Orchard target-detecting sprayer and fruit tree canopy spraying method thereof

Abstract

The invention provides an orchard target-detecting sprayer and a fruit tree canopy spraying method thereof; the orchard target-detecting sprayer comprises: two-dimensional laser radar for detecting fruit tree canopy ranging information; a speed detection device for acquiring driving speed information of the sprayer in real time; a spraying device; and a controller for meshing the whole space of a fruit tree canopy horizontally column by column according to the fruit tree canopy ranging information and the driving speed information of the sprayer, wherein each column forms a plurality of meshed volumes; the controller is also used for controlling the spraying device to spray to each mesh of a single column of the fruit tree canopy according to chemicals application of each meshed volume of each column. The fruit tree canopy is divided into meshed volumes, chemicals application of the different meshed volumes is calculated, chemicals spraying is performed for different parts of the fruit tree canopy in targeted manner, and orchard chemicals application effect can be further improved.

Description

Technical field [0001] The invention relates to the technical field of agricultural machinery, and more specifically, to an orchard on-target sprayer and a spraying method for the canopy of fruit trees. Background technique [0002] The automatic target spraying machine can selectively apply pesticides to the target according to the presence or absence of the target and the changes in the target characteristics, effectively increasing the adhesion rate of pesticides on crops, and significantly reducing the sedimentation of pesticides in non-target areas. Good application effects can reduce production costs and reduce environmental pollution caused by pesticides. Spraying on the target can improve the low effective utilization of pesticides in the traditional continuous spraying of orchards. [0003] Although the CCD image sensor technology in the target spray detection technology based on real-time sensors has high detection accuracy, its real-time performance is relatively poor, ...

AI Technical Summary

Problems solved by technology

[0003] Although the CCD image sensor technology in the target spray detection technology based on real-time sensors has high detection accuracy, its real-time performance is relatively poor, and the corresponding supporting facilities are many, and the cost is high, which limits its application in small orchards. Application; Ultrasonic detection technology has a detection blind spot, which is easily affected by the environment, and the detection accuracy will be affected by the density of the canopy of the measured target, so the accuracy is poor in short-distance detection; Unstable work and short detection distance

[0004] The orchard variable spraying machine has been continuously developed and promoted in my country, but there are the following defects: the orchard variable spraying machine needs to drive at a constant speed, or at a certain limited speed, which reduces the practicability of the orchard variable spraying machine

In addition, due to the certain distance between the two-dimensional laser radar and the spraying device, there is a time delay between target detection and spraying operations. At present, the orchard variable spraying machine cannot realize the delayed variable spraying for the gridded volume of the fruit tree canopy.

Images