CN103548802B - Self-propelled spraying machine with automatic targeting in orchard and spraying method thereof - Google Patents

Abstract

The invention discloses a self-propelled spraying machine with automatic targeting in an orchard and a spraying method thereof. According to the self-propelled spraying machine, the automatic targeting is realized, the influence by the environment is less, the response time is fast, no leaked spraying or more spraying is caused and the waste of pesticide is prevented. The spraying machine comprises a rack, a traveling device, a spraying device with a plurality of spraying nozzles, laser detecting devices and a central processor; the laser detecting devices correspond to the spraying heads in a one-by-one manner; each laser detecting device comprises a laser generator, a laser receiver, a signal processor and a controller; the spraying heads and the laser detecting devices are distributed on the rack at the same corresponding angle; the central processor is connected with all spraying-nozzle control devices. The spraying method disclosed by the invention comprises the steps that the laser generator generates laser transmitting signals, the laser receiver receives reflecting signals, and if the target distance is in the set distance range, the target is the current target; if the former signal does not detect the current target, the latter reflecting signal detects the current target, and then the spraying is carried out; if the three continuous reflecting signals do not detect the target, the spraying is stopped; the other states are maintained to be the original states.

Description

Self-propelled orchard automatic target sprayer and its spraying method

technical field

The technology relates to an orchard sprayer, specifically, a self-propelled orchard automatic target sprayer and a spraying method thereof.

Background technique

Existing orchard sprayers generally include a frame, a traveling device, and a spraying device, which require manual control during spraying and cannot realize automatic operation. Even if there is an orchard sprayer that can be operated automatically, it cannot distinguish whether there is a target or not when spraying, and it always sprays continuously. The interval spray between trees is an ineffective spray, which cannot be effectively deposited on the leaves of fruit trees, and the waste of medicinal liquid is large. Air-driven spraying technology is a widely used and very effective orchard spraying technology. This technology can significantly improve the penetration and deposition rate of droplets. By controlling whether to spray according to the interval between fruit trees and the type of fruit trees, it can be reduced. The purpose of ineffective spraying and improving the effective utilization rate of pesticides.

At present, the orchard automatic target detection technology can be roughly divided into ultrasonic detection technology, infrared detection technology, and image processing-based detection technology according to the working principle, but none of them has formed a practical technology.

Ultrasound is greatly affected by ambient temperature and air humidity, and the radiation range of the beam is large. It cannot effectively identify fruit trees with small intervals, and the orchard environment is complex, and the detection accuracy is greatly disturbed.

Infrared detection technology uses infrared rays as the detection medium, which is greatly affected by natural light, has poor directionality, and has low measurement accuracy. The current research is mainly concentrated in the experimental stage, and the actual application is less.

The detection technology based on image processing can obtain a large amount of information through the camera, and can accurately judge the type and size of the tree according to the database, but the capital investment is large, the information processing is slow, and the response time is long. Difficulties affect work efficiency.

Contents of the invention

The purpose of this technology is to provide a self-propelled orchard automatic target sprayer that can automatically target, is less affected by the environment, has a fast response time, has high target detection accuracy, does not miss or over-spray, and prevents pesticide waste.

The self-propelled orchard automatic target sprayer of this technology includes a frame, a walking device, a spray device with multiple nozzles, a laser detection device with the same number as the nozzles, used to detect the target and calculate the target distance, and the laser detection device Including laser generator, laser receiver, signal processing and controller connected with laser generator and laser receiver, nozzles correspond to laser detection devices one by one; the corresponding pair of nozzles and laser detection devices are arranged in the same rack In terms of angle; it also includes a central processor, the signal processing and controllers of each laser detection device are connected to the central processor, and the output of the central processor is connected to each nozzle control device that controls whether each nozzle is sprayed or not.

