CN203424190U - Orchard intelligent pesticide spraying machine based on tree shape reconstruction - Google Patents
Orchard intelligent pesticide spraying machine based on tree shape reconstruction Download PDFInfo
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- CN203424190U CN203424190U CN201320346605.7U CN201320346605U CN203424190U CN 203424190 U CN203424190 U CN 203424190U CN 201320346605 U CN201320346605 U CN 201320346605U CN 203424190 U CN203424190 U CN 203424190U
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Abstract
The utility model relates to an orchard intelligent pesticide spraying machine based on tree shape reconstruction. The pesticide spraying machine mainly consists of a traveling device, a detection device, a control device and a pesticide application device. The traveling device mainly consists of driving wheels, a rubber belt track, supporting wheels, a diesel and a gearbox; the detection device mainly consists of a laser scanner and a speed sensor and is used for position detection of fruit trees, tree shape reconstruction and speed detection; the control device mainly consists of an industrial personal computer, a right side solenoid valve, a left side solenoid valve, and an overflow valve, processes a signal sent by the detection device, generates a control instruction to control turning-on and turning-off of the right side solenoid valve, the left side solenoid valve and the overflow valve; and the pesticide application device mainly consists of a pesticide box, a pesticide spraying gasoline engine, a pesticide spraying device gearbox, a high-pressure pump, a right side sprayer and a left side sprayer. The orchard intelligent pesticide spraying machine based on tree shape reconstruction can automatically detect positions of fruit trees at two sides and reconstructed tree shapes in the traveling process of the vehicle, and performs automatic quantitative pesticide application, thereby improving the utilization rate of pesticides, improving pesticide spraying effects, and reducing the pollution of the pesticides to the environment fundamentally.
Description
One, technical field: the utility model relates to Intelligent pesticide application field, orchard, particularly a kind ofly positions the orchard intelligence spraying machine system with tree-like reconstruct based on laser.
Two, background technology:
The management in orchard comprises a plurality of production links such as control of plantation, fertilising, irrigation, training and damage by disease and insect, wherein the control of damage by disease and insect be most important be also link the most consuming time.Fruit tree approximately need to be sprayed medicine 8～15 times in the vegetative period of 1 year.At present, China's orchard dispenser machinery mainly contains manual pedestal mounted sprayer and high-pressure spray gun, and the continuous sprinkling chemicals of use cover type, the spray prescription formula that this extensive style falls behind makes to be trapped in agricultural chemicals on fruit tree seldom, 50～70% agricultural chemicals drops in soil and surrounding environment, cause serious environmental pollution, also caused the availability of China's agricultural chemicals far below developed country.
China is Production of fruit big country, and no matter area or output all rank first in the world, but the plantation of fruit tree and administrative skill fall behind, and especially orchard spray technique, also in developed country's level of 70～eighties of 20th century, mainly exists following problem:
1) spray medicine equipment is single, mainly contains the conventional spray medicine equipment such as compression sprayer, knapsack sprayer, boom sprayer, can not meet the rapidly and efficiently control of damage by disease and insect.
2) pesticide efficacy is low, waste is large, and the environmental pollution causing is serious.
3) sprayer machine inefficiency, more than 90% is wherein hand-powered knapsack sprayer, be difficult to guarantee control in real time, and labour cost is high.
Three, summary of the invention:
1, goal of the invention: the utility model provides a kind of orchard intelligence spraying machine based on tree-like reconstruct, its objective is that realizing spraying machine detects fruit tree position and the shape of both sides in driving process in the ranks automatically in orchard, implement quantitatively accurately to spray medicine, thereby improve the availability of agricultural chemicals, improve effect of spraying pesticide, reduce the injury of agricultural chemicals to spray medicine person health, fundamentally reduce the pollution of agricultural chemicals to environment.
