CN116548412B - Self-propelled orchard pneumatic conveying variable precise pesticide application device and method - Google Patents
Self-propelled orchard pneumatic conveying variable precise pesticide application device and method Download PDFInfo
- Publication number
- CN116548412B CN116548412B CN202310272787.6A CN202310272787A CN116548412B CN 116548412 B CN116548412 B CN 116548412B CN 202310272787 A CN202310272787 A CN 202310272787A CN 116548412 B CN116548412 B CN 116548412B
- Authority
- CN
- China
- Prior art keywords
- flow
- wind speed
- canopy
- variable
- electromagnetic valve
- 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.)
- Active
Links
- 239000000575 pesticide Substances 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000002420 orchard Substances 0.000 title claims abstract description 16
- 239000007921 spray Substances 0.000 claims abstract description 46
- 238000005507 spraying Methods 0.000 claims abstract description 36
- 239000003814 drug Substances 0.000 claims abstract description 16
- 238000012545 processing Methods 0.000 claims abstract description 12
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims abstract description 7
- 239000007788 liquid Substances 0.000 claims description 19
- 239000011159 matrix material Substances 0.000 claims description 16
- 230000009466 transformation Effects 0.000 claims description 12
- 230000033228 biological regulation Effects 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 6
- 230000004907 flux Effects 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000009123 feedback regulation Effects 0.000 claims description 3
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract 1
- 229940079593 drug Drugs 0.000 abstract 1
- 238000004364 calculation method Methods 0.000 description 6
- 230000006872 improvement Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 239000010808 liquid waste Substances 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
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
- A01M7/0089—Regulating or controlling systems
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Wood Science & Technology (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Electromagnetism (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a self-propelled orchard pneumatic conveying variable precise pesticide application device and method. The self-propelled system is a crawler chassis and comprises a power device, a hydraulic device and an electromagnetic control device; the canopy information acquisition and processing system acquires and processes canopy information of the fruit tree in real time through a laser detection sensor, and generates a pesticide application amount and wind speed instruction of air-assisted spraying operation through a program algorithm; the variable wind speed air delivery system adjusts the wind speed by controlling the rotating speed of the fan and the opening area of the air door according to the wind speed instruction; the variable flow spraying system controls the flow through the duty ratio of the electromagnetic valve according to the drug application command. The invention improves the pesticide utilization efficiency through reasonable matching of the spray flow and the wind speed output with the target crown structure, and has great significance on pesticide decrement and synergy and ecological environment protection.
Description
Technical Field
The invention relates to the technology of orchard plant protection mechanical devices, in particular to a self-propelled precise pesticide application device and method based on variable flow and variable wind speed of characteristics of fruit tree canopy, which can improve pesticide application operation effect.
Background
The pesticide spraying in the orchard is an important management link in the growth process of fruit trees. The traditional backpack, traction type, stretcher type and other devices have serious chemical liquid waste in a rough type of chemical application mode, and the pesticide utilization efficiency is low. The accurate variable third party spraying technology is an effective means for realizing on-demand pesticide application and improving the pesticide utilization rate, and has great significance for improving pesticide application reduction and efficiency and realizing standardization and intellectualization of modern orchards.
The accurate pesticide application operation comprises two aspects of accurate flow regulation and accurate wind-assisted regulation, namely, the requirements of full-coverage pesticide application amount of fruit trees and the wind speed of fog drops penetrating through canopy are calculated according to crop canopy information, and the purposes of variable flow and variable wind speed pesticide application are achieved by controlling flow regulation and wind-driven regulation equipment. Most of the current precise pesticide application methods mainly adopt variable flow, often neglect wind speed control, so that pesticides are difficult to penetrate or excessively penetrate the canopy, the deposition effect of fog drops on the canopy target is poor, and the due pest control effect cannot be achieved.
Disclosure of Invention
The intelligent unmanned precise pesticide applying device is developed by integrating flow regulation, wind speed regulation and self-propelled movable floor technology, and can automatically regulate flow and wind speed operation parameters according to the characteristics of fruit tree crowns, thereby realizing precise target pesticide application, greatly improving pesticide utilization efficiency and having great significance on pesticide decrement and synergy and ecological environment protection.
The invention adopts the following specific technical scheme: a self-propelled orchard pneumatic conveying variable precise pesticide application device and method comprise a self-propelled system, a canopy information acquisition and processing system, a variable-air-speed pneumatic conveying system and a variable-flow spraying system.
The self-propelled system comprises a power device, a hydraulic device and an electromagnetic control device. The chassis is a crawler chassis, the power device adopts an air-cooled diesel engine, the hydraulic device adopts a hydraulic pump, the electromagnetic control device adopts a proportional electromagnetic valve, the walking power is directly provided by the hydraulic device, the engine crankshaft is directly connected with the hydraulic pump, the hydraulic motor passes through the proportional electromagnetic valve to the crawler tracks on the two sides through a hydraulic pipeline, and the walking speed and the steering are controlled by the proportional electromagnetic valve.
The canopy information acquisition and processing system comprises a two-dimensional laser radar (Lidar), a Global Navigation Satellite System (GNSS) and an attitude sensor (IMU), wherein sensor data are connected to a whole vehicle electronic control unit through serial communication, and perception data are processed in real time to guide autonomous operation of the vehicle.
The variable-wind-speed air delivery system is characterized in that an axial flow type or centrifugal fan is used for providing air flow, the air flow is delivered to the nozzle through a guide pipe, an air door is arranged in the guide pipe, and the size of the air flow can be controlled by adjusting the opening and closing sectional area of the air door.
