CN114903024A - Automatic pesticide spraying system, plant protection robot and automatic pesticide spraying control method - Google Patents
Automatic pesticide spraying system, plant protection robot and automatic pesticide spraying control method Download PDFInfo
- Publication number
- CN114903024A CN114903024A CN202210696931.4A CN202210696931A CN114903024A CN 114903024 A CN114903024 A CN 114903024A CN 202210696931 A CN202210696931 A CN 202210696931A CN 114903024 A CN114903024 A CN 114903024A
- Authority
- CN
- China
- Prior art keywords
- control valve
- plant protection
- pressure
- supply pump
- protection robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protecting plants
-
- 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
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
- A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
- A01M21/043—Apparatus for destruction by steam, chemicals, burning, or electricity by chemicals
-
- 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 application provides an automatic pesticide spraying system, a plant protection robot and an automatic pesticide spraying control method. The automatic pesticide spraying system comprises: the device comprises a medicine storage box, a pressure supply pump, a one-way valve and a control valve, wherein the medicine storage box, the pressure supply pump, the one-way valve and the control valve are sequentially connected through a pipeline; the flow direction of the one-way valve is from the pressure supply pump to the control valve, and the control valve is connected with a spray head; the pressure supply pump can pump liquid medicine into the pipeline between check valve and the control valve and keep preset pressure, and the control valve is opened or closed to control the spray head to spray or stop spraying the liquid medicine. The pressure supply pump of the automatic pesticide spraying system can pump the pesticide liquid into the pipeline between the one-way valve and the control valve and keep preset pressure, the control valve can be opened when the pesticide liquid needs to be sprayed, otherwise, the control valve can be closed, after the device capable of detecting weeds is matched, the pesticide spraying on the grass can be realized, the effect of no spraying on the grass is avoided, the pesticide spraying mode is compared with a spraying mode, and the pesticide liquid can be effectively saved.
Description
Technical Field
The application relates to the technical field of plant protection robots, in particular to an automatic pesticide spraying system, a plant protection robot and an automatic pesticide spraying control method.
Background
The traditional plant protection machinery is mainly of a manual backpack type and a manual driving type, the former is low in working efficiency, high in labor intensity of operators and easy to poison operators, and the latter is poor in field trafficability, easy to damage crops and dangerous to poison personnel. In addition, the agricultural plant protection unmanned aerial vehicle is used for spraying pesticides, but the agricultural plant protection unmanned aerial vehicle has the defects of small effective load capacity, high use and maintenance cost, professional personnel requirement for maintenance and the like, and is easy to drop from the air in ultra-low altitude flight.
In order to solve the technical problems, technical personnel research and develop a plant protection robot, the plant protection robot can bear a certain amount of pesticide and automatically walk and spray the pesticide according to a preset planning track under the control of a processor, and therefore the plant protection robot has the characteristics of large pesticide carrying amount, safety, small risk, strong cruising ability, easiness in operation, simplicity in maintenance, light weight, narrow wheel hub, less seedling pressing, high operation efficiency and the like.
However, in the process of implementing the invention, the inventor finds that the existing spraying system of the plant protection robot is still the traditional diffuse spraying type, namely, pesticide is sprayed indiscriminately by the spraying system. When the pesticide spraying system is used for weeding, a large amount of pesticide is scattered on crops or the ground, only a very small part of pesticide falls on weed plants, and the utilization rate of the pesticide is very low. During pest control, a large amount of pesticide does not effectively fall on crop plants but falls on the ground, so that pesticide waste is caused.
Disclosure of Invention
The invention mainly aims to provide an automatic pesticide spraying system, a plant protection robot and an automatic pesticide spraying control method, so that the technical problem of pesticide waste caused by the diffuse spraying type pesticide spraying of the current plant protection robot can be solved.
In order to solve the above technical problem, an embodiment of the present application provides the following technical solutions:
in a first aspect, the present application provides an automatic pesticide spraying system, comprising:
the device comprises a medicine storage box, a pressure supply pump, a one-way valve and a control valve, wherein the medicine storage box, the pressure supply pump, the one-way valve and the control valve are sequentially connected through a pipeline;
the flow direction of the one-way valve is from the pressure supply pump to the control valve, and the control valve is connected with a spray head; the pressure supply pump can pump liquid medicine into the pipeline between the one-way valve and the control valve and keep preset pressure, and the spray head can be controlled to spray or stop spraying the liquid medicine by controlling the opening or closing of the control valve.
The object of the present invention and the technical problems solved thereby can be further achieved by the following technical measures.