2, technical scheme: the utility model is implemented according to following technical scheme: a kind of orchard intelligence spraying machine based on tree-like reconstruct, comprise running gear, running gear front end is provided with checkout gear, rear end is provided with device for administration of drugs, right side magnetic valve 14 on device for administration of drugs pipeline, left side magnetic valve 20 and overflow valve 26 are connected to industrial computer 7, checkout gear mainly comprises laser scanner 3 and velocity sensor 32, the output signal of laser scanner 3 and velocity sensor 32 sends industrial computer 7 to, the fruit tree position of industrial computer 7 fusion treatment laser scanner 3 scannings, the speed of travel Information generation control instruction that shape information and velocity sensor 32 detect, control right side magnetic valve 14, the opening and closing of left side magnetic valve 20 and overflow valve 26.
Described device for administration of drugs also comprises medicine-chest 8, medicine-chest 8 connects main pipeline 13 by high-pressure pump 12, high-pressure pump 12 connects chemical spraying device gearbox 11, chemical spraying device gearbox 11 is with 10 connection spray medicine gasoline engines 9 by V, return duct 25 connects main pipeline 13 by overflow valve 26, after main pipeline 13 branches, by subtube 17, connect a plurality of right sides magnetic valve 14, left side magnetic valve 20, right side magnetic valve 14, left side magnetic valve 20 connect respectively right side shower nozzle 15, left side shower nozzle 18.
Spray medicine stand 19 arranged crosswise of described device for administration of drugs have right side shower nozzle 15, left side shower nozzle 18 and right side magnetic valve 14, left side magnetic valve 20, spray medicine stand 19 is arranged on hydraulicefficiency elevation structure 21, the height of capable of regulating spray medicine stand 19, hydraulicefficiency elevation structure 21 be fixed on rotation adjustment disk 24 on, can spray prescription to adjustment.
3, advantage and effect: the utility model detects and control device owing to being provided with, in the course of the work, position and shape information that can an automatic detection vehicle both sides fruit tree, control right side magnetic valve, the opening and closing of left side magnetic valve and overflow valve, the velocity sensor being arranged on road wheel can be controlled right side magnetic valve automatically according to the speed of vehicle to run, the open amount of left side magnetic valve, regulate spray value number, by enforcement of the present utility model, can improve the availability of agricultural chemicals, reduce labour cost, improve effect of spraying pesticide, reduce the injury of agricultural chemicals to spray medicine person health, fundamentally reduce environmental pollution.
Four, accompanying drawing explanation;
Fig. 1 is the structure diagram of the utility model spray medicine system.
Fig. 2 is fruit tree location and reconfiguration principle figure.
Mark: 1-instrument stan; 2-adjustment hole; 3-laser scanner; 4-running gear gearbox; 5-12V storage battery; 6-inverter; 7-industrial computer; 8-medicine-chest; 9-spray medicine gasoline engine; 10-V band; 11-chemical spraying device gearbox; 12-high-pressure pump; 13-main pipeline; 14-right side magnetic valve; 15-right side shower nozzle; 16-retainer ring; 17-subtube; 18-left side shower nozzle; The stand of 19-spray medicine; 20-left side magnetic valve; 21-hydraulicefficiency elevation structure; 22-reinforcement; 23-compartment; 24-rotates adjustment disk; 25-return duct; 26-overflow valve; 27-driving wheel; 28-rubber belt track; 29-support wheel system; 30-vehicle frame; 31-running gear diesel engine; 32-velocity sensor; 33-directive wheel; 34-industrial computer peripheral hardware socket.
Five, embodiment:
Below in conjunction with accompanying drawing, the utility model is further described:
As shown in Figure 1, a kind of orchard intelligence spraying machine structural representation based on tree-like reconstruct, comprise running gear, running gear adopts crawler type, comprise the driving wheel 27 at rear, middle support wheel system 29, directive wheel 33, rubber belt track 28, vehicle frame 30, running gear diesel engine 31 and the running gear gearbox 4 in the place ahead, compartment 23 is set above running gear.
