Accurate intelligent variable electrostatic floating-reducing spraying system for under-forest panax notoginseng

Abstract

The invention provides a precise and intelligent variable electrostatic floating-reducing spraying system for under-forest panax notoginseng. The system comprises a walking assembly; and the supporting box body is fixedly mounted at the top of the walking assembly. According to the precise intelligent variable electrostatic floating-reducing spraying system for the under-forest panax notoginseng, the walking assembly, the supporting box body, the multi-dimensional information and environment sensing assembly, the central controller, the mixing assembly, the supply assembly, the blocking assembly, the two electrostatic spraying assemblies and other structures are matched with one another; the multi-dimensional information and environment sensing assembly automatically collects plant growth vigor, disease degree and environment data, the central controller accurately calculates the pesticide application amount of a single plant or a plot, and manual judgment is not needed; the supply assembly quantitatively supplies medicine to the mixing assembly, and the mixing assembly quickly realizes uniform mixing of liquid medicine without manual stirring; the walking assembly is adaptive to rugged terrain under the forest through autonomous navigation, manual traction is not needed, and therefore the problems that traditional pesticide application is poor in accuracy and large in manual labor intensity are solved.

Description

Technical Field

[0001] This invention relates to the field of plant protection equipment for understory crops, and in particular to a precision intelligent variable electrostatic drift reduction spraying system for Panax notoginseng under forest cover. Background Technology

[0002] As a traditional Chinese medicine from Yunnan, Panax notoginseng grown under forest cover relies on the shaded and humid ecological environment of the forest floor. However, this environment also facilitates the growth and spread of diseases such as root rot and powdery mildew, placing extremely high demands on the precision, efficiency, and environmental friendliness of pesticide application techniques.

[0003] Currently, pest and disease control in Panax notoginseng under forest cover still relies mainly on traditional application methods, which have several prominent problems: First, there is a lack of precision. Manual backpack sprayers or traditional machinery are often used for indiscriminate, large-dose, uniform spraying, failing to adjust the dosage according to the individual growth, disease severity, and spatial distribution differences of the Panax notoginseng plants. This results in "insufficient application in diseased areas and excessive waste in healthy areas," increasing production costs and reducing control effectiveness. Second, the pesticide conversion rate is low. Traditional sprays produce large droplet sizes, which easily penetrate the smooth leaves of Panax notoginseng. First, pesticides roll off the surface and are difficult to adhere to the undersides of leaves and the lower parts of plants where diseases are prevalent, creating blind spots for prevention and control. Second, operating conditions are limited. The terrain under the forest is rugged and the space is enclosed, making it difficult for large ground machinery to pass. Manual spraying is not only labor-intensive and inefficient, but also exposes workers to pesticides for a long time, posing serious health risks. Third, environmental pollution is serious. A large amount of unabsorbed pesticides drift with the droplets and surface runoff, polluting the soil, water sources and non-target organisms under the forest, and destroying the precious forest ecosystem.

[0004] Therefore, it is necessary to provide a precise, intelligent, variable-rate electrostatic spraying system for Panax notoginseng under forest cover to solve the above-mentioned technical problems. Summary of the Invention

[0005] This invention provides a precise intelligent variable electrostatic drift reduction spraying system for Panax notoginseng under forest cover, which solves the problems of poor precision, low efficacy conversion rate, limited operating environment, and serious environmental pollution associated with traditional Panax notoginseng application under forest cover.

[0006] To solve the above-mentioned technical problems, the present invention provides a precision intelligent variable electrostatic drift reduction spraying system for Panax notoginseng under forest cover, comprising:

[0007] Walking components;

[0008] A support box is fixedly installed on the top of the walking assembly;

[0009] A multi-dimensional information and environment sensing component is installed on the front of the support box.

[0010] A central controller is installed on the front of the support box and at the bottom of the multi-dimensional information and environment sensing assembly;

[0011] A mixing assembly is arranged on the inner side of the support box;

[0012] A supply assembly is arranged on the top of the support box for supplying liquid medicine to the mixing assembly;

[0013] A blocking assembly is arranged on both sides of the walking assembly;

[0014] Two electrostatic spraying assemblies are arranged on the inner side of the blocking assembly and at both sides of the walking assembly for spraying mixed liquid medicine on the three seven at both sides of the walking assembly.

[0015] Preferably, the mixing assembly comprises a mixing box, a stirring motor, a driving gear, a driven gear, a hollow main rod, a micro-hole, a hollow branch pipe and a stirring blade, the mixing box is fixedly installed on the inner side of the support box, the stirring motor is installed on the top of the mixing box, the driving gear is fixedly installed on the output end of the stirring motor, the driven gear is engaged with the side surface of the driving gear, the hollow main rod is installed inside the driven gear, the hollow branch pipe is fixedly installed on the side surface of the hollow main rod and at the inner side of the mixing box, the stirring blade is installed on the end surface of the hollow branch pipe, and the micro-hole is arranged on the side surface of the stirring blade.

