CN114145280B - Gardens plant diseases and insect pests intelligent monitoring prevention and cure device - Google Patents
Gardens plant diseases and insect pests intelligent monitoring prevention and cure device Download PDFInfo
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- CN114145280B CN114145280B CN202111459030.5A CN202111459030A CN114145280B CN 114145280 B CN114145280 B CN 114145280B CN 202111459030 A CN202111459030 A CN 202111459030A CN 114145280 B CN114145280 B CN 114145280B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
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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
The invention relates to an intelligent monitoring and control device for garden diseases and insect pests, which comprises a medicine preparation unit, a control unit and a control unit, wherein the medicine preparation unit is used for preparing medicines for the diseases and the insect pests, and comprises a medicine storage mechanism for storing medicines for the diseases and the insect pests and a medicine preparation mechanism arranged below the medicine storage mechanism; the spraying unit is connected with the medicine preparation unit and is used for spraying the prepared medicine to the current area; the monitoring unit is arranged below the medicine preparation unit and used for acquiring the pest and disease occurrence condition of the current area; the detection unit is arranged outside the sprayer and comprises a plurality of drift amount detectors for acquiring the drift amount of the medicine during spraying; and the central control unit acquires the current regional pest occurrence situation according to the monitoring unit, acquires the type and concentration of the to-be-prepared medicine, controls the medicine preparation mechanism to prepare the to-be-prepared medicine, and controls the spraying mechanism to apply the medicine to the pest occurrence region.
Description
Technical Field
The invention relates to the field of plant diseases and insect pests, in particular to an intelligent monitoring and preventing device for garden plant diseases and insect pests.
Background
In recent years, in cities and towns of China, planting, landscaping and management and protection of greening plants are carried out to different degrees, but the landscaping plants are often damaged by diseases and insect pests. In landscaping, people generally recognize that planting and landscaping are far from sufficient in order to achieve greening and beautifying effects, and effective management and protection of greening plants are also important for pest control. In municipal garden afforestation's maintenance work, need careful care and protection to landscape plant, landscape plant's the harm of plant diseases and insect pests not only influences city garden's construction and causes very big economic loss, will carry out effectual landscape plant disease and insect pest prevention and cure work to different landscape plant diseases and insect pests, alleviate or eliminate its harm partially through the prevention and cure to landscape plant harmful organism, make landscape plant can normal growth, develop full play its due afforestation, beautify the function. In order to prevent the plant from being eroded by diseases and pests, the pesticide is required to be sprayed timely and accurately, and the diseases and pests of garden crops can bring huge economic loss due to poor control. The method can be used for carrying out on-site automatic control in all directions in a targeted manner, and is an important measure for controlling the plant diseases and insect pests of garden crops, protecting the garden crops and reducing pesticide pollution.
Disclosure of Invention
Therefore, the invention provides an intelligent monitoring and control device for garden diseases and insect pests, which can solve the technical problem that a to-be-controlled area cannot be sprayed with a pesticide according to the occurrence condition of the diseases and insect pests.
In order to achieve the above object, the present invention provides an intelligent monitoring and controlling device for garden diseases and insect pests, comprising:
the medicine preparation unit is used for preparing the medicine for diseases and insect pests and comprises a medicine storage mechanism for storing the medicine for diseases and insect pests and a medicine preparation mechanism arranged below the medicine storage mechanism;
the spraying unit is connected with the medicine preparation unit and is used for spraying the prepared medicines to the current area, and the spraying unit comprises a sprayer for spraying the medicines, a telescopic pipe connected with the sprayer, a first motor for controlling the telescopic length of the sprayer and a second motor for adjusting the spraying angle of the sprayer;
the monitoring unit is arranged below the medicine preparation unit and used for acquiring the pest and disease occurrence condition of the current area;
the detection unit is arranged outside the sprayer and comprises a plurality of drift amount detectors for acquiring the drift amount of the medicine during spraying;
the central control unit is connected with the medicine preparation unit, the spraying unit and the monitoring unit, acquires the type and the concentration of the medicine to be prepared according to the current disease and insect pest occurrence condition of the area acquired by the monitoring unit, controls the medicine preparation mechanism to prepare the medicine to be prepared, and controls the spraying unit to apply the medicine to the disease and insect pest occurrence area;
the central control unit acquires the current pest and disease types according to the monitoring unit, controls the medicine preparation unit to prepare the medicine used by the current pest and disease, acquires a medicine application area according to the current pest and disease incidence, and controls the spraying unit to apply the medicine to the area to be controlled according to the position of the area to be controlled, wherein the central control unit compares the drift amount in each direction acquired after the spraying unit sprays the medicine to the area to be controlled for the first time with a preset value, and adjusts the spraying height, the spraying angle and the spraying medicine conveying amount of the spraying unit so that the application of the spraying unit to the area to be controlled meets a preset standard.
Further, the central control unit presets a disease and pest type L, and sets a first disease and pest type L1 and a second disease and pest type L2 · mth disease and pest Lm, the drug preparation unit includes a plurality of drug storage mechanisms, wherein the first drug storage mechanism stores a drug for controlling the first disease and pest, the second drug storage mechanism stores a drug for controlling the second disease and pest, the mth drug storage mechanism stores a drug for controlling the mth disease and pest, the central control unit determines, according to the disease and pest type Lj acquired by the monitoring unit, to inject the drug of the jth drug storage mechanism into the drug preparation mechanism to prepare the drug, and j =1,2.. m.
Further, the central control unit divides the current area to be monitored into a plurality of areas to be controlled according to a preset unit area, the central control unit obtains disease and pest incidence degree a1, a 2. cndot. an of each area to be controlled through the monitoring unit, wherein, the disease and pest incidence degree a1 of the first area to be controlled, the disease and pest incidence degree a 2. cndot. the disease and pest incidence degree an of the nth area to be controlled, the central control unit obtains the disease and pest incidence degree ai of the ith area to be controlled, compares the disease and pest incidence degree ai with a preset incidence degree standard value A0, the central control unit judges the incidence area, wherein,
when ai is less than or equal to A0, the central control unit judges that the ith area to be prevented and treated is not a disease area;
and when ai is more than A0, the central control unit judges that the ith area to be controlled is a disease area.