The variable flow spraying system consists of a high-pressure liquid pump, a spray head, a liquid medicine pipeline and a spraying electromagnetic valve. The liquid medicine is pressurized by a high-pressure liquid pump and is conveyed to each spray head by a pipeline, and the flow rate of the liquid medicine is regulated by the duty ratio of a spray electromagnetic valve.
The self-propelled system, the canopy information acquisition and processing system, the variable air speed air delivery system and the variable flow spraying system are connected with a whole vehicle Electronic Control Unit (ECU) through serial port communication, and the whole vehicle Electronic Control Unit (ECU) controls the running and spraying state of the pesticide applying device through environment and crop information acquired in real time.
In order to achieve the technical purpose, the invention adopts another technical scheme that:
A self-propelled orchard pneumatic conveying variable precise pesticide application method specifically comprises the following steps:
(1) And synchronizing the frequencies of a two-dimensional laser radar (Lidar) and an attitude sensor (IMU), and unifying the timestamp information of each sensor. The quaternion data of an attitude sensor (IMU) is converted into a rigid body transformation matrix, and point cloud data acquired by a two-dimensional laser radar (Lidar) at the same moment are matched under a new coordinate system through matrix transformation and stored in an Electronic Control Unit (ECU) of the whole vehicle.
(2) The central line of the adjacent row of the fruit tree is selected as a set path, a world coordinate transformation matrix is calculated by global satellite navigation system (GNSS) data, the set path is converted into world coordinates, and the running state of the pesticide applying device is adjusted in real time according to the real-time position data of the global satellite navigation system (GNSS) and the deviation of the set path.
(3) And the volume of the canopy is taken as the basis of dosage and wind speed regulation, the acquired point cloud is utilized to identify the trunk, the trunk distance and the canopy depth are acquired, the unilateral sectional area is calculated, the spray moving distance is combined, and the volume of the current canopy is calculated through the discretization idea.
(4) The spraying electromagnetic valve is communicated with an Electronic Control Unit (ECU) unit of the whole vehicle by 232, and a TTL and 232 conversion circuit consisting of MAX232 and peripheral circuits thereof is added. In order to prevent the interference of strong and weak currents, a photoelectric isolation circuit mainly comprising a photoelectric coupling device EL817 is designed. 8 hexadecimal numbers are adopted to represent the PWM duty ratio of the spray electromagnetic valve, and 1 PWM instruction is sent to the flow control singlechip for every 100ms by data acquisition and processing, so that the electromagnetic valve is opened and closed.
(5) The wind speed adjusting mode adopts the cooperative adjustment of the rotating speed of the fan and the opening of the air door. The fan rotating speed is controlled by a frequency converter to control the motor to be turned on or turned off, and the rotating speed is regulated by a frequency converter control panel potentiometer. The air door is arranged at the inner side of the fan outlet flow dividing device, and the air speed of the outlet of the sprayer is adjusted by controlling the area of the air flow entering the pipeline through adjusting the opening of the air door.
As a further improvement of the present invention, the step (1) includes:
(1.1) matching the point cloud acquired by a real-time two-dimensional laser radar (Lidar) and an attitude sensor (IMU) and the position data of the pesticide applying device into the same coordinate system by an Electronic Control Unit (ECU) module of the whole vehicle.
(1.2) Obtaining a rigid body transformation matrix of the point cloud according to quaternion information q=w+xi+yj+zk of an attitude sensor (IMU), and then converting two-dimensional laser radar (Lidar) data into the same coordinate system. The specific calculation method comprises the following steps:
p'＝R(q)*p (2)
Where p' is the coordinates of the point after rotation and p is the coordinates of the point before rotation.
As a further improvement of the present invention, the step (2) includes:
And (2.1) guiding the running path of the set path into an Electronic Control Unit (ECU) of the whole vehicle, and for conveniently comparing the position deviation with the position deviation of a Global Navigation Satellite System (GNSS), converting the position information of the path by a module of the Electronic Control Unit (ECU) of the whole vehicle to form the path of world coordinate information. The specific calculation method comprises the following steps:
Wherein A is a rotation matrix and B is a translation matrix.
And (2.2) according to the transverse deviation delta s in the running process of the pesticide applying device, the opening and closing degree of the proportional electromagnetic valve of the hydraulic motors at the two sides of the running system is regulated in real time in a feedback regulation mode, and the differential steering of the crawler belts at the two sides is controlled through the flow of hydraulic oil, so that the real-time following of the vehicle to the path is realized.
As a further improvement of the present invention, the technique (3) includes: (the following patent refers to a method for calculating the volume of a canopy of a tree target based on a two-dimensional laser scanner (patent number: ZL 201510834124.4))
And (3.1) obtaining the sectional area of the single-side canopy according to the point cloud data acquired in a time period, and integrating the frame volumes from the start position to the end position of the canopy by adopting a discretization idea in combination with the unit moment moving distance of the pesticide applying device to obtain the canopy volume. Assuming that the x-axis is the direction of movement of the sprayer and the y-axis is the direction of measurement, the z-axis is oriented vertically upward. Every cycle deltat, the two-dimensional laser scanner finishes scanning once to acquire a frame of data, and the scanning plane is parallel to the yz plane. The specific calculation method comprises the following steps:
VN＝2Syz/NvΔt (4)
Wherein, V N is the N frame volume of the tree crown, m 3;
S yz/N, namely, the unilateral sectional area of the nth frame of the crown in the yz plane, m 2;
v-the speed of travel of the sprayer, m/s;
(3.2) calculating the required flow according to the volume of the canopy. The system accumulates the crown volumes of the N laser radar cycles to generate PWM duty cycles for the corresponding nozzles. Wherein N is more than or equal to the response period/scanning period of the electromagnetic valve, and the spraying quantity Q k (L) of the corresponding spray head in relative time is as follows:
Qk＝NqkΔt (5)
wherein, q k is the flow rate of the kth nozzle, L/s.
