CN115226689A - Field precise spray device and control method based on crop phenotype monitoring feedback - Google Patents

Abstract

The invention discloses a field accurate spraying device based on crop phenotype monitoring feedback, which comprises: a cart having a platform thereon; a database for storing phenotypic character information of crops and pesticide application decision result information; and the upper computer is used for identifying the crop growth image, analyzing the stressed type and the stressed degree of the crop, comparing the crop with the data in the database to determine a pesticide application scheme and sending a control signal. A group of moving devices are respectively arranged at four corners of the platform, and a medicine box, a booster pump and a power supply are also arranged on the platform; spectral cameras are arranged on the two moving devices at the front end of the trolley in the advancing direction, and spray heads are arranged on the two moving devices at the rear end of the trolley in the advancing direction; the lower computer is arranged on the platform and used for receiving the control signal sent by the upper computer, controlling the booster pump and adjusting the flow and pressure of the booster pump.

Description

Field precise spray device and control method based on crop phenotype monitoring feedback

technical field

The invention relates to the technical field of precision agriculture, in particular to a field precision spraying device and control method based on crop phenotype monitoring and feedback.

Background technique

During the growth of crops, it is necessary to apply fertilizers, medicines, etc. to the crops, usually by spraying. At present, spraying machines are still using a large number of manual spraying machines, and these machines have serious problems such as "running, dripping, dripping, and leaking", and the spray reagents (drugs, fertilizers, etc.) are often unevenly distributed during the spraying process. The efficiency is low, and it cannot be precisely applied according to the growth of crops, and it can no longer meet the needs of the development of modern agriculture and forestry.

Contents of the invention

Based on the above problems, the present invention provides a field precise spraying device and control method based on crop phenotype monitoring feedback. Waste, and can avoid excessive drug damage to crops.

Technical scheme of the present invention is as follows:

A field precision spraying device based on crop phenotype monitoring feedback, including:

a trolley, which can be controlled to walk on a designated route in the field, and has a platform on the trolley;

A database that stores information on phenotypic traits of crops and results of pesticide application decisions;

A host computer is used to identify crop growth images, analyze the type of crop stress and the degree of stress, compare with the data in the database to determine the application plan and issue control signals;

A group of mobile devices are respectively provided at the four corners of the platform, and a medicine box, a booster pump and a power supply are also provided on the platform;

Spectrum cameras are installed on the two mobile devices at the front end of the traveling direction of the trolley, sprinklers are installed on the two mobile devices at the rear end of the traveling direction of the trolley, and the mobile devices drive the spectral cameras or nozzles in a vertical controlled movement in a plane perpendicular to the direction of travel of the trolley;

The spectrum camera is connected with a wireless communication module for transmitting the collected image information to the host computer;

The water outlet of the booster pump is connected to the spray head through a hose, and the booster pump is used to deliver the liquid in the medicine tank to the spray head;

The platform is provided with a lower computer, and the lower computer is communicatively connected with the upper computer, and the lower computer is used to receive the control signal sent by the upper computer and control the booster pump, and adjust the pressure of the booster pump. flow and pressure.

The present invention further provides that the bottom of the trolley is equipped with a crawler-type traveling mechanism.

The present invention is further provided that the mobile device includes a vertical guide rail, a horizontal guide rail, a turntable, and a cloud platform;

The vertical guide rail is vertically installed on the platform, and a vertical sliding seat is slidably connected to the vertical guide rail, and the vertical sliding seat can be controlled to move along the vertical sliding rail;

The horizontal guide rail is arranged horizontally and fixed on the vertical sliding seat, the horizontal sliding seat is provided on the horizontal guide rail, and the horizontal sliding seat can move in a controlled manner along the horizontal sliding rail;

The turntable is installed on the transverse sliding seat, and the turntable has a turntable that can rotate 360° around a horizontal axis;

The pan-tilt is installed on a rotating platform, and the pan-tilt has a mounting platform that can rotate around an axis reciprocatingly at least 180°, and the spectrum camera and the spray head are mounted on the mounting platform.

The present invention is further provided that both the vertical sliding seat and the horizontal sliding seat are driven by a screw nut mechanism.

The present invention is further provided that a feeding port is provided at the top of the medicine box, and a cover is connected to the feeding port.

The present invention further provides that the water inlet of the booster pump is connected to the medicine box through a hard water pipe, and the hard water pipe extends from the top of the medicine box to the bottom of the medicine box.

The present invention is further provided that the upper computer and the lower computer are respectively connected with a human-computer interaction device, and the human-computer interaction device at least includes a display screen and input buttons, and the input buttons at least include a start button, a stop button, and an emergency stop button. button and several parameter adjustment buttons.