Beneficial effects of this technology: when the sprayer is working, the laser generator of any laser detection device sends a laser emission signal, and the laser receiver of the laser detection device receives the reflection signal of the target to the laser emission signal, and the signal is processed and controlled. The device calculates the distance between the target and the laser detection device according to the laser emission signal and reflection signal; the central processing unit judges whether the target distance is within the preset distance range; if the target distance is within the preset distance range, the The target is the current target, and the central processing unit sends an opening signal to the nozzle control device corresponding to the nozzle of the laser detection device, so that the nozzle starts to spray; if no target is detected or the distance of the target exceeds the set distance range, the target is not the current target. Target, the solenoid valve corresponding to the nozzle will not be opened, that is, the nozzle will not spray. The laser detection device is adopted, the laser has strong directivity, the signal is basically free from environmental interference, and the response time is fast. At the same time, this technology adopts the principle that the laser emission direction of each laser detection device is consistent with the spraying center direction of each corresponding nozzle in the nozzle ring assembly. The laser detection device detects the target (tree crown) at different angles on both sides of the walking direction. , the central processing unit controls whether the nozzle corresponding to the same angle as the laser detector is working. In this technology, whether each nozzle sprays is independently controlled. Because the laser beam emitted by the laser detection device can only detect whether there is a target at a certain height of the fruit tree, if only one laser detection device is used to detect the target to control the spraying of the entire drug ring sprinkler group, the following problems may be caused: the higher crown is higher than the The laser detection height and lower canopy are lower than the laser detection height and cannot be detected by the laser detection device, resulting in spray leakage. Smaller tree crowns and the laser detection height are within the range of the tree crown height and are detected by the laser detection device to trigger all sprinklers. Overspray (ineffective spray) caused by uniform spraying. This technology adopts one-to-one corresponding control of multiple laser detection devices and multiple nozzles, which can detect targets in different angle ranges and prevent missed or over-sprayed sprays. This technology adopts the method of judging the existence of the current target three times in a row, which can effectively prevent the sparse canopy from excessive start-stop actions due to holes in the tree caused by the single precise positioning of the laser beam, so as to prevent the same nozzle from being unable to achieve continuous spraying on the same tree. .

This technology changes continuous spraying into intermittent spraying, and only applies pesticides to fruit trees. It combines automation technology with traditional pesticide application technology, and uses laser detection technology to realize automatic identification of current targets and automatic control of spraying, so as to achieve the goal of only spraying on current crops. The automatic target spraying of the target spraying, and the same tree can precisely control whether the corresponding nozzles are spraying due to the different crown shapes and sizes, so as to achieve the purpose of efficient application of pesticides and avoid waste of ineffective spraying. Therefore, this technology is a self-propelled orchard sprayer that can automatically target, is less affected by the environment, has a fast response time, has high target detection accuracy, does not miss or over-spray, and saves liquid medicine.

The self-propelled orchard automatic target sprayer described above takes the forward direction of the self-propelled orchard automatic target sprayer as the front, and among the corresponding pair of nozzles and laser detection devices, the laser detection device is arranged in front of the nozzles. The forward speed of the self-propelled orchard automatic target sprayer is 0.5-1m/s, and the laser detection device is set 20-40cm in front of the nozzle. In this way, it can be detected in advance to make up for the time required for the central processor to process data and the response time required to open the solenoid valve to spray. During this time interval, the sprayer has moved forward for a certain distance, so the nozzle is set at the distance behind the laser detection device It should be basically equal to the distance that the sprayer travels during this time interval, so that it will not cause less spray or missed spray.

In the aforementioned self-propelled orchard automatic target sprayer, each spray head is located in the same vertical plane, and each laser detection device is located in another vertical plane.

In the self-propelled orchard automatic target sprayer described above, the nozzle control device is a corresponding electromagnetic valve arranged on a liquid medicine pipe communicating with each nozzle.

The above-mentioned self-propelled orchard automatic target sprayer has a crawler-type walking device.

At the same time, the technology also provides a spraying method of a self-propelled orchard automatic target sprayer that can prevent less spraying or missing spraying, and can also prevent excessive spraying from wasting pesticides, and has a high degree of automation.

In the spraying method of the self-propelled orchard automatic target sprayer, the laser generator of any laser detection device generates a laser emission signal, and the laser receiver receives the reflection signal of the target to the laser emission signal, and the signal processing and controller are based on the laser emission signal. Signal and reflected signal, calculate the distance between the target and the laser detection device; the central processor judges whether the target distance is within the set distance range; if the target distance is within the set distance range, then the target is the current target ; Whether the central processing unit detects the current target according to the three continuous reflection signals and controls the action of the corresponding nozzle control device as follows:

a. If the previous reflection signal does not detect the current target, but the latter reflection signal detects the current target, the central processing unit sends an opening signal to the nozzle control device, so that the nozzle corresponding to the laser detection device starts to spray;

b. If the current target is detected by the previous reflection signal, and the current target is not detected by three consecutive reflection signals, the central processing unit sends a shutdown signal to the nozzle control device, so that the nozzle corresponding to the laser detection device stops spraying;

c. In other cases, maintain the original state.

In the above-mentioned spraying method, the set distance range is 0.2-6m.

Beneficial effects of this spraying method: In this technique, whether each nozzle sprays is independently controlled. Whether a nozzle sprays depends on whether the laser detection device corresponding to the nozzle detects the current target. Specifically, whether to spray is judged by the state of three consecutive reflection signals of the laser detection device. If the previous signal of any two consecutive reflection signals does not detect the current target, the latter reflection signal detects the current target and starts spraying; if the previous reflection signal detects the current target, none of the following three consecutive reflection signals are detected target, stop spraying; other states are maintained in the original state. The method effectively prevents less spraying or missed spraying, and also prevents excessive unnecessary start-up and stop actions in the same tree due to the formation of hollows in the tree due to the sparse crown.