The spraying amount of the corresponding nozzle is in direct proportion to the crown volume of the action area, and the relative crown volume can be converted into the spraying amount of the corresponding nozzle:
In the method, in the process of the invention, L/m 3 for recommended dosing.
The relation between the flow rate of the spray head and the sectional area of the corresponding tree crown can be obtained by the simultaneous equations (4), (5) and (6):
The PWM duty cycle P k of the electromagnetic valve in the spraying system determines the flow q k of a corresponding single spray head, and the two are in linear relation:
qk＝a*Pk+b (8)
wherein a is a slope; b is the intercept; a. b is a linear constant, which can be obtained by variable spray test.
The simultaneous equations (7) and (8) can obtain the relationship between the PWM duty ratio and the crown cross-sectional area of the corresponding nozzle:
(3.3) calculating the required wind speed according to the volume of the canopy. The spray flow field speed model deduced according to the jet flow theory, namely the kinetic energy theorem, can obtain the spray outlet center position wind speed u 0:
wherein x 0 -distance between spray outlet and jet source center, m
R 0 -radius of arc of air jet device, m
B 0 -jet radius of spray jet, m
U x -air flow velocity at x from the centre of the nozzle, m/s
A fan-shaped control body is established on a horizontal plane away from the spray head x, the width is 2b, and the thickness is dx. The arc angle is beta, and the inner arc is beta (r 0 +x). Calculating the volume dV of the control body as
dV＝2Cmβ(r0+x)(x-x0)dx (11)
Wherein C m -jet main area test jet coefficient.
The kinetic energy conservation principle of the control body is applied, namely that the difference between the inflow momentum flux and the outflow momentum flux is equal to the resistance generated by the crown. The set-up equation is simplified to:
wherein A and B are resistance fitting coefficients.
Ρ l —leaf area density (LAD), m -1, defined as the ratio of leaf area to volume of control in a given control volume, p l＝SN/VN.
And S N is the N frame point cloud grid area of the crown and m 2 in combination with the crown volume. Solving the nonlinear differential equation:
Wherein C 1 -is an integration constant.
In the wind speed control, the wind speed u 0 required by the outlet of the sprayer during spraying operation is obtained by using the target canopy feature ρ l, the canopy end position x out and the wind speed u out required by the canopy end as boundary conditions in the simultaneous formulas (10) and (13).
As a further improvement of the present invention, the step (4) includes:
according to the calculated required dosage, a whole vehicle Electronic Control Unit (ECU) sends a duty ratio instruction to the electromagnetic valve, the actual flow of the spray head is measured through the flowmeter, the deviation between the actual flow and the required dosage is compared, the whole vehicle Electronic Control Unit (ECU) adjusts the duty ratio state of the electromagnetic valve according to real-time feedback data, and the liquid medicine variable adjustment is achieved.
As a further improvement of the present invention, the step (5) includes:
According to the calculated required wind speed, a whole vehicle Electronic Control Unit (ECU) sends a rotating speed and a throttle opening command to the fan and the throttle, wind speed data are collected through a flowmeter, the deviation between the actual wind speed and the required wind speed is compared, and the whole vehicle Electronic Control Unit (ECU) adjusts the rotating speed of the fan and the throttle opening according to implementation feedback data to realize wind speed variable adjustment.
The invention has the beneficial effects that: the flow and wind speed operation parameters can be automatically adjusted according to the characteristics of the canopy of the fruit tree, the target pesticide application is realized, the pesticide utilization efficiency is greatly improved, and the method has great significance for pesticide decrement and synergy and ecological environment protection.
Drawings
Fig. 1 is a structural diagram of the apparatus of the present invention.
Fig. 2 is a schematic structural view of the spray system.
Fig. 3 is a schematic diagram of spray parameters, wherein (a) is a front view and (b) is a top view.
Fig. 4 is a schematic diagram of the principle and technology of the invention.
Detailed Description
The following further describes embodiments of the invention with reference to fig. 1 to 4:
A self-propelled orchard pneumatic conveying variable precise pesticide application device and method comprise a self-propelled system, a canopy information acquisition and processing system, a variable-air-speed pneumatic conveying system and a variable-flow spraying system. Fig. 1 is a schematic structural view of the device. The intelligent air flow control device comprises an air flow guide pipe 1, an adjustable bracket 2, a laser radar 3, an air speed adjusting air door 4, a finger-shaped spray head 5, an air flow splitter 7, a fan 8, a crawler 9, an attitude sensor 10, a whole vehicle electronic control unit 11 and a global satellite navigation system 12.
Referring to fig. 1, the self-propelled system comprises a power device, a hydraulic device and an electromagnetic control device. The walking chassis is a crawler chassis 9, the power device adopts an air-cooled diesel engine, the hydraulic device adopts a hydraulic pump, the electromagnetic control device adopts a proportional electromagnetic valve, the walking power is directly provided by the hydraulic device, the engine crankshaft is directly connected with the hydraulic pump, the hydraulic motor passes through the proportional electromagnetic valve to the crawler tracks on the two sides through a hydraulic pipeline, and the walking speed and the steering are controlled by the proportional electromagnetic valve.
