe assembly IIIc 3 and the laminar flow spray pipe assembly IVc 4 have the same structure and are composed of an electromagnetic valve 11, an anti-drip valve 12, an elbow II 25, an elbow I24, a laminar flow spray pipe 26 and a nozzle 13a, wherein the electromagnetic valve 11 and the anti-drip valve 12 are arranged inwards and outwards and fixedly connected in the near inner end of the laminar flow spray pipe 26, and the lower ends of the elbow I24 and the elbow II 25 are arranged inwards and communicated with the near outer end of the laminar flow spray pipe 26; the nozzle 13a is fixedly connected to the outer end of the laminar flow nozzle 26; the laminar flow spray pipe assembly ic 1, the laminar flow spray pipe assembly ic 2, the laminar flow spray pipe assembly ic 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 ic 2, the laminar flow spray pipe assembly ic 3 and the laminar flow spray pipe assembly IVc 4 are communicated with the outer end of the pipeline diverter I10 a; the pipeline diverter I10 a of the spray head component Ib 1 is communicated with the upper end of the tee joint 21 through an upper pipe 20; the pipeline diverter II 10b of the spray head assembly IIb 2 is communicated with the lower end of the tee joint 21 through a lower pipe 22; the 4-8 spray nozzle pipeline assemblies a1 are arranged in left and right rows, namely 2-4 spray nozzle pipeline assemblies a1 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 dispensing module A is mainly responsible for receiving opening signals of the electromagnetic valve 11, pressure adjusting signals of the medicine box 5 and control signals of the drip-proof valve 12 transmitted by the microcontroller 1, so as to realize variable spraying.
The laminar flow information acquisition module B consists of a rectifier 14, a capillary tube 15 and a pressure sensor 16, wherein the rectifier 14 is arranged on the inner side of the capillary tube 15, and the inner and outer ends of the pressure sensor 16 are respectively arranged on the inner and outer ends of the capillary tube 15. Laminar flow is a state of fluid flow that is laminar. The fluid exhibits laminar flow at low velocity in the tube, and the particles move in a smooth straight line in a direction parallel to the tube axis. In laminar flow conditions, the drag frictional drag is entirely caused by viscous friction. Laminar flow can reduce frictional resistance, so that the actual flow rate of the medicine can be accurately obtained through pressure difference. To ensure laminar flow of the drug, it is generally desirable that the tube diameter be small, so that capillary 15 is typically used to make a laminar flow element. The flow of a single capillary tube is small, and in order to realize larger flow measurement, a mode of connecting a plurality of capillary tubes in parallel can be adopted. The laminar flow layer information acquisition module B mainly realizes the measurement of the drug flow rate through the pressure difference generated when the drug flows through the capillary tube 15, and the microcontroller 1 compares the measured drug flow rate with the decision drug flow rate, so that the opening of the electromagnetic valve 11 is feedback controlled.
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 at the front part of the ultrasonic sensors. The canopy volume acquisition module C is mainly responsible for acquiring fruit tree canopy information, the ultrasonic sensor group 18 continuously sends out signals in the advancing process of the tool, the signals are reflected after encountering the fruit tree canopy, and the receiver of the ultrasonic sensor group 18 receives the signals, so that the fruit tree canopy information is acquired in real time.
The invention relates to a spraying method of a target spraying system for an orchard based on a laminar layer, which comprises the following steps:
1.1 carrying the target spraying by the carrierThe control system runs along the planting 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; every moving distance Deltal of the carrier is used as a sampling interval, the fruit tree is scanned once, and the distance d of the outline of the crown is measured through sensors distributed at different heights i ；
1.2 distance d from the sensor acquired in step 1.1 to the contour of the crown i Calculating the distance D between the canopy and the trunk i The volume V of the fruit tree crown scanned by each sensor in the current sampling interval can be obtained according to the sampling interval Deltal and the distance h between the adjacent sensors i ；
D i ＝D-d i
S i ＝D i ×Δl
V i ＝S i ×h
1.3 the microcontroller 1 obtains the canopy volume 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 two ends of the capillary 15, and the pressure loss delta P in the whole process is respectively the along-line friction loss delta P from the pressure taking pipe orifice to the capillary inlet 1 Local loss of capillary inlet flow ΔP 2 Capillary laminar flow inlet section flow loss ΔP 3 Capillary inner layer flow full development section along-path friction loss delta P 4 Local loss of capillary outlet flow ΔP 5 And the frictional loss delta P along the path from the capillary outlet to the middle pressure-taking pipe orifice 6 ；
Δp＝ΔP 1 +ΔP 2 +ΔP 3 +ΔP 4 +ΔP 5 +ΔP 6
1.4 calculating the volume flow Q according to the radius r, the length L and the viscosity coefficient eta of the medicine of the capillary 15 for the pressure loss delta P acquired in the step 1.3;
1.5 the microcontroller 1 calculates the actual volume flow Q by step 1.4 and feedback controls the opening of the solenoid valve 11.