[0016] Preferably, the mixing assembly further comprises a second pump body and a liquid control assembly, the second pump body is installed on the bottom of the side surface of the mixing box, and the liquid control assembly is installed on the output end of the second pump body.

[0017] Preferably, the supply assembly comprises a liquid medicine tank, a first pump body and a first pipeline, the liquid medicine tank is fixedly installed on the top of the support box, the first pump body is fixedly installed on the output end of the liquid medicine tank, the first pipeline is fixedly installed on the output end of the first pump body, and one end of the first pipeline is rotatably connected to the top of the hollow main rod.

[0018] Preferably, the supply assembly further comprises a feeding port, and the feeding port is fixedly installed on the top of the liquid medicine tank.

[0019] Preferably, the multi-dimensional information and environment perception assembly comprises a crop information unit, an environment information unit, and a shape detection unit, the crop information unit is composed of a multi-spectral camera and a depth camera, which is used to obtain multi-spectral images and three-dimensional point cloud data of the ginseng canopy, so as to evaluate the nutritional status, disease stress degree, plant height, and crown width of the plant, the environment information unit comprises a temperature and humidity sensor and a wind speed and direction sensor, which is used to monitor the micro-environment climate of the working area, and provide data input for disease prediction and drift control, and the shape detection unit comprises an ultrasonic sensor, which is used to detect the height and profile of the top of the ginseng canopy in real time.

[0020] Preferably, the blocking assembly comprises a mounting seat, two mounting plates, two first electric telescopic rods, and two windshields, the two mounting plates are fixedly installed on the top of the walking assembly, the mounting seat is fixedly installed on the middle of the top of the two mounting plates, the two first electric telescopic rods are fixedly installed on the two sides of the mounting seat, and the two windshields are slidingly connected to the moving ends of the two first electric telescopic rods.

[0021] Preferably, the blocking assembly further comprises two sliding grooves, two moving plates, two second electric telescopic rods, and four limiting rods, the two sliding grooves are respectively formed on the opposite sides of the two mounting plates, the two moving plates are slidingly connected to the two ends of the two sliding grooves, the two second electric telescopic rods are fixedly installed on the bottoms of the two moving plates, the tops of the two second electric telescopic rods are fixedly installed on the bottoms of the two windshields, and the four limiting rods are slidingly connected to the interiors of the two ends of the two moving plates, and the tops of the four limiting rods are fixedly installed on the bottoms of the two windshields.

[0022] Preferably, the two electrostatic spraying assemblies comprise a support frame, a third electric telescopic rod, a flow distribution frame, a plurality of electrostatic nozzles, and a second pipeline, the support frame is fixedly installed on the top of the inner side of the windshield, the third electric telescopic rod is fixedly installed on the top of the support frame, the flow distribution frame is arranged on the bottom of the moving end of the third electric telescopic rod, the plurality of electrostatic nozzles are fixedly installed on the bottom of the flow distribution frame, one end of the second pipeline is fixedly installed on the input end of the flow distribution frame, and the other end of the second pipeline is fixedly installed on the output end of the liquid control assembly.

[0023] Preferably, the two electrostatic spraying assemblies further comprise a rotating seat and an angle adjusting motor, the rotating seat is fixedly installed on the moving end of the third electric telescopic rod, and the angle adjusting motor is fixedly installed on one end of the rotating seat, and the output end of the angle adjusting motor and the flow distribution frame are fixedly installed.

[0024] Compared with the related art, the present application provides a kind of undergrowth Panax notoginseng precision intelligent variable electrostatic drift reduction spray system with the following beneficial effects:

[0025] The present application provides a kind of undergrowth Panax notoginseng precision intelligent variable electrostatic drift reduction spray system, through the cooperation of walking assembly, support box, multi-dimensional information and environmental perception component, central controller, mixing component, supply component, blocking component and two electrostatic spraying components, etc.Structure mutually, when undergrowth Panax notoginseng is applied, multi-dimensional information and environmental perception component automatically collects plant growth, disease degree and environmental data, central controller accurately calculates single plant or plot application dose, without manual judgment;Supply component quantitatively supplies medicine to mixing component, and mixing component quickly realizes uniform mixing of liquid medicine, without manual stirring;Walking assembly autonomously navigates to adapt to rugged terrain undergrowth, without manual traction, thereby solving the problems of poor precision of traditional application, high manual labor intensity, realizing on-demand drug delivery, reducing liquid waste, improving disease control effect, and adapting to closed operation environment undergrowth;