Referring to fig. 1, the canopy information acquisition and processing system includes a two-dimensional laser radar 3, a global satellite navigation system 12 and an attitude sensor 10, wherein each sensor data is connected to a whole vehicle electronic control unit 11 through serial communication, and the sensing data is processed in real time to guide autonomous operation of the vehicle.
Referring to fig. 2, the variable air speed air delivery system is characterized in that an axial flow type or centrifugal fan 13 provides air flow, the air flow is delivered to a nozzle 17 through a duct 16, an air door 14 is arranged in the duct, and the size of the air flow can be controlled by adjusting the opening and closing sectional area of the air door. The variable flow spraying system consists of a high-pressure liquid pump 20, a spray head 17, a liquid medicine pipeline 22 and a spraying electromagnetic valve 19. The liquid medicine in the medicine box 21 is pressurized by the high-pressure liquid pump and is conveyed to each spray head by the pipeline, and the flow rate of the liquid medicine is regulated by the duty ratio of the electromagnetic valve.
The systems are connected with an entire vehicle Electronic Control Unit (ECU) 11 through serial communication, and the entire vehicle Electronic Control Unit (ECU) controls the running and spraying states of the pesticide applying device through environment and crop information acquired in real time.
The invention also provides a self-propelled orchard pneumatic conveying variable precise pesticide application method, which comprises the following steps:
(1) And synchronizing sensor frequencies of a two-dimensional laser radar (Lidar) and an attitude sensor (IMU), and unifying time stamp information of each sensor. And converting quaternion data of an attitude sensor (IMU) into a rigid body transformation matrix, matching point cloud data acquired by LiDAR at the same moment into a new coordinate system through matrix transformation, and storing the point cloud data into an Electronic Control Unit (ECU) of the whole vehicle.
(2) The central line of the adjacent row of the fruit tree is selected as a set path, a world coordinate transformation matrix is calculated by global satellite navigation system (GNSS) data, the set path is converted into world coordinates, and the running state of the pesticide applying device is adjusted in real time according to the real-time position data of the global satellite navigation system (GNSS) and the deviation of the set path.
(3) And the volume of the canopy is taken as the basis of dosage and wind speed regulation, the acquired point cloud is utilized to identify the trunk, the trunk distance and the canopy depth are acquired, the unilateral sectional area is calculated, the spray moving distance is combined, and the volume of the current canopy is calculated through the discretization idea.
(4) The spraying electromagnetic valve is communicated with an Electronic Control Unit (ECU) unit of the whole vehicle by 232, and a TTL and 232 conversion circuit consisting of MAX232 and peripheral circuits thereof is added. In order to prevent the interference of strong and weak currents, a photoelectric isolation circuit mainly comprising a photoelectric coupling device EL817 is designed. 8 hexadecimal numbers are adopted to represent the PWM duty ratio of the spray electromagnetic valve, and 1 PWM instruction is sent to the flow control singlechip for every 100ms by data acquisition and processing, so that the electromagnetic valve is opened and closed.
(5) The wind speed adjusting mode adopts the cooperative adjustment of the rotating speed of the fan and the opening of the air door. The fan rotating speed is controlled by a frequency converter to control the motor to be turned on or turned off, and the rotating speed is regulated by a frequency converter control panel potentiometer. The air door is arranged at the inner side of the fan outlet flow dividing device, and the air speed of the outlet of the sprayer is adjusted by controlling the area of the air flow entering the pipeline through adjusting the opening of the air door.
In this embodiment, the step (1) includes:
(1.1) the whole vehicle Electronic Control Unit (ECU) module 11 matches the point cloud collected by the real-time two-dimensional laser radar (Lidar) and the attitude sensor (IMU) and the position data of the dispensing device into the same coordinate system.
(1.2) Obtaining a rigid body transformation matrix of the point cloud according to quaternion information q=w+xi+yj+zk of an attitude sensor (IMU), and then converting two-dimensional laser radar (Lidar) data into the same coordinate system. The specific calculation method comprises the following steps:
p'＝R(q)*p (2)
Where p' is the coordinates of the point after rotation and p is the coordinates of the point before rotation.
In this embodiment, the step (2) includes:
And (2.1) guiding the running path of the set path into an Electronic Control Unit (ECU) of the whole vehicle, and for conveniently comparing the position deviation with the position deviation of a Global Navigation Satellite System (GNSS), converting the position information of the path by a module of the Electronic Control Unit (ECU) of the whole vehicle to form the path of world coordinate information. The specific calculation method comprises the following steps:
Wherein A is a rotation matrix and B is a translation matrix.
And (2.2) according to the transverse deviation delta s in the running process of the pesticide applying device, the opening and closing degree of the proportional electromagnetic valve of the hydraulic motors at the two sides of the running system is regulated in real time in a feedback regulation mode, and the differential steering of the crawler belts at the two sides is controlled through the flow of hydraulic oil, so that the real-time following of the vehicle to the path is realized.