The invention has the beneficial effects that: in the advancing process of the machine tool, the volume of the fruit tree canopy 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 of the electromagnetic valve is controlled. When the medicine flows through the laminar flow element, the laminar flow element enables the medicine flowing state to be laminar, the pressure difference before and after flowing through the laminar flow element is accurately obtained through the pressure sensor, the real-time spraying quantity is obtained according to the pressure difference, and the real-time spraying quantity is compared with the spraying quantity decided for the first time, so that the opening of the electromagnetic valve is controlled in a feedback mode. The control precision of the medicine spraying quantity is improved to a certain extent, and the high-efficiency utilization of the medicine is achieved.
Drawings
FIG. 1 is a schematic diagram of a layer-based orchard targeted spray control system
Fig. 2 is a schematic structural diagram of the connection relationship between the variable dispensing module a and the laminar flow information acquisition module B
Fig. 3 is a schematic structural diagram showing the connection relationship between the main tube 19 in the variable dosing module a and the ultrasonic sensor group 18 in the canopy volume acquisition module C
FIG. 4 is a schematic structural view of a shower nozzle pipe assembly
FIG. 5 is a schematic view of a showerhead assembly
FIG. 6 is a schematic diagram of a showerhead assembly
Fig. 7 is a schematic structural diagram showing the connection relationship between the variable dispensing module a and the laminar flow information acquisition module B
FIG. 8 is a general flow chart of a method for controlling targeted spraying in an orchard based on a laminar layer
FIG. 9 is a schematic view of canopy volume acquisition
FIG. 10 is a schematic diagram of the pressure drop across the flow channel of a laminar flow nozzle
Wherein: A. variable dosing module B, laminar flow information acquisition module C, cap volume acquisition module 1, microcontroller 2, amplification circuit 3, drive circuit 4, analog-to-digital converter 5, cartridge 6, filter I7, pump 8, filter II 9, pressure regulator 10, conduit diverter 10a, conduit diverter I10 b, conduit diverter II 11, solenoid valve 12, drip valve 13, nozzle set 13a, nozzle 14, rectifier 15, capillary tube 16, pressure sensor 17, filter bank 18, ultrasonic sensor group 19, main tube 20, upper tube 21, tee 22, lower tube 23, spray cap 24, elbow I25, elbow II 26, laminar flow nozzle a1. spray head conduit assembly I a2, spray head conduit assembly II b1. spray head assembly I b2. spray head assembly II cc 1, laminar flow nozzle assembly I c2. laminar flow nozzle assembly II c3. laminar flow nozzle assembly III c4., laminar flow nozzle assembly IV e, fruit tree if, fruit tree II
Detailed Description
The invention is described below with reference to the accompanying drawings.
As shown in fig. 1, the orchard targeted spraying control system based on the laminar flow layer comprises 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 drives a pressure regulator 9, an electromagnetic valve 11 and an anti-dripping valve 12 of the variable pesticide application module A respectively; the microcontroller 1 is also connected with a filter of the 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 valve 12 in the variable dispensing 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 the bent pipe I24 and the 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 tube 15 of the laminar flow information acquisition module B are arranged in an outward direction and fixedly connected to the near outer end of the laminar flow spray tube 26 of the variable dosing module A, wherein the capillary tube 15 is arranged right below the pressure sensor 16 and between the bent tube II 25 and the lower end of the bent tube I24 in the variable dosing 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 dosing module A, and are positioned at the communication part of the tee joint 21 and the main pipe 19 in the variable dosing module A and between the upper tee joint and the lower tee joint. The microcontroller 1 can be used for adjusting the pressure of the medicine box 5, adjusting the opening of the electromagnetic valve 11, controlling the anti-dripping valve 12, acquiring the volume of the canopy of the fruit tree and acquiring the laminar flow. The variable dispensing module A is mainly responsible for receiving opening signals of the electromagnetic valve 11, pressure adjusting signals of the medicine box 1 and control signals of the drip-proof valve 12 transmitted by the microcontroller 1, so that variable spraying is realized.