A control method for a field precision spraying device based on crop phenotype monitoring feedback, applied to the above-mentioned field precision spray device based on crop phenotype monitoring feedback, including:

The trolley walks in the field according to the designated route, which is determined by the program or realized by tracking;

Input a parameter to the lower computer according to the growth period of the crops, which is used to control the position of the vertical slide seat on the vertical guide rail;

Through the program control set in the lower computer: the horizontal sliding seat moves horizontally periodically, the rotating table on the turntable periodically reciprocates, and the mounting table on the pan head periodically reciprocates, so that the spectrum camera or nozzle can follow the set trajectory Move; the moving routes of the four groups of mobile devices are the same, and the two groups of mobile devices located at the rear end of the direction of travel of the trolley are slower than the two groups of mobile devices located at the front end of the direction of travel of the trolley by one beat duration Δt,

Δt=L/v

Among them, L is the distance between the front and rear moving devices of the trolley, and v is the moving speed of the trolley;

The image information collected by the spectrum camera is transmitted to the host computer, which recognizes the phenotypic traits of the crops and compares them with the information in the database, and gives the pesticide application plan, and sends a control signal to the lower computer to adjust the output pressure of the booster pump.

In the present invention, it is further set that the stress information of the crops and the application plan are displayed on the display screen.

In summary, the beneficial effects of the present invention have:

1. The invention collects the image information of crops in real time through the spectral camera, and identifies and compares the surface shapes of the crops, so as to designate a spraying plan suitable for the production conditions of the crops, and realize precise spraying, which can reduce the waste of drugs and avoid the overdose of drugs. damage to crops;

2. In the present invention, the spectral camera and the nozzle can move up and down and laterally, and can also rotate and swing in the circumferential direction. The image collection range is large, and the crop information in a large angle range can be collected, which is beneficial to the comprehensive application of crops in the field. The area of the dead zone (where the application cannot be applied) is reduced, and the nozzle moves with the trajectory of the spectral camera to ensure accurate application;

3. In the present invention, the upper computer is set so that the data processing is not performed on the trolley, which effectively reduces the size and power of the trolley, which is beneficial to simplify and miniaturize the trolley and improve battery life.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

FIG. 2 is a schematic diagram of a mobile device in the present invention.

In the figure, 1, trolley; 2, platform; 3, mobile device; 4, vertical guide rail; 5, horizontal guide rail; 6, turntable; 7, head; 8, vertical slide; 9, horizontal slide; 10 , medicine box; 11, booster pump; 12, spectrum camera; 13, nozzle.

Detailed ways

The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Embodiment: Referring to Figure 1-2, a field precision spraying device based on crop phenotype monitoring feedback, including:

A trolley 1, the trolley 1 can be controlled to walk in the field according to a designated route, the trolley 1 has a platform 2, the platform 2 is rectangular, and the bottom of the trolley 1 is equipped with a crawler-type walking mechanism, which is convenient for it to move in the field. walk in the field;

A database that stores information on phenotypic traits of crops and results of pesticide application decisions;

A host computer is used to identify crop growth images, analyze the type and degree of stress of crops, compare with the data in the database to determine the application plan and issue control signals.

The four corners of the platform 2 are respectively provided with a group of mobile devices 3, and the platform 2 is also provided with a medicine box 10, a booster pump 11 and a power supply;

Spectrum cameras 12 are installed on the two mobile devices 3 at the front end of the traveling direction of the trolley 1, and sprinklers 13 are installed on the two mobile devices 3 at the rear end of the traveling direction of the trolley 1, and the mobile devices 3 drive spectral The camera 12 or the spray head 13 is controlled to move in a vertical plane, which is perpendicular to the traveling direction of the trolley 1 .

The mobile device 3 includes a vertical guide rail 4, a transverse guide rail 5, a turntable 6 and a cloud platform 7; the vertical guide rail 4 is vertically installed on the platform 2, and a vertical sliding seat is slidably connected to the vertical guide rail 4 8. The vertical sliding seat 8 can be controlled to move along the vertical slide rail; the horizontal guide rail 5 is arranged horizontally and fixed on the vertical sliding seat 8, and the horizontal sliding seat 9 is arranged on the horizontal guide rail 5 , the horizontal sliding seat 9 can be controlled to move along the horizontal sliding rail; the vertical sliding seat 8 and the horizontal sliding seat 9 are both driven by a screw nut mechanism.

In order to ensure the rigidity of the transverse guide rail 5, the screw mandrels on the vertical guide rail 4 are arranged in two parallel groups.