Optionally, the automatic spraying system further includes:
and the pressure sensor is arranged on a pipeline between the one-way valve and the control valve and used for detecting the liquid pressure in the pipeline at the installation position and outputting the detection result.
Optionally, the automatic spraying system further includes:
the controller is respectively connected with the pressure supply pump, the control valve and the pressure sensor, and is used for being connected with a visual detection device of the plant protection robot;
the controller is used for comparing the pressure detected by the pressure sensor with the preset pressure, controlling the pressure supply pump to work when the pressure is lower than the preset pressure, and controlling the pressure supply pump to stop working when the pressure is higher than or equal to the preset pressure; the controller is used for controlling the control valve to be opened or closed based on the detection result of the visual detection device.
Optionally, the automatic pesticide spraying system described above, wherein an accumulator is connected to the conduit between the check valve and the control valve;
and the overflow valve is connected to a pipeline between the pressure supply pump and the one-way valve.
In a second aspect, the present application provides a plant protection robot, comprising:
a chassis, the automatic pesticide spraying system provided in the first aspect, and a visual detection device;
the automatic pesticide spraying system is arranged on the chassis, a control valve of the automatic pesticide spraying system is positioned below the chassis, and a spraying direction of a spray head connected with the control valve is vertical downwards; the visual detection device is arranged below the chassis, the visual detection device and the control valve are arranged at intervals, and the visual detection device is close to the front end of the plant protection robot in the walking direction relative to the control valve;
the visual detection device is used for detecting weeds and/or crops on the ground, and the automatic pesticide spraying system controls the control valve to be opened or closed based on the detection result of the visual detection device so as to control the spray head to spray or stop spraying pesticide liquid.
The object of the present invention and the technical problems solved thereby can be further achieved by the following technical measures.
Optionally, the plant protection robot further includes:
the telescopic frame is provided with a first end and a second end respectively at two ends in the telescopic direction, the first end is connected with the control valve, and the second end is connected with the bottom of the chassis.
In a third aspect, the present application provides an automatic pesticide spraying control method for the plant protection robot provided in the second aspect, including:
detecting ground weeds and/or crops;
calculating the starting time and the ending time of spraying the liquid medicine according to a preset formula, and controlling the opening and the closing of the control valve based on the obtained opening time and closing time;
and controlling the opening of the control valve to be 60-100% based on the walking speed of the plant protection robot.
The object of the present invention and the technical problems solved thereby can be further achieved by the following technical measures.
Optionally, the method for controlling automatic spraying pesticide, wherein the method for detecting ground weeds and/or crops comprises the following steps:
and (3) detecting weeds and/or crops along the walking direction of the plant protection robot by using a visual detection device.
Optionally, in the automatic spraying control method, the preset formula is:
wherein, t is 0 For the moment of detection of ground weeds and/or crops, said t 1 As the start time, the t 2 For the off time, L 1 For the visual inspection means to be spaced from the control valve by a distance, L 2 Is from t 0 A continuous length of weed and/or crop detected beginning at a time.
Optionally, in the automatic spraying control method, the method for controlling the opening of the control valve to be 60-100% based on the traveling speed of the plant protection robot is as follows:
when the walking speed of the plant protection robot is 1-3km/h, controlling the opening of the control valve to be 60%;
when the walking speed of the plant protection robot is 3-4km/h, controlling the opening of the control valve to be 80%;
and when the walking speed of the plant protection robot is more than 4km/h, controlling the opening of the control valve to be 100%.
By the technical scheme, the automatic pesticide spraying system, the plant protection robot and the automatic pesticide spraying control method at least have the following advantages:
the automatic pesticide spraying system provided by the embodiment of the invention comprises a pesticide storage box, a pressure supply pump, a one-way valve and a control valve which are connected together through a pipeline, wherein the one-way valve only can flow in the direction of the control valve through the pressure supply pump, the pressure supply pump can pump pesticide liquid into the pipeline between the one-way valve and the control valve and keep preset pressure, namely certain pressure is kept in the pipeline in real time, the control valve can be controlled to be opened when the pesticide liquid needs to be sprayed, otherwise, the control valve is controlled to be closed. Compared with the prior art that the spraying mode is a continuous diffuse spraying mode, the automatic spraying system provided by the embodiment of the invention can effectively save the liquid medicine and improve the utilization rate of the liquid medicine.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
The above and other objects, features and advantages of exemplary embodiments of the present application will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the present application are illustrated by way of example and not by way of limitation in the figures of the accompanying drawings and in which like reference numerals refer to similar or corresponding parts and in which:
fig. 1 schematically shows a schematic structural view of an automatic pesticide spraying system;
FIG. 2 schematically illustrates an electrical connection of an automatic pesticide spraying system;
fig. 3 schematically shows a first perspective view of a plant protection robot;
fig. 4 schematically shows a second perspective view of a plant protection robot;
FIG. 5 is a schematic diagram showing the connection between the telescopic frame and the control valve of the plant protection robot;
fig. 6 schematically shows a flow chart of an automatic spray control method.