In this embodiment, the step (3) includes: (the following patent refers to a method for calculating the volume of a canopy of a tree target based on a two-dimensional laser scanner (patent number: ZL 201510834124.4))
And (3.1) obtaining the sectional area of the single-side canopy according to the point cloud data acquired by the laser radar 12 in a time period, and integrating and summing the frame volumes from the start position to the end position of the canopy by adopting a discretization idea in combination with the unit moment moving distance of the pesticide applying device to obtain the canopy volume. Assuming that the x-axis is the direction of movement of the sprayer and the y-axis is the direction of measurement, the z-axis is oriented vertically upward. Every cycle deltat, the two-dimensional laser scanner finishes scanning once to acquire a frame of data, and the scanning plane is parallel to the yz plane. The specific calculation method comprises the following steps:
VN＝2Syz/NvΔt (4)
Wherein, V N is the N frame volume of the tree crown, m 3;
S yz/N, namely, the unilateral sectional area of the nth frame of the crown in the yz plane, m 2;
v-the speed of travel of the sprayer, m/s;
(3.2) calculating the required flow according to the volume of the canopy. The system accumulates the crown volumes of the N laser radar cycles to generate PWM duty cycles for the corresponding nozzles. Wherein N is more than or equal to the response period/scanning period of the electromagnetic valve, and the spraying quantity Q k (L) of the corresponding spray head in relative time is as follows:
Qk＝NqkΔt (5)
wherein, q k is the flow rate of the kth nozzle, L/s.
The spraying amount of the corresponding nozzle is in direct proportion to the crown volume of the action area, and the relative crown volume can be converted into the spraying amount of the corresponding nozzle:
In the method, in the process of the invention, L/m 3 for recommended dosing.
The relation between the flow rate of the spray head and the sectional area of the corresponding tree crown can be obtained by the simultaneous equations (4), (5) and (6):
The PWM duty cycle P k of the electromagnetic valve in the spraying system determines the flow q k of a corresponding single spray head, and the two are in linear relation:
qk＝a*Pk+b (8)
wherein a is a slope; b is the intercept; a. b is a linear constant, which can be obtained by variable spray test.
The simultaneous equations (7) and (8) can obtain the relationship between the PWM duty ratio and the crown cross-sectional area of the corresponding nozzle:
(3.3) calculating the required wind speed according to the volume of the canopy. The spray flow field speed model deduced according to the jet flow theory, namely the kinetic energy theorem, can obtain the spray outlet center position wind speed u 0:
wherein x 0 -distance between spray outlet and jet source center, m
R 0 -radius of arc of air jet device, m
B 0 -jet radius of spray jet, m
U x -air flow velocity at x from the centre of the nozzle, m/s
Referring to fig. 3, a fan-shaped control body is established at a horizontal plane distant from the spray head x, and has a width of 2b and a thickness dx. The arc angle is beta, and the inner arc is beta (r 0 +x). Calculating the volume dV of the control body as
dV＝2Cmβ(r0+x)(x-x0)dx (11)
Wherein C m -jet main area test jet coefficient.
The kinetic energy conservation principle of the control body is applied, namely that the difference between the inflow momentum flux and the outflow momentum flux is equal to the resistance generated by the crown. The set-up equation is simplified to:
wherein A and B are resistance fitting coefficients.
Ρ l —leaf area density (LAD), m -1, defined as the ratio of leaf area to volume of control in a given control volume, p l＝SN/VN.
And S N is the N frame point cloud grid area of the crown and m 2 in combination with the crown volume. Solving the nonlinear differential equation:
Wherein C 1 -is an integration constant.
Referring to fig. 3, in the wind speed control, the wind speed u 0 required for the outlet of the sprayer during the spraying operation is obtained by using the target canopy feature ρ l, the canopy end position x out, and the required wind speed u out at the canopy end as boundary conditions, in conjunction with equations (10) and (13).
Referring to fig. 4, in this embodiment, the step (4) includes:
According to the calculated required dosage, a whole vehicle Electronic Control Unit (ECU) sends a duty ratio instruction to the electromagnetic valve 19, the actual flow of the spray head is measured through the flowmeter, the deviation between the actual flow and the required dosage is compared, the whole vehicle Electronic Control Unit (ECU) adjusts the duty ratio state of the electromagnetic valve according to real-time feedback data, and the liquid medicine variable adjustment is realized.
The step (5) comprises:
According to the calculated required wind speed, a whole vehicle Electronic Control Unit (ECU) sends rotating speed and throttle opening instructions to the fan 13 and the throttle 14, wind speed data are collected through a flowmeter, actual wind speed and required wind speed deviation are compared, and the whole vehicle Electronic Control Unit (ECU) adjusts the rotating speed of the fan and the throttle opening according to implementation feedback data to realize wind speed variable adjustment.
According to the invention, the real-time adjustment of the dosage and the wind speed can be realized according to the characteristics of the fruit tree canopy, the synergy and the application reduction of the liquid medicine are realized, the autonomous operation can be carried out according to a set route, the labor cost is reduced, and the method has great significance in protecting the ecological environment and reducing the planting investment.
The scope of the present invention includes, but is not limited to, the above embodiments, and any alterations, modifications, and improvements made by those skilled in the art are intended to fall within the scope of the invention.