[0026] Through the setting of mounting seat, mounting plate, first electric telescopic rod, wind shield, sliding groove, moving plate, second electric telescopic rod and limiting rod, when undergrowth Panax notoginseng is applied, central controller drives first electric telescopic rod to adjust the opening degree of wind shield, and second electric telescopic rod to adjust the height according to the wind speed data of environmental information unit, without manually adjusting the protection posture, wind shield is attached to the canopy to form a closed space, and the drift path of mist droplets is blocked, thereby greatly reducing the drift pollution of liquid medicine, balancing the spray coverage and drift reduction effect, avoiding liquid loss in strong wind environment, and protecting the ecological system undergrowth;

[0027] Through the setting of support frame, third electric telescopic rod, shunt frame, electrostatic spray head, second pipeline, rotating seat and angle adjusting motor, when undergrowth Panax notoginseng is applied, third electric telescopic rod adjusts the distance of spray head according to the height of canopy, and angle adjusting motor drives the spray head to attach to the canopy profile, and the electrostatic spray head charges the mist droplets, which are quickly attached to the front and back of leaves and stems by using electrostatic adsorption effect, without worrying about the rolling and loss of mist droplets, thereby improving the conversion rate of drug efficacy, eliminating the dead angle of prevention and treatment, further reducing the amount of liquid medicine, and reducing production cost and environmental pressure. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 The present application provides a kind of undergrowth Panax notoginseng precision intelligent variable electrostatic drift reduction spray system for the first embodiment of the structure schematic view of the present application;

[0029] Figure 2 For Figure 1 The walking assembly structure schematic view shown in the drawing;

[0030] Figure 3 For Figure 1 The mixing component structure schematic view shown in the drawing;

[0031] Figure 4 for Figure 3 The diagram shows a cross-sectional structure of the hybrid component.

[0032] Figure 5 for Figure 4 The enlarged schematic diagram of part A shown below;

[0033] Figure 6 This is a schematic diagram of the second embodiment of a precision intelligent variable electrostatic drift reduction spray system for Panax notoginseng under forest cover provided by the present invention;

[0034] Figure 7 for Figure 6 The diagram shows another perspective of the structure;

[0035] Figure 8 This is a schematic diagram of the third embodiment of a precision intelligent variable electrostatic drift reduction spray system for Panax notoginseng under forest cover provided by the present invention.

[0036] The diagram labels are as follows: 1. Walking component; 2. Support box; 3. Multi-dimensional information and environmental sensing component; 4. Central controller; 5. Supply component; 51. Liquid tank; 52. Inlet; 53. First pump body; 54. First pipeline; 6. Mixing component; 61. Mixing box; 62. Second pump body; 63. Liquid control component; 64. Stirring motor; 65. Driven gear; 66. Driven gear; 67. Hollow main rod; 68. Micropore; 69. Hollow branch pipe, 60. Stirring blade, 7. Blocking assembly, 71. Mounting base, 72. Mounting plate, 73. Slide groove, 74. First electric telescopic rod, 75. Windproof cover, 76. Moving plate, 77. Second electric telescopic rod, 78. Limiting rod, 8. Electrostatic spraying assembly, 81. Support frame, 82. Third electric telescopic rod, 83. Rotating seat, 84. Angle adjustment motor, 85. Diverter frame, 86. Electrostatic nozzle, 87. Second pipe. Detailed Implementation

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0038] First Embodiment

[0039] Please refer to the following: Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 ,in, Figure 1 This is a schematic diagram of the structure of a first embodiment of a precision intelligent variable electrostatic drift reduction spray system for Panax notoginseng under forest cover provided by the present invention; Figure 2 for Figure 1 The diagram shows the structure of the walking component. Figure 3 for Figure 1 The diagram shows the structure of the hybrid component. Figure 4for Figure 3 The diagram shows a cross-sectional structure of the hybrid component. Figure 5 for Figure 4 The enlarged schematic diagram of part A is shown.

[0040] A precision intelligent variable electrostatic drift reduction spray system for Panax notoginseng under forest cover includes: a walking component 1;

[0041] Support box 2, which is fixedly installed on the top of the walking assembly 1;

[0042] Multidimensional information and environmental sensing component 3, which is installed on the front of the support box 2;

[0043] Central controller 4 is installed on the front of the support housing 2 and located at the bottom of the multidimensional information and environmental perception component 3;

[0044] Hybrid component 6, which is disposed on the inner side of the support box 2;

[0045] Supply component 5, which is disposed on the top of the support box 2, is used to supply the medicine to the mixing component 6;

[0046] Blocking component 7, the blocking component 7 being disposed on both sides of the walking component 1;

[0047] Two electrostatic spraying components 8 are disposed on the inner side of the blocking component 7 and located on both sides of the walking component 1, for spraying mixed medicinal liquid onto the Panax notoginseng on both sides of the walking component 1.

