CN113785816B - Accurate pesticide device that spouts based on BDS technique - Google Patents
Accurate pesticide device that spouts based on BDS technique Download PDFInfo
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- CN113785816B CN113785816B CN202111086434.4A CN202111086434A CN113785816B CN 113785816 B CN113785816 B CN 113785816B CN 202111086434 A CN202111086434 A CN 202111086434A CN 113785816 B CN113785816 B CN 113785816B
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- liquid
- telescopic rod
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- pesticide
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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
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, 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
Abstract
The invention discloses a BDS technology-based precise pesticide spraying device, which relates to the technical field of pesticide spraying, and is characterized in that a farmland is reasonably divided into regions, pesticide spraying columns are arranged in each region, infrared images of crops are acquired through an acquisition device, corresponding pest positions or fruit positions are obtained through processing, and crop pest killing work is realized through spraying a pesticide or fruit ripening work is realized through spraying ethylene. Through the level and the vertical position that rotate the shower nozzle, adjust the shower nozzle, every regional homoenergetic in guarantee farmland sprays the liquid medicine to adopt unmanned aerial vehicle to transport the liquid medicine, realize the supplementary work of liquid medicine, liberation manpower carries out automatic pesticide spray work. The invention provides a BDS technology-based precise pesticide spraying device, which is characterized in that automatically controlled pesticide spraying pipes are arranged in different areas to adjust the spraying positions, the positions of the spraying pipes are determined through the BDS technology, an unmanned aerial vehicle is controlled to supplement pesticide liquid, and automatic pesticide spraying work is realized.
Description
Technical Field
The invention relates to the technical field of pesticide spraying, in particular to a BDS technology-based precise pesticide spraying device.
Background
A BDS north-seeking satellite navigation system comprises a space section, a ground section and a user section, can provide high-precision, high-reliability positioning, navigation and time service for various users all day and all day around the world, has short message communication capacity, and initially has regional navigation, positioning and time service capacities, wherein the positioning precision is decimeter and centimeter level, the speed measurement precision is 0.2 meter/second, and the time service precision is 10 nanoseconds.
With the development of the construction and service capability of the Beidou system, related products are widely applied to the fields of transportation, marine fishery, hydrological monitoring, weather forecasting, geographic information mapping, forest fire prevention, communication time system, power scheduling, disaster relief and reduction, emergency search and rescue and the like, gradually permeate into the aspects of human social production and people life, and inject new vitality for global economy and social development.
For farmland planting, the pesticide spraying is needed to be carried out on plants according to needs, and the functions of pesticide spraying comprise insect prevention and disease prevention, insect control and disease treatment, plant resistance improvement, yield increase and income increase, precocity and ripening acceleration, sweetness increase and the like. However, the existing pesticide spraying work needs farmers to carry the pesticide box on the back to spray, and the work difficulty is high. And also consider the problem of pesticide liquid supplement.
To above-mentioned problem, this application provides an accurate pesticide device that spouts based on BDS technique combines traditional agricultural irrigation means, carries out regional division to the farmland, sets up automated control's pesticide spray tube in every division region to confirm the position of spray tube through the BDS technique, realize the replenishment of pesticide liquid medicine, realize automatic pesticide spraying work.
Disclosure of Invention
The invention aims to provide an accurate pesticide spraying device based on a BDS technology.
