CN217523731U - Variable spraying device based on fruit and vegetable canopy structure - Google Patents
Variable spraying device based on fruit and vegetable canopy structure Download PDFInfo
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- CN217523731U CN217523731U CN202221519357.7U CN202221519357U CN217523731U CN 217523731 U CN217523731 U CN 217523731U CN 202221519357 U CN202221519357 U CN 202221519357U CN 217523731 U CN217523731 U CN 217523731U
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Abstract
The utility model discloses a variable atomizer based on fruit vegetables canopy structure, it includes the travelling car, laser radar detector, the medicine storage bucket, a water pump, variable adjusting part and controller, the medicine storage bucket is fixed on the travelling car, be connected with out the pencil on the medicine storage bucket, it connects the master switch on the pencil to go out, the water pump is connected on a pencil, variable adjusting part includes the air-vent valve, the overflow valve, switch solenoid valve, proportional solenoid valve and atomizer, the air-vent valve is connected on a pencil, the overflow valve is connected on the back flow, be connected with pressure sensor on the medicine supply pipe, be connected with many spray lances on the medicine supply pipe, equal connection switch solenoid valve and proportional control valve on the spray lance, the controller includes radar data analysis module, unmanned module and variable spraying module, radar data analysis processes laser radar detection data, the walking of unmanned module control travelling car, variable spraying module respectively with pressure sensor, the air-vent valve, switch solenoid valve, proportional control valve is connected.
Description
Technical Field
The utility model relates to an intelligent agriculture plant protection technical field, concretely relates to variable atomizer based on fruit vegetables canopy structure.
Background
At present, the methods for spraying fruit trees and vegetables mainly comprise manual spraying and mechanical automatic spraying. Although the manual spraying method can spray according to needs to a certain extent according to the growth vigor of crops, the cost of manual spraying is extremely high, single spraying consumes time and labor, and the manual spraying method is not beneficial to large-scale fruit and vegetable planting and cultivation. Although the mechanical automatic spraying can reduce the labor cost and improve the working efficiency, the spraying amount can not be adjusted according to the growth of crops due to the lagging of the pesticide applying technology and pesticide applying machinery, so that insufficient spraying or waste of liquid medicine is caused. Not only affects the growth of crops, but also causes serious natural environment pollution, increases the cost of agricultural production, causes drug residue, brings great potential safety hazards to consumers,
in recent years, researchers have applied image processing methods to perform volume calculations and analysis of the canopy. The research based on image processing can carry out multiple optimization on the measurement model to improve the measurement precision in the measurement of the parameters of the canopy, but the image processing time is long, the requirement on a computer is high, and the requirements of the actual production on rapidness and high efficiency cannot be met. The trainee also uses sensors such as ultrasonic and infrared to measure the information such as the position and volume of the canopy. The ultrasonic measurement error is great, and the accuracy is not good, and infrared sensor is comparatively extensive, easily receives the illumination influence.
Therefore, the technical personnel in the field need to solve the problem how to provide a variable spraying device which can spray reasonably and effectively according to the growth vigor of fruits and vegetables, finally save pesticides, reduce environmental pollution and reduce labor intensity.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a variable atomizer based on fruit vegetables canopy structure, convenient to use surveys information variable and adjusts the spray volume according to laser radar.
In order to achieve the above purpose, the utility model adopts the following technical scheme: a variable spraying device based on fruit and vegetable canopy structure comprises:
the mobile trolley is an autonomous mobile crawler trolley;
the laser radar detector is fixedly connected to the advancing front end of the mobile trolley;
the medicine storage barrel is fixed on a platform at the top of the movable trolley, the bottom of the medicine storage barrel is connected with a medicine outlet pipe, and the medicine outlet pipe is connected with a main switch;
the water pump is fixedly connected to the medicine outlet pipe;
the variable regulating assembly comprises a pressure regulating valve, an overflow valve, a switch electromagnetic valve, a proportional electromagnetic valve and an atomizing nozzle, the pressure regulating valve is connected to the medicine outlet pipe, one end of the medicine outlet pipe, far away from the medicine storage barrel, is connected with a return pipe and a medicine supply pipe, the overflow valve is connected to the return pipe, the return pipe is connected with the top of the medicine storage barrel, the medicine supply pipe is connected with a pressure sensor, the end part of the medicine supply pipe is connected with a plurality of spray rods, the spray rods are connected with the switch electromagnetic valve and the proportional regulating valve, and the atomizing nozzle is connected to the end parts of the spray rods;
the controller is fixed on the moving trolley and comprises a radar data analysis module, an unmanned module and a variable spraying module, the radar data analysis module is in signal connection with the laser radar detector, the unmanned module controls the moving trolley to walk, and the variable spraying module is respectively connected with the pressure sensor, the pressure regulating valve, the switch electromagnetic valve and the proportion regulating valve.
The utility model has the advantages that: autonomous movement tracked vehicle adapts to the topography, and the trafficability characteristic is strong, and the laser radar detector is used for the thickness information of gathering the plant in real time, then the radar data analysis module of controller carries out analysis processes to data, feeds back the variable spraying module of controller according to the canopy information of surveying, accomplishes the variable spraying of correspondence, can adjust the spraying pressure according to the canopy size pertinence control spraying volume in different places, make full use of liquid medicine, convenient to use, it is efficient.
Preferably, a filter is connected to the medicine outlet pipe, and the filter is close to one side of the medicine storage barrel.
Preferably, the spray bars are distributed on two sides of the movable trolley, and the atomizing spray heads correspond to canopy layers of fruits and vegetables.
Preferably, a computer processing module is installed in the controller and is in electric signal connection with the radar data analysis module, the unmanned module and the variable spraying module respectively.
Preferably, a standby water tank is arranged on the moving trolley and is connected with the medicine storage barrel through a pipe, and a valve is connected between the standby water tank and the medicine storage barrel.
Preferably, the bottom of the medicine storage barrel is connected with an impurity drainage pipe.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the variable spraying device based on the fruit and vegetable canopy structure of the present invention;
fig. 2 is the utility model relates to a schematic diagram is surveyed to radar of variable atomizer based on fruit vegetables canopy structure.
The device comprises a movable trolley 1, a laser radar detector 2, a medicine storage barrel 3, a medicine outlet pipe 4, a total opening pipe 5, a water pump 6, a variable adjusting component 7, a pressure regulating valve 71, an overflow valve 72, a switch electromagnetic valve 73, a proportional electromagnetic valve 74, an atomizing nozzle 75, a return pipe 8, a medicine supply pipe 9, a pressure sensor 10, a spray rod 11 and a controller 12.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to the utility model discloses attached figure 1 to 2, according to the embodiment of the utility model provides a variable atomizer based on fruit vegetables canopy structure, it includes:
the mobile trolley 1 is an autonomous mobile crawler trolley 1; the crawler trolley capable of moving autonomously can realize that the variable spraying system can walk autonomously in a working environment, the trolley chassis adopts a synchronous positioning and map construction technology of a laser radar used in an ROS robot system, an operation route can be set after a map is built in the operation environment, and the chassis can walk according to the set route. Laser radar can effectively guarantee the chassis and at the precision of during operation, and crawler car adopts independent suspension, and bearing capacity is big, and the volume is less, and the focus is low and operate steadily, is applicable to various constrictive planting environment, can pass through remote control operation simultaneously.
The laser radar detector 2 is fixedly connected to the advancing front end of the movable trolley 1;
for the laser detection device, the laser radar not only plays a role in establishing the image and walking of the crawler trolley, but also ensures that the system can accurately and effectively detect in a complex planting environment. The laser radar is connected with the controller computer through a network port, the computer runs the laser radar drive, controls the laser radar to scan the crop canopy to obtain canopy point cloud data, and stores, analyzes and processes the point cloud data. And then reconstructing a three-dimensional model of the canopy, identifying the features of the canopy, and extracting the volume of the canopy to be calculated. And finally, storing and outputting the calculated volume of the canopy.
The medicine storage barrel 3 is fixed on a platform at the top of the movable trolley 1, the bottom of the medicine storage barrel 3 is connected with a medicine outlet pipe 4, and the medicine outlet pipe 4 is connected with a main switch 5;
the water pump 6 is fixedly connected to the medicine outlet pipe 4;
the variable regulating assembly 7, the variable regulating assembly 7 includes the pressure regulating valve 71, the overflow valve 72, the on-off solenoid valve 73, the proportional solenoid valve 74 and the atomizer 75, the pressure regulating valve 71 is connected on the medicine tube 4, one end of the medicine tube 4 far away from the medicine barrel 3 is connected with the return pipe 8 and the medicine supply pipe 9, the overflow valve 72 is connected on the return pipe 8, the return pipe 8 is connected with the top of the medicine barrel 3, the medicine supply pipe 9 is connected with the pressure sensor 10, the medicine supply pipe 9 is connected with a plurality of spray bars 11, the on-off solenoid valve 73 and the proportional regulating valve 74 are connected on the spray bar 11, the atomizer 75 is connected at the end of the spray bar 11;
the controller 12 is fixed on the movable trolley 1 and comprises a radar data analysis module, an unmanned module and a variable spraying module, the radar data analysis module is in signal connection with the laser radar detector, the unmanned module controls the movable trolley to walk, and the variable spraying module is respectively connected with the pressure sensor, the pressure regulating valve, the switch electromagnetic valve and the proportion regulating valve.
In other embodiments, a filter is connected to the medicine outlet pipe 4, and the filter is close to one side of the medicine storage barrel. The filter is used for filtering impurities and preventing the medicine outlet pipe from being blocked.
In other embodiments, a plurality of spray bars 11 are distributed on two sides of the movable trolley 1, and the atomizing spray heads correspond to the canopy of the fruits and vegetables. Can finish spraying the pesticide on the fruits and the vegetables on both sides simultaneously.
In other embodiments, a computer processing module is mounted within the controller 12 and is in electrical communication with the radar data analysis module, the drone module, and the variable spray module, respectively.
In other embodiments, the movable trolley 1 is provided with a standby water tank, the standby water tank is connected with the medicine storage barrel through a pipe, and a valve is connected between the standby water tank and the medicine storage barrel. The standby water tank can increase the one-time irrigation amount and reduce the irrigation time.
In other embodiments, the bottom of the medicine storage barrel 3 is connected with an impurity discharge pipe. The remaining impurities can be removed. Reduce the harm of impurities to equipment.
The main switch in the device is used for controlling the opening and closing of the whole pipeline. The water pump is connected behind the main switch and used for providing water pressure and power for the whole pipeline. The rear part of the pipeline is connected with a pressure regulating valve for regulating the pressure of the whole pipeline, so that the situation that the pressure is too low to meet the requirement of spraying is avoided, and the pipeline equipment is prevented from being damaged due to too high pressure. The pressure regulating valve is divided into two paths, one path is connected with an overflow valve for reducing the pressure, and the overflow valve directly returns to the medicine box, so that the waste of the liquid medicine is reduced. The other path is connected with a pressure sensor to display the pressure of the main spraying pipeline in real time and ensure the spraying effect. And the branch is continuously formed behind the pressure sensor and is divided into 6 spraying pipelines, wherein 3 spraying pipelines are arranged on the left side, and 3 spraying pipelines are arranged on the right side. Each path also comprises a solenoid valve switch and a proportional solenoid valve for controlling the spray amount.
The invention takes the laser radar as the detection equipment, can quickly and accurately detect the plant canopy, is combined with the variable spraying component, can accurately detect the target canopy, and realizes accurate variable spraying on the canopy. The invention can reasonably and effectively spray according to the growth vigor of fruits and vegetables, and finally realizes the purposes of saving pesticides, reducing environmental pollution and lightening the labor intensity of workers.
Decision method for variable spray
The method comprises the steps that a laser radar collects thickness information of plants in real time, then preprocessing is carried out on the information to remove interference data information, and then a three-dimensional reconstruction algorithm is used for carrying out real-time reconstruction on crops.
The thickness information of the crop is measured, and the thickness of the crop at the point can be calculated by detecting the point on the crop according to the laser radar. L = L1-L2; wherein L2= S sin α; so L = L1-S sin α, where L is the distance from the point to the center of the crop, L1 is the distance from the lidar to the center of the crop, S is the distance from the lidar to the point, and α is the angle between the lidar beam and the vertical. As shown in fig. 2.
The invention builds a crop three-dimensional model by using an integral method, and a unit is obtained by scanning every 10 times. This unit was then divided longitudinally into 3 units, each unit being a spray unit. The volume of each spray cell V = W H L, W = T10V, where V is the volume of the spray cell, W is the width of each spray cell, H is the height of each spray cell, and L is the thickness of the spray cell. T is each scanning time, and v is the advancing speed of the crawler chassis.
And (4) determining the spray quantity according to the current volume compared with the set maximum volume to obtain a spray coefficient. The PWM waveform corresponding to the opening and closing of the electromagnetic valve is determined according to the spraying coefficient, so that the spraying amount of each spraying unit can be accurate.
As for the device and the using method disclosed by the embodiment, the description is simple because the device corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. The utility model provides a variable atomizer based on fruit vegetables canopy structure which characterized in that includes:
the mobile trolley is an autonomous mobile crawler trolley;
the laser radar detector is fixedly connected to the advancing front end of the mobile trolley;
the medicine storage barrel is fixed on a platform at the top of the movable trolley, the bottom of the medicine storage barrel is connected with a medicine outlet pipe, and the medicine outlet pipe is connected with a main switch;
the water pump is fixedly connected to the medicine outlet pipe;
the variable regulating assembly comprises a pressure regulating valve, an overflow valve, a switch electromagnetic valve, a proportional electromagnetic valve and an atomizing nozzle, the pressure regulating valve is connected to the medicine outlet pipe, one end of the medicine outlet pipe, far away from the medicine storage barrel, is connected with a return pipe and a medicine supply pipe, the overflow valve is connected to the return pipe, the return pipe is connected with the top of the medicine storage barrel, the medicine supply pipe is connected with a pressure sensor, the end part of the medicine supply pipe is connected with a plurality of spray rods, the spray rods are connected with the switch electromagnetic valve and the proportional regulating valve, and the atomizing nozzle is connected to the end parts of the spray rods;
the controller is fixed on the moving trolley and comprises a radar data analysis module, an unmanned module and a variable spraying module, the radar data analysis module is in signal connection with the laser radar detector, the unmanned module controls the moving trolley to walk, and the variable spraying module is respectively connected with the pressure sensor, the pressure regulating valve, the switch electromagnetic valve and the proportion regulating valve.
2. The variable spraying device based on the fruit and vegetable canopy structure as claimed in claim 1, wherein a filter is connected to the medicine outlet pipe, and the filter is close to one side of the medicine storage barrel.
3. The variable spraying device based on the fruit and vegetable canopy structure as claimed in claim 1, wherein the plurality of spray bars are distributed on two sides of the moving trolley, and the spraying nozzles correspond to the canopy of the fruit and vegetable.
4. The variable spraying device based on the fruit and vegetable canopy structure of claim 1, wherein a computer processing module is installed in the controller, and the computer processing module is in electrical signal connection with the radar data analysis module, the unmanned module and the variable spraying module respectively.
5. The variable spraying device based on the fruit and vegetable canopy structure as claimed in claim 1, wherein a reserve water tank is arranged on the moving trolley, the reserve water tank is connected with the medicine storage barrel through a pipe, and a valve is connected between the reserve water tank and the medicine storage barrel.
6. The variable spraying device based on the fruit and vegetable canopy structure as claimed in claim 1, wherein the bottom of the medicine storage barrel is connected with an impurity discharge pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221519357.7U CN217523731U (en) | 2022-06-16 | 2022-06-16 | Variable spraying device based on fruit and vegetable canopy structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221519357.7U CN217523731U (en) | 2022-06-16 | 2022-06-16 | Variable spraying device based on fruit and vegetable canopy structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217523731U true CN217523731U (en) | 2022-10-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221519357.7U Active CN217523731U (en) | 2022-06-16 | 2022-06-16 | Variable spraying device based on fruit and vegetable canopy structure |
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| Country | Link |
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| CN (1) | CN217523731U (en) |
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2022
- 2022-06-16 CN CN202221519357.7U patent/CN217523731U/en active Active
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