[0048] The mixing assembly 6 includes a mixing tank 61, a stirring motor 64, a driving gear 65, a driven gear 66, a hollow main rod 67, micro-holes 68, a hollow branch pipe 69, and a stirring blade 60. The mixing tank 61 is fixedly installed on the inner side of the support housing 2. The stirring motor 64 is installed on the top of the mixing tank 61. The driving gear 65 is fixedly installed on the output end of the stirring motor 64. The driven gear 66 meshes with the side of the driving gear 65. The hollow main rod 67 is installed inside the driven gear 66. The hollow branch pipe 69 is fixedly installed on the side of the hollow main rod 67 and is located on the inner side of the mixing tank 61. The stirring blade 60 is installed on the end face of the hollow branch pipe 69. The micro-holes 68 are formed on the side of the stirring blade 60.

[0049] The mixing assembly 6 also includes a second pump body 62 and a liquid control assembly 63. The second pump body 62 is installed at the bottom of the side of the mixing tank 61, and the liquid control assembly 63 is installed at the output end of the second pump body 62.

[0050] The mixing box 61 is a pesticide liquid mixing core. The stirring motor 64 drives the driving gear 65 to rotate the driven gear 66, and then drives the hollow main rod 67, the hollow branch pipe 69 and the stirring blade 60 to rotate synchronously. The pesticide (dry powder or mother liquor) is introduced from the top of the hollow main rod 67, enters the inside of the rotating stirring blade 60 through the hollow branch pipe 69, and then enters the inside of the mixing box 61, so that the pesticide is subjected to high-speed shearing and collision mixing, instant and uniform dissolution is realized, and the accuracy and stability of the variable supply of pesticide liquid concentration are ensured.

[0051] The liquid control assembly 63 is composed of a high-precision adjustable speed pump, an electromagnetic flowmeter and a high-speed proportional valve. The instantaneous output flow of the pesticide liquid is accurately controlled through a PWM signal, and variable spraying is realized in cooperation with the instruction of the central controller 4. The second pump body 62 provides power for pesticide liquid delivery and ensures stable supply.

[0052] The supply assembly 5 includes a pesticide liquid tank 51, a first pump body 53 and a first pipeline 54. The pesticide liquid tank 51 is fixedly installed on the top of the support box body 2. The first pump body 53 is fixedly installed on the output end of the pesticide liquid tank 51. The first pipeline 54 is fixedly installed on the output end of the first pump body 53. One end of the first pipeline 54 is rotatably connected to the top of the hollow main rod 67.

[0053] The supply assembly 5 further includes a feeding port 52, which is fixedly installed on the top of the pesticide liquid tank 51.

[0054] The pesticide liquid tank 51 stores pesticides. The pesticides are pumped into the hollow main rod 67 through the first pipeline 54 by the first pump body 53 to provide pesticides for pesticide liquid mixing. The first pipeline 54 is rotatably connected to the hollow main rod 67, which does not affect the rotation of the stirring mechanism.

[0055] The feeding port 52 is used for adding pesticides (dry powder or mother liquor), which is convenient and fast, and can be added quantitatively according to the operation requirements.

[0056] The multi-dimensional information and environment perception assembly 3 includes a crop information unit, an environment information unit and a shape detection unit. The crop information unit is composed of a multi-spectral camera and a depth camera, which is used to obtain multi-spectral images and three-dimensional point cloud data of the crown layer of ginseng, so as to evaluate the nutritional status, disease stress degree, plant height and crown width biological parameters of the plant. The environment information unit includes a temperature and humidity sensor and a wind speed and direction sensor, which is used to monitor the microenvironment climate of the operation area and provide data input for disease prediction and drift control. The shape detection unit includes an ultrasonic sensor, which is used to detect the height and profile of the top of the crown layer of ginseng in real time.

[0057] The walking assembly 1 is a tracked chassis structure, carries a self-navigation system fused with a laser radar (LiDAR) and an inertial measurement unit (IMU), is suitable for a forest environment with weak GPS signals, realizes autonomous path planning and accurate obstacle avoidance; a three-seven disease identification and grading model based on deep learning is embedded in the central controller 4, multi-spectral and three-dimensional data are fused, the disease state of a single plant or a plot of three-seven is accurately positioned, and a variable spraying and intelligent drift reduction collaborative decision algorithm is integrated, according to crop information and environmental data, a comprehensive digital prescription map including geographical position, spraying dose, nozzle parameter and attitude of the blocking assembly 7 is generated in real time, and the prescription map instruction is converted into a specific control signal of each execution module.