The invention provides a BDS technology-based precise pesticide spraying device, which comprises: dividing a farmland into a plurality of areas uniformly, and arranging a spraying assembly in each area; the spray assembly comprises:
the bottom of the vertical telescopic rod is fixed in the farmland;
the horizontal telescopic rod is rotatably arranged outside the vertical telescopic rod through a driving device;
the atomizing pipe is arranged at one end of the horizontal telescopic rod;
the spray head is arranged on the surface of the atomizing pipe;
the liquid medicine box is internally provided with a water level sensor;
the water pump is arranged at the inlet of the atomizing pipe and is communicated with the liquid medicine box through a water pipe;
the Beidou satellite positioning module is used for sending positioning information to the remote control end and the unmanned aerial vehicle;
the acquisition device is used for acquiring infrared images of crops;
the input end of the internal control end is electrically connected with the acquisition device and used for processing the received infrared images to obtain the position information of insects and fruits, the input end of the internal control end is also electrically connected with the water level sensor, and the output end of the internal control end is respectively electrically connected with the vertical telescopic rod, the horizontal telescopic rod and the water pump and used for adjusting the position of the spray head and the range of the liquid medicine sprayed by the spray head; and the internal control end is in communication connection with the remote control end.
Furthermore, a vertical liquid inlet pipe is arranged at the top of the liquid medicine box, a liquid inlet is formed in the side surface of the liquid inlet pipe, and a signal transmitting end is arranged on the inner wall, corresponding to the liquid inlet, of the liquid inlet pipe.
Further, set up liquid feeding box and give the liquid medicine box adds the liquid medicine, liquid feeding box sets up in unmanned aerial vehicle's bottom.
Further, the liquid feeding tank includes:
a liquid filling port;
the transfusion port is arranged at the bottom of the liquid adding box;
the L-shaped liquid outlet pipe comprises a vertical section and a horizontal section arranged at the bottom of the vertical section, the size of the horizontal section is smaller than that of the liquid inlet, a liquid outlet is arranged at the end part of the horizontal section, a signal receiving end is arranged on the side surface of the horizontal section, the L-shaped liquid outlet pipe is connected with the liquid conveying port, and a valve is arranged at the joint;
unmanned aerial vehicle control end, signal receiving terminal is connected to the input electricity, and the valve is connected to the output electricity, receives the signal of signal receiving terminal after, control the valve is opened.
Further, the driving device includes:
the motor is arranged on the side surface of the vertical telescopic rod and is electrically connected with the output end of the internal control end;
the driving gear is connected with a rotor of the motor;
and the driven gear is meshed with the driving gear, sleeved outside the vertical telescopic rod and connected to one end of the horizontal telescopic rod.
Further, vertical telescopic link top sets up energy supply device, energy supply device includes:
the back of the solar cell panel is provided with a screw which is in threaded connection with a screw hole in the top of the vertical telescopic rod;
and the storage battery is electrically connected with the solar cell panel.
Further, the acquisition device is an infrared sensor, and the infrared sensor is arranged outside the atomizing pipe.
Compared with the prior art, the invention has the following remarkable advantages:
the invention provides a BDS technology-based precise pesticide spraying device, which reasonably divides a farmland into regions, arranges pesticide spraying columns in each region, ensures that each region of the farmland can spray pesticide liquid by rotating a spray head and adjusting the horizontal and vertical positions of the spray head, adopts an unmanned aerial vehicle to convey the pesticide liquid, realizes the supplement work of the pesticide liquid, and liberates manpower to carry out automatic pesticide spraying work.
The invention provides a BDS technology-based precise pesticide spraying device, which is characterized in that an acquisition device is used for acquiring infrared images of crops, corresponding pest positions or fruit positions are obtained through processing, and pest killing work of the crops is realized by spraying pesticides or ripening work of fruits is realized by spraying ethylene. And the horizontal and vertical telescopic rods are controlled according to the positions of insects or fruits to adjust the position of the spray head.
The invention provides a BDS technology-based precise pesticide spraying device, which is used for acquiring the residual quantity of pesticide liquid by arranging a water level sensor and timely arranging the supplement of the pesticide liquid. And confirm the position of spraying the post through big dipper satellite positioning module, realize the affirmation of the inlet position of liquid medicine case according to signal transmission end cooperation signal receiving terminal, realize that unmanned aerial vehicle transports the purpose of liquid medicine.