The reference numbers in the figures are:
the device comprises a medicine storage box 1, a pressure supply pump 2, a one-way valve 3, a control valve 4, a spray head 5, a pressure sensor 6, a controller 7, a chassis 8, a visual detection device 9, an energy accumulator 10, an overflow valve 11, an expansion bracket 12, a filter 13 and a plant protection robot 100.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which this application belongs.
Example one
As shown in fig. 1, an automatic spraying system according to an embodiment of the present invention includes:
the device comprises a medicine storage box 1, a pressure supply pump 2, a one-way valve 3 and a control valve 4, wherein the medicine storage box 1, the pressure supply pump 2, the one-way valve 3 and the control valve 4 are connected in sequence through pipelines;
the flow direction of the check valve 3 is from the pressure supply pump 2 to the control valve 4, and the control valve 4 is connected with a spray head 5; the pressure supply pump 2 can pump liquid medicine into a pipeline between the one-way valve 3 and the control valve 4 and keep a preset pressure, and the spray head 5 can be controlled to spray or stop spraying the liquid medicine by controlling the opening or closing of the control valve 4.
Specifically, the medicine storage box 1 is a box body for storing liquid medicine or water, which can be set to a suitable capacity as required, and to a rectangular parallelepiped shape, a cylindrical shape, or any other box body shape convenient to install and use as required for use and design. The medicine box 1 may be made of a metal material or a plastic material. The top of the medicine storage box 1 can be provided with a liquid injection hole, the bottom or the side wall close to the bottom can be provided with a liquid outlet hole, and the liquid outlet hole can be connected with a quick pipe joint. The medicine storage box 1 can also be provided with manufacturing or mounting claws for fixed mounting, so that the medicine storage box 1 can be conveniently fixed on a chassis of the plant protection robot.
The pressure supply pump 2 may be a pump body commonly used in the art and capable of providing a certain supply pressure, for example, a three-cylinder plunger pump may be used in conjunction with a driving motor, and the delivery of the liquid medicine may be controlled by controlling the driving motor, but is not limited to the three-cylinder plunger pump. The power of the pressure supply pump 2 can be selected according to actual use requirements, a liquid inlet of the pressure supply pump 2 is connected with a liquid outlet hole of the medicine storage box 1 through a pipeline, and a liquid outlet of the pressure supply pump 2 is connected with the one-way valve 3 through a pipeline.
The check valve 3 is a valve body which can only be conducted in one direction, the liquid inlet end of the check valve 3 is connected with the liquid outlet of the pressure supply pump 2 through a pipeline, and the liquid outlet end of the check valve 3 is connected with the control valve 4 through a pipeline. The liquid medicine in the pipeline between the check valve 3 and the control valve 4 can be ensured by arranging the check valve 3, certain pressure can be kept in the pipeline under the action of the pressure supply pump 2, and meanwhile, the liquid medicine is prevented from flowing back due to large pressure.
The control valve 4 is preferably an electromagnetic valve, for example, a two-position two-way proportional electromagnetic valve, which can be controlled to open and close by an electrical signal, and can adjust the opening percentage of the control valve 4 by controlling the electrical signal, so as to realize more accurate control of the spraying amount. The spray head 5 connected to the control valve 4 is known to those skilled in the art, and is commonly used for spray heads 5 for spraying medicines or water, and the specific structure of the spray head 5 may not be limited, wherein the spray head 5 is preferably a spray type spray head. The number of the control valves 4 can be multiple, and a proper number of the control valves 4 can be arranged according to the number of the spray heads 5 required to be arranged, and the control valves 4 can be arranged into various shapes suitable for the spray heads 5 to form a larger spraying area, such as a straight line shape, a half arc shape and the like according to the use requirement.
It should be noted that the pipeline connecting the medicine storage box 1, the pressure supply pump 2, the check valve 3 and the control valve 4 may be a plastic pipeline or a metal pipeline, but since a certain pressure is required in the pipeline between the check valve 3 and the control valve 4, the pipeline is preferably a metal pipeline, such as a copper pipeline. The pipelines can be arranged adaptively according to the distribution positions of the medicine storage boxes 1, the pressure supply pumps 2, the one-way valves 3 and the control valves 4.