The variable dispensing module A shown in figures 2 to 7 consists of a medicine box 5, a filter I6, a pump 7, a filter II 8, a pressure regulator 9, a pipeline diverter group 10, a main pipe 19, a nozzle pipeline assembly Ia 1 and a nozzle pipeline assembly IIa 2, wherein the pressure regulator 9 is positioned at the joint 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 diverter group 10 consists of a pipeline diverter I10 a and a pipeline diverter 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 nozzle pipeline component Ia 1 and the structure of the nozzle pipeline component IIa 2 are the same, and each nozzle pipeline component is 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 have the same structure and are composed of a spray head cover 23, a laminar flow spray pipe assembly ic 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 ic 1, the laminar flow spray pipe assembly ic 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 ic 1, the laminar flow spray pipe assembly ic 2, the laminar flow spray pipe assembly IIIc 3 and the laminar flow spray pipe assembly IVc 4 have the same structure and are composed of an electromagnetic valve 11, an anti-drip valve 12, an elbow II 25, an elbow I24, a laminar flow spray pipe 26 and a nozzle 13a, wherein the electromagnetic valve 11 and the anti-drip valve 12 are arranged inwards and outwards and fixedly connected in the near inner end of the laminar flow spray pipe 26, and the lower ends of the elbow I24 and the elbow II 25 are arranged inwards and communicated with the near outer end of the laminar flow spray pipe 26; the nozzle 13a is fixedly connected to the outer end of the laminar flow nozzle 26; the laminar flow spray pipe assembly ic 1, the laminar flow spray pipe assembly ic 2, the laminar flow spray pipe assembly ic 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 ic 2, the laminar flow spray pipe assembly ic 3 and the laminar flow spray pipe assembly IVc 4 are communicated with the outer end of the pipeline diverter I10 a; the pipeline diverter I10 a of the spray head component Ib 1 is communicated with the upper end of the tee joint 21 through an upper pipe 20; the pipeline diverter II 10b of the spray head assembly IIb 2 is communicated with the lower end of the tee joint 21 through a lower pipe 22; the 4-8 spray nozzle pipeline assemblies a1 are arranged in left and right rows, namely 2-4 spray nozzle pipeline assemblies a1 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 dispensing module A is mainly responsible for receiving opening signals of the electromagnetic valve 11, pressure adjusting signals of the medicine box 5 and control signals of the drip-proof valve 12 transmitted by the microcontroller 1, so as to realize variable spraying.
The laminar flow information acquisition module B consists of a rectifier 14, a capillary tube 15 and a pressure sensor 16, wherein the rectifier 14 is arranged on the inner side of the capillary tube 15, and the inner and outer ends of the pressure sensor 16 are respectively arranged on the inner and outer ends of the capillary tube 15. Laminar flow is a state of fluid flow that is laminar. The fluid exhibits laminar flow at low velocity in the tube, and the particles move in a smooth straight line in a direction parallel to the tube axis. In laminar flow conditions, the drag frictional drag is entirely caused by viscous friction. Laminar flow can reduce frictional resistance, so that the actual flow rate of the medicine can be accurately obtained through pressure difference. To ensure laminar flow of the drug, it is generally desirable that the tube diameter be small, so that capillary 15 is typically used to make a laminar flow element. The flow of a single capillary tube is small, and in order to realize larger flow measurement, a mode of connecting a plurality of capillary tubes in parallel can be adopted. The laminar flow layer information acquisition module B mainly realizes the measurement of the drug flow rate through the pressure difference generated when the drug flows through the capillary tube 15, and the microcontroller 1 compares the measured drug flow rate with the decision drug flow rate, so that the opening of the electromagnetic valve 11 is feedback controlled.