Drawings
Fig. 1 is a structure diagram of a spraying column of a precise pesticide spraying device based on BDS technology provided by an embodiment of the invention;
fig. 2 is a structural diagram of a driving device of a precise pesticide spraying device based on a BDS technology, which is provided by an embodiment of the invention;
fig. 3 is a structural diagram of an energy supply device of an accurate pesticide spraying device based on the BDS technology, provided by an embodiment of the invention;
fig. 4 is a structural diagram of a liquid medicine tank of an accurate pesticide spraying device based on the BDS technology provided by the embodiment of the invention;
fig. 5 is a structural diagram of a liquid adding tank of an accurate pesticide spraying device based on the BDS technology provided by the embodiment of the invention;
fig. 6 is a composition diagram of a precise pesticide spraying system of a precise pesticide spraying device based on the BDS technology according to an embodiment of the present invention.
Description of reference numerals: 1-spraying component, 2-vertical telescopic rod, 3-horizontal telescopic rod, 4-atomizing pipe, 5-spray head, 6-liquid medicine box, 7-water pump, 8-liquid adding box, 9-collecting device, 201-internal control end, 202-motor, 203-driving gear, 204-driven gear, 205-solar panel, 601-liquid inlet pipe, 602-liquid inlet, 801-horizontal section and 802-vertical section.
Detailed Description
The technical solutions of the embodiments of the present invention are clearly and completely described below with reference to the drawings in the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
The Beidou satellite navigation system (BDS) consists of a space section, a ground section and a user section:
the space segment is composed of a number of geostationary orbit satellites, inclined geosynchronous orbit satellites and medium-circle geostationary orbit satellites.
The ground section comprises a plurality of ground stations such as a master control station, a time synchronization/injection station, a monitoring station and the like, and an inter-satellite link operation management facility.
The user segment comprises basic products such as chips, modules and antennas of the Beidou and other compatible satellite navigation systems, terminal equipment, application systems, application services and the like.
The Beidou satellite navigation system has the following characteristics:
first, the mixed constellation that beidou system space section adopted three kinds of orbit satellite to constitute, it is more than the high orbit satellite with other satellite navigation systems, anti ability of sheltering from is strong, and especially low latitude area performance characteristics are more obvious.
And secondly, the Beidou system provides navigation signals of a plurality of frequency points, and service precision can be improved by combining and using multi-frequency signals and the like.
And thirdly, the Beidou system innovatively integrates navigation and communication capabilities, and has five functions of real-time navigation, quick positioning, accurate time service, position reporting and short message communication service.
Consequently, BDS technique is applied to this application, realizes spraying the quick location of subassembly, realizes unmanned aerial vehicle's real-time navigation to and realize and remote control end between short message communication service, through acquireing a plurality of in real time and spraying the positional information of subassembly and water level information, control unmanned aerial vehicle carries out this and sprays the interpolation work of subassembly liquid medicine.
Referring to fig. 1-6, the invention provides a precise pesticide spraying device based on the BDS technology, which uniformly divides a farmland into a plurality of areas, and a spraying assembly 1 is arranged at the center of each area, so that the areas can be covered conveniently for pesticide spraying; the spray assembly 1 comprises:
the bottom of the vertical telescopic rod 2 is fixed in the farmland, and the height of the spraying position is adjusted by adjusting the height of the vertical telescopic rod 2;
the horizontal telescopic rod 3 is rotatably installed outside the vertical telescopic rod 2 through a driving device, the horizontal length of the spraying position is adjusted by adjusting the length of the horizontal telescopic rod 3, and the horizontal telescopic rod 3 is rotated in the horizontal direction through the driving device, so that the spraying work of covering the whole area is realized;
the atomizing pipe 4 is internally provided with an atomizing device and used for dispersing liquid medicine into tiny liquid drops and spraying the tiny liquid drops in a fog shape, the atomizing pipe 4 is arranged at one end of the horizontal telescopic rod 3, and the position of the atomizing pipe 4 is driven to change by the length change of the horizontal telescopic rod 3;