Further, the central control unit judges that the ith area is a disease area, compares the disease incidence bi of the disease and insect in the current area to be prevented and controlled with the reference value of the incidence of each disease and insect, and selects the spraying length and the medicine spraying delivery capacity of the spraying unit, wherein,
when bi is less than or equal to Lj1, the central control unit selects a first preset spraying medicine conveying amount W1 as the spraying medicine conveying amount of the spraying unit and selects a first preset spraying length D1 as the spraying length of the spraying unit;
when Lj1 is more than bi and less than Lj2, the central control unit selects a second preset spraying medicine conveying amount W2 as the spraying medicine conveying amount of the spraying unit and selects a second preset spraying length D2 as the spraying length of the spraying unit;
when bi is larger than or equal to Lj2, the central control unit selects a third preset spraying medicine conveying amount W3 as the spraying medicine conveying amount of the spraying unit and selects a third preset spraying length D3 as the spraying length of the spraying unit;
the central control unit sets disease and pest incidence reference values, sets a first preset disease and pest incidence reference value L11 of a first disease and pest, a second preset disease and pest incidence reference value L12 of the first disease and pest, a first preset disease and pest incidence L21 of a second disease and pest, a first preset disease and pest incidence L22 of the second disease and pest, a first preset disease and pest incidence Lm1 of an mth disease and pest, and a second preset disease and pest incidence Lm2 of the mth disease and pest, wherein j =1,2, and · m, the central control unit presets a spraying medicine conveying amount W, sets a first preset spraying medicine conveying amount W1, a second preset spraying medicine conveying amount W2 and a third preset spraying medicine conveying amount W3, the central control unit presets a spraying length D, and sets a first preset spraying length D1, a second preset spraying length D2 and a third preset spraying length D3.
Further, the detecting unit comprises a plurality of drift amount detectors arranged outside the sprayer, wherein a first drift amount detector is arranged in the first direction of the spraying unit, a second drift amount detector is arranged in the second direction of the spraying unit, a third drift amount detector is arranged in the third direction of the spraying unit, a fourth drift amount detector is arranged in the fourth direction of the spraying unit, the drift amount obtained by the first drift amount detector is p1, the drift amount obtained by the second drift amount detector is p2, the drift amount obtained by the third drift amount detector is p3, the drift amount obtained by the fourth drift amount detector is p4, the central control unit takes the central point of the morbidity area as a spraying starting point, the morbidity area is sprayed according to the obtained spraying length and the spraying medicine conveying amount, the central control unit obtains the drift amount p0 after the spraying unit sprays the current morbidity area for the first time through the detecting unit, setting p0= p1+ p2+ p3+ p4, the central control unit adjusts the spraying height according to the obtained drift amount p0 after the first spraying compared with the preset drift amount, wherein,
when P0 is not more than P1, the central control unit does not adjust the spraying height h;
when P1 < P0 < P2, the central control unit lowers the spray height h to h1, setting h1= h × (1- (P0-P1) × (P2-P0)/(P1 × P2))
When P0 is more than or equal to P2, the central control unit adjusts the spraying length and the sprayed medicine conveying amount according to the drift amount in each direction obtained by each drift amount detector;
the central control unit presets a drift amount P, sets a first preset drift amount P1 and a second preset drift amount P2.
Further, the central control unit determines to adjust the spraying length and the sprayed medicine delivery amount, and the central control unit adjusts the spraying length and the sprayed medicine delivery amount by comparing drift amounts obtained by the drift amount detectors arranged oppositely,
when P1+ P3 is more than or equal to P2+ P4, the central control unit reduces the sprayed medicine delivery quantity W alpha to W alpha 1, and sets W alpha 1= W alpha x (1- (P1 + P3-P2-P4)/P2);
when P1+ P3 < P2+ P4, the central control unit reduces the spraying length D alpha of the spraying unit to D alpha 1, and sets D alpha 1= D alpha x (1- (P2+ P4-P1-P3)/P2);
wherein α =1,2, 3.
Further, the central control unit acquires the central point of each monitoring area and the angle of the intelligent garden pest monitoring and controlling device relative to the initial position of the spraying unit as the spraying angle of the spraying unit, and the central control unit adjusts the spraying angle according to the comparison of the drift amounts acquired by the drift amount detectors arranged adjacently,
when p1+ p2 is more than or equal to p3+ p4, the central control unit reduces the spraying angle theta to theta 1, and the central control unit increases the spraying medicine delivery amount W alpha to W alpha 2;
when p1+ p2 < p3+ p4, the central control unit expands the spray angle theta to theta 2, and the central control unit increases the spray drug delivery amount W alpha to W alpha 3.
Further, the sum of the adjacent direction drift amounts obtained by the drift amount detectors adjacent to the center control unit, wherein the sum of the first direction drift amount and the second direction drift amount is equal to or greater than the sum of the third direction drift amount and the fourth direction drift amount, the center control unit reduces the spray angle θ to θ 1, sets θ 1= θ x (1- (P1 + P2-P3-P4)/P2), the center control unit increases the spray medicine delivery amount W α to W α 2, sets W α 2= W α x (1+ (P1 + P2-P68562-P4)/P2), the sum of the first direction drift amount and the second direction drift amount is less than the sum of the third direction drift amount and the fourth direction drift amount, the center control unit increases the spray angle θ 2, sets θ 2= θ x (1 = θ x (P3+ P4-P2-P2) + P2), and increases the spray medicine delivery amount to W633/W853, w α 3= W α x (1+ (P3+ P4-P1-P2)/P2).
Further, the central control unit presets a water pump pressure standard value F, compares the regulated spray drug delivery quantity W alpha beta with a preset spray drug delivery quantity standard value W0, and regulates the water pump pressure standard value, wherein,
when W alpha beta is larger than or equal to W0, the central control unit increases the standard value F of the water pump pressure to F1, and sets F1= F x (1+ (W alpha beta-W0)/W0);
when W α β < W0, the central control unit lowers the standard value F of the water pump pressure to F2, setting F2= fx (1- (W0-W α β)/W0);
wherein β =1,2, 3.
Further, the method comprises the following steps of; the central control unit is preset with a standard value W0 of the sprayed drug delivery quantity, and the central control unit adjusts the spraying frequency of the spraying unit according to the comparison between the adjusted sprayed drug delivery quantity and the preset standard value of the sprayed drug delivery quantity, wherein,
when W alpha beta is larger than or equal to W0, the central control unit reduces the spraying frequency G to G1, sets G1= G x (1- (W alpha beta-W0)/W0), and rounds downwards if G1 is not an integer;
when W α β < W0, the central control unit increases the spraying frequency G to G2, setting G2= G × (1+ (W0-W α β)/W0), and rounding up if G2 is not an integer.
Compared with the prior art, the control device has the advantages that the control device is provided with the central control unit, the central control unit obtains current pest and disease types according to the monitoring unit, controls the medicine preparation unit to prepare medicines used by current pests and diseases, obtains a medicine application area according to the current pest and disease incidence, controls the spraying unit to apply the medicines to the area to be controlled according to the position of the area to be controlled, and compares drift amounts in all directions obtained after the spraying unit sprays the medicines to the area to be controlled for the first time with preset values, and the central control unit adjusts the spraying height, the spraying medicine conveying amount and the spraying medicine conveying amount of the spraying unit to enable the spraying unit to apply the medicines to the area to be controlled to meet preset standards.
