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

An autonomous navigation and spray system technology, applied in the direction of non-electric variable control, two-dimensional position/channel control, control/adjustment system, etc., can solve the problem of slow measurement speed, low sensor accuracy, and reduced spray target accuracy. The use of pesticides Efficiency and other issues, to achieve the effect of improving precision, high flexibility, and improving the ability to adapt to the indoor environment

Inactive Publication Date: 2017-12-01
JIANGSU UNIV
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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

Method used

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

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Embodiment Construction

[0034] Below in conjunction with accompanying drawing, the present invention is further described:

[0035] Such as figure 1 Shown is the workflow flow chart of the autonomous navigation intelligent variable spray system. The camera 15 is fixed on the top of the greenhouse to take images of the greenhouse ground, and transmits the greenhouse ground images to the control room computer 14 through the wireless network, and the control room computer 14 uses relevant software to process the greenhouse ground images captured by the camera 15, and draws according to the greenhouse ground images. Draw the rectangular coordinate map of the greenhouse floor. The operator in the control room plans the driving trajectory of the vehicle platform 17 in the rectangular coordinate diagram on the ground of the greenhouse, and transmits the trajectory information to the wireless communication module 20 in the vehicle platform 17 through the wireless network, and the motion control module 21 re...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0255
Inventor 沈跃高彬刘慧刘琳潘成凯
Owner JIANGSU UNIV
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