the spray head 5 is arranged on the surface of the atomizing pipe 4 and is used for outputting the atomized liquid medicine in the shape of fine liquid drops;
the liquid medicine box 6 is internally provided with a water level sensor, and when the water level reaches a preset value, a signal is sent to a remote control end to supplement liquid medicine;
the water pump 7 is arranged at the inlet of the atomizing pipe 4, is communicated with the liquid medicine box 6 through a water pipe, and pumps the liquid medicine in the liquid medicine box 6 into the atomizing pipe 4 for atomization;
the Beidou satellite positioning module is used for sending positioning information of the spraying assembly 1 to the remote control end and the unmanned aerial vehicle;
the acquisition device 9 is an infrared sensor, is arranged outside the atomizing pipe 4 and is used for acquiring infrared images of crops;
the input end of the internal control end 201 is electrically connected with the acquisition device 9 and is used for processing the received infrared images, obtaining the position information of insects and fruits in the farmland according to the infrared information, realizing the acquisition work of the infrared images at different positions by adjusting the position of the atomizing pipe 4, and analyzing to obtain the infrared information of the insects and the fruits at different positions; the input end is also electrically connected with the water level sensor and is used for acquiring the water level of the liquid medicine in real time and identifying the residual amount of the liquid medicine; the output end of the water pump is respectively and electrically connected with the vertical telescopic rod 2, the horizontal telescopic rod 3 and the water pump 7 and is used for adjusting the position of the spray head 5 and the range of the liquid medicine sprayed by the spray head 5, and the water pump 7 pressurizes to enable the spraying range to be farther; the internal control end 201 is connected to the remote control end for communication, and is configured to send water level information or other messages to the remote control end.
Referring to fig. 3, wherein, vertical telescopic rod 2 top sets up energy supply device, and energy supply device includes:
the back of the solar cell panel 205 is provided with a screw which is in threaded connection with a screw hole at the top of the vertical telescopic rod 2;
the battery is connected with solar cell panel 205 electricity for supply power for inside control end 201, vertical telescopic link 2, horizontal telescopic link 3, water pump 7, collection system 9 and level sensor, guarantee the normal operating of whole spraying assembly 1.
Example 1
Referring to fig. 4, a vertical liquid inlet pipe 601 is arranged at the top of the liquid medicine box 6, a liquid inlet 602 is arranged on the side surface of the liquid inlet pipe 601, the side surface is arranged to prevent dust and rainwater from falling into the liquid medicine box, the purity of the liquid medicine is ensured, and a signal transmitting end is arranged on the inner wall of the liquid inlet pipe 601 corresponding to the liquid inlet 602.
Set up liquid feeding box 8 and add the liquid medicine to liquid feeding box 6, liquid feeding box 8 sets up in unmanned aerial vehicle's bottom, by the full liquid medicine of unmanned aerial vehicle side addition, transports suitable spraying post 1 department with it.
Referring to fig. 5, the filling tank 8 comprises:
the liquid adding port is used for adding liquid medicine;
the transfusion port is arranged at the bottom of the liquid adding box 8 and is used for outputting liquid medicine;
an L-shaped liquid outlet pipe comprises a vertical section 802 and a horizontal section 801 arranged at the bottom of the vertical section 802, wherein the size of the horizontal section 801 is smaller than that of the liquid inlet 602, the horizontal section 801 is conveniently and easily placed into the liquid inlet 602, a liquid outlet is formed in the end part of the horizontal section 801, liquid medicine is enabled to fall into the liquid medicine box 6 when liquid medicine is added, a signal receiving end is arranged on the side surface of the horizontal section 801, the L-shaped liquid outlet pipe is connected with a liquid conveying port, a valve is arranged at the connection position, when an unmanned aerial vehicle reaches the positioning position, the position of the liquid medicine box 6 is determined through an automatic camera of the unmanned aerial vehicle, the L-shaped liquid outlet pipe is enabled to enter the liquid inlet 602, the signal receiving end is in butt joint with the signal transmitting end, and after the signal receiving end is in butt joint with the signal transmitting end, the valve is controlled to be opened, and liquid medicine is conveyed;
unmanned aerial vehicle control end, signal receiving terminal is connected to the input electricity, and the valve is connected to the output electricity, receives the signal of signal receiving terminal after, and control flap opens.