The automatic pesticide spraying system provided by the embodiment of the invention comprises a pesticide storage box 1, a pressure supply pump 2, a one-way valve 3 and a control valve 4 which are connected together through a pipeline, wherein the one-way valve 3 only can flow in the direction from the pressure supply pump 2 to the control valve 4, the pressure supply pump 2 can pump pesticide liquid into the pipeline between the one-way valve 3 and the control valve 4 and keep a preset pressure, namely a certain pressure is kept in the pipeline in real time, the control valve 4 can be controlled to be opened when the pesticide liquid needs to be sprayed, otherwise, the control valve 4 is controlled to be closed. Compared with the prior art that the spraying mode is a continuous diffuse spraying mode, the automatic spraying system provided by the embodiment of the invention can effectively save the liquid medicine and improve the utilization rate of the liquid medicine.
As shown in fig. 1 and fig. 2, in a specific implementation, the automatic pesticide spraying system provided in the embodiment of the present invention further includes: a pressure sensor 6 and a controller 7, wherein the pressure sensor 6 is installed on a pipeline between the one-way valve 3 and the control valve 4, and is used for detecting the liquid pressure in the pipeline at the installation position and outputting the detection result; the controller 7 is respectively connected with the pressure supply pump 2, the control valve 4 and the pressure sensor 6, and the controller 7 is used for being connected with a visual detection device 9 of the plant protection robot.
Specifically, the controller 7 may be independent of the plant protection robot, and the controller 7 of the automatic pesticide spraying system may also use the main controller of the plant protection robot. The pressure sensor 6 is used for detecting the liquid pressure in the pipeline between the one-way valve 3 and the control valve 4 and feeding back the liquid pressure to the controller 7 in real time, the controller 7 controls the pressure supply pump 2 to work when the pressure detected by the pressure sensor 6 is smaller than a preset pressure (set according to actual use conditions) and controls the pressure supply pump 2 to stop working when the pressure is larger than or equal to the preset pressure. Through the cooperation of the pressure sensor 6 and the controller 7, the pressure of the pressure supply pump 2 in the pipeline can be prevented from continuously doing idle work when the pressure meets the use requirement, the energy consumption is saved, and the service life of the pressure supply pump 2 is prolonged.
In addition, the controller 7 is also used for controlling the control valve 4 to be opened or closed based on the detection result of the visual detection device 9, namely the controller 7 controls the control valve 4 to be opened when the visual detection device 9 detects weeds or crops while ensuring that the liquid medicine with certain pressure is in a pipeline between the check valve 3 and the control valve 4 through controlling the pressure supply pump 2, and controls the control valve 4 to be closed when the visual detection device 9 detects no grass or no crops, so that the effects of spraying the grass and the pesticide and not spraying the grass are achieved.
As shown in fig. 1, in a specific implementation, the automatic pesticide spraying system provided in the embodiment of the present invention further includes: the energy accumulator 10 is connected to a pipeline between the one-way valve 3 and the control valve 4, and is used for maintaining pressure of liquid in the pipeline between the one-way valve 3 and the control valve 4, so that the pressure supply pump 2 is prevented from being started frequently to work, and the service life of the pressure supply pump 2 is prolonged; the overflow valve 11 is connected to a pipeline between the pressure supply pump 2 and the check valve 3, and is used for performing overflow pressure relief when the pressure of liquid in the pipeline of the system is too high, so that the whole system is protected, and the system is prevented from being collapsed due to too high pressure; the filter 13 is disposed on a pipeline between the medicine storage box 1 and the pressure supply pump 2, and is configured to filter the liquid medicine pumped out from the medicine storage box 1 by the pressure supply pump 2, so as to avoid the subsequent pipeline or nozzle 5 from being blocked.
In specific implementation, in the automatic pesticide spraying system provided in the embodiment of the present invention, a plurality of switch valves may be further provided, where the switch valves may be manual valves or electric valves, and the setting positions of the switch valves may be connection positions where pipes connect various functional devices, such as a pipe between a pesticide storage box and a pressure supply pump, a pipe between a check valve and a control valve, and a pipe between an energy accumulator and a main pipe.
Example two
As shown in fig. 3 and 4, a plant protection robot according to a second embodiment of the present invention includes: a chassis 8, an automatic pesticide spraying system provided by the first embodiment and a visual detection device 9;
the automatic pesticide spraying system is arranged on the chassis 8, a control valve 4 of the automatic pesticide spraying system is positioned below the chassis 8, and the spraying direction of a spray head 5 connected with the control valve 4 is vertical downward; the visual detection device 9 is installed below the chassis 8, the visual detection device 9 and the control valve 4 are arranged at intervals, and the visual detection device 9 is close to the front end of the traveling direction of the plant protection robot 100 relative to the control valve 4;
the visual detection device 9 is used for detecting weeds and/or crops on the ground, and the automatic pesticide spraying system controls the control valve 4 to be opened or closed based on the detection result of the visual detection device 9 so as to control the spray head 5 to spray or stop spraying pesticide.
