Greenhouse-applied autonomous navigation intelligent variable-amount-of-mist spraying system and a control method thereof

Abstract

The invention discloses a greenhouse-applied autonomous navigation intelligent variable-amount-of-mist spraying system and a control method thereof. The whole control system comprises a camera, a wireless router, and a vehicle platform, wherein camera takes pictures of the greenhouse and transmits the pictures to the computer in a control room. The computer in the control room plans the driving route of the vehicle platform and transmits the planned driving route to the vehicle platform through a wireless network so that the vehicle platform is controlled to drive according to the planned route. A Sick laser sensor is fixed on the front of the vehicle platform, scans the plant targets and transmits the collected plant target information to a vehicle-mounted embedded-type computer via the Ethernet. The vehicle-mounted embedded-type computer software combines the real-time mist spraying speed to form a three-dimensional image, and according to the positions of the spraying nozzles, the three-dimensional image is segmented. In combination with the flow control algorithm and the delay compensation algorithm, the PWM flow control commands corresponding to each nozzle are calculated and the delay time required for the spraying is compensated so that in the traveling of the vehicle platform, the nozzles accurately dock with the targets for variable-amount-of-mist spraying.

Description

technical field [0001] The invention relates to the technical field of indoor navigation spraying, in particular to a variable flow spraying system based on plant targets. Background technique [0002] my country is a large agricultural country. The construction area of ​​plastic greenhouses and greenhouses has grown from more than 40,000 hectares in the early 1990s to nearly 156,700 hectares now, ranking first in the world. However, in the case of relatively backward spraying and pesticide application technology and a relatively low level of automation in my country, the use rate of pesticides is low, which is likely to cause waste of pesticides and environmental pollution, causing environmental safety, agricultural product and fruit safety, operator safety, etc. question. Therefore, the research on the autonomous navigation spray system in the greenhouse can not only greatly liberate the labor force and improve the degree of automation, but also greatly improve the product...

AI Technical Summary

Problems solved by technology

[0003] At present, sprayers designed based on infrared and ultrasonic target technology are widely used, but due to the low accuracy of these sensors, slow measurement speed, and easy to be affected by factors such as temperature, humidity, and sprayer spray airflow, the spraying on the target is reduced. The accuracy and efficiency of pesticide use

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