Example 2
Referring to fig. 2, the driving apparatus includes:
the motor 202 is arranged on the side surface of the vertical telescopic rod 2, is electrically connected with the output end of the internal control end 201, and controls the starting, stopping and rotating speed of the motor 202 by the internal control end 201;
the driving gear 203 is connected with a rotor of the motor 202 and is driven by the motor 202 to rotate;
driven gear 204, with the meshing of driving gear 203, cup joint in the outside of vertical telescopic link 2, connect in the one end of horizontal telescopic link 3, through the engaged structure for driven gear 204 drives atomizing pipe 4 and rotates, realizes the liquid medicine of overlay type and sprays work.
The working principle is as follows: referring to the structure of fig. 1 and the system configuration of fig. 6, when the amount of liquid medicine in the liquid medicine tank 6 is sufficient, the internal controller 201 acquires the acquired infrared information, analyzes and processes the position of insects or fruits, the internal controller 201 controls the vertical telescopic rod 2, the horizontal telescopic rod 3 and the driving device to adjust the position of the spray head, and the liquid medicine in the liquid medicine tank 6 is pumped into the atomizing pipe 4 for atomization and then is sprayed out by the spray head to spray the target position.
If not for insecticidal or ripening to the farmland, then need not adjust according to infrared information, evenly cover whole region and spray can just.
Data obtained by the water level sensor are judged, when the liquid medicine amount in the liquid medicine box 6 is insufficient, the internal controller 201 sends information to the remote control end, the remote control end obtains liquid supplementing information and position information, the unmanned aerial vehicle is controlled to reach the position to supplement liquid, and in the implementation process of the whole system, the remote control end, the unmanned aerial vehicle and the spraying assembly 1 are all determined by the Beidou satellite system.
After the unmanned aerial vehicle reaches a preset position, the position of the liquid medicine box 6 is determined through the camera, the liquid inlet 602 is in butt joint with the horizontal section 801 of the L-shaped liquid outlet pipe, and liquid medicine conveying and supplementing are achieved.
The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the above embodiments, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (4)
1. A BDS technology-based precise pesticide spraying device is characterized in that a farmland is uniformly divided into a plurality of areas, and each area is internally provided with a spraying assembly (1); the spray assembly (1) comprises:
the bottom of the vertical telescopic rod (2) is fixed in the farmland;
the horizontal telescopic rod (3) is rotatably arranged outside the vertical telescopic rod (2) through a driving device;
the atomizing pipe (4) is arranged at one end of the horizontal telescopic rod (3);
the spray head (5) is arranged on the surface of the atomizing pipe (4);
a liquid medicine box (6) in which a water level sensor is arranged;
the water pump (7) is arranged at the inlet of the atomizing pipe (4) and is communicated with the liquid medicine box (6) through a water pipe;
the Beidou satellite positioning module is used for sending positioning information to the remote control end and the unmanned aerial vehicle;
the acquisition device (9) is used for acquiring infrared images of crops;
the input end of the internal control end (201) is electrically connected with the acquisition device (9) and is used for processing the received infrared images to obtain the position information of insects and fruits, the input end of the internal control end is also electrically connected with the water level sensor, and the output end of the internal control end is respectively electrically connected with the vertical telescopic rod (2), the horizontal telescopic rod (3) and the water pump (7) and is used for adjusting the position of the spray head (5) and the range of the liquid medicine sprayed by the spray head (5); the internal control end (201) is in communication connection with a remote control end;
a vertical liquid inlet pipe (601) is arranged at the top of the liquid medicine box (6), a liquid inlet (602) is arranged on the side surface of the liquid inlet pipe (601), and a signal transmitting end is arranged on the inner wall of the liquid inlet pipe (601) corresponding to the liquid inlet (602); arranging a liquid adding box (8) to add liquid medicine into the liquid medicine box (6), wherein the liquid adding box (8) is arranged at the bottom of the unmanned aerial vehicle; the liquid adding tank (8) comprises:
a liquid filling port;
the transfusion port is arranged at the bottom of the liquid adding box (8);
the L-shaped liquid outlet pipe comprises a vertical section (802) and a horizontal section (801) arranged at the bottom of the vertical section (802), the size of the horizontal section (801) is smaller than that of the liquid inlet (602), a liquid outlet is arranged at the end part of the horizontal section (801), a signal receiving end is arranged on the side surface of the horizontal section (801), the L-shaped liquid outlet pipe is connected with the liquid conveying port, and a valve is arranged at the connection part;
unmanned aerial vehicle control end, signal receiving terminal is connected to the input electricity, and the valve is connected to the output electricity, receives the signal of signal receiving terminal after, control the valve is opened.
2. The BDS technology-based precise pesticide spraying device according to claim 1, wherein the driving device comprises:
the motor (202) is arranged on the side surface of the vertical telescopic rod (2) and is electrically connected with the output end of the internal control end (201);
a drive gear (203) connected to a rotor of the motor (202);
and the driven gear (204) is meshed with the driving gear (203), sleeved outside the vertical telescopic rod (2) and connected to one end of the horizontal telescopic rod (3).
3. The BDS technology-based precise pesticide spraying device is characterized in that a power supply device is arranged at the top of the vertical telescopic rod (2), and comprises:
the back of the solar cell panel (205) is provided with a screw which is in threaded connection with a screw hole in the top of the vertical telescopic rod (2);
and a storage battery electrically connected to the solar cell panel (205).
4. The BDS technology-based precise pesticide spraying device is characterized in that the acquisition device (9) is an infrared sensor which is arranged outside the atomizing pipe (4).
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| CN202111086434.4A CN113785816B (en) | 2021-09-16 | 2021-09-16 | Accurate pesticide device that spouts based on BDS technique |
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| CN114176063B (en) * | 2021-12-23 | 2023-08-18 | 襄阳金美科林农业开发有限公司 | Robot for spraying insecticide |
| CN114600852B (en) * | 2022-02-18 | 2023-05-26 | 海南硕思云网络科技有限公司 | Pesticide spraying system of green house |
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| CN103291018B (en) * | 2013-06-24 | 2015-02-25 | 四川大学 | Desilting device for rainwater on roof |
| CN105446309A (en) * | 2015-12-31 | 2016-03-30 | 西北工业大学 | Agricultural intelligent analysis monitoring system based on IOT (Internet of Things) |
| CN106054917A (en) * | 2016-05-27 | 2016-10-26 | 广州极飞电子科技有限公司 | Unmanned aerial vehicle flight control method and device, and remote controller |
| CN108820130B (en) * | 2018-04-13 | 2021-08-06 | 上海大学 | Unmanned boat offshore air refueling system and method |
| CN108888950B (en) * | 2018-06-15 | 2020-01-10 | 腾讯科技（深圳）有限公司 | Method, device and equipment for displaying game interface in terminal and storage medium |
| CN211532493U (en) * | 2020-01-13 | 2020-09-22 | 广西宏辰电子科技有限公司 | Accurate pesticide spraying system for farmland |
| CN212629440U (en) * | 2020-07-15 | 2021-03-02 | 刘晓双 | Garden watering device |
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Application publication date: 20211214 Assignee: Jiangsu Xinnongfu Technology Co.,Ltd. Assignor: JIANGSU FOOD & PHARMACEUTICAL SCIENCE COLLEGE Contract record no.: X2023980036014 Denomination of invention: A precise pesticide spraying device based on BDS technology Granted publication date: 20230317 License type: Common License Record date: 20230529 |