[0058] The working principle of the precision intelligent variable electrostatic drift reduction spraying system for three-seven under forest provided by the application is as follows:

[0059] Before operation, the operation area and path parameters are preset through the central controller 4, after the system is started, the tracked walking assembly 1 autonomously travels along the three-seven planting row, in the walking process, the laser radar and the IMU fusion navigation system scans the forest environment in real time, avoids obstacles such as tree trunks and stones, and ensures the accuracy of the path; at the same time, the multi-dimensional information and environment perception assembly 3 synchronously collects global data, the multi-spectral camera of the crop information unit captures the spectral characteristics of the three-seven canopy, the depth camera generates a three-dimensional point cloud model, and the nutritional status, disease grade (such as the incidence area ratio of powdery mildew) and parameters such as plant height and crown width of a single three-seven plant are jointly evaluated; the environmental information unit monitors the temperature and humidity, wind speed and direction of the operation area in real time, and provides data support for disease transmission risk assessment and drift reduction control; the ultrasonic sensor of the profiling detection unit continuously detects the height and profile of the canopy top, and dynamically captures the spatial distribution characteristics of the crop;

[0060] After the central controller 4 receives all the perception data, the multi-spectral image and the three-dimensional point cloud are analyzed by the deep learning model, the disease type is accurately identified and graded (0-5), the theoretical pesticide dose of a single plant or a plot is calculated combined with the plant height and crown width data; at the same time, according to the wind speed data (such as starting the strong drift reduction mode when the wind speed is greater than 3m / s), the canopy height, the optimal opening degree and height of the blocking assembly 7, the nozzle spraying pressure and flow parameter are calculated, a comprehensive digital prescription map including geographical position, pesticide dose and equipment parameter is generated, and the prescription map instruction is analyzed into an electrical signal instruction of each execution module;

[0061] According to the total drug application requirement in the prescription map, the pesticide (dry powder or mother liquor) is quantitatively added through the feeding port 52, the first pump body 53 is started, the pesticide in the pesticide tank 51 is pumped into the hollow main rod 67 through the first pipeline 54, the clean water is shunted to each hollow branch pipe 69 along the hollow main rod 67, and finally flows into the inside of the rotating stirring blade 60; at the same time, the stirring motor 64 is started, the driving gear 65 drives the driven gear 66 to rotate, the hollow main rod 67, the hollow branch pipe 69 and the stirring blade 60 are synchronously rotated at high speed (rotation speed 300-500 r / min), the pesticide flows out from the micropore 68, and under the action of the pressure difference and the centrifugal force, the pesticide is instantaneously and uniformly dissolved with the clean water in the mixing tank 61, the mixed pesticide solution is stored in the mixing tank 61, and waits for the spraying instruction.

[0062] Compared with the related art, the precision intelligent variable electrostatic anti-drifting spraying system for under-forest panax notoginseng provided by the application has the following beneficial effects:

[0063] Through the cooperation of the walking assembly 1, the support box body 2, the multi-dimensional information and environment sensing assembly 3, the central controller 4, the mixing assembly 6, the supply assembly 5, the blocking assembly 7 and the two electrostatic spraying assemblies 8, when the under-forest panax notoginseng is applied, the multi-dimensional information and environment sensing assembly 3 automatically collects plant growth, disease degree and environmental data, the central controller 4 accurately calculates the single plant or plot application dose without manual judgment; the supply assembly 5 quantitatively supplies the medicine to the mixing assembly 6, the mixing assembly 6 quickly realizes uniform mixing of the pesticide solution without manual stirring; the walking assembly 1 autonomously navigates the rugged terrain under the forest without manual traction, thereby solving the problems of poor precision and high manual labor intensity of the traditional application, realizing on-demand drug delivery, reducing the waste of pesticide solution, improving the disease control effect and adapting to the closed operation environment under the forest.

[0064] Second embodiment

[0065] Please refer to Figure 6 and Figure 7 Based on the precision intelligent variable electrostatic anti-drifting spraying system for under-forest panax notoginseng provided by the first embodiment of the application, the second embodiment of the application proposes another precision intelligent variable electrostatic anti-drifting spraying system for under-forest panax notoginseng. The second embodiment is only a preferred mode of the first embodiment, and the implementation of the second embodiment does not affect the separate implementation of the first embodiment.

[0066] Specifically, the second embodiment of the present application provides a kind of undergrowth Panax notoginseng precision intelligent variable electrostatic drift reduction spray system, the difference of the undergrowth Panax notoginseng precision intelligent variable electrostatic drift reduction spray system is that, the blocking component 7 includes mounting seat 71, two mounting plates 72, two first electric telescopic rods 74, two wind shields 75, two the mounting plate 72 is fixedly installed on the top of the walking component 1, the mounting seat 71 is fixedly installed in the middle of the top of two the mounting plate 72, two the first electric telescopic rod 74 is fixedly installed at the two sides of the mounting seat 71, two the wind shield 75 is slidably connected to the moving end of two the first electric telescopic rod 74.

[0067] The blocking component 7 further includes two chutes 73, two moving plates 76, two second electric telescopic rods 77 and four limit rods 78, two the chute 73 is respectively formed in the side opposite to two the mounting plate 72, two the moving plate 76 is slidably connected to the two ends of two the chute 73, two the second electric telescopic rod 77 is fixedly installed at the bottom of two the moving plate 76, the top of two the second electric telescopic rod 77 is fixedly installed at the bottom of two the wind shield 75, four the limit rod 78 is slidably connected to the inside of the two ends of two the moving plate 76, and the top is fixedly installed at the bottom of two the wind shield 75.