Particularly, the current to-be-monitored area is divided into a plurality of to-be-controlled areas, the central control unit compares the disease and insect damage degrees of the to-be-controlled areas obtained by the monitoring unit with preset values, and judges whether the to-be-controlled areas are disease-affected areas, wherein if the disease and insect damage degrees of the current to-be-controlled areas obtained by the central control unit are smaller than or equal to preset standard values, the current to-be-controlled areas are light in disease and insect damage, the central control unit judges that the current to-be-controlled areas are not disease-affected areas, and if the disease and insect damage of the current to-be-controlled areas obtained by the central control unit is larger than the preset standard values, the current to-be-controlled areas are light in disease and insect damage.
Particularly, the invention divides the disease incidence of each disease and insect pest into two standards, the central control unit compares the disease incidence of the disease and insect pest of the area to be controlled and the preset two standard values according to the monitoring unit, and selects the optimal spraying length and the optimal spraying medicine conveying amount, wherein if the disease and insect pest incidence of the area to be controlled and the detected unit is less than or equal to the first preset disease incidence reference value of the disease and insect pest, the current disease and insect pest of the area to be controlled is not serious, the central control unit selects the minimum spraying medicine conveying amount and the minimum spraying length to spray the medicine to the area to be controlled, so as to determine the medicine spraying range of the area to be controlled and avoid the waste of the medicine, if the disease and insect pest incidence of the area to be controlled and the detected unit is between the first preset disease incidence reference value and the first preset disease incidence reference value, the current disease and insect pest of the area to be controlled is serious, the central control unit selects the spraying medicine conveying amount of the intermediate value and the spraying length of the intermediate value to spray the medicine to the area to be controlled, the medicine spraying range of the area to be controlled is determined, if the disease and pest incidence rate of the area to be controlled, which is obtained by the central control unit, is greater than or equal to the preset disease incidence reference value of the disease and pest second value, it is indicated that the current disease of the area to be controlled is extremely serious, the central control unit selects the maximum spraying medicine conveying amount and the maximum spraying length to spray the medicine to the area to be controlled, the medicine spraying range of the area to be controlled is determined, garden crops in a certain range of the disease and pest central point are all applied with the medicine, the situation that the diffusion is fast due to serious pest and disease damage is avoided, and therefore the larger spraying range is selected to control the area to be controlled.
In particular, the drift amount detector arranged outside the sprayer of the invention acquires the drift amount for judging whether the current medicine can be applied to the area to be controlled or not, if the drift amount acquired by the central control unit is less than or equal to a first preset drift amount, the drift amount of the currently sprayed medicine is lower, and the current medicine can be applied to the area to be controlled, therefore, the central control unit does not adjust the spraying height, if the drift amount acquired by the central control unit is between the first preset drift amount and a second preset drift amount, the drift amount of the currently sprayed medicine is slightly higher, the central control unit lowers the spraying height, so that the medicine can be applied to the area to be controlled, the inaccurate application position is avoided, if the drift amount acquired by the central control unit is greater than or equal to the second preset drift amount, the drift amount of the currently sprayed medicine is too high, the lowering of the spraying height cannot enable the current medicine to be applied to the area to be controlled, the central control unit therefore decides to re-determine the extent of the drug spray.
In particular, the control unit of the invention determines to re-determine the spraying range, the central control unit adjusts the spraying length and the spraying medicine conveying amount, the central control unit determines to adjust the spraying length and the spraying medicine conveying amount according to the drift amounts in all directions obtained by all the drift amount detectors, and compares the drift amounts in all directions, wherein if the sum of the first direction drift amount and the third direction drift amount is more than or equal to the sum of the second direction drift amount and the fourth direction drift amount, the central control unit reduces the spraying medicine conveying amount, and if the sum of the first direction drift amount and the third direction drift amount is less than the sum of the second direction drift amount and the fourth direction drift amount, the central control unit reduces the spraying length of the spraying unit so as to enable the current drift amount to accord with the standard. If the sum of the first direction drift amount and the second direction drift amount is larger than or equal to the sum of the third direction drift amount and the fourth direction drift amount, the central control unit judges that the spraying angle is reduced, and simultaneously improves the medicine spraying delivery rate, if the sum of the first direction drift amount and the second direction drift amount is smaller than the sum of the third direction drift amount and the fourth direction drift amount, the central control unit judges that the spraying angle is enlarged, and simultaneously improves the medicine spraying delivery rate, so that in the medicine spraying process, crops in an area to be controlled can be sprayed with medicines, and meanwhile, the crops which are not infected by diseases are prevented from being applied with unnecessary medicines to cause toxicity.
Particularly, the invention controls the delivery quantity of the sprayed medicine by arranging the water pump, when the delivery quantity of the regulated sprayed medicine acquired by the central control unit is greater than or equal to a preset standard value of the delivery quantity of the sprayed medicine, the central control unit judges that the pressure of the water pump is increased, and when the delivery quantity of the regulated sprayed medicine acquired by the central control unit is less than the preset standard value of the delivery quantity of the sprayed medicine, the central control unit judges that the pressure of the water pump is reduced, so that the pressure of the water pump is matched with the delivery quantity of the sprayed medicine.