Claims (5)
1. The self-propelled orchard pneumatic conveying variable precise pesticide applying device comprises a self-propelled system, a canopy information acquisition and processing system, a variable-air-speed pneumatic conveying system and a variable-flow spraying system;
The self-propelled system is a crawler chassis and comprises a power device, a hydraulic device and an electromagnetic control device; the crawler-type chassis adopts a chassis with crawler tracks at two sides, the power device adopts an air-cooled diesel engine, the hydraulic device adopts a hydraulic pump, the electromagnetic control device adopts a proportional electromagnetic valve, the running power of the power device is directly provided by the hydraulic device, the crankshaft of the air-cooled diesel engine is directly connected with the hydraulic pump, the power device passes through the proportional electromagnetic valve to the hydraulic motors with crawler tracks at two sides through a hydraulic pipeline, and the running speed and the steering are controlled by the proportional electromagnetic valve;
The canopy information acquisition and processing system comprises a two-dimensional laser radar, a global satellite navigation system and an attitude sensor, wherein data of each sensor is connected to the whole vehicle electronic control unit through serial port communication, and perception data are processed in real time to guide autonomous operation of the vehicle;
The variable-wind-speed air delivery system is characterized in that an axial flow type or centrifugal fan is used for providing air flow, the air flow is delivered to the nozzle through a guide pipe, an air door is arranged in the guide pipe, and the size of the air flow is controlled by adjusting the opening and closing sectional area of the air door;
The variable flow spraying system consists of a high-pressure liquid pump, a spray head, a liquid medicine pipeline and a spraying electromagnetic valve; the liquid medicine is pressurized by a high-pressure liquid pump and is conveyed to each spray head by a pipeline, and the flow rate of the liquid medicine is regulated by the duty ratio of a spray electromagnetic valve;
the self-propelled system, the canopy information acquisition and processing system, the variable air speed air delivery system and the variable flow spraying system are connected with the whole vehicle electronic control unit through serial communication, and the whole vehicle electronic control unit controls the running and spraying state of the pesticide applying device through environment and crop information acquired in real time;
adopt a self-propelled orchard pneumatic conveying variable is accurate to apply medicine device, include the following step:
(1) Synchronizing sensor frequencies of the two-dimensional laser radar and the attitude sensor, and unifying timestamp information of each sensor; converting quaternion data of an attitude sensor into a rigid body transformation matrix, matching point cloud data acquired by a two-dimensional laser radar at the same moment into a new coordinate system through matrix transformation, and storing the point cloud data into an electronic control unit of the whole vehicle;
(2) Selecting the central line of the adjacent row of the fruit tree as a set path, calculating a world coordinate transformation matrix by using the data of the global satellite navigation system, converting the set path into world coordinates, and adjusting the running state of the pesticide applying device in real time according to the real-time position data of the global satellite navigation system and the deviation of the set path;
(3) The volume of the canopy is taken as the basis of dosage and wind speed regulation, the acquired point cloud is utilized to identify the trunk, the trunk distance and the canopy depth are acquired, the unilateral sectional area is calculated, the spray moving distance is combined, and the volume of the current canopy is calculated through the discretization idea;
(4) The spraying electromagnetic valve is communicated with the whole vehicle electronic control unit by 232, and a TTL and 232 conversion circuit consisting of MAX232 and peripheral circuits thereof is added; in order to prevent strong and weak current interference, a photoelectric isolation circuit mainly comprising a photoelectric coupling device EL817 is designed, 8 hexadecimal numbers are adopted to represent the PWM duty ratio of a spray electromagnetic valve, and 1 PWM instruction is sent to a flow control singlechip every 100ms in data acquisition processing, so that the spray electromagnetic valve is opened and closed;
(5) The wind speed adjusting mode adopts the cooperative adjustment of the rotating speed of a fan and the opening of a wind gate, the rotating speed of the fan is controlled to be opened and closed by a frequency converter, the rotating speed is adjusted by a frequency converter control panel potentiometer, a wind gate is arranged at the inner side of a fan outlet flow dividing device, and the opening of the wind gate is adjusted to control the area of an air flow entering a pipeline so as to adjust the outlet wind speed of a sprayer;
the step (3) comprises:
(3.1) according to the point cloud data collected in a time period, obtaining the cross section area of a single-side canopy, combining the unit moment moving distance of the pesticide applying device, and adopting a discretization idea to cumulatively sum the frame volumes from the starting position to the ending position of the canopy to obtain the canopy volume;
(3.2) accumulating the crown volumes of N laser radar periods to generate PWM duty ratios of the corresponding nozzles, converting the corresponding crown volumes into spraying volumes of the corresponding nozzles according to the spraying volumes and crown volume corresponding functions, and obtaining the relation between the PWM duty ratios and crown sectional areas by combining the relation between the flow of the spray head and the corresponding crown sectional areas and the PWM duty ratios;
and (3.3) calculating a required wind speed according to the volume of the canopy, and obtaining a spray outlet center position wind speed u 0 according to a spray flow field speed model deduced by a jet flow theory, namely a kinetic energy theorem:
wherein x 0 -distance between spray outlet and jet source center, m
R 0 -radius of arc of air jet device, m
B 0 -jet radius of spray jet, m
U x -air flow velocity at x from the centre of the nozzle, m/s
On the horizontal plane distant from the spray head x, a fan-shaped control body is established, the width is 2b, the thickness is dx, the arc angle is beta, the inner arc is beta (r 0 +x), and the volume dV of the control body is calculated to be
dV＝2Cmβ(r0+x)(x-x0)dx (11)
Wherein, C m is the jet coefficient of the main jet area test;
By applying the principle of conservation of kinetic energy of the control body, namely that the difference between the inflow momentum flux and the outflow momentum flux is equal to the resistance generated by the crown, the establishment of an equation is simplified to obtain:
wherein, A, B is a resistance fitting coefficient;
ρ l —leaf area density (LAD), m -1, defined as the ratio of leaf area to volume of control in a given control volume, p l＝SN/VN;
S N is the N frame point cloud grid area of the crown and m 2 by combining the volume of the crown; solving the nonlinear differential equation:
Wherein C 1 -is an integration constant;
in the wind speed control, the wind speed u 0 required by the outlet of the sprayer during spraying operation is obtained by using the target canopy feature ρ l, the canopy end position x out and the wind speed u out required by the canopy end as boundary conditions in the simultaneous formulas (10) and (13).