Description of drawings

Figure 1 is a schematic diagram of a self-propelled orchard automatic target sprayer

Fig. 2 is a right side view of the spray head assembly in Fig. 1 .

Fig. 3 is a right view of the distribution of laser detection devices in Fig. 1 . Fig. 4 is a schematic diagram of the self-propelled orchard automatic target sprayer in use in the orchard.

Fig. 5 is a schematic diagram of each laser detection device detecting a current target.

Fig. 6 is a schematic diagram of a hollow in a tree crown detected by a laser detection device.

FIG. 7 is an enlarged schematic view of a cavity detected by a laser detection device.

Fig. 8 is a schematic diagram of the hardware part in the self-propelled orchard automatic target sprayer.

Fig. 9 is a flow chart of the spraying process of the self-propelled orchard automatic target sprayer.

Detailed ways

Referring to Figures 1 and 8, the self-propelled orchard automatic target sprayer includes a frame 1, a crawler-type walking device 2, a spray device 3, and a laser detection device 4 for detecting the target and calculating the target distance. The laser detection device comprises a laser generator 41, a convex lens 46 positioned in front of the laser generator, a laser receiver 42, an optical filter 47 positioned in front of the laser receiver, a convex lens 48, a signal processing unit that links to each other with the laser generator and the laser receiver. controller. The signal processing and controller include microcontroller 43 , timer 44 , signal processor 45 and so on. Ten laser detection devices 4 are located on the same ring plate 49 . The spraying device 3 includes 10 spray heads 31 located on the same vertical plane, and a blowing channel with an air outlet 32 , each spray head communicates with a liquid medicine pipe, and a solenoid valve 33 is arranged on each liquid medicine pipe. The central processing unit controls the solenoid valve through the solenoid valve driving circuit 34 . Ten nozzles 31 are located at the air outlet 32, five on the left and five on the right. There is a one-to-one correspondence between the nozzle and the laser detection device. Corresponding pairs of nozzles and laser detection devices are arranged at the same angle on different vertical planes with a certain distance between the frame, that is, the axes of the nozzles are parallel to the beams emitted by the corresponding laser detection devices. The axis of the sprinkler head and the plane where the light beam emitted by the corresponding laser detection device are located are parallel to the forward direction of the self-propelled orchard automatic target sprayer. The signal processing and controllers of each laser detection device are connected to the central processing unit (control system) 6 through a signal conversion circuit 9, and the output of the central processing unit controls the spraying of each nozzle through a solenoid valve. Keyboard 8, display 7, temperature sensor 10 etc. are also connected with central processing unit.

The forward speed of the self-propelled orchard automatic target sprayer is 0.5-1m/s, with the forward direction of the self-propelled orchard automatic target sprayer as the front, the plane where each laser detection device is located is in front of the plane where each nozzle is located, And the distance Z=30cm. In this way, combined with the driving speed of the sprayer, it can be realized that the sprayer has started to spray before reaching the fruit tree, so as to prevent less spraying or missed spraying. When the sprayer leaves the fruit tree, the central processing unit will delay 0.1s to close the solenoid valve to ensure that the fruit tree is fully sprayed and prevent incomplete spraying.

Referring to Fig. 9, the spraying method is as follows: the laser generator of any laser detection device generates a laser emission signal, and the laser receiver receives the reflection signal of the target to the laser emission signal, and the signal processing and the controller calculate according to the laser emission signal and the reflection signal. The distance between the target and the laser detection device; the central processor judges whether the target distance is within the set distance range (the set distance is generally 0.2-6m, which can be adjusted); if the target distance is within the set distance range , then the target is the current target; the central processor controls the action of the corresponding sprinkler control device as follows according to whether the current target is detected by three continuous reflection signals:

a. If the previous reflection signal does not detect the current target, but the latter reflection signal detects the current target, the central processing unit sends an opening signal to the nozzle control device, so that the nozzle corresponding to the laser detection device starts to spray;

b. If the current target is detected by the previous reflection signal, and the current target is not detected by three consecutive reflection signals, the central processing unit sends a shutdown signal to the nozzle control device, so that the nozzle corresponding to the laser detection device stops spraying;

c. In other cases, maintain the original state.

The laser detection device is used to collect orchard operation information, measure the distance between the target and the nozzle, read the data and feed the information back to the control system. The control system analyzes and judges according to the received information, so as to control the opening and closing of the solenoid valve to achieve target spraying.

Fruit tree planting is generally multi-row planting. As shown in Figure 4, the orchard is planted in the row spacing X×plant spacing Y planting mode. Figure 4 shows two rows adjacent to the current target row, a total of four rows. The sprayer travels between the 2nd and 3rd row of fruit trees. Through the man-machine interface, the line spacing X can be set according to the actual planting mode, which is the maximum distance from the target to the nozzle (or laser detection device), and is also the basis for whether the laser detection target is the current target. After the laser detection device measures the actual distance (target distance) from the target to the nozzle (or laser detection device), it is compared with the maximum distance X. If the target distance > X, this target is not the current target, and the sprinkler will not spray, thus avoiding the ineffective spraying of interlaced fruit trees (that is, the first row and the fourth row of fruit trees in the figure). It has good adaptability to orchards with different row spacing.

As shown in Figure 4, if there is a missing tree at A in the second row of fruit trees, after the laser detection device detects the distance from the fruit trees at B, it will judge whether it is within the set range, and if it is judged that there is no fruit tree here, then close the Nozzle, and there is no tree at C, then the nozzle near the side of C will continue to spray.

Not all laser detectors are determined as current targets for the same tree. As shown in Figure 5, the three laser detectors adjacent to the lower right are measured and judged as the current target, and the nozzle spray at the corresponding position is controlled, while the two laser detectors at the upper right corner do not detect the current target, and the nozzle at the corresponding angle Do not spray. Therefore, fruit trees of any tree type can be sprayed accurately.

The fruit trees in the orchard generally have different shapes and densities. When the laser detection device detects the target, the beam is thinner. The spray method of this technology can avoid the small holes in the fruit trees or the gaps between branches from affecting the detection and judgment. As shown in Figures 6 and 7, during continuous measurement by the laser detection device of the sprayer in motion, the laser light 12 sent by a certain laser detection device passes through the cavity 11. If the signal is not the current target, the spraying will stop, and the next time the current target signal is detected, the spraying will be started, and the start and stop actions will continue to occur in the same sparse canopy. In fact, it is not that there are no branches and leaves in the spraying range of a single sprinkler head. Click No current target signal. In order to avoid too many unnecessary start-stop spraying actions in the same canopy, it is set that if the reflected signal is detected for 3 consecutive times as the non-current target, it is considered that the orchard sprayer travels to the gap between the fruit trees or a large internal cavity. No need to spray, close the solenoid valve. In this way, the influence of small holes or small gaps on continuous spraying can be avoided, and the spraying will not be ineffective in the neutral position of fruit trees and larger holes.

This technology judges the presence or absence of fruit trees through laser detection technology, and at the same time judges whether the fruit tree is the current target by measuring the distance, and uses 3 consecutive reflection signals to judge whether there is a current target, determine whether to spray, and realize accurate spraying on the target, and Avoid unnecessary start and stop spray action.

Claims (2)

1. the spray method of self-propelled orchard automatic target detecting orchard sprayer, described self-propelled orchard automatic target detecting orchard sprayer, comprise frame, running gear, there is the sprayer unit, identical with shower nozzle quantity for detecting target and calculating Laser Detecting Set, the central processing unit of target distance of multiple shower nozzle, Laser Detecting Set comprises laser generator, laser pickoff, the signal transacting be connected with laser pickoff with laser generator and controller, shower nozzle and Laser Detecting Set one_to_one corresponding; A pair corresponding shower nozzle and Laser Detecting Set are arranged on the same corresponding angle of frame, signal transacting and the controller of each Laser Detecting Set are connected with central processing unit, and each ejection head control device whether output and each shower nozzle of control of central processing unit spray is connected;

It is characterized in that: described spray method comprises the steps, the laser generator of arbitrary Laser Detecting Set sends laser firing signals, laser pickoff receives the reflected signal of target to laser firing signals, signal transacting and controller, according to laser firing signals and reflected signal, calculate the distance of target from this Laser Detecting Set; Central processing unit judges that described target distance is whether in the distance range of setting; If target distance in the distance range of setting, is then current targets; Whether central processing unit exists according to three continuous signals the action that current targets controls corresponding ejection head control device as follows:

If the previous reflected signal of a does not detect current targets, a rear reflected signal detects current targets, then central processing unit sends opening signal to ejection head control device, makes the shower nozzle corresponding with Laser Detecting Set start spraying;

If the previous reflected signal of b detects current targets, and then continuous three reflected signals all do not detect current targets, then central processing unit sends shutdown signal to ejection head control device, make the shower nozzle corresponding with Laser Detecting Set stop spraying;

In c, other situation, state of remaining stationary.

2. the spray method of self-propelled orchard as claimed in claim 1 automatic target detecting orchard sprayer, is characterized in that: the distance range of setting is 0.2-6m.