[0068] The wind shield 75 is a light structure that can partially surround the spray head, and the inner wall is coated with a hydrophobic coating to reduce the hanging of the liquid medicine; the first electric telescopic rod 74 adjusts the horizontal opening degree between the two wind shields 75, the second electric telescopic rod 77 adjusts the vertical height, the limit rod 78 ensures the stability during adjustment, the moving plate 76 and the chute 73 cooperate to adjust the horizontal direction, and the posture of the wind shield 75 is accurately controlled to form a physical barrier to inhibit the drift of the mist droplets.

[0069] The working principle of the undergrowth Panax notoginseng precision intelligent variable electrostatic drift reduction spray system provided by the present application is as follows:

[0070] The central controller 4 converts the wind shield posture instructions (height H, opening degree W) in the prescription map into the extension amount signals of the first electric telescopic rod 74 and the second electric telescopic rod 77, when the system travels to the target operation unit, the first electric telescopic rod 74 extends and retracts according to the opening degree instruction, pushes the wind shield 75 to move in the horizontal direction, if the wind speed of the operation area is small (<1.5 m / s), the opening degree is adjusted to the maximum (W=30-40 cm), to ensure the spraying coverage; if the wind speed is medium (1.5-3 m / s), the opening degree is adjusted to medium (W=20-30 cm), to balance the coverage and drift reduction; if the wind speed is large (>3 m / s), the opening degree is adjusted to the minimum (W=10-20 cm), to strengthen the anti-drift effect;

[0071] The second electric telescopic rod 77 telescopes according to the height instruction, drives the wind shield 75 to vertically ascend and descend, and makes the lower edge of the shield body accurately fit the position 5-10 cm above the three-segmented crown layer. For the three-segmented with higher plant height (> 30 cm), the height of the wind shield 75 is adjusted upwards; for the three-segmented with lower plant height (< 15 cm), the height of the wind shield 75 is adjusted downwards, so as to ensure that a local spraying space with good sealing performance is formed and the transverse drift path of the mist droplets is blocked. During the adjustment process, the limiting rod 78 synchronously slides along the through hole of the moving plate 76, so as to prevent the wind shield 75 from tilting. The moving plate 76 can be finely adjusted in position along the sliding groove 73, and is suitable for different planting modes with different row spacings.

[0072] The environmental information unit monitors the wind speed in real time. When it is detected that the wind speed exceeds a safety threshold (such as > 4 m / s), the central controller 4 immediately sends a pause instruction, and the system stops spraying. At the same time, the wind shield 75 is closed to the minimum opening degree under the drive of the first electric telescopic rod 74, and is lowered to the lowest position under the drive of the second electric telescopic rod 77, so as to avoid that the liquid medicine drifts a lot under strong wind. After the wind speed decreases to the safety range, the system automatically resumes the operation, and the wind shield 75 is reset according to the original prescription instruction. In addition, the hydrophobic coating on the inner wall of the wind shield 75 can reduce the liquid medicine wall residue. After each operation is completed, high-pressure airflow can be used for washing, so as to reduce the cross-contamination risk.

[0073] Compared with the related art, the precision intelligent variable electrostatic drift reduction spraying system for three-segmented ginseng under forest provided by the present application has the following beneficial effects:

[0074] Through the setting of the mounting seat 71, the mounting plate 72, the first electric telescopic rod 74, the wind shield 75, the sliding groove 73, the moving plate 76, the second electric telescopic rod 77 and the limiting rod 78, when the liquid medicine is applied to the three-segmented ginseng under forest, the central controller 4 drives the first electric telescopic rod 74 to adjust the opening degree of the wind shield 75 and the second electric telescopic rod 77 to adjust the height according to the wind speed data of the environmental information unit. The protective posture does not need to be manually adjusted. The wind shield 75 fits the crown layer to form a closed space and block the drift path of the mist droplets, so as to greatly reduce the liquid medicine drift pollution, balance the spraying coverage range and the drift reduction effect, avoid the liquid medicine loss in the strong wind environment, and protect the ecological system under forest.

[0075] Third embodiment

[0076] Please refer to Figure 8 Based on the precision intelligent variable electrostatic drift reduction spraying system for three-segmented ginseng under forest provided by the first embodiment of the present application, the third embodiment of the present application proposes another precision intelligent variable electrostatic drift reduction spraying system for three-segmented ginseng under forest. The third embodiment is only a preferred mode of the first embodiment, and the implementation of the third embodiment does not affect the separate implementation of the first embodiment.

