Profiling variable sprayer based on phenotypic characteristics of crowns, and self-adaptive control method

Abstract

The invention discloses a profiling variable sprayer based on phenotypic characteristics of crowns, and a self-adaptive control method. The profiling variable sprayer comprises a profiling mechanism module A, a profiling mechanism module B, a lifting and sliding module, a profiling bracket module, a liquid supply system, an electrical box and a detection module; on the basis of function and mechanism division of the profiling sprayer, modular and lightweight design is adopted; and the whole machine has the characteristics of being compact in structure, light, flexible, easy to manufacture andmaintain and the like. The self-adaptive control method of the profiling variable sprayer is as follows: ultrasonic echo signals are automatically acquired and processed, so that phenotypic characteristic information of a tree canopy is obtained; then, the air volume is calculated according to the volume of the canopy and phenotypic characteristic parameters of the canopy density; and the spray quantity is calculated according to the volume of the canopy and the phenotypic characteristic parameters of the canopy leaf area density. A profiling mechanism is driven to profile according to the profiling control amount calculated through ultrasonic ranging information; automatic profiling on the profile of a crown is realized; and the profiling variable sprayer is high in profiling precision, precise and high-efficiency to spray, pesticide-saving, environment-friendly, and simple and convenient to operate.

Description

technical field [0001] The invention belongs to the field of sprayer intelligent equipment, and in particular relates to a profiling variable sprayer based on tree crown phenotype characteristics and an adaptive control method. Background technique [0002] In recent years, my country's forestry industry has developed rapidly, and the planting area and production volume of various forest trees have increased year by year, such as fruit trees, street trees, landscape trees and other forest trees. In order to deal with the problem of forest pests and diseases, sampling and precise spraying technology is used to apply pesticides to trees, which can not only prevent pests and diseases, but also reduce pesticide residues and environmental pollution. [0003] At present, there are three mainstream spraying methods for sprayers. The boom sprayer is mainly used for the prevention and control of plant diseases and insect pests in field crops; the inverted U-shaped sprayer is mainly u...

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Problems solved by technology

[0009] The technical problem to be solved by the present invention is aimed at the existing profiling sprayer. In terms of profiling mechanism, there are problems such as large and heavy mechanism, poor flexibility, high manufacturing difficulty and high production cost; in profiling control, manual control is generally used Contouring, there are problems such as poor profiling accuracy, difficult operation, and low efficiency. A profiling variable sprayer and an adaptive control method based on tree crown phenotype characteristics are provided. On the basis of the division of machine functions and mechanisms, the modular and lightweight design is adopted. The whole machine has the characteristics of compact structure, lightness and flexibility, easy manufacture, easy maintenance and low production cost; among them, the adaptive control of the tree profiling variable sprayer The method automatically collects ultrasonic echo signals and processes tree canopy phenotype characteristic information, calculates the profiling control amount, drives the profiling mechanism to profiling, and realizes automatic profiling of the canopy contour, with high profiling accuracy, precise and efficient spraying, and energy saving. Environmentally friendly and easy to operate

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