The turntable 6 is mounted on the horizontal sliding seat 9, and the turntable 6 has a turntable 6 that can rotate 360° around a horizontal axis. In this embodiment, the turntable 6 is a precision electric turntable 6 of NT03RA200M type; The cloud platform 7 is installed on the rotary platform 6, and the platform 7 has a mounting platform that can rotate around an axis reciprocatingly at least 180°. In this embodiment, the cloud platform 7 is made of Putianshi PTS-303Z outdoor waterproof cloud There are installation positions on the platform 7, the pan platform 7 and the turntable 6, and they are directly installed with screws, and the spectrum camera 12 and the nozzle 13 are installed on the installation platform.

The spectrum camera 12 is connected with a wireless communication module for transmitting the collected image information to the host computer, and the host computer recognizes the phenotypic characteristics such as crop texture, and performs qualitative and quantitative analysis, and compares and diagnoses with the data in the database The extent of the disease, and finally give the application plan.

The platform 2 is provided with a lower computer, the lower computer is connected to the upper computer in communication, and the lower computer is used to receive the control signal issued by the upper computer and control the booster pump 11 to adjust the booster. The flow and pressure of the pump 11, the application plan given by the host computer includes the control information of the booster pump 11 to control a bunch of booster pumps 11.

The water outlet of the booster pump 11 is connected to the spray head 13 through a hose, and the booster pump 11 is used to transport the liquid in the medicine box 10 to the spray head 13; in this embodiment, the spray head 13 is provided with two They are respectively arranged on the two moving devices 3 , therefore, the booster pump 11 is also provided with two water supplies for the two spray heads 13 respectively. The top of the medicine box 10 is provided with a feeding port, and a cover is connected to the feeding port. The water inlet of the booster pump 11 is connected to the medicine box 10 through a hard water pipe, and the hard water pipe extends from the top of the medicine box 10 to the bottom of the medicine box 10 .

The upper computer and the lower computer are respectively connected with a human-computer interaction device, the human-computer interaction device at least includes a display screen and input buttons, and the input buttons at least include a start button, a stop button, an emergency stop button and several parameter adjustment buttons .

A control method for a field precision spraying device based on crop phenotype monitoring feedback, applied to the above-mentioned field precision spray device based on crop phenotype monitoring feedback, including:

Car 1 walks in the field according to the designated route, which is determined by the program or realized through tracking; specifically, the Beidou positioning module is installed on the car to locate and assist the car in navigation, so as to ensure that the car can run on the predetermined route .

According to the growth period of the crops, input a parameter to the lower computer, which is used to control the position of the vertical slide seat on the vertical guide rail; the height of the crops in different growth periods (early, middle, late) is quite different, according to The height of the crops in different growth periods adjusts the height of the horizontal guide rails to adapt to the height of the crops.

Through the program control set in the lower computer: the horizontal sliding seat periodically moves laterally, the rotary table 6 on the turntable 6 periodically reciprocates, and the mounting platform on the pan platform 7 periodically reciprocates to swing, to realize the spectrum camera 12 or nozzle 13. Move according to the set trajectory; the moving routes of the four groups of mobile devices 3 are the same, and the two groups of mobile devices 3 located at the rear end of the traveling direction of the trolley 1 are slower than the two groups of mobile devices 3 located at the front end of the traveling direction of the trolley 1 by one beat duration Δt ,

Δt=L/v

Among them, L is the distance between the front and rear moving devices 3 of the trolley 1, and v is the moving speed of the trolley 1;

The image information collected by the spectrum camera 12 is transmitted to the host computer, which recognizes the phenotypic traits of the crops and compares them with the information in the database, and gives a pesticide application plan, and sends a control signal to the lower computer to adjust the output pressure of the booster pump 11. adjust.

The display screen displays the crop stress information and the pesticide application scheme.

The above is only the preferred embodiment of the present invention, it should be pointed out that for those skilled in the art, without departing from the inventive concept of the present invention, some modifications and improvements can also be made, and these all belong to the present invention. protection scope of the invention.

Claims (9)

1. A field accurate spraying device based on crop phenotype monitoring feedback, comprising:

a trolley (1), wherein the trolley (1) can be controlled to walk in a field according to a designated route, and a platform (2) is arranged on the trolley (1);

a database for storing phenotypic character information of crops and pesticide application decision result information;

the upper computer is used for identifying crop growth images, analyzing the stressed type and the stressed degree of crops, comparing the stress type and the stressed degree with data in a database to determine a pesticide application scheme and issue a control signal;

a group of moving devices (3) are respectively arranged at four corners of the platform (2), and a medicine box (10), a booster pump (11) and a power supply are also arranged on the platform (2);

the two moving devices (3) at the front end of the trolley (1) in the advancing direction are provided with spectrum cameras (12), the two moving devices (3) at the rear end of the trolley (1) in the advancing direction are provided with spray heads (13), the moving devices (3) drive the spectrum cameras (12) or the spray heads (13) to controllably move in a vertical plane, and the plane is vertical to the advancing direction of the trolley (1);

the spectrum camera (12) is connected with a wireless communication module and is used for transmitting the acquired image information to an upper computer;

a water outlet of the booster pump (11) is connected to the spray head (13) through a hose, and the booster pump (11) is used for conveying liquid in the medicine box (10) to the spray head (13);

the booster pump is characterized in that a lower computer is arranged on the platform (2), the lower computer is in communication connection with the upper computer, and the lower computer is used for receiving a control signal sent by the upper computer, controlling the booster pump (11) and adjusting the flow and pressure of the booster pump (11).

2. Crop phenotype monitoring feedback-based field precision spraying device according to claim 1, characterized in that the trolley (1) is equipped with crawler-type running gear at its bottom.

3. Crop phenotype monitoring feedback-based field precision spraying apparatus according to claim 1, characterized in that the moving device (3) comprises a vertical guide (4), a transverse guide (5), a turntable (6) and a pan-tilt (7);

the vertical guide rail (4) is vertically installed on the platform (2), a vertical sliding seat (8) is connected onto the vertical guide rail (4) in a sliding mode, and the vertical sliding seat (8) can move along the vertical sliding rail in a controlled mode;

the transverse guide rail (5) is horizontally arranged and fixed on the vertical sliding seat (8), a transverse sliding seat (9) is arranged on the transverse guide rail (5), and the transverse sliding seat (9) can be controlled to move along the transverse sliding rail;

the rotary table (6) is arranged on the transverse sliding seat (9), and the rotary table (6) can rotate around a horizontal shaft for 360 degrees;

the cloud platform (7) is arranged on the rotating platform (6), the cloud platform (7) is provided with an installation platform which can rotate around a shaft in a reciprocating way for at least 180 degrees, and the spectrum camera (12) and the spray head (13) are arranged on the installation platform.

4. Crop phenotype-based monitoring feedback field precision spraying device according to claim 1, characterized in that the vertical slide (8) and the transverse slide (9) are driven by a lead screw-nut mechanism.

5. The crop phenotype monitoring feedback-based field precision spraying device according to claim 1, characterized in that the top end of the pesticide box (10) is provided with a feeding port, and a cover is connected to the feeding port.

6. The crop phenotype monitoring feedback-based field precision spraying device according to claim 1, characterized in that the water inlet of the booster pump (11) is connected with the pesticide box (10) through a hard water pipe extending from the top of the pesticide box (10) to the bottom of the pesticide box (10).

7. The crop phenotype monitoring feedback-based precise field spraying device according to claim 1, wherein the upper computer and the lower computer are respectively connected with a human-computer interaction device, the human-computer interaction device comprises at least one display screen and input keys, and the input keys comprise at least one start key, one stop key, one emergency stop key and a plurality of parameter adjusting keys.

8. A method for controlling a field precise spraying device based on crop phenotype monitoring feedback, which is applied to the field precise spraying device based on crop phenotype monitoring feedback of any one of claims 1 to 7, and comprises the following steps:

the trolley (1) travels in the field according to a designated route, which is determined by a program or realized by tracking;

inputting a parameter to the lower computer according to the growth period of crops, wherein the parameter is used for controlling the position of the vertical sliding seat on the vertical guide rail;

controlling through a program set in a lower computer: the transverse sliding base periodically and transversely moves, the rotating table (6) on the rotating table (6) periodically rotates in a reciprocating manner, and the mounting table on the cloud deck (7) periodically swings in a reciprocating manner, so that the spectrum camera (12) or the spray head (13) moves according to a set track; the moving routes of the four groups of moving devices (3) are the same, and the two groups of moving devices (3) positioned at the rear end of the moving direction of the trolley (1) are slower than the two groups of moving devices (3) positioned at the front end of the moving direction of the trolley (1) by a beat time length delta t,

Δt=L/v

wherein L is the distance between the front and rear end moving devices (3) of the trolley (1), and v is the moving speed of the trolley (1);

image information acquired by the spectrum camera (12) is transmitted to an upper computer, the upper computer identifies the phenotype character of the crops and compares the phenotype character with the information in the database, a pesticide application scheme is given, and a control signal is sent to the lower computer to adjust the output pressure of the booster pump (11).

9. The method of controlling a field precise spray apparatus based on crop phenotype monitoring feedback of claim 8, wherein the display screen displays crop stress information and application schedule.

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