[0077] Specifically, the third embodiment of the present application provides a kind of undergrowth sanchi precision intelligent variable electrostatic drift reduction spray system, the difference of two described electrostatic spraying components 8 includes support frame 81, third electric telescopic rod 82, shunt frame 85, a plurality of electrostatic spray heads 86 and second pipeline 87, the support frame 81 is fixedly installed in the top of the inner side of the wind shield 75, the third electric telescopic rod 82 is fixedly installed in the top of the support frame 81, the shunt frame 85 is arranged in the bottom of the mobile end of the third electric telescopic rod 82, a plurality of described electrostatic spray heads 86 are uniformly fixedly installed in the bottom of the shunt frame 85, one end of the second pipeline 81 is fixedly installed in the input end of the shunt frame 85, another end of the second pipeline 81 is fixedly installed in the output end of the liquid control component 63.

[0078] Two described electrostatic spraying components 8 further include rotating seat 83 and angle adjusting motor 84, the rotating seat 83 is fixedly installed in the mobile end of the third electric telescopic rod 82, the angle adjusting motor 84 is fixedly installed in one end of the rotating seat 83, and the output end of the angle adjusting motor 84 is fixedly installed with the shunt frame 85.

[0079] Electrostatic spray head 86 integrates high-voltage electrostatic generator, so that the mist droplets carry high-voltage negative charge, and the electrostatic adsorption effect is used to realize the surrounding type wrapping spraying of the front and back of the leaves and stems of sanchi plants;Third electric telescopic rod 82 adjusts the height of spray head, so that the spray head maintains the best distance with sanchi crown layer;Angle adjusting motor 84 drives shunt frame 85 to rotate, adjusts the spraying angle of spray head, and adapts to the crown layer profile.

[0080] The working principle of the undergrowth sanchi precision intelligent variable electrostatic drift reduction spray system provided by the present application is as follows:

[0081] After the posture of the wind shield 75 is adjusted in place, the central controller 4 sends spray head adjusting instructions, the third electric telescopic rod 82 is telescoped according to the crown layer height data collected by the profiling detection unit, drives the shunt frame 85 and the electrostatic spray head 86 to ascend and descend, so that the electrostatic spray head 86 maintains the best spraying distance of 15-20cm with the top of the crown layer;Angle adjusting motor 84 drives rotating seat 83 to rotate, drives shunt frame 85 to deflect 5-30°, so that the spraying direction of electrostatic spray head 86 is consistent with the profile of crown layer, to ensure that mist droplets can cover the side and lower part of the plant;

[0082] The second pump body 62 is started, and the liquid control assembly 63 controls the liquid flow (error ±5%) according to the instantaneous spraying dose instruction in the prescription map by adjusting the speed of the adjustable speed pump and the opening of the high-speed proportional valve through the PWM signal; the liquid is delivered to the distribution frame 85 through the second pipeline 87 and is uniformly distributed to a plurality of electrostatic nozzles 86; the electrostatic nozzle 86 starts the high-voltage static generator (voltage 5-8kV), so that the atomized mist droplets (particle size 100-300μm) carry high-voltage negative charges; the charged mist droplets are quickly attached to the front and back surfaces of the leaves and the stems in the stable microenvironment created by the wind shield 75 under the adsorption of the induced charges on the plant surface, realizing the surrounding type of wrapping spraying and reducing the rolling loss.

[0083] Compared with the related art, the precision intelligent variable electrostatic anti-drifting spraying system for under-forest panax notoginseng provided by the present application has the following beneficial effects:

[0084] Through the setting of the support frame 81, the third electric telescopic rod 82, the distribution frame 85, the electrostatic nozzle 86, the second pipeline 87, the rotating seat 83 and the angle adjusting motor 84, when the under-forest panax notoginseng is sprayed, the third electric telescopic rod 82 adjusts the distance of the nozzle according to the crown height, the angle adjusting motor 84 drives the nozzle to fit the crown profile, the electrostatic nozzle 86 charges the mist droplets, and the mist droplets are quickly attached to the front and back surfaces of the leaves and the stems by using the electrostatic adsorption effect, so that the rolling loss of the mist droplets is not worried, the drug conversion rate is improved, the dead angle is eliminated, the liquid consumption is further reduced, and the production cost and environmental pressure are reduced.

[0085] The above is only an embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A precision intelligent variable static de-drifting spray system for Panax notoginseng under forest, characterized in that, Include: Walking assembly; Supporting box, fixedly installed on the top of the walking assembly; Multi-dimensional information and environment perception assembly, installed on the front of the supporting box; Central controller, installed on the front of the supporting box and located at the bottom of the multi-dimensional information and environment perception assembly; Mixing assembly, provided on the inner side of the supporting box; Supply assembly, provided on the top of the supporting box, for supplying liquid medicine to the mixing assembly; Blocking assembly, provided on both sides of the walking assembly; Two electrostatic spraying assemblies, both provided on the inner side of the blocking assembly and located on both sides of the walking assembly, for spraying mixed liquid medicine on the ginseng on both sides of the walking assembly.