At the front end of running gear, instrument stan 1 is installed on compartment 23, on instrument stan 1, be fixed with laser scanner 3, laser scanner 3 can need to carry out setting height(from bottom) adjusting by adjustment hole 2 according to fruit tree height.
Centre at running gear, the place ahead of medicine-chest 8, be provided with control device, control device comprises 12V storage battery group 5,12V storage battery group 5 directly gives laser scanner 3 power supplies, 12V storage battery group 5 is by inverter 6 to industrial computer 7 power supplies, and industrial computer 7 receives the signal of laser scanners 3 and velocity sensor 32 detections, processes after fusion is detected signal and sends to right side magnetic valve 14, left side magnetic valve 20 and overflow valve 26.
Rear end at running gear, on compartment 23, device for administration of drugs is set, device for administration of drugs comprises medicine-chest 8, medicine-chest 8 connects main pipeline 13 by high-pressure pump 12, high-pressure pump 12 connects chemical spraying device gearbox 11, chemical spraying device gearbox 11 is with 10 connection spray medicine gasoline engines 9 by V, return duct 25 connects main pipeline 13 by overflow valve 26, being responsible for 13 roads is arranged in spray medicine stand 19 by retainer ring 16, the stand 19 of spray medicine is connected on hydraulicefficiency elevation structure 21 by stiffener 22, on hydraulicefficiency elevation structure 21, be fixed on rotation adjustment disk 24, rotation adjustment disk 24 is arranged in compartment 23 by bolt, after main pipeline 13 branches, by subtube 17, connect a plurality of right sides magnetic valve 14, left side magnetic valve 20, right side magnetic valve 14, left side magnetic valve 20 connects respectively right side shower nozzle 15, left side shower nozzle 18.
The industrial computer 7 that the utility model adopts can carry out the real-time demonstration of spraying machine state by peripheral hardware socket 34 access display modules, can carry out input, the debugging of handling procedure by peripheral hardware socket 34 access input modules.
As shown in Figure 2, the fixed position of laser scanner 3 is initial point o, and spraying machine direction of advance is x axle, and vertical direction is y axle, sets up rectangular coordinate system, and laser scanner 3 is within the scope of sweep radius R, and scanning fruit tree A, obtains the utmost point footpath R of A under polar coordinates
iwith polar angle λ
i, be transformed under rectangular coordinate system, complete all fruit trees position (x in coordinate system
i, y
i) determine, laser scanner 3 is along with spraying machine advances, each tangent plane of longitudinal scanning fruit tree A, finally by all fruit tree vertical section point cloud charts of scanning as superimposed, form the two dimensional image of scanning fruit tree A, complete tree-like reconstruct.
A kind of orchard intelligence spraying machine based on tree-like reconstruct described in the utility model, its course of work is as follows:
Spraying machine is before work, according to the height of the actual conditions in orchard and fruit tree, regulate the height of laser scanner 3 and height and the angle of spray medicine stand 19, open spray medicine gasoline engine 9, industrial computer 7 and laser scanner 3, chemical spraying device gearbox is set, the size that regulates spray medicine pressure, starts running gear diesel engine 31, sets the pace of pesticide applicator by running gear gearbox 4, vehicle in the process of walking, by being arranged on the laser scanner 3 scanning both sides fruit trees of front end, obtain position and the shape information of fruit tree, by being arranged on velocity sensor 32 on directive wheel 33, obtain the real-time pace of spraying machine, the information of laser scanner 3 and velocity sensor 32 collections is sent to industrial computer 7, industrial computer 7 carries out the controlled instruction of information processing, send to right side magnetic valve 14, left side magnetic valve 20 and overflow valve 26, control right side magnetic valve 14, the unlatching of left side magnetic valve 20 and overflow valve 26, closure and open amount, thereby realize accurately dispenser automatically.
Claims (2)
1. orchard based on a tree-like reconstruct intelligence spraying machine, comprise running gear, it is characterized by running gear front end and be provided with checkout gear, rear end is provided with device for administration of drugs, right side magnetic valve (14) on device for administration of drugs pipeline, left side magnetic valve (20) and overflow valve (26) are connected to industrial computer (7), checkout gear mainly comprises laser scanner (3) and velocity sensor (32), the output signal of laser scanner (3) and velocity sensor (32) sends industrial computer (7) to, the signal that industrial computer (7) is processed laser scanner (3) and velocity sensor (32) output generates control instruction, control right side magnetic valve (14), the opening and closing of left side magnetic valve (20) and overflow valve (26).
2. orchard based on tree-like reconstruct according to claim 1 intelligence spraying machine, spray medicine stand (19) arranged crosswise that it is characterized in that described device for administration of drugs has right side shower nozzle (15), left side shower nozzle (18) and right side magnetic valve (14), left side magnetic valve (20), it is arranged on hydraulicefficiency elevation structure (21), can spray the adjustment of medicine stand (19) height, it is upper that hydraulicefficiency elevation structure (21) is fixed on rotation adjustment disk (24), can spray prescription to adjustment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320346605.7U CN203424190U (en) | 2013-06-14 | 2013-06-14 | Orchard intelligent pesticide spraying machine based on tree shape reconstruction |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320346605.7U CN203424190U (en) | 2013-06-14 | 2013-06-14 | Orchard intelligent pesticide spraying machine based on tree shape reconstruction |
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| CN203424190U true CN203424190U (en) | 2014-02-12 |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103947631A (en) * | 2014-04-28 | 2014-07-30 | 菏泽学院 | Crawler electric intelligent pesticide spraying vehicle |
| CN104012503A (en) * | 2014-05-13 | 2014-09-03 | 西北农林科技大学 | Pneumatic conveying form-copying-type garden pesticide spraying machine |
| CN104521931A (en) * | 2014-12-17 | 2015-04-22 | 江苏大学 | Intelligent pneumatic conveying variable spraying machine provided with laser sensor |
| CN104823955A (en) * | 2015-05-19 | 2015-08-12 | 南通市广益机电有限责任公司 | Crawler-type mist spraying vehicle |
| CN104885703A (en) * | 2015-05-15 | 2015-09-09 | 梧州市农业科学研究所 | Tea garden mechanical pruning and picking device |
| CN105360091A (en) * | 2015-09-02 | 2016-03-02 | 北京农业智能装备技术研究中心 | Method and device for spraying on target |
| CN105746471A (en) * | 2016-03-07 | 2016-07-13 | 昆明理工大学 | Single-caterpillar-band type pseudo-ginseng sprayer |
| CN106069626A (en) * | 2016-07-12 | 2016-11-09 | 张学衡 | A kind of water sprinkler people |
| CN106070156A (en) * | 2016-07-30 | 2016-11-09 | 重庆科技学院 | Variable rate spray system based on PLC and control method thereof |
| CN106259270A (en) * | 2016-08-19 | 2017-01-04 | 滁州新源农业科技有限公司 | A kind of portable scale insecticide sprayer automatically |
| CN106472471A (en) * | 2016-10-24 | 2017-03-08 | 南京林业大学 | A kind of mobile spraying system and its using method |
| CN106942188A (en) * | 2017-03-01 | 2017-07-14 | 安徽农业大学 | A kind of caterpillar band self-propelled Intelligent hot mist machine |
| CN108157340A (en) * | 2018-02-27 | 2018-06-15 | 西北农林科技大学 | A kind of teaching and contest spray robot |
| CN108157332A (en) * | 2018-01-17 | 2018-06-15 | 昆明理工大学 | A kind of self-propelled fruit tree agriculture chemical flusher |
| CN110754458A (en) * | 2019-09-26 | 2020-02-07 | 浙江海洋大学 | Automatic laser imaging pesticide spraying robot |
| CN111066765A (en) * | 2020-01-09 | 2020-04-28 | 中国农业大学 | Orchard automatic variable spraying machine based on laser scanning technology |
| EP3804518A1 (en) | 2019-10-11 | 2021-04-14 | Kmetijski Institut Slovenije | Method and system for selective, to flower set adapted, spraying of orchards |
| CN112913388A (en) * | 2021-01-11 | 2021-06-08 | 青岛农业大学 | Peanut seeder capable of spraying pesticide in precise quantity |
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2013
- 2013-06-14 CN CN201320346605.7U patent/CN203424190U/en not_active Expired - Fee Related
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103947631A (en) * | 2014-04-28 | 2014-07-30 | 菏泽学院 | Crawler electric intelligent pesticide spraying vehicle |
| CN104012503A (en) * | 2014-05-13 | 2014-09-03 | 西北农林科技大学 | Pneumatic conveying form-copying-type garden pesticide spraying machine |
| CN104012503B (en) * | 2014-05-13 | 2016-08-31 | 西北农林科技大学 | A kind of wind send copying type orchard spraying machine |
| CN104521931A (en) * | 2014-12-17 | 2015-04-22 | 江苏大学 | Intelligent pneumatic conveying variable spraying machine provided with laser sensor |
| CN104885703A (en) * | 2015-05-15 | 2015-09-09 | 梧州市农业科学研究所 | Tea garden mechanical pruning and picking device |
| CN104885703B (en) * | 2015-05-15 | 2020-07-17 | 梧州市农业科学研究所 | Tea garden mechanical trimming and picking device |
| CN104823955A (en) * | 2015-05-19 | 2015-08-12 | 南通市广益机电有限责任公司 | Crawler-type mist spraying vehicle |
| CN105360091B (en) * | 2015-09-02 | 2017-11-17 | 北京农业智能装备技术研究中心 | It is a kind of to target spray method and device |
| CN105360091A (en) * | 2015-09-02 | 2016-03-02 | 北京农业智能装备技术研究中心 | Method and device for spraying on target |
| CN105746471A (en) * | 2016-03-07 | 2016-07-13 | 昆明理工大学 | Single-caterpillar-band type pseudo-ginseng sprayer |
| CN106069626A (en) * | 2016-07-12 | 2016-11-09 | 张学衡 | A kind of water sprinkler people |
| CN106070156A (en) * | 2016-07-30 | 2016-11-09 | 重庆科技学院 | Variable rate spray system based on PLC and control method thereof |
| CN106259270A (en) * | 2016-08-19 | 2017-01-04 | 滁州新源农业科技有限公司 | A kind of portable scale insecticide sprayer automatically |
| CN106472471A (en) * | 2016-10-24 | 2017-03-08 | 南京林业大学 | A kind of mobile spraying system and its using method |
| CN106942188A (en) * | 2017-03-01 | 2017-07-14 | 安徽农业大学 | A kind of caterpillar band self-propelled Intelligent hot mist machine |
| CN108157332A (en) * | 2018-01-17 | 2018-06-15 | 昆明理工大学 | A kind of self-propelled fruit tree agriculture chemical flusher |
| CN108157332B (en) * | 2018-01-17 | 2024-03-19 | 昆明理工大学 | Self-propelled fruit tree pesticide chemical fertilizer sprinkler |
| CN108157340A (en) * | 2018-02-27 | 2018-06-15 | 西北农林科技大学 | A kind of teaching and contest spray robot |
| CN110754458A (en) * | 2019-09-26 | 2020-02-07 | 浙江海洋大学 | Automatic laser imaging pesticide spraying robot |
| EP3804518A1 (en) | 2019-10-11 | 2021-04-14 | Kmetijski Institut Slovenije | Method and system for selective, to flower set adapted, spraying of orchards |
| CN111066765A (en) * | 2020-01-09 | 2020-04-28 | 中国农业大学 | Orchard automatic variable spraying machine based on laser scanning technology |
| CN112913388A (en) * | 2021-01-11 | 2021-06-08 | 青岛农业大学 | Peanut seeder capable of spraying pesticide in precise quantity |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140212 Termination date: 20140614 |
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