In particular, the invention obtains the spraying frequency of the spraying unit according to the comparison of the adjusted spraying medicine delivery quantity and a preset standard value, wherein if the spraying medicine delivery quantity is higher than the preset value, the central control unit judges to reduce the spraying frequency, and if the spraying medicine delivery quantity is lower than the preset value, the central control unit judges to increase the spraying frequency, so that the medicine spraying of the area to be controlled meets the preset standard, and the condition of insufficient or excessive medicine spraying is avoided.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent monitoring and controlling device for garden diseases and insect pests according to an embodiment of the invention;
FIG. 2 is a schematic diagram of spraying of the intelligent monitoring and controlling device for garden pests and diseases according to the embodiment of the invention;
FIG. 3 is a schematic diagram of a detecting unit according to an embodiment of the present invention.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and do not delimit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principles of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Please refer to fig. 1, which is a device for intelligently monitoring and controlling garden diseases and pests according to an embodiment of the present invention, including: the drug preparation unit is used for preparing a pest medicine and comprises a drug storage mechanism for storing the pest medicine and a drug preparation mechanism arranged below the drug storage mechanism; the spraying unit is connected with the medicine preparation unit and used for spraying prepared medicines to the current area, and comprises a plurality of spraying mechanisms, wherein each spraying mechanism comprises a sprayer for spraying the medicines, an extension pipe connected with the sprayer, a first motor for controlling the extension length of the sprayer and a second motor for adjusting the spraying angle of the sprayer; the monitoring unit is arranged below the medicine preparation unit and used for acquiring the pest and disease occurrence condition of the current area; the detection unit is arranged outside the sprayer and comprises a plurality of drift amount detectors for acquiring the drift amount of the medicine during spraying; the central control unit is connected with the medicine preparation unit and the spraying unit and the monitoring unit, acquires the type and the concentration of the medicine to be prepared according to the current disease and pest occurrence condition of the area acquired by the monitoring unit, controls the medicine preparation mechanism to prepare the medicine to be prepared, and controls the spraying mechanism to apply the medicine to the disease and pest occurrence area;
continuing to refer to fig. 1, the intelligent monitoring, controlling and pest and disease damage device for garden comprises a medicine preparation unit, a medicine preparation mechanism, a medicine storage mechanism and a medicine preparation mechanism, wherein the medicine preparation unit is used for preparing medicine for disease and disease damage, the medicine preparation mechanism is arranged below the medicine storage mechanism, the medicine storage mechanism comprises a plurality of medicine storage chambers 7, the medicine storage chambers are connected with the medicine preparation mechanism through electromagnetic valves 11, each medicine storage chamber is used for storing different medicine for disease and disease damage, the medicine preparation mechanism comprises a stirring rod 15 for stirring the medicine to be prepared and solution, a third motor 14 for controlling the stirring speed of the stirring rod, and a water inlet pipe 13 for injecting solution into the medicine preparation mechanism;
the spraying unit is connected with the medicine preparation unit and is used for spraying the prepared medicine to the current area, and the spraying unit comprises a sprayer 19 for spraying the medicine, a water pump 17 for controlling the spraying amount of the medicine in the sprayer, an extension pipe 12 connected with the sprayer, a first motor 18 for controlling the extension distance of the extension pipe and a second motor 20 for controlling the rotation frequency of the extension pipe;
the monitoring unit is arranged below the medicine preparation unit and used for acquiring the occurrence condition of diseases and insect pests in the current area, the monitoring unit comprises a monitor 6, a support rod 9 for supporting the monitor and a height adjuster 4 for controlling the height of the monitor, a support plate 5 is arranged below the monitor, the height adjuster 4 for controlling the height of the monitor is fixedly arranged at the bottom of the support plate, a fixed plate 1 is fixedly arranged at the bottom end of the height adjuster for controlling the height of the monitor, first screw rods 2 are fixedly arranged on two sides of the fixed plate 1, and the first screw rods 2 are arranged on the ground 3 in a penetrating mode;
specifically, the monitoring unit is arranged on the height adjuster, the heights of the monitoring unit and the spraying unit can be controlled, monitoring of monitoring areas with different heights is facilitated, if the current monitoring area is herbaceous, the height of the monitoring unit is set to be lower, herbaceous plant diseases and insect pests can be effectively and accurately monitored, the initial height of the spraying height can be determined, if the current monitoring area is woody, the height of the monitoring unit is set to be higher, plant diseases and insect pests of woody leaves or trunks can be accurately obtained, and the monitoring height can be adjusted according to action positions without plant diseases and insect pests.
The central control unit acquires the type of the current plant diseases and insect pests according to the monitoring unit, controls the medicine preparation unit to prepare the medicine used by the current plant diseases and insect pests, acquires a medicine application area according to the incidence of the current plant diseases and insect pests, and controls the spraying unit to apply the medicine to the area to be prevented and treated according to the position of the area to be prevented and treated, wherein the central control unit compares the drift amount in each direction acquired after the spraying unit sprays the medicine to the area to be prevented and treated for the first time with a preset value, and adjusts the spraying height, the medicine spraying conveying amount and the medicine spraying conveying amount of the spraying unit so that the medicine application of the area to be prevented and treated by the spraying unit meets a preset standard.
The central control unit presets a disease and pest type L, sets a first disease and pest type L1 and a second disease and pest type L2 · mth disease and pest Lm, the medicine preparation unit comprises a plurality of medicine storage mechanisms, wherein the first medicine storage mechanism stores a medicine for preventing and treating the first disease and pest, the second medicine storage mechanism stores a medicine for preventing and treating the second disease and pest, the mth medicine storage mechanism stores a medicine for preventing and treating the mth disease and pest, the central control unit determines to inject the medicine of the jth medicine storage mechanism into the medicine preparation mechanism to prepare the medicine according to the disease and pest type Lj acquired by the monitoring unit, and j =1,2.. m.
Specifically, the embodiment of the present invention does not limit the types of the plant diseases and insect pests, and the preferred embodiment is set according to differences in garden crops and environments, wherein the first plant disease and insect pest is leaf spot disease, the second plant disease and insect pest is anthracnose, the third plant disease and insect pest is rust disease, the fourth plant disease and insect pest is aphid, the fifth plant disease and insect pest is looper, and the sixth plant disease and insect pest is leafhopper, wherein the first medicine storage mechanism stores thiophanate-methyl, the second medicine storage mechanism stores mancozeb, the third medicine storage mechanism stores sulfur suspending agent, the fourth medicine storage mechanism stores marathon emulsion, the fifth medicine storage mechanism stores pyrethroid pesticide, and the sixth medicine storage mechanism stores veratrine wettable powder.
The central control unit divides the current area to be monitored into a plurality of areas to be controlled according to a preset unit area, the central control unit obtains disease and pest incidence degree a1, a 2. ANG. an of each area to be controlled through the monitoring unit, wherein the disease and pest incidence degree a1 of the first area to be controlled, the disease and pest incidence degree a 2. ANG. the disease and pest incidence degree an of the nth area to be controlled are obtained, the central control unit obtains the disease and pest incidence degree standard value ai of the ith area to be controlled and compares the disease and pest incidence degree ai with the preset incidence degree A0, the central control unit judges the incidence area, wherein,
when ai is less than or equal to A0, the central control unit judges that the ith area to be prevented and treated is not a disease area;
and when ai is larger than A0, the central control unit judges that the ith area to be prevented and treated is a disease area.
Specifically, the current to-be-monitored area is divided into a plurality of to-be-controlled areas, the central control unit compares the disease and insect damage degrees of the to-be-controlled areas obtained by the monitoring unit with preset values, and judges whether the to-be-controlled areas are disease-affected areas, wherein if the disease and insect damage degrees of the current to-be-controlled areas obtained by the central control unit are smaller than or equal to preset standard values, the current to-be-controlled areas are light in disease and insect damage, the central control unit judges that the current to-be-controlled areas are not disease-affected areas, and if the disease and insect damage of the current to-be-controlled areas obtained by the central control unit is larger than the preset standard values, the current to-be-controlled areas are light in disease and insect damage.
Specifically, the embodiment of the present invention does not limit the manner of obtaining the degree of morbidity, and when a disease occurs in the area to be controlled, the manner of obtaining the degree of morbidity may be that, when no disease occurs in the area to be controlled, the degree of morbidity is first grade, when 25% of the area to be controlled has a disease, the degree of morbidity is second grade, when 25-50% of the area to be controlled has a disease, the degree of morbidity is third grade, when 51-75% of the area to be controlled has a disease, the degree of morbidity is fourth grade, when 75-100% of the area to be controlled has a disease, the degree of morbidity is fifth grade, when an insect pest occurs in the area to be controlled, the manner of obtaining the degree of morbidity is determined according to the insect population density, when the insect population density in the area to be controlled is 0-2%, the degree of morbidity is first grade, and when the insect population density in the area to be controlled is 2-5%, the degree of morbidity is second grade, when the population density of the insects in the area to be controlled is 5-10%, the disease degree is three-level, when the population density of the insects in the area to be controlled is 10-15%, the disease degree is four-level, when the population density of the insects in the area to be controlled is 15-20%, the disease degree is five-level, wherein the population density is the number of the insects in a unit area.