2. The precision intelligent variable electrostatic de-drifting spray system for Panax notoginseng under forest according to claim 1, characterized in that, The mixing assembly includes a mixing box, a stirring motor, a driving gear, a driven gear, a hollow main rod, a micro-pore, a hollow branch pipe and a stirring blade, the mixing box is fixedly installed on the inner side of the supporting box, the stirring motor is installed on the top of the mixing box, the driving gear is fixedly installed on the output end of the stirring motor, the driven gear is engaged with the side surface of the driving gear, the hollow main rod is installed in the driven gear, the hollow branch pipe is fixedly installed on the side surface of the hollow main rod and located on the inner side of the mixing box, the stirring blade is installed on the end surface of the hollow branch pipe, and the micro-pore is provided on the side surface of the stirring blade.

3. The precise intelligent variable electrostatic de-drifting spray system for Panax notoginseng under forest according to claim 2, characterized in that, The mixing assembly further includes a second pump body and a liquid control assembly, the second pump body is installed on the bottom of the side surface of the mixing box, and the liquid control assembly is installed on the output end of the second pump body.

4. The precise intelligent variable electrostatic de-drifting spray system for Panax notoginseng under forest according to claim 2, characterized in that, The supply assembly includes a liquid medicine tank, a first pump body and a first pipeline, the liquid medicine tank is fixedly installed on the top of the supporting box, the first pump body is fixedly installed on the output end of the liquid medicine tank, and the first pipeline is fixedly installed on the output end of the first pump body, one end of the first pipeline is rotatably connected to the top of the hollow main rod.

5. The precise intelligent variable electrostatic de-drifting spray system for Panax notoginseng under forest according to claim 4, characterized in that, The supply assembly further includes a feeding port, which is fixedly installed on the top of the liquid medicine tank.

6. The precise intelligent variable electrostatic de-drifting spray system for Panax notoginseng under forest according to claim 1, characterized in that, The multi-dimensional information and environment perception assembly includes a crop information unit, an environment information unit and a shape detection unit, the crop information unit is composed of a multi-spectral camera and a depth camera, for acquiring multi-spectral images and three-dimensional point cloud data of the ginseng canopy, to evaluate the nutritional status, disease stress degree, plant height and crown width biological parameters of the plant, the environment information unit includes a temperature and humidity sensor and a wind speed and direction sensor, for monitoring the micro-environment climate of the working area, to provide data input for disease prediction and drift control, and the shape detection unit includes an ultrasonic sensor, for real-time detection of the height and profile of the top of the ginseng canopy.

7. The precise intelligent variable electrostatic de-drifting spray system for Panax notoginseng under forest according to claim 1, characterized in that, The blocking assembly comprises a mounting seat, two mounting plates, two first electric telescopic rods and two windshields, the two mounting plates are fixedly installed on the top of the walking assembly, the mounting seat is fixedly installed on the middle of the top of the two mounting plates, the two first electric telescopic rods are respectively fixedly installed on the two sides of the mounting seat, and the two windshields are respectively slidably connected to the moving ends of the two first electric telescopic rods.

8. The precision intelligent variable electrostatic de-drifting spray system for Panax notoginseng under forest according to claim 7, characterized in that, The blocking assembly further comprises two sliding grooves, two moving plates, two second electric telescopic rods and four limiting rods, the two sliding grooves are respectively arranged on the opposite sides of the two mounting plates, the two moving plates are respectively slidably connected to the two ends of the two sliding grooves, the two second electric telescopic rods are respectively fixedly installed on the bottoms of the two moving plates, the tops of the two second electric telescopic rods are respectively fixedly installed on the bottoms of the two windshields, and the four limiting rods are respectively slidably connected to the interiors of the two ends of the two moving plates and are respectively fixedly installed on the bottoms of the two windshields.

9. The precision intelligent variable electrostatic de-drifting spray system for Panax notoginseng under forest according to claim 3, characterized in that, The two electrostatic spraying assemblies comprise a supporting frame, a third electric telescopic rod, a shunt frame, a plurality of electrostatic nozzles and a second pipeline, the supporting frame is fixedly installed on the top of the inner side of the windshield, the third electric telescopic rod is fixedly installed on the top of the supporting frame, the shunt frame is arranged on the bottom of the moving end of the third electric telescopic rod, the plurality of electrostatic nozzles are fixedly installed on the bottom of the shunt frame, one end of the second pipeline is fixedly installed on the input end of the shunt frame, and the other end of the second pipeline is fixedly installed on the output end of the liquid control assembly.

10. The precision intelligent variable electrostatic de-drifting spray system for Panax notoginseng under forest according to claim 9, characterized in that, The two electrostatic spraying assemblies further comprise a rotating seat and an angle adjusting motor, the rotating seat is fixedly installed on the moving end of the third electric telescopic rod, and the angle adjusting motor is fixedly installed on one end of the rotating seat; and the output end of the angle adjusting motor and the shunt frame are fixedly installed.

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