Specifically, the plant protection robot 100 is an automatically traveling machine for agricultural plant protection, and a chassis 8 thereof is used for carrying and mounting various functional devices such as a traveling device and a control device functional device. The medicine storage box of the automatic medicine spraying system can be installed at the top of the chassis 8, namely, the medicine storage box can be borne through the chassis 8, the control valve 4 is installed at the bottom of the chassis 8 and can be installed through a support, the connection of the medicine storage box, the pressure supply pump, the one-way valve and the control valve 4 is realized through a pipeline connection mode, and the pipeline can be reasonably arranged according to the structures of the support and the chassis 8. The spray head 5 connected to the control valve 4 needs to be directed to the ground to ensure that the sprayed liquid medicine can fall on weeds and crops.
The visual detection device 9 is a device for picking up the scenery or object to be collected by means of photographing or video, and can identify weeds, crops or road surfaces in the field, and the picking-up and identifying algorithm of the visual detection device 9 is known to technicians, and the application is an application of the visual detection device 9 directly.
It should be noted that the visual detection devices 9 are required to be disposed at positions close to the front end of the traveling direction of the plant protection robot 100 relative to the control valve 4, for example, two visual detection devices 9 are required to be disposed at two ends of the traveling direction of the bottom of the chassis 8, so that no matter the robot travels forward or backward (travels back and forth along the furrows), weeds or crops are detected by the visual detection devices 9, and then the detected signals are sent to the controller, and the controller controls the control valve 4 to be opened or closed, so as to realize precise pesticide spraying.
The plant protection robot 100 provided by the embodiment of the invention is additionally provided with an automatic pesticide spraying system and a visual detection device 9, wherein the automatic pesticide spraying system comprises a pesticide storage box, a pressure supply pump, a one-way valve and a control valve 4 which are connected together through a pipeline, the one-way valve can only flow from the pressure supply pump to the control valve 4, the pressure supply pump can pump pesticide liquid into the pipeline between the one-way valve and the control valve 4 and keep preset pressure, namely the pipeline keeps certain pressure in real time, the control valve 4 can be controlled to be opened when the pesticide liquid needs to be sprayed, and otherwise, the control valve 4 is controlled to be closed. The plant protection machine provided by the embodiment of the invention can detect the position of the weeds through the visual detection device 9 under the matching of the automatic pesticide spraying system and the visual detection device 9, and then the automatic pesticide spraying system controls the control valve 4 to open and close based on the position of the weeds, so that the effects of spraying the weeds and preventing the weeds are achieved. Compared with the prior art that the spraying mode is a continuous diffuse spraying mode, the automatic spraying system provided by the embodiment of the invention can effectively save the liquid medicine and improve the utilization rate of the liquid medicine.
As shown in fig. 3 to fig. 5, in a specific implementation, the plant protection robot 100 provided in the embodiment of the present invention further includes: the telescopic frame 12, the both ends of the flexible direction of telescopic frame 12 are first end and second end respectively, first end is connected control valve 4, the second end with the bottom of chassis 8 is connected.
Specifically, the telescopic frame 12 may be a telescopic frame 12 of a sleeve structure, and may be extended and retracted by relative sliding of the sleeve, so as to adjust the distance between the control valve 4 and the ground, that is, adjust the distance between the spray head 5 and the ground, and the relative positioning after sliding between the sleeve structures of the telescopic frame 12 may be positioning by a jackscrew. Alternatively, the telescopic frame 12 may be a driving cylinder, and the expansion and contraction may be controlled by hydraulic, pneumatic, or electric means.
The first end of the telescopic frame 12 can be set to be in a straight line shape, a semi-arc shape and other shapes according to the requirement of spraying liquid medicine, so that the control valves 4 can be installed at the first end of the telescopic frame 12 at intervals, and a structural form suitable for the spray head 5 to form a large spraying area is formed. The connection between the telescopic frame 12 and the chassis 8 may be a bolt connection or a welding connection, and the connection between the telescopic frame 12 and the control valve 4 is preferably a bolt connection. However, it should be noted that after the control valve 4 is connected to the telescopic frame 12, the spraying end of the nozzle 5 to which the control valve 4 is connected needs to face the ground.
EXAMPLE III
As shown in fig. 6, an automatic pesticide spraying control method provided in the third embodiment of the present invention is used in the plant protection robot provided in the second embodiment, and the method includes:
301. ground weeds and/or crops are detected.