Please refer to fig. 2, which is a schematic diagram of spraying of the intelligent monitoring and controlling device for garden diseases and insect pests according to the embodiment of the present invention, the central control unit determines that the ith area is an attack area 21, and selects the spraying length and the spraying drug delivery amount of the spraying unit according to the current disease and insect pest incidence bi of the area to be controlled and compared with the preset reference value of each disease incidence, wherein,
when bi is less than or equal to Lj1, the central control unit selects a first preset spraying medicine conveying amount W1 as the spraying medicine conveying amount of the spraying unit and selects a first preset spraying length D1 as the spraying length of the spraying unit;
when Lj1 is larger than bi and smaller than Lj2, the central control unit selects a second preset spraying medicine conveying amount W2 as the spraying medicine conveying amount of the spraying unit and selects a second preset spraying length D2 as the spraying length of the spraying unit;
when bi is more than or equal to Lj2, the central control unit selects a third preset spraying medicine conveying amount W3 as the spraying medicine conveying amount of the spraying unit and selects a third preset spraying length D3 as the spraying length of the spraying unit;
the central control unit sets disease and pest incidence reference values, sets a first preset disease and pest incidence reference value L11 of a first disease and pest, a second preset disease and pest incidence reference value L12 of the first disease and pest, a first preset disease and pest incidence L21 of a second disease and pest, a first preset disease and pest incidence L22 of the second disease and pest, a first preset disease and pest incidence Lm1 of an mth disease and pest, and a second preset disease and pest incidence Lm2 of the mth disease and pest, wherein j =1,2, and · m, the central control unit presets a spraying medicine conveying amount W, sets a first preset spraying medicine conveying amount W1, a second preset spraying medicine conveying amount W2 and a third preset spraying medicine conveying amount W3, the central control unit presets a spraying length D, and sets a first preset spraying length D1, a second preset spraying length D2 and a third preset spraying length D3.
Specifically, the spraying length in the embodiment of the present invention is the length stretched and contracted by the sprayer with the central point 23 of the area to be controlled as the origin, and the stretched and contracted lengths are the same and are the spraying length 22.
Specifically, the disease incidence of each disease and insect pest is divided into two standards, the central control unit obtains the disease and insect pest incidence of the area to be controlled according to the monitoring unit and compares the disease and insect pest incidence with two preset standard values, and selects the optimal spraying length and the optimal spraying medicine conveying amount, wherein if the disease and insect pest incidence of the area to be controlled, which is obtained by the central control unit, is less than or equal to a first preset disease and insect pest incidence reference value, the current disease and insect pest area to be controlled is not serious, the central control unit selects the minimum spraying medicine conveying amount and the minimum spraying length to spray the medicine on the area to be controlled, so as to determine the medicine spraying range of the area to be controlled, avoid the waste of the medicine, and if the disease and insect pest incidence of the area to be controlled, which is obtained by the central control unit, is between the first preset disease and insect pest incidence reference value and the first preset disease and insect pest incidence reference value, the current disease and insect pest area to be controlled is serious, the central control unit selects the middle value of the pesticide spraying conveying amount and the middle value of the spraying length to spray the pesticide to the area to be controlled, so that the pesticide spraying range of the area to be controlled is determined, if the disease and insect incidence rate of the area to be controlled, which is acquired by the central control unit, is greater than or equal to the second preset disease incidence reference value of the disease and insect, the current disease of the area to be controlled is extremely serious, the central control unit selects the maximum pesticide spraying conveying amount and the maximum spraying length to spray the pesticide to the area to be controlled, so that the pesticide spraying range of the area to be controlled is determined, garden crops in a certain range of a disease and insect central point are all sprayed with the pesticide, the phenomenon that the diffusion is fast due to serious pest occurrence is avoided, and therefore the larger spraying range is selected to control the area to be controlled.
The detection unit comprises a plurality of drift amount detectors arranged outside the sprayer, wherein a first drift amount detector is arranged in the first direction of the spraying unit, a second drift amount detector is arranged in the second direction of the spraying unit, a third drift amount detector is arranged in the third direction of the spraying unit, a fourth drift amount detector is arranged in the fourth direction of the spraying unit, the drift amount obtained by the first drift amount detector is p1, the drift amount obtained by the second drift amount detector is p2, the drift amount obtained by the third drift amount detector is p3, the drift amount obtained by the fourth drift amount detector is p4, the central control unit takes the central point of the morbidity area as a spraying starting point, the morbidity area is sprayed according to the obtained spraying length and spraying medicine conveying amount, the central control unit obtains the drift amount p0 of the spraying unit after the current area is sprayed for the first time through the detection unit, setting p0= p1+ p2+ p3+ p4, the central control unit adjusts the spraying height according to the obtained drift amount p0 after the first spraying compared with the preset drift amount, wherein,
when P0 is not less than P1, the central control unit does not adjust the spraying height h;
when P1 < P0 < P2, the central control unit lowers the spray height h to h1, setting h1= h × (1- (P0-P1) × (P2-P0)/(P1 × P2))
When P0 is not less than P2, the central control unit adjusts the spraying length and the sprayed medicine conveying amount according to the drift amounts in all directions obtained by all the drift amount detectors;
the central control unit presets a drift amount P, sets a first preset drift amount P1 and a second preset drift amount P2.
Specifically, the embodiment of the present invention does not limit the installation direction of the drift amount detector installed outside the sprinkler, and provides a preferred embodiment, please refer to fig. 3, which is a schematic diagram of a detection unit according to an embodiment of the present invention, wherein the detection unit includes a plurality of drift amount detectors installed outside the sprinkler, wherein a first drift amount detector 191 is installed in a first direction of the sprinkler, a second drift amount detector 192 is installed in a second direction of the spraying unit, a third drift amount detector 193 is installed in a third direction of the spraying unit, and a fourth drift amount detector 194 is installed in a fourth direction of the spraying unit, wherein the first drift amount detector acquires the drug drifting to the left side of the sprinkler during the drug spraying process of the sprinkler, the second drift amount detector acquires the drug drifting to the front of the sprinkler, the third direction drift amount detector acquires the medicine drifting to the right side of the sprinkler, and the fourth direction drift amount detector acquires the medicine drifting to the rear side of the sprinkler.
Specifically, the drift amount detector arranged outside the sprayer acquires the drift amount for judging whether the current medicine can be applied to the area to be prevented and controlled, if the drift amount acquired by the central control unit is less than or equal to a first preset drift amount, the drift amount of the currently sprayed medicine is lower, and the current medicine can be applied to the area to be prevented and controlled, so that the spraying height is not adjusted by the central control unit, if the drift amount acquired by the central control unit is between the first preset drift amount and a second preset drift amount, the drift amount of the currently sprayed medicine is slightly higher, the central control unit lowers the spraying height so that the medicine can be applied to the area to be prevented and controlled, the inaccurate application position is avoided, if the drift amount acquired by the central control unit is more than or equal to the second preset drift amount, the drift amount of the currently sprayed medicine is over-high, and the lowering of the spraying height cannot enable the current medicine to be applied to the area to be prevented and controlled, the central control unit decides to re-determine the extent of the drug spray.
The central control unit judges that the spraying length and the spraying medicine conveying amount are adjusted, compares the drift amounts obtained by the drift amount detectors which are oppositely arranged, and adjusts the spraying length and the spraying medicine conveying amount, wherein,
when P1+ P3 is more than or equal to P2+ P4, the central control unit reduces the sprayed medicine delivery quantity W alpha to W alpha 1, and sets W alpha 1= W alpha x (1- (P1 + P3-P2-P4)/P2);
when P1+ P3 < P2+ P4, the central control unit reduces the spraying length D alpha of the spraying unit to D alpha 1, and sets D alpha 1= D alpha x (1- (P2+ P4-P1-P3)/P2);
wherein α =1,2, 3.
The central control unit acquires the central point of each monitoring area and the angle of the garden pest and disease damage intelligent monitoring and control device relative to the initial position of the spraying unit, the central control unit adjusts the spraying angle according to the comparison of the drift amount acquired by the drift amount detectors which are adjacently arranged,
when the p1+ p2 is more than or equal to p3+ p4, the central control unit reduces the spraying angle theta to theta 1, and the central control unit increases the sprayed medicine delivery quantity W alpha to W alpha 2;
when p1+ p2 < p3+ p4, the central control unit expands the spray angle theta to theta 2, and the central control unit increases the spray drug delivery amount W alpha to W alpha 3.
The sum of the adjacent direction drift amounts obtained by the drift amount detectors adjacent to the center control unit, wherein the sum of the first direction drift amount and the second direction drift amount is equal to or greater than the sum of the third direction drift amount and the fourth direction drift amount, the center control unit reduces the spray angle theta to theta 1, sets theta 1= thetax (1- (P1 + P2-P3-P4)/P2), the center control unit increases the sprayed medicine delivery amount W alpha to W alpha 2, sets W alpha 2= Waxx (1+ (P1 + P2-P3-P4)/P2), the sum of the first direction drift amount and the second direction drift amount is less than the sum of the third direction drift amount and the fourth direction drift amount, the center control unit increases the spray angle theta 2, sets theta 2= thetax (1+ (P3+ P4-P1-P68584)/P853), and increases the spray amount W853 to W853, w α 3= W α x (1+ (P3+ P4-P1-P2)/P2).
Specifically, the control unit determines to re-determine the spraying range, the central control unit adjusts the spraying length and the spraying medicine conveying amount, the central control unit compares the drift amounts in all directions acquired by the drift amount detectors and determines to adjust the spraying length and the spraying medicine conveying amount, if the sum of the first direction drift amount and the third direction drift amount is larger than or equal to the sum of the second direction drift amount and the fourth direction drift amount, the central control unit reduces the spraying medicine conveying amount, and if the sum of the first direction drift amount and the third direction drift amount is smaller than the sum of the second direction drift amount and the fourth direction drift amount, the central control unit reduces the spraying length of the spraying unit so that the current drift amount meets the standard. If the sum of the first direction drift amount and the second direction drift amount is larger than or equal to the sum of the third direction drift amount and the fourth direction drift amount, the central control unit judges that the spraying angle is reduced, and simultaneously improves the medicine spraying delivery rate, if the sum of the first direction drift amount and the second direction drift amount is smaller than the sum of the third direction drift amount and the fourth direction drift amount, the central control unit judges that the spraying angle is enlarged, and simultaneously improves the medicine spraying delivery rate, so that in the medicine spraying process, crops in an area to be controlled can be sprayed with medicines, and meanwhile, the crops which are not infected by diseases are prevented from being applied with unnecessary medicines to cause toxicity.
The central control unit presets a water pump pressure standard value F, compares the regulated sprayed medicine delivery amount W alpha beta with a preset sprayed medicine delivery amount standard value W0, and regulates the water pump pressure standard value, wherein,
when W alpha beta is larger than or equal to W0, the central control unit raises the standard value F of the water pump pressure to F1, and sets F1= F x (1+ (W alpha beta-W0)/W0);
when W α β < W0, the central control unit lowers the standard value F of the water pump pressure to F2, setting F2= fx (1- (W0-W α β)/W0).
Specifically, the water pump is arranged to control the delivery quantity of the sprayed medicine, the central control unit judges that the pressure of the water pump is increased when the delivery quantity of the regulated sprayed medicine obtained by the central control unit is greater than or equal to a preset standard value of the delivery quantity of the sprayed medicine, and the central control unit judges that the pressure of the water pump is reduced when the delivery quantity of the regulated sprayed medicine obtained by the central control unit is less than the preset standard value of the delivery quantity of the sprayed medicine, so that the pressure of the water pump is matched with the delivery quantity of the sprayed medicine.
The central control unit presets a standard value W0 of the sprayed drug delivery quantity, and adjusts the spraying frequency of the spraying unit according to the comparison between the adjusted sprayed drug delivery quantity and the preset standard value of the sprayed drug delivery quantity, wherein,
w alpha beta is more than or equal to W0, and the central control unit reduces the spraying frequency;
w alpha beta is less than W0, and the central control unit increases the spraying frequency.
The central control unit obtains that the adjusted sprayed medicine conveying amount is larger than or equal to a preset sprayed medicine conveying amount standard value, the central control unit reduces the spraying frequency G to G1, sets G1= Gx (1- (W alpha beta-W0)/W0), if G1 is not an integer, the central control unit adjusts downwards, obtains that the adjusted structure sprayed medicine conveying amount is smaller than the preset sprayed medicine conveying amount standard value, the central control unit increases the spraying frequency G to G2, sets G2= Gx (1+ (W0-W alpha beta)/W0), and if G2 is not an integer, the central control unit adjusts upwards.
Specifically, the spraying frequency of the spraying unit is obtained by comparing the adjusted spraying medicine conveying amount with a preset standard value, wherein if the spraying medicine conveying amount is higher than the preset value, the central control unit judges to reduce the spraying frequency, and if the spraying medicine conveying amount is lower than the preset value, the central control unit judges to increase the spraying frequency, so that the medicine spraying of the area to be controlled meets the preset standard, and the condition of insufficient or excessive medicine spraying is avoided.
