Orchard automatic profiling mist pesticide spray machine and pesticide spraying control method

Abstract

The invention discloses an orchard automatic profiling mist pesticide spray machine and a pesticide spraying control method, wherein the orchard automatic profiling mist pesticide spray machine is constituted of a mist spray device, a vehicle body, an oscillating device and a detector; a minisize depth sensor is mounted in front of the vehicle body; in the travel process of the vehicle body, a crown outline of the fruit tree is obtained and the detection of coordinates, distance and outline range is completed; and according to the crown outline and the vehicle body travel speed, the delay time of opening an electromagnetic valve, the continuous mist pesticide spray time, the mist machine oscillating regularity that a spray cylinder is inclined backward are respectively calculated, thus the automatic profiling mist spay to the fruit tree is completed. According to the invention, by the detection of the depth sensor and the mist spray in a backward inclination oscillating way, the problems of poor real-time capability of crown detection and spray in the process of profiling pesticide spay, complex profiling spray system and big control difficulty are solved; minimization and simplification to orchard profiling pesticide spray apparatus are realized; and the pesticide liquid consumption and the cost of the whole machine are greatly reduced.

Description

Technical field [0001] The invention relates to the field of agricultural equipment, in particular to an automatic profiling mist spraying machine for orchards and a control method. Background technique [0002] In view of the huge waste of pesticides and serious non-point source pollution caused by continuous spraying, more accurate and efficient target and profiling spraying technology has become the development trend of orchard plant protection. Compared with target spraying, which only detects the presence or absence of plants to achieve interval spraying, profiling spraying can automatically control the spraying of pesticides to the crown range by detecting the shape of the crown, thereby greatly improving the utilization rate of pesticides. The existing profiling spraying technology still has some shortcomings in crown detection and spraying response: [0003] (1) Canopy detection [0004] At present, the methods of tree shape detection include vision, ultrasound, la...

AI Technical Summary

Problems solved by technology

[0006] The existing profiling spraying system generally adopts a multi-nozzle structure, which must be configured with a multi-degree-of-freedom mechanical system to control the position of the nozzles, and combined with the valve control of multiple nozzles to achieve profiling spraying, resulting in complex systems and difficult control and real-time performance is affected

At the same time, due to the lateral arrangement of the detection and spraying devices on the vehicle body, the interval between detection and spraying during travel is too short, which poses a great challenge to its response speed and affects operating efficiency

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