Specifically, the detection of weeds and/or crops is performed using the visual detection device of the plant protection robot, and it is necessary to detect the weeds and/or crops as the plant protection robot travels, that is, in the traveling direction of the plant protection robot. Thus, after the position of weeds, crops and crops needing to be sprayed with the pesticide is detected by the visual detection device in the walking direction, the position can be further fed back to the controller, and the controller controls the control valve to open to spray the pesticide.
302. And calculating the starting time and the ending time of spraying the liquid medicine according to a preset formula, and controlling the opening and the closing of the control valve based on the obtained opening time and closing time.
Specifically, the preset formula is as follows:
wherein, t is 0 For the moment of detection of ground weeds and/or crops, said t 1 As the start time, the t 2 For the closing time, the L 1 For the visual inspection means to be spaced from the control valve by a distance, L 2 Is from t 0 A continuous length of weed and/or crop detected beginning at a time.
Further, according to the above formula, the opening time of the control valve is the initial time of spraying, and the closing time of the control valve is the end time of spraying. Because a certain spacing distance L is arranged between the visual detection device and the control valve 1 Then the plant protection robot is walked L 1 The time of the distance is added with the time when the ground weeds and/or crops are initially detected, the control valve is right above the ground weeds and/or crops which are initially detected at the time, the control valve is properly opened at the time, and therefore waste of liquid medicine caused by early opening of the control valve and omission of weeds and/or crops caused by late opening of the control valve are avoided. And L is 2 Is from t 0 Starting to detect the continuous length of weed and/or crop at the moment L 2 And L 1 Added and divided by the walking speed of the plant protection robot, then at an initial time t when ground weeds and/or crops are detected 0 And in addition, the event is taken as the closing time of the control valve, so that the weed and/or the crop detected by the plant protection robot in the process can be ensured to receive the liquid medicine spraying, and the waste of the liquid medicine is avoided. The detection of the weeds and/or the crops is repeatedly carried out in such a reciprocating way, and the control valve is controlled to be opened and closed based on the detection result, so that the precise pesticide spraying can be realized, the effects of spraying pesticide by seeing the weeds and not spraying the weeds are realized, and the pesticide liquid is effectively saved.
303. And controlling the opening of the control valve to be 60-100% based on the walking speed of the plant protection robot.
Specifically, because the walking speed of plant protection robot returns the spraying effect that influences the liquid medicine, so can be when plant protection robot walking speed is slower, the aperture of appropriate reduction control valve reduces the unit interval promptly and sprays the dose, when plant protection robot walking speed is faster, the aperture of appropriate improvement control valve promotes the unit interval promptly and sprays the dose promptly to guarantee spraying evenly of liquid medicine.
Preferably, when the walking speed of the plant protection robot is 1-3km/h, the opening degree of the control valve is controlled to be 60%;
when the walking speed of the plant protection robot is 3-4km/h, controlling the opening of the control valve to be 80%;
and when the walking speed of the plant protection robot is more than 4km/h, controlling the opening of the control valve to be 100%.
Furthermore, the walking speed of the plant protection robot can be adaptively adjusted based on the unit area ground coverage of the weeds and/or the crops detected by the visual detection device, for example, the unit area ground coverage is less than or equal to 30%, and then the walking speed of the plant protection robot can be controlled to be 4km/h or more than 4 km/h; if the ground coverage of the unit area is more than 30% and less than 60%, the walking speed of the plant protection robot can be controlled to be 3-4 km/h; if the ground coverage of the unit area is more than or equal to 60 percent, the walking speed of the plant protection robot can be controlled to be 1-3 km/h.
In summary, by the method provided in this embodiment, in combination with the plant protection robot provided in the second embodiment, it is possible to find weeds and spray weeds while the plant protection robot is walking, and to find spraying at any time, and to stop spraying at a position where there are no weeds, rather than spraying in a scattered manner while the plant protection robot is walking, so that waste of liquid medicine can be greatly reduced, and agricultural spraying cost can be saved.
It will be appreciated that the relevant features of the devices described above may be referred to one another. In addition, "first", "second", and the like in the above embodiments are for distinguishing the embodiments, and do not represent merits of the embodiments.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An automatic medicine spraying system is characterized by comprising:
the device comprises a medicine storage box, a pressure supply pump, a one-way valve and a control valve, wherein the medicine storage box, the pressure supply pump, the one-way valve and the control valve are sequentially connected through a pipeline;
the flow direction of the one-way valve is from the pressure supply pump to the control valve, and the control valve is connected with a spray head; the pressure supply pump can pump liquid medicine into the pipeline between the check valve and the control valve and keep preset pressure, and the spray head can be controlled to spray or stop spraying the liquid medicine by controlling the opening or closing of the control valve.