Specifically, the application method of the intelligent monitoring and controlling device for garden diseases and insect pests comprises the step S1, dividing a current area to be monitored into a plurality of areas to be controlled by a central control unit according to a preset unit area, and acquiring the angle between the central point of each area to be controlled and the intelligent monitoring and controlling device for garden diseases and insect pests relative to the initial position of a spraying unit, namely the spraying angle; step S2, the central control unit judges whether to start the corresponding medicine storage mechanism according to the type of the diseases and insect pests in the current area to be controlled, and injects corresponding medicines into the medicine preparation mechanism to prepare medicines for controlling the diseases and insect pests; step S3, the central control unit compares the disease incidence of the disease and insect pest in the current area to be controlled with a preset value according to the monitoring unit, and obtains the delivery volume and the spraying length of the sprayed pesticide; step S4, the central control unit controls the first motor to extend the sprayer to the central point of the area to be prevented and treated, and controls the first motor to stretch and contract the sprayer by taking the central point of the area to be prevented and treated as the original point according to the obtained spraying length, wherein the stretching length and the contraction length are both spraying lengths, and the central control unit sprays the medicine to the area to be placed when the first motor stretches the sprayer according to the obtained medicine spraying conveying amount; and step S5, the central control unit acquires the drift amount of the sprayer after the sprayer sprays the medicine for the first time to the area to be prevented according to the drift amount detectors arranged around the sprayer, and adjusts the spraying height, the spraying angle, the spraying medicine conveying amount and the spraying frequency so that the prevention and the treatment meet the preset standard, wherein the spraying frequency is the number of times that the first motor controls the sprayer to stretch.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is apparent to those skilled in the art that the scope of the present invention is not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can be within the protection scope of the invention.
Claims (10)
1. The utility model provides a gardens plant diseases and insect pests intelligent monitoring prevention and cure device which characterized in that includes:
the drug preparation unit is used for preparing a pest medicine and comprises a drug storage mechanism for storing the pest medicine and a drug preparation mechanism arranged below the drug storage mechanism;
the spraying unit is connected with the medicine preparation unit and is used for spraying the prepared medicine to the current area, and the spraying unit comprises a sprayer for spraying the medicine, an extension pipe connected with the sprayer, a first motor for controlling the extension length of the sprayer and a second motor for adjusting the spraying angle of the sprayer;
the monitoring unit is arranged below the medicine preparation unit and used for acquiring the pest and disease occurrence condition of the current area;
the detection unit is arranged outside the sprayer and comprises a plurality of drift amount detectors for acquiring the drift amount of the medicine during spraying;
the central control unit is connected with the medicine preparation unit, the spraying unit and the monitoring unit, acquires the type and the concentration of the medicine to be prepared according to the current disease and insect pest occurrence condition of the area acquired by the monitoring unit, controls the medicine preparation mechanism to prepare the medicine to be prepared, and controls the spraying unit to apply the medicine to the disease and insect pest occurrence area;
the central control unit acquires the current pest and disease types according to the monitoring unit, controls the medicine preparation unit to prepare the medicine used by the current pest and disease, acquires a medicine application area according to the current pest and disease incidence, and controls the spraying unit to apply the medicine to the area to be controlled according to the position of the area to be controlled, wherein the central control unit compares the drift amount in each direction acquired after the spraying unit sprays the medicine to the area to be controlled for the first time with a preset value, and adjusts the spraying height, the spraying angle and the spraying medicine conveying amount of the spraying unit so that the application of the spraying unit to the area to be controlled meets a preset standard.
2. The intelligent garden pest monitoring and controlling device according to claim 1, wherein the central control unit presets a pest type L, and sets a first pest L1 and a second pest L2. cnth pest Lm, the medicine preparation unit comprises a plurality of medicine storage mechanisms, wherein the first medicine storage mechanism stores medicines for controlling the first pest, the second medicine storage mechanism stores medicines for controlling the second pest, the mth medicine storage mechanism stores medicines for controlling the mth pest, the central control unit determines to inject the medicines of the jth medicine storage mechanism into the medicine preparation mechanism to prepare the medicines according to the pest type Lj obtained by the monitoring unit, and j =1,2.
3. The intelligent garden pest monitoring, controlling and managing device according to claim 2, wherein the central control unit divides the current area to be monitored into a plurality of areas to be controlled according to a preset unit area, the central control unit obtains disease incidence degrees a1, a 2. an for each area to be controlled through the monitoring unit, wherein the first area to be controlled is a1, the second area to be controlled is a 2. the nth area to be controlled is an, the central control unit obtains the ith area disease incidence degree ai, compares the ith area disease incidence degree ai with a preset incidence degree standard value A0, and judges the incidence area, wherein,
when ai is less than or equal to A0, the central control unit judges that the ith area to be prevented and treated is not a disease area;
and when ai is more than A0, the central control unit judges that the ith area to be controlled is a disease area.
4. The intelligent monitoring and controlling device for garden diseases and insect pests according to claim 3, wherein the central control unit determines that the ith area is a disease area, the central control unit selects the spraying length and the spraying drug delivery amount of the spraying unit according to the disease incidence bi of the diseases and insect pests of the current area to be controlled and the preset reference value of the disease incidence of each disease and insect pest, wherein,
when bi is less than or equal to Lj1, the central control unit selects a first preset spraying medicine conveying amount W1 as the spraying medicine conveying amount of the spraying unit and selects a first preset spraying length D1 as the spraying length of the spraying unit;
when Lj1 is more than bi and less than Lj2, the central control unit selects a second preset spraying medicine conveying amount W2 as the spraying medicine conveying amount of the spraying unit and selects a second preset spraying length D2 as the spraying length of the spraying unit;
when bi is larger than or equal to Lj2, the central control unit selects a third preset spraying medicine conveying amount W3 as the spraying medicine conveying amount of the spraying unit and selects a third preset spraying length D3 as the spraying length of the spraying unit;
the central control unit sets disease and pest incidence reference values, sets a first preset incidence reference value L11 of a first disease and pest, a second preset incidence reference value L12 of the first disease and pest, a first preset incidence L21 of a second disease and pest, a first preset incidence L22 of the second disease and pest, a first preset incidence Lm1 of the mth disease and pest, a second preset incidence Lm2 of the mth disease and pest, presets a spraying medicine conveying amount W of the central control unit, sets a first preset spraying medicine conveying amount W1, a second preset spraying medicine conveying amount W2 and a third preset spraying medicine conveying amount W3, presets a spraying length D of the central control unit, and sets a first preset spraying length D1, a second preset spraying length D2 and a third preset spraying length D3.
5. The intelligent monitoring and controlling device for garden diseases and pests according to claim 2, wherein the detecting unit comprises a plurality of drift amount detectors disposed outside the spraying device, wherein a first drift amount detector is disposed in a first direction of the spraying unit, a second drift amount detector is disposed in a second direction of the spraying unit, a third drift amount detector is disposed in a third direction of the spraying unit, a fourth drift amount detector is disposed in a fourth direction of the spraying unit, the drift amount obtained by the first drift amount detector is p1, the drift amount obtained by the second drift amount detector is p2, the drift amount obtained by the third drift amount detector is p3, the drift amount obtained by the fourth drift amount detector is p4, the central control unit uses a central point of the diseased region as a spraying starting point, and sprays the diseased region according to the obtained spraying length and the spraying medicine conveying amount, the central control unit acquires the drift amount p0 of the spraying unit after the spraying unit sprays the current disease incidence area for the first time through the detection unit, sets p0= p1+ p2+ p3+ p4, and adjusts the spraying height according to the comparison between the acquired drift amount p0 after the spraying unit sprays the current disease incidence area for the first time and the preset drift amount, wherein,
when P0 is not more than P1, the central control unit does not adjust the spraying height h;
when P1 < P0 < P2, the central control unit lowers the spray height h to h1, setting h1= h × (1- (P0-P1) × (P2-P0)/(P1 × P2))
When P0 is not less than P2, the central control unit adjusts the spraying length and the sprayed medicine conveying amount according to the drift amounts in all directions obtained by all the drift amount detectors;
the central control unit presets a drift amount P, sets a first preset drift amount P1 and a second preset drift amount P2.
6. The intelligent monitoring and controlling device for garden diseases and insect pests according to claim 5, wherein the central control unit determines to adjust the spraying length and the spraying pesticide delivery rate, and the central control unit adjusts the spraying length and the spraying pesticide delivery rate according to the comparison of the drift amounts obtained by the drift amount detectors arranged oppositely,
when P1+ P3 is more than or equal to P2+ P4, the central control unit reduces the sprayed medicine delivery amount W alpha to W alpha 1, and sets W alpha 1= W alpha x (1- (P1 + P3-P2-P4)/P2);
when P1+ P3 < P2+ P4, the central control unit reduces the spraying length D alpha of the spraying unit to D alpha 1, and sets D alpha 1= D alpha x (1- (P2+ P4-P1-P3)/P2);
wherein α =1,2, 3.
7. An intelligent monitoring and control device for garden diseases and insect pests according to claim 5, wherein the central control unit obtains the central point of each monitoring area and the angle of the intelligent monitoring and control device for garden diseases and insect pests relative to the initial position of the spraying unit as the spraying angle of the spraying unit, and the central control unit adjusts the spraying angle according to the comparison between the drift amounts obtained by the drift amount detectors which are adjacently arranged,
when the p1+ p2 is more than or equal to p3+ p4, the central control unit reduces the spraying angle theta to theta 1, and the central control unit increases the sprayed medicine delivery quantity W alpha to W alpha 2;
when p1+ p2 < p3+ p4, the central control unit expands the spray angle theta to theta 2, and the central control unit increases the spray drug delivery amount W alpha to W alpha 3.
8. The intelligent garden pest monitoring and control device according to claim 5, wherein the sum of the drift amounts in adjacent directions obtained by the drift amount detectors adjacent to the central control unit is greater than or equal to the sum of the drift amounts in the third direction and the fourth direction, the central control unit reduces the spraying angle theta to theta 1, sets theta 1= theta x (1- (P1 + P2-P3-P4)/P2), the central control unit increases the spraying medicine delivery amount W alpha to W alpha 2, sets W alpha 2= W alpha x (1+ (P1 + P2-P3-P4)/P2), the sum of the drift amounts in the first direction and the second direction is less than the sum of the drift amounts in the third direction and the fourth direction, the central control unit increases the spraying angle theta to theta 2, sets theta 2= theta 381 + P4-P3-P4)/P2, the central control unit increases the sprayed drug delivery amount W α to W α 3, setting W α 3= W α x (1+ (P3+ P4-P1-P2)/P2).
9. An intelligent monitoring, controlling and pest system for gardens according to claim 8, wherein the central control unit presets a standard value F for water pump pressure, the central control unit compares the adjusted delivery rate of sprayed chemicals W α β with the preset standard value W0 for water pump pressure, wherein,
when W alpha beta is larger than or equal to W0, the central control unit increases the water pump pressure standard value F to F1, and sets F1= F x (1+ (W alpha beta-W0)/W0);
when W α β < W0, the center control unit lowers the water pump pressure criterion value F to F2, setting F2= fx (1- (W0-W α β)/W0);
wherein β =1,2, 3.
10. An intelligent monitoring, controlling and pest system for gardens according to claim 9, wherein the central control unit presets a standard value of the amount of sprayed drug delivery W0, and the central control unit adjusts the spraying frequency of the spraying unit according to the comparison between the adjusted amount of sprayed drug delivery and the preset standard value of the amount of sprayed drug delivery, wherein,
when W alpha beta is larger than or equal to W0, the central control unit reduces the spraying frequency G to G1, sets G1= G x (1- (W alpha beta-W0)/W0), and rounds downwards if G1 is not an integer;
when W α β < W0, the central control unit increases the spraying frequency G to G2, setting G2= G × (1+ (W0-W α β)/W0), and rounding up if G2 is not an integer.
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| AT413175B (en) * | 2003-10-10 | 2005-12-15 | Pessl Instr Gmbh | Drift INFORMATION SYSTEM |
| US10391503B2 (en) * | 2016-08-25 | 2019-08-27 | Iowa State University Research Foundation, Inc. | System and method for predicting wind direction and speed to better control drift |
| US10252285B2 (en) * | 2017-08-08 | 2019-04-09 | Deere & Company | Mobile drift sensor for agricultural spraying |
| CN208624436U (en) * | 2018-06-14 | 2019-03-22 | 华南农业大学 | A kind of agricultural plant protection unmanned plane sprinkling system compensated automatically with droplet drift detection |
| CN108402021B (en) * | 2018-06-14 | 2023-06-27 | 华南农业大学 | Agricultural plant protection unmanned aerial vehicle spraying system with fog drop drift detection automatic compensation function |
| JPWO2020136819A1 (en) * | 2018-12-27 | 2021-09-09 | 株式会社オプティム | Crop growth support system, crop growth support method and program |
| CN110679578A (en) * | 2019-10-30 | 2020-01-14 | 宗彦平 | Intelligent disease and insect pest prevention and control system for nursery and use method thereof |
| CN110702397A (en) * | 2019-10-31 | 2020-01-17 | 江苏农林职业技术学院 | Device and method for testing spray drift amount of plant protection unmanned aerial vehicle |
| CN111287411A (en) * | 2020-03-03 | 2020-06-16 | 西南交通大学 | Aerial spraying system based on unmanned aerial vehicle flight platform |
| CN113303306B (en) * | 2021-05-20 | 2022-10-11 | 中国农业科学院烟草研究所(中国烟草总公司青州烟草研究所) | Pesticide spraying prevention drifting method and system for pesticide spraying unmanned aerial vehicle and storage medium |
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