2. The self-propelled orchard wind-fed variable precision dispensing device of claim 1, wherein the step (1) comprises:
the method comprises the steps that (1.1) a whole vehicle electronic control unit matches point clouds acquired by a real-time two-dimensional laser radar and an attitude sensor and position data of a pesticide applying device into the same coordinate system;
And (1.2) obtaining a rigid body transformation matrix of the point cloud according to quaternion information of the attitude sensor, and then converting the two-dimensional laser radar data into the same coordinate system.
3. The method for precise application of a self-propelled orchard wind-fed variable according to claim 1, wherein the step (2) comprises:
(2.1) leading the set running path into a whole vehicle electronic control unit, and for conveniently comparing the position deviation with the position deviation of the global satellite navigation system, the whole vehicle electronic control unit converts the position information of the path to form a path of world coordinate information;
And (2.2) according to the transverse deviation delta s in the running process of the pesticide applying device, the opening and closing degree of the proportional electromagnetic valve of the hydraulic motors at the two sides of the running system is regulated in real time in a feedback regulation mode, and the differential steering of the crawler belts at the two sides is controlled through the flow of hydraulic oil, so that the real-time following of the vehicle to the path is realized.
4. The self-propelled orchard wind-fed variable precision dispensing device of claim 1, wherein the step (4) comprises:
According to the calculated required dosage, the whole vehicle electronic control unit sends a duty ratio instruction to the spraying electromagnetic valve, the actual flow of the spray head is measured through the flowmeter, the deviation between the actual flow and the required dosage is compared, and the whole vehicle electronic control unit adjusts the duty ratio state of the spraying electromagnetic valve according to real-time feedback data, so that the liquid medicine variable adjustment is realized.
5. The self-propelled orchard wind-fed variable precision dispensing device of claim 1, wherein the step (5) comprises:
According to the calculated required wind speed, the whole vehicle electronic control unit sends a rotating speed and air door opening instruction to the fan and the air door, wind speed data are collected through the flowmeter, the deviation between the actual wind speed and the required wind speed is compared, and the whole vehicle electronic control unit adjusts the rotating speed of the fan and the air door opening according to implementation feedback data to realize wind speed variable adjustment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310272787.6A CN116548412B (en) | 2023-03-20 | 2023-03-20 | Self-propelled orchard pneumatic conveying variable precise pesticide application device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310272787.6A CN116548412B (en) | 2023-03-20 | 2023-03-20 | Self-propelled orchard pneumatic conveying variable precise pesticide application device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116548412A CN116548412A (en) | 2023-08-08 |
| CN116548412B true CN116548412B (en) | 2024-04-26 |
Family
ID=87502652
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310272787.6A Active CN116548412B (en) | 2023-03-20 | 2023-03-20 | Self-propelled orchard pneumatic conveying variable precise pesticide application device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116548412B (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102986633A (en) * | 2012-12-17 | 2013-03-27 | 西北农林科技大学 | Air volume regulating device of air assisted sprayer |
| CN103004730A (en) * | 2012-12-17 | 2013-04-03 | 西北农林科技大学 | Targeted spray machine with automatically adjusted and controlled air inlet |
| CN105486228A (en) * | 2015-11-25 | 2016-04-13 | 南京林业大学 | Tree target volume real-time measuring method based on two-dimension laser scanner |
| CN106259264A (en) * | 2016-08-15 | 2017-01-04 | 南京农业大学 | Multi-arm type orchard wind send variable farm chemical applying device |
| CN110476941A (en) * | 2019-09-30 | 2019-11-22 | 华南农业大学 | Automatic target detection variable rate spray control system, spraying machine and control method |
| CN111084173A (en) * | 2020-01-09 | 2020-05-01 | 中国农业大学 | Automatic spray head flow adjusting method for profiling variable pesticide applying system of spraying machine |
| CN111084172A (en) * | 2020-01-09 | 2020-05-01 | 中国农业大学 | Device and method for automatically adjusting spray air volume based on volume of crown canopy |
| CN111838113A (en) * | 2020-07-10 | 2020-10-30 | 北京农业智能装备技术研究中心 | Targeting spraying machine and method for jointly adjusting fan rotating speed and air outlet area |
| CN111838110A (en) * | 2020-07-10 | 2020-10-30 | 北京农业智能装备技术研究中心 | Orchard target-aligning pneumatic conveying sprayer based on laser radar and spraying method thereof |
| CN111937834A (en) * | 2020-07-10 | 2020-11-17 | 北京农业智能装备技术研究中心 | Targeted spraying machine and method for jointly adjusting area of air inlet and air outlet |
| CN112219830A (en) * | 2020-10-09 | 2021-01-15 | 江苏大学 | Air-assisted variable targeting sprayer for terrace orchard and targeting spraying method |
| CN113341961A (en) * | 2021-05-26 | 2021-09-03 | 江苏大学 | Independent accurate variable air supply spraying robot structure for greenhouse and path planning method |
| CN114128696A (en) * | 2021-11-11 | 2022-03-04 | 江苏大学 | Variable spray control system based on annular pesticide application structure and plant canopy volume calculation method thereof |
| CN114128695A (en) * | 2021-11-11 | 2022-03-04 | 江苏大学 | Crawler-type autonomous accurate variable air-assisted spraying robot structure and path planning and variable spraying method thereof |
| CN114911234A (en) * | 2022-05-10 | 2022-08-16 | 江苏大学 | Variable spray control system based on vertical pesticide application structure and independent control method for flow of spray head of variable spray control system |
-
2023
- 2023-03-20 CN CN202310272787.6A patent/CN116548412B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102986633A (en) * | 2012-12-17 | 2013-03-27 | 西北农林科技大学 | Air volume regulating device of air assisted sprayer |
| CN103004730A (en) * | 2012-12-17 | 2013-04-03 | 西北农林科技大学 | Targeted spray machine with automatically adjusted and controlled air inlet |
| CN105486228A (en) * | 2015-11-25 | 2016-04-13 | 南京林业大学 | Tree target volume real-time measuring method based on two-dimension laser scanner |
| CN106259264A (en) * | 2016-08-15 | 2017-01-04 | 南京农业大学 | Multi-arm type orchard wind send variable farm chemical applying device |
| CN110476941A (en) * | 2019-09-30 | 2019-11-22 | 华南农业大学 | Automatic target detection variable rate spray control system, spraying machine and control method |
| CN111084173A (en) * | 2020-01-09 | 2020-05-01 | 中国农业大学 | Automatic spray head flow adjusting method for profiling variable pesticide applying system of spraying machine |
| CN111084172A (en) * | 2020-01-09 | 2020-05-01 | 中国农业大学 | Device and method for automatically adjusting spray air volume based on volume of crown canopy |
| CN111838113A (en) * | 2020-07-10 | 2020-10-30 | 北京农业智能装备技术研究中心 | Targeting spraying machine and method for jointly adjusting fan rotating speed and air outlet area |
| CN111838110A (en) * | 2020-07-10 | 2020-10-30 | 北京农业智能装备技术研究中心 | Orchard target-aligning pneumatic conveying sprayer based on laser radar and spraying method thereof |
| CN111937834A (en) * | 2020-07-10 | 2020-11-17 | 北京农业智能装备技术研究中心 | Targeted spraying machine and method for jointly adjusting area of air inlet and air outlet |
| CN112219830A (en) * | 2020-10-09 | 2021-01-15 | 江苏大学 | Air-assisted variable targeting sprayer for terrace orchard and targeting spraying method |
| CN113341961A (en) * | 2021-05-26 | 2021-09-03 | 江苏大学 | Independent accurate variable air supply spraying robot structure for greenhouse and path planning method |
| CN114128696A (en) * | 2021-11-11 | 2022-03-04 | 江苏大学 | Variable spray control system based on annular pesticide application structure and plant canopy volume calculation method thereof |
| CN114128695A (en) * | 2021-11-11 | 2022-03-04 | 江苏大学 | Crawler-type autonomous accurate variable air-assisted spraying robot structure and path planning and variable spraying method thereof |
| CN114911234A (en) * | 2022-05-10 | 2022-08-16 | 江苏大学 | Variable spray control system based on vertical pesticide application structure and independent control method for flow of spray head of variable spray control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116548412A (en) | 2023-08-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109122633B (en) | Plant protection unmanned aerial vehicle accurate variable spraying device for neural network decision-making and control method | |
| CN108552149B (en) | Unmanned aerial vehicle smoke agent spraying system and method suitable for mountainous and hilly areas | |
| CN111838110B (en) | Orchard targeting air-assisted sprayer based on laser radar and spraying method thereof | |
| CN108605923A (en) | Pesticide dispenser monitors and accurate volume control device and method | |
| CN103723275B (en) | A kind of unmanned plane is with spraying device for administration of drugs | |
| CN107264804A (en) | A kind of unmanned vehicle variable rate spray control device and method based on GPS | |
| CN105707040A (en) | Accurate aerial spraying control system and method for aircraft | |
| CN112219830B (en) | Air-assisted variable targeting sprayer for terrace orchard and targeting spraying method | |
| CN106259264A (en) | Multi-arm type orchard wind send variable farm chemical applying device | |
| CN106070156A (en) | Variable rate spray system based on PLC and control method thereof | |
| CN212279614U (en) | Orchard is to target air-assisted sprayer based on laser radar | |
| CN111084173A (en) | Automatic spray head flow adjusting method for profiling variable pesticide applying system of spraying machine | |
| CN111937834B (en) | Targeted spraying machine and method for jointly adjusting area of air inlet and air outlet | |
| CN106681400B (en) | A kind of variable spraying system suitable for unmanned plane | |
| CN113341961B (en) | Independent accurate variable air supply spraying robot structure for greenhouse and path planning method | |
| CN110463679A (en) | A kind of orchard gate solid air-assisted type spraying machine | |
| CN103120150A (en) | Self-propelled orchard targeted air-conveying sprayer | |
| CN105270626A (en) | Intelligent unmanned sowing aerial vehicle | |
| CN103392684A (en) | Flexible targeting spraying mechanism for orchards | |
| CN205418115U (en) | Variable sprays formula plant protection unmanned aerial vehicle | |
| CN211581326U (en) | Plant protection unmanned aerial vehicle pesticide sprinkling system | |
| CN114911234A (en) | Variable spray control system based on vertical pesticide application structure and independent control method for flow of spray head of variable spray control system | |
| CN111937835A (en) | Orchard wind bag type targeting sprayer and method based on ultrasonic sensing | |
| CN116548412B (en) | Self-propelled orchard pneumatic conveying variable precise pesticide application device and method | |
| CN111838113B (en) | Target-alignment sprayer and method for jointly adjusting rotating speed and air outlet area of fan |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |