CN212279615U - Targeting spraying machine with fan rotating speed and air outlet area jointly adjusted - Google Patents
Targeting spraying machine with fan rotating speed and air outlet area jointly adjusted Download PDFInfo
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- CN212279615U CN212279615U CN202021351996.8U CN202021351996U CN212279615U CN 212279615 U CN212279615 U CN 212279615U CN 202021351996 U CN202021351996 U CN 202021351996U CN 212279615 U CN212279615 U CN 212279615U
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Abstract
The utility model relates to the technical field of agricultural machinery, a to target spraying machine that fan rotational speed and air-out area jointly adjusted is disclosed, include: the two-dimensional laser radar is used for acquiring target information of the fruit trees; the air conveying device is used for conveying air with air speed and air quantity capable of being controlled in a decoupling mode; the spraying end of the spraying device is positioned on the air outlet side of the air conveying device; the input end of the control device is in communication connection with the two-dimensional laser radar, and the output end of the control device is in communication connection with a fan of the air supply device and the air outlet area adjusting mechanism respectively; the utility model discloses when carrying out the wind-blowing of target to the fruit tree and spouting the medicine, can realize carrying the wind of wind speed and the decoupling control of amount of wind to the fruit tree, satisfied the wind-blowing to the fruit tree canopy of different grade type and sent the medicine demand of spouting, reached better medicine spraying effect.
Description
Technical Field
The utility model relates to the technical field of agricultural machinery, especially relate to a fan rotational speed and air-out area jointly adjust to target spraying machine.
Background
The orchard pest and disease prevention and control method can recover huge economic loss, the existing pest and disease prevention and control mode mainly depends on chemical pesticides, and according to survey statistics, the frequency of spraying pesticides on fruit trees within one year is 8-15 times. With the increasing aging degree of population, heavy pesticide spraying operation has become a main factor influencing orchard management. To overcome this problem, some robots for orchard work have been developed, but most of these robots are directed to picking and harvesting of fruit, and relatively few robots for orchard spraying are used.
Orchard wind send medicine technique of spouting is as an efficient automatic medicine technique of giving medicine to poor free of charge, is through high-speed airflow with the atomizing droplet of shower nozzle further striking atomizing become tiny even droplet to reinforcing droplet's adhesion property, powerful air current can roll branch and leaf and wrap up and pass through the target bore with the droplet, greatly increased the penetration ability of droplet.
In recent years, with the development of sensors and automatic control technologies, orchard targeting variable spraying technologies have emerged. The orchard targeting variable spraying comprises targeting variable control of drug amount and wind power, wherein the drug amount targeting variable control technology is gradually mature, but the research on wind power control is less. For the existing spraying machine with the automatic target-aiming wind power regulation function, the wind power is mostly regulated by independently regulating the rotating speed of a fan or independently regulating the air outlet area, but the wind speed and the wind volume of the output wind power of the single regulation mode have a 'strong coupling' relation which is mainly reflected in that when the area of an air outlet is independently regulated, the area of the air outlet is reduced to reduce the wind volume, but the wind speed is increased, otherwise, the wind speed is increased to reduce the wind volume; when the rotating speed of the fan is independently adjusted, the rotating speed of the fan is increased to cause the synchronous increase of the wind speed and the wind quantity at the outlet, otherwise, the synchronous decrease is realized. Thus, this "strong coupling" relationship makes independent regulation of wind speed and wind volume impractical.
However, in actual spraying operation on fruit trees, different types of fruit tree canopies have different wind speed and air volume requirements, such as: for a crown with dense branches and leaves and small volume, wind power with high wind speed and low wind volume is generally needed, and for a crown with sparse branches and leaves and large volume, wind power with low wind speed and high wind volume is needed. In the spraying process, insufficient deposition in the canopy chamber is caused by too small wind power, and liquid medicine is blown out of the canopy when the wind power is too large, so that pesticide drifts, and farmland ecological environment pollution is caused.
Therefore, when the existing targeting spraying machine carries out pneumatic conveying and spraying on fruit trees, the wind power for conveying has a strong coupling relation between the wind speed and the wind volume, so that the independent regulation of the conveyed wind speed and the conveyed wind volume cannot be realized, the pneumatic conveying and spraying requirements of fruit tree canopies of different types are difficult to meet, and the better medicine spraying effect is difficult to achieve.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a to target spraying machine that fan rotational speed and air-out area jointly adjusted for solve current to target spraying machine when carrying out the wind-blowing to the fruit tree and spouting the medicine, can't realize the independent regulation to the wind speed of carrying wind-force and the amount of wind, be difficult to satisfy the wind-blowing of the fruit tree canopy of different grade type and spout the problem of medicine demand.
In order to solve the technical problem, the embodiment of the utility model provides a fan rotational speed and air-out area jointly adjust to target spraying machine is provided, include: the two-dimensional laser radar is used for acquiring target information of the fruit tree, and the target information comprises position information of the fruit tree, canopy contour information, canopy volume information and canopy density information; the air supply device comprises an air box, a fan and an air outlet area adjusting mechanism; one end of the air box forms an air inlet, and the other end of the air box forms an air outlet; the air outlet area adjusting mechanism is arranged at the air outlet; the spraying end of the spraying device is positioned on the air outlet side of the air conveying device; and the input end of the control device is in communication connection with the two-dimensional laser radar, and the output end of the control device is in communication connection with the fan and the air outlet area adjusting mechanism respectively.
Wherein, still include: a mobile platform; and the two-dimensional laser radar, the air supply device, the spraying device and the control device are arranged on the mobile platform.
The first end of the air supply device is rotatably arranged on the base, and the second end of the air supply device is connected with the base through a telescopic driving mechanism.
The air supply device comprises a plurality of air supply devices, the air supply devices are arranged in two rows, and the air outlet directions of the two rows of air supply devices are arranged in a back-to-back mode.
The air outlet area adjusting mechanism comprises an air outlet adjusting unit and a turnover driving mechanism; the air outlet regulation and control units comprise a plurality of air outlets and are distributed in the air outlets side by side; the overturning driving mechanism corresponds to the air outlet regulation and control units one by one and is connected with the air outlet regulation and control units, and the overturning driving mechanism is in communication connection with the control device.
The air outlet regulation and control unit comprises two air baffles, one corresponding sides of the two air baffles are hinged, and the other sides of the two air baffles are connected with the overturning driving mechanism.
The spraying device comprises a plurality of spraying heads, and the spraying heads are used for communicating the medicine box through a control valve; the air outlet regulation and control units are opposite to the atomizing spray heads one by one and are arranged along the air outlet direction of the air supply device.
The embodiment of the utility model provides an in above-mentioned one or more technical scheme, one of following technological effect has at least:
the embodiment of the utility model provides a fan rotational speed and air-out area jointly adjust to target spraying machine, accessible two-dimensional laser radar gathers the target information of fruit tree, just carry out the wind to send the spraying to fruit tree canopy when wind send device and corresponding atomizer, can calculate the dose to the fruit tree spraying based on the target information of fruit tree, spout the medicine with control atomizer, and calculate wind speed and the amount of wind that wind send device carried to the fruit tree based on the target information of fruit tree, with the rotational speed of coordinated control fan output, the air-out area of control air-out area adjustment mechanism regulation and control air outlet, thereby control wind send device to carry the wind of invariable amount of wind and different wind speeds, and then can be based on the positional information of the speed information of traveling of sprayer and fruit tree, carry out in proper order to target spraying operation each fruit tree in the orchard.
Therefore, the utility model discloses shown sprayer is when carrying out the wind-blowing medicine of spouting to the target to the fruit tree, not only can be based on the target information control of fruit tree to the dose of target spraying, but also can be based on the target information control of fruit tree to the wind speed and the amount of wind of fruit tree to the target spraying, thereby carry the wind of wind speed and the decoupling zero control of the amount of wind, the problem that has "strong coupling" between wind speed and the amount of wind when having overcome traditional spraying to the target to the fruit tree, the wind-blowing medicine demand of spouting to the fruit tree canopy of different grade type has been satisfied, better medicine spraying effect has been reached.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of a structure of a targeting sprayer for jointly adjusting the rotation speed and the air outlet area of a fan in an embodiment of the present invention;
fig. 2 is a schematic diagram of a right-view structure of a targeting sprayer with a combined adjustment of fan rotation speed and air outlet area according to an embodiment of the present invention;
fig. 3 is a block diagram of a control structure of a targeting sprayer for jointly adjusting the rotation speed and the air outlet area of a fan in the embodiment of the present invention;
fig. 4 is a schematic structural view of the targeted spraying machine with the combination of fan rotation speed and air outlet area adjusted according to the embodiment of the present invention performing spraying operation in an orchard;
fig. 5 is a schematic structural view of an air-assisted spraying device according to an embodiment of the present invention;
fig. 6 is a schematic view of a human-machine interface of a targeting sprayer for jointly adjusting the fan rotation speed and the air outlet area according to the embodiment of the present invention;
fig. 7 is a flowchart of a spraying method for a target spraying machine based on the joint adjustment of the fan rotation speed and the air outlet area according to the embodiment of the present invention;
fig. 8 is a schematic diagram of point cloud data of a fruit tree canopy obtained based on a two-dimensional laser radar to extract a transverse cross section of the fruit tree canopy, according to an embodiment of the present invention;
fig. 9 is a schematic diagram of point cloud data of a fruit tree canopy obtained based on a two-dimensional laser radar to extract a longitudinal section of the fruit tree canopy, according to an embodiment of the present invention;
fig. 10 is a schematic view of a broken line drawn by connecting points on the longitudinal and transverse cross-sectional profiles according to an embodiment of the present invention;
fig. 11 is a schematic diagram of the calculation of the air volume demand of the sprayer shown in the embodiment of the present invention to supply air to the entrance of the fruit tree canopy.
In the figure, 1, two-dimensional laser radar; 2. an air conveying device; 21. an air box; 22. a fan; 23. an air outlet area adjusting mechanism; 231. a wind deflector; 232. a turnover driving mechanism; 3. a spraying device; 31. a spray head; 32. a medicine chest; 4. a control device; 5. a mobile platform; 6. a base; 7. a telescopic driving mechanism; 8. a scissor bracket.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, fig. 2 and fig. 5, the embodiment provides a target spraying machine with jointly adjusted fan rotation speed and air outlet area, including: the two-dimensional laser radar device comprises a two-dimensional laser radar 1, wherein the two-dimensional laser radar 1 is used for collecting target information of a fruit tree, and the target information comprises position information of the fruit tree, canopy contour information, canopy volume information and canopy density information; the speed detection device is used for acquiring the running speed information of the spraying machine; the air supply device 2 comprises an air box 21, a fan 22 and an air outlet area adjusting mechanism 23; one end of the air box 21 forms an air inlet, and the other end forms an air outlet; the air outlet area adjusting mechanism 23 is installed at the air outlet; the spraying end of the spraying device 3 is positioned at the air outlet side of the air conveying device 2; the input end of the control device 4 is in communication connection with the two-dimensional laser radar 1 and the speed detection device, and the output end of the control device 4 is in communication connection with the fan 22 and the air outlet area adjusting mechanism 23 respectively.
Specifically, the sprayer shown in this embodiment, target information of a fruit tree is collected by the two-dimensional laser radar 1, when the air blowing device 2 and the corresponding spraying device 3 are just facing a fruit tree canopy and are subjected to air blowing spraying, the amount of medicine sprayed to the fruit tree can be calculated based on the target information of the fruit tree, the spraying device 3 is controlled to spray medicine, the air speed and the air volume of the air blowing device 2 conveyed to the fruit tree are calculated based on the target information of the fruit tree, the rotating speed output by the fan 22 is cooperatively controlled, the air-out area of the air-out area adjusting mechanism 23 is controlled to regulate and control the air blowing device 2 to convey the air with constant air volume and different air speeds, further, the target spraying operation can be sequentially performed on each fruit tree in an orchard based on the traveling speed information of the sprayer and the position information.
Therefore, when the sprayer shown in the embodiment is used for spraying medicine to a target wind for a fruit tree, the medicine amount of the fruit tree for target spraying can be controlled based on the target information of the fruit tree, the wind speed and the wind amount of the fruit tree for target spraying can be controlled based on the target information of the fruit tree, the wind flow of the wind speed and the wind amount can be decoupled and controlled, the problem that the wind speed and the wind amount are strongly coupled when the fruit tree is sprayed for the target in the traditional mode is solved, the requirement of the wind spraying medicine of fruit tree canopy layers of different types is met, and a better medicine spraying effect is achieved.
Therefore, the sprayer shown in the embodiment has high automation degree, is applicable to spraying operation of fruit trees of different types and different heights in an orchard, and greatly reduces the labor intensity of operators.
As shown in fig. 1, the two-dimensional laser radar 1 shown in this embodiment, speed detection device, wind send device 2, atomizer 3 and controlling means 4 all to install on moving platform 5, moving platform 5 can adopt the known crawler travel mechanism in this field to the complicated walking road conditions in adaptation orchard, thereby be convenient for carry out the spraying to the target of medicine to the fruit tree, wherein, two-dimensional laser radar 1 accessible adjustable support installs on moving platform 5, thereby based on the regulation to 1 mounting height of two-dimensional laser radar, can realize the collection to the target information of the fruit tree of co-altitude.
The two-dimensional laser radar 1 shown in this embodiment implements non-contact ranging of a fruit tree (target object) according to a laser pulse Time Flight principle (Time-of-Flight) to obtain characteristic point cloud data of the fruit tree, and further obtains target information of the fruit tree according to the characteristic point cloud data. Meanwhile, the two-dimensional laser radar 1 can be used for collecting target information of fruit trees and providing a navigation path for autonomous walking of the mobile platform 5, so that the unmanned spraying operation process is realized, the labor cost is saved, the pesticide utilization rate is improved, and the harm of pesticides to the health of personnel is reduced.
The speed detection device shown in this embodiment is not illustrated in fig. 1, the speed detection device may use a GPS positioning module known in the art, and may obtain the running speed information of the spraying machine by monitoring the real-time position change of the spraying machine, the speed detection device may also be a speed measurement sensor known in the art for directly detecting the speed of the spraying machine, and may also use an encoder or a proximity switch to detect the rotating speed of a corresponding running device (running wheel) of the spraying machine, which is not listed here.
Meanwhile, as shown in fig. 3, the control device 4 shown in this embodiment may include an industrial personal computer, a dosage regulating and controlling system, a wind power regulating and controlling system, and a walking control system, wherein the industrial personal computer is in communication connection with the two-dimensional laser radar 1, and is in communication connection with the dosage regulating and controlling system, the wind power regulating and controlling system, and the walking control system through a CAN bus, respectively, wherein the dosage regulating and controlling system is used for controlling the dosage sprayed by the spraying device 3 based on the volume information of the canopy of the fruit tree. The wind power regulating and controlling system is used for controlling the wind speed and the wind volume of the wind transmitted and supplied by the wind power device 2 based on the canopy density information of the fruit tree.
In addition, based on a navigation path provided by the two-dimensional laser radar 1 for autonomous walking of the mobile platform 5, the walking control system can control the walking pose of the crawler walking mechanism, so that the unmanned spraying operation process is realized, the labor cost is greatly saved, the pesticide utilization rate is improved, and the harm of pesticides to the health of personnel is reduced. The crawler traveling mechanism is arranged on a crawler, the traveling control system corresponding to the crawler traveling mechanism comprises a crawler traveling controller, the deflection angle of the crawler during traveling can be monitored based on an angle sensor, the rotating speed of a traveling motor on the crawler is monitored through a speed sensor, and the traveling speed of the crawler is monitored, so that the crawler traveling controller can control the traveling pose of the crawler in real time through a motor driver based on the deflection angle and the traveling speed.
In the spraying device 3, the spraying end of the spraying device 3 may be provided separately on the air outlet side of the air blowing device 2, or the spraying end may be directly attached to the air outlet side of the air blowing device 2. The spraying device 3 can control the spraying dosage by controlling the flow of the spraying agent at the spraying end. The sprayer shown in this embodiment can control the air speed and the air volume of the supplied air based on the fan 22 of the air supply device 2, and can also be combined with the air-out area adjusting mechanism 23 to adjust the corresponding air-out area of the air box 21, so as to realize the purpose of conveying the independently adjustable air speed and air volume to the fruit trees. Therefore, during actual air supply, the air supply device 2 can be controlled to output air with large air quantity and small air speed for the fruit tree canopy with large crown and sparse branches and leaves, and the air supply device 2 can be controlled to output air with small air quantity and large air speed for the fruit tree canopy with small crown and dense branches and leaves, so that the air supply device can be suitable for spraying air supply for different types of fruit tree canopies, and medicines can be uniformly conveyed to all areas of the fruit tree canopies.
Preferably, as shown in fig. 2 and 5, in the present embodiment, the first end of the wind delivery device 2 is rotatably mounted on the base 6, and the second end of the wind delivery device 2 is connected to the base 6 through the telescopic driving mechanism 7, wherein the telescopic driving mechanism 7 can be any one of a hydraulic cylinder, an air cylinder and an electric push rod, and a distance sensor can be mounted on the base 6 to monitor the turning angle of the wind delivery device 2 relative to the first end thereof in real time, so that the control device 4 can control the telescopic amount of the telescopic driving mechanism 7 in real time based on the information monitored by the distance sensor.
It is concrete, because all carry out corresponding medicine spraying in the different growth periods of fruit tree, and the fruit tree is highly inequality in the growth period of difference, the form on fruit tree canopy is also different, simultaneously under different terrain conditions, the fruit tree is also different to the height that the medicine wind sent for wind send device 2, in order to satisfy the medicine spraying requirement to the fruit tree of co-altitude, this embodiment is articulated mutually first end and base 6 of wind send device 2, and with the articulated electric putter's of wind send device 2 second end base, electric putter's flexible end is articulated with the corresponding end of base 6. Therefore, the control device 4 can control the stretching amount of the stretching driving mechanism 7 (electric push rod) based on the distance information that the air supply device 2 deviates from the base 6 and is collected by the distance sensor, so that when the stretching end of the stretching driving mechanism 7 stretches, the air supply device 2 can be driven to turn over a corresponding angle relative to the first end of the air supply device, and the air supply device 2 can be ensured to carry out target spraying operation on fruit trees suitable for different heights.
Further, in order to ensure the stability and reliability of the air conveying device 2 in turning, the present embodiment may further design the scissor-type bracket 8, the base 6 is connected to the bottom of the scissor-type bracket 8, the top of the scissor-type bracket 8 is movably connected to the air conveying device 2, so that when the air conveying device 2 turns towards the turning away from the base 6, the scissor-type bracket 8 may be adaptively unfolded, when the air conveying device 2 turns towards the turning close to the base 6, the scissor-type bracket 8 may be adaptively retracted, and the air conveying device 2 is provided with auxiliary support in the process.
Preferably, in this embodiment, wind send device 2 to include a plurality of, and divide into two rows and arrange, correspondingly, all set up atomizer 3's spraying end in every wind send device 2's air-out side to set up the spraying direction of spraying end and corresponding wind send device 2's air-out direction syntropy, can be with two wind send device 2's air-out side dorsad settings.
As shown in fig. 4, since the fruit trees planted in the orchard are usually arranged in an array, two rows of fruit trees are correspondingly represented by tree patterns on two sides in fig. 4, the sprayer shown in this embodiment is placed between the two rows of fruit trees, and the target spraying operation is performed on the fruit trees. In order to improve the efficiency of carrying out the target spraying to the fruit tree to reduce equipment cost, the sprayer shown in this embodiment can specifically set up two with wind send device 2, and two wind send device 2 and corresponding atomizer 3 when carrying out the target spraying medicine to the fruit tree, the direction of spraying to the target respectively towards the left side and the right side of moving platform 5, thereby can realize carrying out the target spraying operation to the fruit tree of left and right both sides simultaneously.
It should be noted that the control device 4 can independently control the air supply device 2 and the spraying device 3 on the corresponding sides to independently perform the target spraying operation based on the different growth vigor of the fruit trees on the two sides of the spraying machine detected by the two-dimensional laser radar 1.
Preferably, as shown in fig. 3 and 5, in the air blower 2 of the present embodiment, the outer contour of the air box 21 is "eight" shaped, the large end of the air box 21 forms an air outlet, and the side wall near the small end of the air box 21 forms an air inlet. Since the centrifugal fan can generate a larger wind speed and a larger wind volume during operation compared with the axial flow fan, the fan 22 shown in this embodiment is preferably a centrifugal fan, the centrifugal fan includes a centrifugal wind wheel and a dc driving motor, the centrifugal wind wheel is rotatably installed in the air box 21, the dc driving motor is installed outside the air box 21, an output end of the dc driving motor is connected to the centrifugal wind wheel through a belt transmission mechanism, and an installation position of the centrifugal wind wheel in the air box 21 corresponds to an air inlet of the air box 21. Therefore, the rotating speed of the centrifugal wind wheel can be adjusted by adjusting the rotating speed of the direct current driving motor.
Preferably, as shown in fig. 5, the air outlet area adjusting mechanism 23 in this embodiment includes an air outlet adjusting unit and a turnover driving mechanism 232; the air outlet regulation and control unit comprises a plurality of air outlets which are distributed in the air box 21 side by side; upset actuating mechanism 232 and air-out regulation and control unit one-to-one to be connected the air-out regulation and control unit, upset actuating mechanism 232 communication connection controlling means 4, wherein, air-out regulation and control unit includes two deep beads 231, and two corresponding one side of deep bead 231 are articulated mutually, and two deep beads 231 keep away from its another side of hinged end and connect upset actuating mechanism 232. From this, a plurality of air-out regulation and control units divide into a plurality of air-out regions with bellows 21's air outlet, and controlling means 4 accessible control every corresponding upset actuating mechanism 232 of air-out regulation and control unit to the aperture of two deep beads 231 in control corresponding air-out region, thereby realize the regulation to this air-out regional wind speed.
Correspondingly, when the wind speed at the corresponding position of the air outlet of the air box 21 is adjusted, a corresponding encoder can be configured for each fan 22, and the wind power regulation and control controller regulates and controls the rotating speed of the fan 22 in real time based on the canopy volume information at the corresponding position of the fruit tree, so as to adjust the wind speed at the corresponding position of the air outlet of the air box 21.
Preferably, as shown in fig. 3 and 5, the spraying device 3 shown in this embodiment includes a plurality of spraying heads 31, and the air outlet regulating units are opposite to the spraying heads 31 one by one and arranged along the air outlet direction of the air supply device 2.
Specifically, when the targeted spraying of the medicine is performed on the fruit tree, the canopy of the fruit tree can be gridded row by row along the horizontal direction according to the canopy contour information and the canopy volume information of the fruit tree, each row forms a plurality of unit grids, the spraying heads 31 correspond to the corresponding unit grids of each row one by one, the amount of the medicine sprayed on each unit grid can be calculated according to the volume of each unit grid of a single row, and the corresponding spraying operation is executed by the corresponding spraying heads 31.
Here, by corresponding the atomizing heads 31 to the air-out regulating units one by one, when the air speed and the air volume are regulated for the corresponding unit grids, the air speed of the air delivered to each unit grid can be controlled by the fan 22 according to the canopy volume information and the canopy density information of each unit grid in a single row, and the air volume of the air delivered to each unit grid is controlled by controlling the open/close state of the air-out regulating units, and the operation of controlling the open/close of the air-out regulating units is as follows:
the two wind shields 231 corresponding to the wind outlet regulating unit are turned in opposite directions by a preset angle to open the wind outlets in the corresponding areas of the spray head 31, so that the wind outlet direction of the wind box 21 is not greatly affected, wherein when the two wind shields 231 are turned in opposite directions by 90 degrees, the two wind shields 231 are attached to each other to completely open the wind outlets in the corresponding areas of the spray head 31; when the two wind shields 231 corresponding to the air-out regulating and controlling unit are controlled to turn 90 degrees away from each other and unfold each other, the air outlet of the corresponding air-out area of the atomizing head 31 can be closed, so that the air volume conveyed by each unit grid is controlled.
As shown in fig. 5, in order to ensure reliable adjustment of the current air outlet area of the spray head 31, six spray heads 31 are disposed at the air outlet of the air box 21, the air outlet of the air box 21 is vertically arranged, the six spray heads 31 are uniformly arranged at the air outlet from top to bottom, and accordingly, 12 air deflectors corresponding to the air outlet of the air box 21 are disposed in the air box 21, that is, two adjacent air deflectors 231 correspond to one spray head 31. A fixed shaft corresponding to the wind deflector 231 is provided in the wind box 21, and one corresponding side of two adjacent wind deflectors 231 is rotatably mounted on the same fixed shaft.
For the turnover driving mechanism 232, the turnover driving mechanism 232 includes a driving turnover mechanism and a driven turnover mechanism, the driving turnover mechanism and the driven turnover mechanism are distributed on the opposite side of the wind deflector 231 along the direction of the corresponding fixed shaft, and both the driving turnover mechanism and the driven turnover mechanism have a link mechanism, wherein, one end of the link mechanism corresponding to the driving turnover mechanism is hinged with one side of the wind deflector 231 far away from the fixed shaft, the other end of the link mechanism is connected with the output end of the steering engine, the steering engine is installed on the wind box 21 on the corresponding side of the wind deflector 231, one end of the link mechanism corresponding to the driven turnover mechanism is hinged with one side of the wind deflector 231 far away from the fixed shaft, and the other end of the link mechanism is rotatably.
As shown in fig. 3 and 5, 12 wind deflectors corresponding to the wind outlets are arranged in the corresponding wind boxes 21 of each wind conveying device 2, so that 12 steering engines are arranged in total in each wind conveying device 2, and each steering engine can be provided with one encoder. When adjusting the air output of the corresponding position of the air outlet of the air box 21, for each wind shield 231, the wind power regulation controller can monitor the rotation angle of the steering engine corresponding to the wind shield 231 in real time based on the encoder, and control the steering engine to rotate by a corresponding angle according to the volume information and the thickness information of the canopy of the corresponding position of the fruit tree, so as to drive the wind shield 231 to overturn by a corresponding angle.
Meanwhile, as spray head 31 shown in the present embodiment, spray head 31 is used to communicate medicine box 32 through a control valve, and an electromagnetic valve can be used as the control valve. The pesticide amount regulating and controlling system comprises a pesticide spraying controller, the pesticide spraying controller calculates the pesticide amount required by the spraying heads 31 based on the volume information and the thickness information of the canopy of the fruit tree and the flow information of the pesticide liquid passing through the electromagnetic valve based on the real-time monitoring of the flow sensor, so that the on-off state of the electromagnetic valve is controlled through the solid-state relay, wherein in the actual control operation, the pesticide spraying controller can specifically control the on-off frequency of the electromagnetic valve through the PWM driving circuit, the control of the pesticide amount sprayed by the spraying heads 31 is realized, and the precise control of the pesticide amount at different positions of the fruit tree can be realized based on the spraying heads 31.
In the process of controlling the pesticide amount spraying, the pesticide spraying controller further performs PID constant pressure control on the pesticide liquid output by the pesticide box 32 through the diaphragm pump and the pressure sensor, specifically, the pesticide box 32 sequentially passes through the diaphragm pump and the pressure regulating valve to provide the pesticide liquid to the spraying head 31, a filter is installed at the inlet of the diaphragm pump, the pressure sensor is installed at the outlet of the diaphragm pump, the pressure regulating valve is a three-way valve, and the pressure regulating valve is further communicated with the pesticide box 32 through a return pipe. When the pressure sensor monitors that the outlet pressure of the diaphragm pump is too high, the pressure regulating valve also returns a part of liquid medicine to the medicine box 32 through the return pipe so as to control the constancy of the pressure of the liquid medicine conveyed by the spray head 31, and therefore under the condition that the pressure of the liquid medicine conveyed by the spray head 31 is constant, the accurate control of the spraying dosage of the spray head 31 can be conveniently realized.
In addition, as shown in fig. 6, the embodiment further designs a corresponding human-machine interface based on the working process of the spraying machine. The man-machine interface can be used for setting communication parameters, fruit tree row spacing, sensor installation height and sensor and spraying device spacing, displaying the corresponding gridding density of a plurality of unit grids shown in the embodiment in real time on the man-machine interface, displaying the operation speed, the fan rotating speed, the air outlet area, the air speed, the air quantity and the air box inclination angle of the spraying machine, and finishing the functions of communication setting, speed calibration, laser radar connection, operation starting, operation stopping and the like of machines and tools through the man-machine interface.
As shown in fig. 7, this embodiment further provides a spraying method for a target spraying machine based on the above-mentioned joint adjustment of the fan rotation speed and the air outlet area, including: s1, collecting target information of fruit trees in the orchard and driving speed information of the spraying machine, wherein the target information comprises position information, canopy contour information, canopy volume information and canopy density information of the fruit trees; s2, calculating the dosage of the pesticide sprayed on different positions of the fruit tree canopy based on the target information to control the spraying device to spray the pesticide, meanwhile, calculating the wind speed and the wind volume of the wind conveying device conveyed to different positions of the fruit tree canopy based on the target information, and carrying out combined regulation and control on the fan and the wind-out area regulating mechanism to control the wind conveying device to carry out the regulation and control of the wind speed as required under the constant conveyed wind volume; and S3, sequentially carrying out target spraying operation on the fruit trees on the basis of the running speed information of the spraying machine and the position information of the fruit trees.
Specifically, in step S1, the present embodiment may obtain point cloud data of the fruit tree based on the two-dimensional laser radar, and obtain position information and canopy contour information of the fruit tree according to the point cloud data; calculating and acquiring canopy volume information of the fruit tree by adopting a canopy contour gridding maximum value algorithm on the point cloud data; and acquiring canopy density information of the fruit tree based on the number of the point cloud data returned from the specified area volume detected by the two-dimensional laser radar and the theoretical number of the point cloud data distributed in the specified area volume.
The canopy contour gridding maximum value algorithm shown in this embodiment is as follows:
and acquiring a fruit tree canopy contour based on the point cloud data corresponding to the canopy of the fruit tree, wherein the fruit tree canopy contour is a set of external envelope lines of the fruit tree canopy, contains all information of geometric characteristic parameters of the canopy and is formed by connecting the outermost edge points at different positions of the canopy. In this case, the fruit tree canopy contour is respectively gridded in the transverse direction and the longitudinal direction at a predetermined point spacing, for example: when the point taking distance is 0.1m, the size of each corresponding grid unit is 0.1m multiplied by 0.1m, wherein the grid unit coordinates, the y direction is the walking direction of the spraying machine, the z direction is the height direction of the fruit tree canopy, the x direction is the thickness direction of the fruit tree canopy, and the x direction is the direction of the spraying machine horizontally facing the fruit tree and is vertical to the y direction.
As shown in fig. 8, based on the point cloud data of the fruit tree canopy obtained by the two-dimensional laser radar 1, the transverse section of the canopy can be obtained by extracting the sections with different canopy heights, and the half-tree-shaped contour area corresponding to the two-dimensional laser radar 1 in fig. 8 represents the transverse section of the canopy extracted in this embodiment.
As shown in fig. 9, based on the point cloud data of the fruit tree canopy acquired by the two-dimensional laser radar 1, the longitudinal section of the canopy is obtained by extracting sections of different horizontal detection positions. In fig. 9, the horizontal grid lines represent horizontal contour extraction lines, the vertical grid lines represent vertical contour extraction lines, the intersections of the horizontal grid lines and the vertical grid lines represent contour points, and the tree-like contour region in fig. 9 represents a vertical section of the extracted canopy of the present embodiment.
As shown in fig. 10, the canopy longitudinal and transverse cross-sectional profile is obtained by connecting points on the longitudinal and transverse cross-sectional profiles and drawing a line graph. In fig. 10, the coordinate y represents the travelling direction of the sprayer, with the unit m; the coordinate x represents the thickness direction of the fruit tree canopy, and the unit is m; the coordinate z is the height direction of the fruit tree canopy and takes 1.33 m.
Therefore, after removing the points with the contour thickness of 0m of the canopy, calculating the area between adjacent coordinate points according to a trapezoidal area method, accumulating, calculating the cross-sectional area, and accumulating according to the obtained cross-sectional area of the canopy multiplied by the extraction distance of the cross section to obtain the volume of the canopy, wherein the specific formula is as follows:
meanwhile, the number of the point cloud data returned in the designated area volume detected by the two-dimensional laser radar can be divided by the theoretical number of the point cloud data fully distributed in the designated area volume, and corresponding conversion coefficients are combined to obtain canopy density information of the fruit tree, and the principle is as follows:
the traditional pesticide spraying aims to uniformly spray the pesticide on each leaf, namely, the pesticide application amount q is a function of the leaf area s, namely q ═ f(s), but the fast calculation of the leaf area is difficult through a nondestructive measurement method due to the fact that the number of the leaves is large and partial shielding exists. The leaf area s can be indirectly calculated by multiplying the leaf area density ρ by the volume V of the designated area, i.e., s ═ ρ V, wherein the leaf area density ρ is used to describe the sparse branch and leaf condition of the canopy of the fruit tree, which means the leaf area per unit volume (m ═ ρ V)2/m3)I.e. byρ＝s/V。
Setting the number of the blades in the volume V of the designated area as nlThe area of each leaf is Si，i＝1，2，…，nlSorting the leaf numbers, setting the difference between the leaf area of each leaf and the leaf area of the first leaf as Delta Si，i＝1，2，…，n l1, the leaf area within the specified region volume V can then be expressed as:
suppose that
That is, the change in the area of each blade in the designated area volume V is relatively small, and the blade area in the designated area volume V is reduced to S ═ S1nlSo that ρ ═ S/V ═ S can be further obtained1nl/V。
From this, it can be seen that the leaf area S is the first leaf area1The density p of the blade area is determined by the value of the volume V of the designated arealMay vary.
Correspondingly, based on that the more the number of blades in the designated area volume V is, the larger the blade area is, the more point cloud data output by the two-dimensional laser radar is, so that the present embodiment can use the point cloud density to represent the blade area density, and the calculation formula is as follows:
in the formula, npNumber of point cloud data, n, for a target returned for detection within a specified volume of areamaxThe theoretical number of the point cloud data in the designated area volume is obviously the maximum value which can be theoretically reached by the point cloud data in the designated area volume, namely nmaxPoint cloud density ρ with determined valuepWith npSo that n is determined only by data analysislAnd npThe functional relation between the two can be determined by coefficient calculationpA functional relationship between them, whereby the cloud density ρ of the volume of the region can be specifiedpThe canopy density information of the fruit tree is conveniently acquired.
Further, in this embodiment, based on the obtained target information of the fruit tree, the wind speed and the wind volume delivered by the wind delivery device to different positions of the canopy of the fruit tree are calculated, and the wind power delivered by the wind delivery device can be jointly regulated and controlled by the fan and the wind-out area regulating mechanism with reference to the following wind power regulation and control model, wherein when the regulation and control is performed, the wind power regulation and control model is used for regulating and controlling the output wind speed of the wind delivery device while ensuring that the wind volume delivered by the wind delivery device is constant, and the specific following steps are performed:
WindSpeed＝F(SOUT,Fanspeed)；
in the above formula, WindSpeed is the wind speed of the wind box air outlet, and the unit is m/s; fanspeed is the rotating speed of the fan, and the unit of the rotating speed is r/s; sOUTIs the air outlet area of the bellows, and the unit is m2(ii) a F is a relation function between the wind speed conveyed by the wind conveying device and the rotating speed and the air outlet area of the fan respectively under the constant wind quantity.
It should be noted here that the wind power regulation model shown in the present embodiment can be obtained by training through a deep neural network model. The input quantity of the wind power regulation and control model is the wind speed of wind conveyed by the wind conveying device, and the output quantity is the rotating speed of the fan and the area of the air outlet of the air box.
In addition, as shown in fig. 11, when the wind speed and the wind Volume of the wind supplied by the wind supply device are controlled, the speed of the airflow supplied by the wind by the spraying machine and the traveling speed of the spraying machine are both set to be constant, and the wind Volume demand Volume at the entrance of the canopy of the fruit tree is set to be constantCanopyINThe volume of the fruit tree canopy facing the sprayer is not less than the volume of the fruit tree canopy facing the sprayer, wherein the shape of the fruit tree canopy facing the sprayer can be simplified into a trapezoidal cube, so that the following constraint conditions can be obtained:
in the formula, VolumeCanopyINThe unit of the air quantity is m for the air quantity requirement at the entrance of the canopy of the fruit tree3/s；H1The height of the fruit tree canopy is m; h2The height of the entrance of the fruit tree canopy is m; h3The height of an air outlet of the spraying machine is m, and v is the advancing speed of the spraying machine in m/s; l is the distance between the spraying machine and the vertical center of the fruit tree, and the unit is m; l is1The distance between the spraying machine and the inlet of the fruit tree canopy is m; l is2The distance between the entrance of the fruit tree canopy and the vertical center of the fruit tree canopy is m; k is the air quantity loss coefficient in the fruit tree chamber.
Of course, the shape type of the fruit tree canopy can be in other forms, and a corresponding mathematical model can be established according to the volume of the fruit tree canopy and the canopy density information and by combining the shape type of the fruit tree canopy so as to control the wind speed and the wind volume transmitted to the fruit tree canopy.
Furthermore, in the embodiment, the canopy of the fruit tree is subjected to grid division row by row along the horizontal direction according to the canopy contour information and the canopy volume information, and each row forms a plurality of unit grids; according to the volume information and the density information of the canopy layer of each unit grid in a single row, calculating the amount of medicine sprayed on each unit grid to control a single spray head to spray medicine on the unit grid corresponding to the single spray head, and meanwhile, according to the volume information and the density information of the canopy layer of each unit grid in a single row, calculating the wind speed sprayed on each unit grid to control a single air outlet regulation and control unit to convey corresponding wind speed to the unit grid corresponding to the single air outlet regulation and control unit; correspondingly, the row-by-row target spraying operation can be carried out on the canopy of the fruit tree according to the running speed information of the spraying machine and the position information of the fruit tree. So, when carrying out target wind-driven spraying to the fruit tree in orchard, realize the dose of each position of fruit tree and the cooperation of wind-force as required regulation and control, when having ensured better spraying effect, still practice thrift the dose of spraying by a wide margin to farmland ecological environment pollution because of the pesticide drift has been prevented.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a fan rotational speed and air-out area jointly adjust to target spraying machine which characterized in that includes: the two-dimensional laser radar is used for acquiring target information of the fruit tree, and the target information comprises position information of the fruit tree, canopy contour information, canopy volume information and canopy density information;
the air supply device comprises an air box, a fan and an air outlet area adjusting mechanism; one end of the air box forms an air inlet, and the other end of the air box forms an air outlet; the air outlet area adjusting mechanism is arranged at the air outlet;
the spraying end of the spraying device is positioned on the air outlet side of the air conveying device;
and the input end of the control device is in communication connection with the two-dimensional laser radar, and the output end of the control device is in communication connection with the fan and the air outlet area adjusting mechanism respectively.
2. The pair of target spraying machine with the fan rotating speed and the air outlet area jointly adjusted according to claim 1, further comprising: a mobile platform; and the two-dimensional laser radar, the air supply device, the spraying device and the control device are arranged on the mobile platform.
3. The target spraying machine with the combined regulation of the fan rotating speed and the air outlet area as claimed in claim 1, wherein a first end of the air supply device is rotatably mounted on the base, and a second end of the air supply device is connected with the base through a telescopic driving mechanism.
4. The pair of target spraying machine with the fan rotating speed and the air outlet area jointly adjusted according to claim 1, wherein the air conveying devices comprise a plurality of air conveying devices which are arranged in two rows, and the air outlet directions of the two rows of air conveying devices are arranged in a back-to-back mode.
5. The target spraying machine with the combined regulation of the fan rotating speed and the air outlet area as claimed in claim 1, wherein the air outlet area regulating mechanism comprises an air outlet regulating unit and a turnover driving mechanism; the air outlet regulation and control units comprise a plurality of air outlets and are distributed in the air outlets side by side; the overturning driving mechanism corresponds to the air outlet regulation and control units one by one and is connected with the air outlet regulation and control units, and the overturning driving mechanism is in communication connection with the control device.
6. The pair of target spraying machine with the fan rotating speed and the air outlet area jointly adjusted according to claim 5, wherein the air outlet adjusting and controlling unit comprises two air baffles, one corresponding sides of the two air baffles are hinged, and the other sides of the two air baffles are connected with the overturning driving mechanism.
7. The target spraying machine with the combined regulation of the fan rotating speed and the air outlet area as claimed in claim 5, wherein the spraying device comprises a plurality of spraying heads, and the spraying heads are used for communicating a medicine box through a control valve;
the air outlet regulation and control units are opposite to the atomizing spray heads one by one and are arranged along the air outlet direction of the air supply device.
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| CN112772096A (en) * | 2021-01-20 | 2021-05-11 | 国家林业和草原局泡桐研究开发中心 | Quantitative fertilizer injection unit of persimmon tree microelement |
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| CN112772096A (en) * | 2021-01-20 | 2021-05-11 | 国家林业和草原局泡桐研究开发中心 | Quantitative fertilizer injection unit of persimmon tree microelement |
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