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 at the front part of the ultrasonic sensors. The canopy volume acquisition module C is mainly responsible for acquiring fruit tree canopy information, the ultrasonic sensor group 18 continuously sends out signals in the advancing process of the tool, the signals are reflected after encountering the fruit tree canopy, and the receiver of the ultrasonic sensor group 18 receives the signals, so that the fruit tree canopy information is acquired in real time.
The invention relates to a spraying method of a target spraying system for an orchard based on a laminar layer, which comprises the following steps:
1.1, the carrier carries a target spraying control system to drive along the planting 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 driving process; every moving distance Deltal of the carrier is used as a sampling interval, the fruit tree is scanned once, and the distance d of the outline of the crown is measured through sensors distributed at different heights i ；
1.2 distance d from the sensor acquired in step 1.1 to the contour of the crown i Calculating the distance D between the canopy and the trunk i The volume V of the fruit tree crown scanned by each sensor in the current sampling interval can be obtained according to the sampling interval Deltal and the distance h between the adjacent sensors i ；
D i ＝D-d i
S i ＝D i ×Δl
V i ＝S i ×h
1.3 the microcontroller 1 obtains the canopy volume 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 two ends of the capillary 15, and the pressure loss delta P in the whole process is respectively the along-line friction loss delta P from the pressure taking pipe orifice to the capillary inlet 1 Local loss of capillary inlet flow ΔP 2 Capillary laminar flow inlet section flow loss ΔP 3 Capillary inner layer flow full development section along-path friction loss delta P 4 Local loss of capillary outlet flow ΔP 5 And the frictional loss delta P along the path from the capillary outlet to the middle pressure-taking pipe orifice 6 ；
Δp＝ΔP 1 +AP 2 +ΔP 3 +ΔP 4 +ΔP 5 +ΔP 6
1.4 calculating the volume flow Q according to the radius r, the length L and the viscosity coefficient eta of the medicine of the capillary 15 for the pressure loss delta P acquired in the step 1.3;
1.5 the microcontroller 1 calculates the actual volume flow Q by step 1.4 and feedback controls the opening of the solenoid valve 11.
Claims (2)
1. The orchard targeted spraying control system based on the laminar flow 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-dripping valve (12) of the variable pesticide application module (A); the microcontroller (1) is also connected with a filter of the 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); the pressure sensor (16) of the laminar flow information acquisition module (B) is fixedly connected between the upper ends of the bent pipe I (24) and the bent pipe II (25) in the variable application module (A); the pressure sensor (16) is connected with the microcontroller (1) through the analog-to-digital converter (4); the rectifier (14) and the capillary tube (15) of the laminar flow information acquisition module (B) are arranged in an inward-outward direction and fixedly connected to the near outer end of the laminar flow spray tube (26) of the variable dosing module (A), wherein the capillary tube (15) is arranged right below the pressure sensor (16) and between the elbow II (25) and the lower end of the elbow I (24) in the variable dosing module (A); 8-16 ultrasonic sensors of an 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 dosing module (A), and are positioned at the communication part of a tee joint (21) and the main pipe (19) in the variable dosing module (A) and between an upper tee joint and a lower tee joint;
the laminar flow information acquisition module (B) consists of a rectifier (14), a capillary tube (15) and a pressure sensor (16), wherein the rectifier (14) is arranged at the inner side of 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);
the spraying method of the target spraying system for the orchard based on the laminar layer comprises the following steps:
the carrier carries the target spraying control system to run along the planting row of the fruit tree, and the distance D from the ultrasonic sensor group (18) to the trunk of the fruit tree is unchanged in the running process; scanning the fruit tree once by taking each moving distance Deltal of the carrier as a sampling interval, and measuring the distance di of the outline of the crown by sensors distributed at different heights;
calculating the distance Di between the canopy and the trunk of the tree for the distance Di between the acquired sensor and the outline of the tree crown, and obtaining the volume Vi of the tree crown scanned by each sensor in the current sampling interval according to the sampling interval Deltal and the distance h between the adjacent sensors;
Di＝D-di
Si＝Di×Δl
Vi＝Si×h
the microcontroller (1) obtains the volume of a canopy through the ultrasonic sensor group (18), the microcontroller (1) controls the opening of the electromagnetic valve (11), and when the medicine flows through the laminar flow information acquisition module (B), the pressure sensor (16) acquires pressure loss delta P generated at two ends of the capillary tube (15), and the pressure loss delta P in the whole process is respectively the along-line friction loss delta P1 from a pressure taking tube orifice to a capillary tube inlet, the capillary tube inlet flow local loss delta P2, the capillary tube laminar flow inlet section flow loss delta P3, the along-line friction loss delta P4 of a capillary tube inner laminar flow full development section, the capillary tube outlet flow local loss delta P5 and the along-line friction loss delta P6 from the capillary tube outlet to an intermediate pressure taking tube orifice;
Δp＝ΔP1+ΔP2+ΔP3+ΔP4+ΔP5+ΔP6
calculating the acquired pressure loss delta P according to the radius r, the length L and the viscosity coefficient eta of the capillary (15) to obtain the volume flow Q;
The variable pesticide application module (A) consists of a pesticide box (5), a filter I (6), a pump (7), a filter II (8), a pressure regulator (9), a pipeline diverter group (10), a main pipe (19), a spray nozzle pipeline assembly I (a 1) and a spray nozzle pipeline assembly II (a 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 is connected with the inner end of the tee joint (21); the pipeline diverter group (10) consists of a pipeline diverter I (10 a) and a pipeline diverter II (10 b); the input end of the pump (7) is communicated with the bottom of the medicine box (5) through the filter I (6), and the output end of the pump (7) is connected with the bottom end of the main pipe (19) through the filter II (8); the structure of the spray head pipeline assembly I (a 1) and the structure of the spray head pipeline assembly II (a 2) are the same, and are respectively in 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 (b 1) and a spray head component II (b 2); the spray head assembly I (b 1) and the spray head assembly II (b 2) are identical in structure, each of the spray head cover (23), the laminar flow spray pipe assembly I (c 1), the laminar flow spray pipe assembly II (c 2), the laminar flow spray pipe assembly III (c 3) and the laminar flow spray pipe assembly IV (c 4) is composed of the spray head cover (23), the laminar flow spray pipe assembly II (c 2), the laminar flow spray pipe assembly III (c 3) and the laminar flow spray pipe assembly IV (c 4), the structures of the laminar flow spray pipe assembly I (c 1), the laminar flow spray pipe assembly II (c 2), the laminar flow spray pipe assembly III (c 3) and the laminar flow spray pipe assembly IV (c 4) are identical, each of the spray head cover is composed of an electromagnetic valve (11), an anti-drip valve (12), an elbow II (25), an elbow I (24), a laminar flow spray pipe (26) and a spray nozzle (13 a), the electromagnetic valve (11) and the anti-drip valve (12) are arranged inwards and outwards and fixedly connected in the near inner end of the laminar flow spray pipe (26), the lower end of the elbow I (24) and the elbow II (25) are arranged inwards and are communicated with the near upper end of the laminar flow spray pipe (26). The nozzle (13 a) is fixedly connected to the outer end of the laminar flow spray pipe (26); the laminar flow spray pipe assembly I (c 1), the laminar flow spray pipe assembly II (c 2), the laminar flow spray pipe assembly III (c 3) and the laminar flow spray pipe assembly IV (c 4) are arranged in parallel up and down, and the inner ends of the laminar flow spray pipe assembly I (c 1), the laminar flow spray pipe assembly II (c 2), the laminar flow spray pipe assembly III (c 3) and the laminar flow spray pipe assembly IV (c 4) are communicated with the outer end of the pipeline diverter I (10 a); the pipeline diverter I (10 a) of the spray head assembly I (b 1) is communicated with the upper end of the tee joint (21) through an upper pipe (20); the pipeline diverter II (10 b) of the spray head assembly II (b 2) is communicated with the lower end of the tee joint (21) through a lower pipe (22); the 4-8 spray nozzle pipeline components (Ia 1) are arranged in left and right rows of 2-4 spray nozzle pipeline components, 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.
2. The system for controlling targeted spraying in a laminar-based orchard according to claim 1, wherein the canopy volume acquisition module (C) is composed of an ultrasonic sensor group (18) and a filter bank (17), wherein the ultrasonic sensor group (18) is composed of 8-16 ultrasonic sensors, the filter bank (17) is composed of 8-16 filters, and the filters matched with the ultrasonic sensors are disposed in front of the ultrasonic sensors.
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