2. The automatic pesticide spraying system of claim 1, further comprising:
and the pressure sensor is arranged on a pipeline between the one-way valve and the control valve and used for detecting the liquid pressure in the pipeline at the installation position and outputting the detection result.
3. The automatic pesticide spraying system of claim 2, further comprising:
the controller is respectively connected with the pressure supply pump, the control valve and the pressure sensor, and is used for being connected with a visual detection device of the plant protection robot;
the controller is used for comparing the pressure detected by the pressure sensor with the preset pressure, controlling the pressure supply pump to work when the pressure is lower than the preset pressure, and controlling the pressure supply pump to stop working when the pressure is higher than or equal to the preset pressure; the controller is used for controlling the control valve to be opened or closed based on the detection result of the visual detection device.
4. The automatic pesticide spraying system of claim 1, further comprising:
an accumulator connected to a conduit between the check valve and the control valve;
and the overflow valve is connected to a pipeline between the pressure supply pump and the one-way valve.
5. A plant protection robot, comprising:
a chassis, an automatic spraying system according to any one of claims 1 to 4 and a visual inspection device;
the automatic pesticide spraying system is arranged on the chassis, a control valve of the automatic pesticide spraying system is positioned below the chassis, and a spraying direction of a spray head connected with the control valve is vertical downwards; the visual detection device is arranged below the chassis, the visual detection device and the control valve are arranged at intervals, and the visual detection device is close to the front end of the plant protection robot in the walking direction relative to the control valve;
the visual detection device is used for detecting weeds and/or crops on the ground, and the automatic pesticide spraying system controls the control valve to be opened or closed based on the detection result of the visual detection device so as to control the spray head to spray or stop spraying pesticide liquid.
6. A plant protection robot as claimed in claim 5, further comprising:
the telescopic frame is provided with a first end and a second end respectively at two ends in the telescopic direction, the first end is connected with the control valve, and the second end is connected with the bottom of the chassis.
7. An automatic spraying control method for the plant protection robot as claimed in claim 5 or 6, comprising:
detecting ground weeds and/or crops;
calculating the starting time and the ending time of spraying the liquid medicine according to a preset formula, and controlling the opening and the closing of the control valve based on the obtained opening time and closing time;
and controlling the opening of the control valve to be 60-100% based on the walking speed of the plant protection robot.
8. The automatic pesticide spray control method of claim 7, wherein the method for detecting ground weeds and/or crops is:
and detecting weeds and/or crops along the walking direction of the plant protection robot by using a visual detection device.
9. The automatic spray control method according to claim 8,
the preset formula is as follows:
wherein, t is 0 For the moment of detection of ground weeds and/or crops, said t 1 As the start time, the t 2 For the off time, L 1 For the visual inspection means to be spaced from the control valve by a distance, L 2 Is from t 0 A continuous length of weed and/or crop detected beginning at a time.
10. The automatic pesticide spraying control method according to claim 7, wherein the method for controlling the opening of the control valve to be 60-100% based on the walking speed of the plant protection robot comprises the following steps:
when the walking speed of the plant protection robot is 1-3km/h, controlling the opening of the control valve to be 60%;
when the walking speed of the plant protection robot is 3-4km/h, controlling the opening of the control valve to be 80%;
and when the walking speed of the plant protection robot is more than 4km/h, controlling the opening of the control valve to be 100%.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210696931.4A CN114903024A (en) | 2022-06-20 | 2022-06-20 | Automatic pesticide spraying system, plant protection robot and automatic pesticide spraying control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210696931.4A CN114903024A (en) | 2022-06-20 | 2022-06-20 | Automatic pesticide spraying system, plant protection robot and automatic pesticide spraying control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114903024A true CN114903024A (en) | 2022-08-16 |
Family
ID=82772253
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210696931.4A Pending CN114903024A (en) | 2022-06-20 | 2022-06-20 | Automatic pesticide spraying system, plant protection robot and automatic pesticide spraying control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114903024A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115428685A (en) * | 2022-11-07 | 2022-12-06 | 中化现代农业有限公司 | Plant protection method and plant protection device for beet |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001292684A (en) * | 2000-04-11 | 2001-10-23 | Hokkaido National Agricultural Experiment Station | System for controlling application of agrochemicals or fertilizer |
| CN1818605A (en) * | 2005-02-11 | 2006-08-16 | 美国樱花检验仪器株式会社 | Manifold assembly |
| CN102669079A (en) * | 2012-04-09 | 2012-09-19 | 浙江大学 | Toward-target variable spray tester |
| CN103488195A (en) * | 2013-09-06 | 2014-01-01 | 浙江大学 | Method and device for building PWM spraying flow model |
| CN104020706A (en) * | 2014-06-23 | 2014-09-03 | 华南农业大学 | Automatic ordered spraying system of orchard pipelines and control method of system |
| CN104170811A (en) * | 2014-08-26 | 2014-12-03 | 江苏大学 | Intelligent low-cost online pesticide mixing device |
| US20200045953A1 (en) * | 2017-02-24 | 2020-02-13 | Bilberry Sas | Agricultural spraying control system |
| CN212009396U (en) * | 2020-06-18 | 2020-11-24 | 广西裕阳科技有限公司 | Pressure control system |
-
2022
- 2022-06-20 CN CN202210696931.4A patent/CN114903024A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001292684A (en) * | 2000-04-11 | 2001-10-23 | Hokkaido National Agricultural Experiment Station | System for controlling application of agrochemicals or fertilizer |
| CN1818605A (en) * | 2005-02-11 | 2006-08-16 | 美国樱花检验仪器株式会社 | Manifold assembly |
| CN102669079A (en) * | 2012-04-09 | 2012-09-19 | 浙江大学 | Toward-target variable spray tester |
| CN103488195A (en) * | 2013-09-06 | 2014-01-01 | 浙江大学 | Method and device for building PWM spraying flow model |
| CN104020706A (en) * | 2014-06-23 | 2014-09-03 | 华南农业大学 | Automatic ordered spraying system of orchard pipelines and control method of system |
| CN104170811A (en) * | 2014-08-26 | 2014-12-03 | 江苏大学 | Intelligent low-cost online pesticide mixing device |
| US20200045953A1 (en) * | 2017-02-24 | 2020-02-13 | Bilberry Sas | Agricultural spraying control system |
| CN212009396U (en) * | 2020-06-18 | 2020-11-24 | 广西裕阳科技有限公司 | Pressure control system |
Non-Patent Citations (1)
| Title |
|---|
| 宋志安等: "液压传动与控制的FluidSIM建模与仿真", 北京：机械工业出版社, pages: 108 - 109 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115428685A (en) * | 2022-11-07 | 2022-12-06 | 中化现代农业有限公司 | Plant protection method and plant protection device for beet |
| CN115428685B (en) * | 2022-11-07 | 2023-03-24 | 中化现代农业有限公司 | Plant protection method and plant protection device for beet |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102428904B (en) | Automatic targeting and variable atomizing flow control system for weeding robot | |
| CN104430272A (en) | Intelligent self-propelled sprayer based on image processing | |
| CN204426448U (en) | A kind of self-walking intelligent sprayer based on image procossing | |
| CN105638389B (en) | A kind of Multi-functional self-actuated walks pergola on the city road irrigator | |
| CN207284200U (en) | Intelligent translational formula water-fertilizer-pesticide integration sprinkling irrigation equipment | |
| CN104273113A (en) | Self-propelled intelligent remotely-controlled thermal sprayer | |
| CN114903024A (en) | Automatic pesticide spraying system, plant protection robot and automatic pesticide spraying control method | |
| CN204837673U (en) | Automatic pesticide spraying trolley | |
| CN107455059A (en) | Intelligent translational formula water-fertilizer-pesticide integration sprinkling irrigation equipment | |
| CN205389802U (en) | It is multi -functional from walking urban road greenbelt irrigator | |
| CN108974383A (en) | A kind of rapid recharge system for unmanned plane | |
| CN202566080U (en) | Targeting variable spray experiment machine | |
| KR200264576Y1 (en) | A sprayer of agricultural chemicals | |
| CN210466134U (en) | Automatic driving agricultural machine and power system thereof | |
| CN109213160B (en) | Multi-wheel foot robot for field weeding and fertilizing operation | |
| CN204132227U (en) | The hot mist machine of a kind of self-walking intelligent remote control | |
| CN110091994A (en) | A kind of plant protection device of auxiliary spray | |
| CN109526918A (en) | A kind of more spray pattern weeding apparatus of wind spraying aid type based on machine vision | |
| CN213095725U (en) | Intelligent pesticide spraying device | |
| CN204875646U (en) | Sprinkler system on watering lorry | |
| CN213695416U (en) | Electric crawler-type unmanned pesticide spraying vehicle | |
| CN111887235A (en) | Intelligent green maintenance pile | |
| CN208956786U (en) | A kind of split type plant protection vehicle for spraying or applying fertilizer from trend fruit tree | |
| CN212232838U (en) | Intelligent green maintenance pile | |
| CN108812589B (en) | Pesticide supply equipment based on unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |