A device and method for applying a pesticide to a closed canopy with a flexible whip and rotor wind field

Abstract

The application discloses a kind of fusion flexible pricking and rotor wind field's closed canopy pesticide application device and method, belong to the field of plant protection pesticide, including spraying module, multi-rotor air supply module, flexible pricking module and support structure.Open the closed canopy by the flexible pricking module of flexible pricking cloth, break through the shielding of canopy branch and leaf, and open gap channel for wind to carry out mist droplet migration to canopy interior, while the multi-rotor air supply module located above the spraying system generates downward wind field, can carry the liquid medicine mist droplet generated by spraying system along the gap of canopy pricked by flexible pricking cloth to the interior of canopy, realize the efficient low-loss plant protection operation target of closed crop canopy.The device can adjust the position of spraying module, the position of multi-rotor air supply module, the pricking depth and angle adjustment of flexible pricking module and the adjustment of spraying pesticide operation.The device has the characteristics of simple structure, little plant mechanical damage, good pesticide application effect, light mechanical weight and the like.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of plant protection, and relates to a closed canopy pesticide application device and method fusing flexible weeding and rotor wind field, which is especially suitable for efficient and uniform pesticide application for crops with high canopy density. BACKGROUND

[0002] Air-assisted spraying is an efficient and advanced pesticide application technology, which is widely used in various application scenarios. The air flow has the ability of secondary atomization, enhanced droplet velocity and entrained droplet trajectory migration, so that the air-assisted spraying has the advantages of anti-drift, improved droplet penetration and deposition. However, under the modern agricultural practice of high-density planting for yield increase, the branches and leaves of crops in the middle and late growth stages are dense and the canopy is closed, and the air-assisted spraying cannot effectively break through the surface interception of the closed canopy. A large number of droplets are intercepted by the surface branches and leaves, and only a small amount of droplets can penetrate into the interior of the canopy. The deposition of droplets in the canopy is seriously attenuated, resulting in uneven deposition of liquid medicine in the whole canopy and poor control effect. In order to solve the problem that efficient and uniform pesticide application cannot be achieved for the closed crop canopy, a series of spraying methods have been developed, such as the hanging rod type, the row-by-row type, the weeding type and the like, which rely on mechanical mechanisms to break through the shielding of branches and leaves. The spraying methods combining the above mechanical mechanisms with air-assisted spraying have also appeared.

[0003] Through the literature search of the prior art, it is found that the Chinese invention patent application "self-propelled pesticide spraying machine boom spraying device" with patent application number 201110167637.6 provides a self-propelled pesticide spraying machine boom spraying device, which realizes the spraying of liquid medicine on each part of the closed canopy by arranging nozzles on the transverse spraying boom and the longitudinal boom respectively. However, the patent does not apply the air-assisted spraying technology, nor does it apply the weeding mechanism to expand the migration space of droplets at the boom. The Chinese invention patent application "mechanical-airflow combined disturbance pesticide application system" with patent application number 201510624278.0 is provided with a rigid connecting rod in front of the spraying boom to push away the crop canopy. The rigid connecting rod pushes away the closed canopy, and at the same time, the airflow is used to transport droplets along the pushed-away part into the canopy, thereby improving the deposition effect of droplets in the canopy. The Chinese invention patent application "row divider applied to pesticide application machine" with patent application number 201910240871.3 designs an arc-shaped row divider, which can push away complex cotton plant clusters and make the cotton plants and cotton bolls after row division quickly close, thereby expanding the migration space of droplets at the row divider and being beneficial to the diffusion and deposition of droplets in the canopy. Although the above-mentioned inventions can break through the branch and leaf barrier by relying on rigid mechanisms, the rapid interaction between the rigid mechanisms and the dense branches and leaves can easily damage the branches and leaves of the canopy, and even damage the cotton bolls, pods and other organs. Therefore, the Chinese invention patent application "self-adaptive canopy opening airflow assisted spraying device and method" with patent application number 202010944105.8 proposes a spraying form combining flexible weeding cover plate with air cylinder air supply. Although the flexible weeding cover plate reduces the impact on the branches and leaves of the canopy, the air cylinder air supply mode has the defects of large system weight and slow response speed.

[0004] Therefore, in view of the problem of droplet deposition attenuation in high-density canopy crops, there is an urgent need for a device that can break through the branch and leaf barrier with low damage, realize uniform deposition of droplets in the canopy, and achieve efficient and low-damage operation. SUMMARY

[0005] The present application provides a canopy pesticide application device and method combining flexible weeding and rotor airflow, which can open the closed canopy of crops by flat weeding and downward pressure, avoiding the damage to the branches and leaves of crops caused by traditional rigid weeding structures. The downward airflow generated by the rotor above the nozzle can carry droplets and migrate and deposit into the canopy, thereby achieving efficient and low-damage plant protection operation.

[0006] The present application provides a canopy pesticide application device and method combining flexible weeding and rotor airflow, which can open the closed canopy of crops by flat weeding and downward pressure, avoiding the damage to the branches and leaves of crops caused by traditional rigid weeding structures. The downward airflow generated by the rotor above the nozzle can carry droplets and migrate and deposit into the canopy, thereby achieving efficient and low-damage plant protection operation.

[0007] The spraying module includes a nozzle, a diaphragm pump, a liquid tank, and a nozzle holder; the nozzle is fixed to a hollow aluminum tube by the nozzle holder; the diaphragm pump delivers the liquid from the liquid tank to the nozzle, thereby spraying the atomized liquid onto the canopy of the crop.

[0008] The multi-rotor air supply module includes rotors, brushless motors, lithium batteries, and speed control circuits. The brushless motors are installed on the longitudinal support beams at equal intervals. The rotors are installed on the brushless motors. The lithium batteries are fixed on the transverse support beams to power the brushless motors. The speed control circuits are installed on the transverse support beams to control the rotational speed of the brushless motors. The downward airflow generated by the rotors carries droplets into the canopy of the crop, achieving uniform deposition of droplets within the canopy.

[0009] The flexible reeling module includes a flexible reeling cloth, spring steel wire, and spring steel wire fasteners; the spring steel wire has a specific bending curvature, and the spring steel wire fasteners are used to fix the spring steel wire to the end of the longitudinal support beam; the spring steel wire is fixed to the flexible reeling cloth.

[0010] The supporting structure comprises an electric push rod, a transverse supporting main beam, a longitudinal supporting beam, a side windbreak cloth, a main beam end connector, a longitudinal main beam fixing component, and a hollow aluminum tube. The electric push rod is fixed to the transverse supporting main beam. The transverse supporting main beam is used to connect with the spraying equipment. The longitudinal supporting beam is fixed to the transverse supporting main beam via the longitudinal main beam fixing component. The main beam end connector is used to connect other main units of the canopy-closure spraying mechanism. The side windbreak cloth blocks lateral wind. The hollow aluminum tube is fixed to the longitudinal supporting beam for lifting and fixing the nozzle.

[0011] The present invention also provides an adjustment method for a canopy spraying device that integrates flexible reeding and rotary wind fields, the steps of which are as follows:

[0012] (1) Adjustment of the distance between the multi-rotor air supply module and the nozzle: The longitudinal main section of the downwash airflow of the rotor wind field shows a trend of "contraction-expansion-recontraction". According to the height of the crop canopy, the relative distance between the multi-rotor air supply module and the nozzle is adjusted by adjusting the length of the hollow aluminum tube. S This allows the nozzle to be in the airflow expansion phase, maintaining a good spray width.

[0013] (2) Position adjustment of the spray module: based on the spray angle of the nozzle ( α ) and crop row spacing ( L Adjust the height of the nozzle from the ground. H 1) Ensure that the mist produced by the nozzle does not overlap or miss any plants when it reaches the bottom of the plant; the height of the nozzle from the ground (H 1) The conditions to be met are: ; the crop row spacing can be adjusted by adjusting the distance between the longitudinal main support beam fixing members (L1) L ) to adapt to crops of different planting patterns.

[0014] (3) Adjustment of the depth and angle of the flexible sweeping module: In the sweeping process, the flexible sweeping cloth forces the canopy branches and leaves in contact with it to bend in the direction of travel, sweeping away the closed canopy to form a gap for the wind-borne droplets to enter the inside of the canopy; the difference between the height of the plant in its original natural state and the height after bending during sweeping is referred to as the sweeping depth (H2) H 2), and the angle between the flexible sweeping surface and the horizontal plane is referred to as the sweeping angle (a2) θ ); by changing the length and bending radius of the spring wire, the sweeping depth (H2) H 2) and the sweeping angle (a2) θ ) can be adjusted, so that the gap formed by sweeping is not less than the horizontal distance between the nozzle and the bottom end of the flexible sweeping cloth (L2) X 1), and the conditions to be met are: .

[0015] (4) Adjustment of the sweeping width: In order to ensure that the droplets enter the inside of the crop canopy, the flexible sweeping cloth should sweep away the plants to form a canopy gap before the droplets reach the canopy; under the condition that the device travels at a speed of (v1) V 1), when the flexible sweeping cloth begins to contact the plants until the flexible sweeping cloth is separated from the plants, the canopy branches and leaves bend in the direction of travel, and the average horizontal distance generated by the plants is referred to as the sweeping width (L3) W ) ； sweeping width , wherein T is the time required for the device to pass through the sweeping width (L3) W ); the sweeping width (L3) W ) should be greater than the product of the travel speed (v1) V 1) and the time required for the droplets to reach the top of the canopy from the nozzle (t3) T 3), but less than the product of the travel speed (v1) V 1) and the time required for the droplets to reach the bottom of the canopy from the nozzle (t1) T 1); therefore, the device sweeping width should meet the following conditions, i.e.: .

[0016] (5) Spraying and pesticide application operation: after the above parameters are set, start the diaphragm pump, adjust the pesticide output pressure, and form pesticide droplets through the atomizing nozzle; start the rotor, adjust the rotor speed, and generate a downward wind field to carry the droplets to the crop canopy; start the plant protection pesticide application machine, and maintain a stable travel speed (v1) V1) Operation: The flexible webbing cloth opens up the closed canopy of crops, forming a gap channel for the atomized pesticide to enter the canopy, thereby achieving efficient and low-damage application of pesticides to the closed crop canopy.

[0017] Compared with the prior art, the advantages of the present invention are:

[0018] The flexible seed-lifting module designed in this invention can effectively open up the closed canopy of crops, forming a gap channel for atomized pesticide to enter the canopy, improving the deposition effect of atomized pesticide in the middle and lower layers of crops. At the same time, it overcomes the predicament of damage to crop canopy branches and leaves during the seed-lifting process of traditional rigid seed-lifting mechanisms, and achieves the goal of low damage to crop canopy seed-lifting pesticide application.

[0019] 2. The multi-rotor air delivery module designed in this invention uses a lightweight and fast-responding multi-rotor to deliver air to the canopy, which helps to simplify the spraying mechanism and can quickly adjust the air delivery volume according to the application requirements, overcoming the shortcomings of the existing axial flow fan plus air duct air delivery system, which is heavy and slow in response.

[0020] 3. The canopy-closed spraying device and method provided by the present invention, which integrates flexible raking and rotary wind field, can achieve low-loss raking by adjusting the raking depth and raking angle according to the canopy height and canopy closure of the crop. At the same time, in combination with rotary wind-driven spraying, it achieves the purpose of efficient and low-loss spraying for crop canopy closure.

[0021] 4. The canopy-closed canopy spraying device and method that integrates flexible stalks and rotary wind fields provided by the present invention have the characteristics of simple structure, minimal mechanical damage to plants, good spraying effect, light mechanical weight, and convenient processing and installation.

[0022] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0023] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention.

[0024] In the attached diagram: Figure 1 This is a schematic diagram of the axial structure of a canopy spraying mechanism that integrates flexible shearing and rotary wind fields.

[0025] Figure 2 This is a schematic diagram of the main unit structure of a canopy spraying mechanism that integrates flexible shearing and rotary wind fields.

[0026] Figure 3 is the adjustment schematic diagram of the distance between the multi-rotor air supply module and the nozzle position.

[0027] Figure 4 is the position adjustment schematic diagram of the spraying module.

[0028] Figure 5 is the depth and angle adjustment schematic diagram of the flexible raking module.

[0029] In the figure: 1, diaphragm pump, 2, liquid medicine tank, 3, electric push rod, 4, transverse support main beam, 5, multi-rotor air supply module, 6, longitudinal support beam, 7, flexible raking module, 8, side windbreak cloth, 9, nozzle, 10, main beam end connector, 11, lithium battery, 12, spring steel wire fixer, 13, longitudinal main support beam fixer, 14, speed control circuit, 15, rotor, 16, brushless motor, 17, hollow aluminum pipe, 18, nozzle fixer, 19, spring steel wire, 20, flexible raking cloth. DETAILED DESCRIPTION

[0030] The present application is further described below in combination with the drawings. The present application is a kind of closed canopy spraying device fusing flexible raking and rotor wind field, including spraying module, multi-rotor air supply module, flexible raking module and support structure, as shown in Figure 1 , 2 .

[0031] The spraying rod type spraying module contains nozzle 9, diaphragm pump 1, liquid medicine tank 2 and nozzle fixer 18; the nozzle 9 is fixed on the hollow aluminum pipe 17 through the nozzle fixer 18, and the above-mentioned operation is repeated to form a nozzle group; the diaphragm pump 1 transports the liquid medicine in the liquid medicine tank 2 to the nozzle 9, and the nozzle 9 sprays the atomized liquid to the closed crop canopy;

[0032] The multi-rotor air supply module 5 contains lithium battery 11, speed control circuit 14, rotor 15 and brushless motor 16; the brushless motor 16 is installed on the longitudinal support beam 6 with equal spacing; the rotor 15 is installed on the brushless motor 16; the lithium battery 11 is fixed on the transverse support main beam 4 to supply power for the brushless motor 16; the speed control circuit 14 is installed on the transverse support main beam 4 to control the rotating speed of the brushless motor 16; the downward wind field generated by the rotor 15 carries the droplets to the closed crop canopy to realize the uniform distribution of the droplets in the canopy;

[0033] The flexible raking module 7 includes spring steel wire fixer 12, spring steel wire 19 and flexible raking cloth 20; the spring steel wire 19 is fixed at the end of the longitudinal support beam 6, and is fixed by using the spring steel wire fixer 12 to prevent loosening and falling off; the flexible raking cloth 20 is fixed on the spring steel wire 19;

[0034] The supporting structure includes an electric push rod 3, a transverse supporting main beam 4, a longitudinal supporting beam 6, a side windbreak cloth 8, a main beam end connector 10, a longitudinal main beam fixing component 13, and a hollow aluminum tube 17. The electric push rod 3 is fixed to the transverse supporting main beam 4, enabling the extendable function of the flexible canopy spraying device for the flexible shovel and rotary wind field. The transverse supporting main beam 4 is used to connect with the spraying equipment. The longitudinal supporting beam 6 is fixed to the transverse supporting main beam 4 through the longitudinal main beam fixing component 13. The main beam end connector 10 is used to connect other main units of the canopy spraying mechanism. The side windbreak cloth 8 blocks lateral winds, reducing the impact of natural winds in the field on droplet deposition. The hollow aluminum tube 17 is fixed to the longitudinal supporting beam 6 and is used to lift and fix the nozzle.

[0035] The present invention discloses an adjustment method for a canopy spraying device that integrates flexible shearing and rotary wind fields, comprising the following steps:

[0036] (1) Adjustment of the distance between the multi-rotor air supply module and the nozzle: The longitudinal main section of the downwash airflow of the rotor wind field shows a "contraction-expansion-recontraction" change trend. According to the height of the crop canopy, the relative distance between the multi-rotor air supply module and the nozzle is adjusted by adjusting the length of the hollow aluminum tube 17. S This allows nozzle 9 to be in the airflow expansion phase, maintaining a good spray width, such as... Figure 3 As shown.

[0037] (2) Position adjustment of the spray module: based on the spray angle of nozzle 9 ( α ) and crop row spacing ( L Adjust the spray height of nozzle 9 from the ground. H 1) Ensure that the mist produced by the nozzle does not overlap or miss any plants when it reaches the bottom of the plant; the spraying height of nozzle 9 from the ground ( H 1) The conditions that need to be met are: The crop row spacing can be adjusted by adjusting the distance between the longitudinal main support beam fixings 13. L ), to adapt to crops with different planting patterns, such as Figure 4 As shown.

[0038] (3) Adjustment of the lifting depth and angle of the flexible lifting module: During the lifting process, the flexible lifting cloth 20 forces the canopy branches and leaves in contact with it to bend along the direction of travel, opening up the closed canopy to form a gap for wind-driven mist droplets to enter the interior of the canopy; the difference between the plant's original natural height and the height after the lifting bending is called the lifting depth. H 2) The angle between the flexible reeling surface and the horizontal plane is called the reeling angle. θ ); Change the length and bending radius of spring steel wire 19 to adjust the reeling depth (H 2) and the angle of the sweeping (θ) θ , so that the gap width formed by the sweeping is not less than the horizontal distance (L X 1) between the nozzle 9 and the bottom end of the flexible sweeping cloth 20, and the conditions to be met are: As shown in Figure 5 .

[0039] (4) Sweeping width adjustment: In order to ensure that the droplets enter the inside of the crop canopy, the flexible sweeping cloth 20 should sweep away the plants to form a canopy gap before the droplets reach the canopy; when the device is running at a speed of (v V 1), the average horizontal distance produced by the bending of the canopy branches and leaves along the direction of travel from the time when the flexible sweeping cloth 20 begins to contact the plants to the time when the flexible sweeping cloth 20 is separated from the plants is called the sweeping width (W W ) ， Sweeping width (W ), where (t T 1) is the time required for the device to pass through the sweeping width (W W ); the sweeping width (W W ) should be greater than the product of the travel speed (v V 1) and the time (t T 3) required for the droplets to reach the top of the canopy from the nozzle 9, but less than the product of the travel speed (v V 1) and the time (t T 1) required for the droplets to reach the bottom of the canopy from the nozzle 9; therefore, the device sweeping width should meet the following conditions, i.e.: .

[0040] (5) Spray application: after the above parameters are set, start the diaphragm pump 2, adjust the liquid output pressure, and generate liquid droplets through the nozzle 9; start the rotor 15, adjust the rotor speed, and generate a downward wind field to carry the droplets to the crop canopy; start the plant protection application machine operation, and push the flexible sweeping cloth 20 to move forward, and the flexible sweeping cloth 20 sweeps away the closed canopy to form a gap channel for the atomized liquid to enter the canopy, thereby realizing efficient and low-loss application to the closed crop canopy.

Claims

1. A combination flexible broom and rotor windrow sprayer device characterized by: The support structure is an electric push rod, a horizontal support main beam, a longitudinal support beam, a side wind-blocking cloth, a main beam end connecting piece, a longitudinal main beam fixing piece and a hollow aluminum pipe. The spraying module comprises a spray head, a diaphragm pump, a liquid medicine tank and a spray head fixer. The multi-rotor air supply module comprises rotors, brushless motors, lithium batteries and speed control circuits. The flexible weeding module comprises a flexible weeding cloth, spring steel wires and spring steel wire fixers. The support structure is an electric push rod, a horizontal support main beam, a longitudinal support beam, a side wind-blocking cloth, a main beam end connecting piece, a longitudinal main beam fixing piece and a hollow aluminum pipe.

2. The method of claim 1, wherein the method further comprises: The steps include: (1) The adjustment of the distance between the multi-rotor air supply module and the nozzle: the vertical main section of the downwash of the rotor wind field presents a "contraction-expansion-contraction" trend. According to the canopy height of the crops, the length of the hollow aluminum pipe is adjusted to adjust the relative distance between the multi-rotor air supply module and the nozzle S , so that the nozzle is in the air flow expansion section, maintaining good spray width; (2) Position adjustment of the spray module: according to the spray angle of the spray head α and the crop row spacing L , the height of the spray head from the ground is adjusted H 1, to ensure that the spray surface generated by the spray head does not have over-spray or under-spray when reaching the bottom of the plant; (3) The depth and angle of the flexible sweeping module: In the process of sweeping, the flexible sweeping module forces the branches and leaves in the canopy to bend along the direction of travel, and sweeps away the canopy to form a gap for the wind-borne droplets to enter the interior of the canopy; the difference between the height of the original natural state of the plant and the height after bending is called the sweeping depth H 2, The angle between the flexible sweeping surface and the horizontal plane is called the sweeping angle θ ; (4) Weeding width adjustment: In order to ensure that the mist enters the inside of the crop canopy, the flexible weeding cloth should push away the plants to form a gap in the canopy before the mist reaches the canopy. If the weeding width is too large, the plants are easily bent too much, which affects the normal growth of the plants. If the weeding width is too small, the gap in the inside of the canopy is easily narrow, the mist is easily intercepted by the surface branches and leaves, the deposition of the liquid medicine in the whole canopy is uneven, and the prevention and treatment effect is poor. (5) Spray application operation: After the above parameters are set, start the diaphragm pump, adjust the liquid output pressure, and form liquid droplets through the atomizing nozzle; start the rotor, adjust the rotor speed, and generate a downward wind field to carry the droplets to the crop canopy; start the plant protection application machine and maintain a stable speed V 1Operation, the flexible weeding cloth will open the crop canopy, forming a gap channel for atomized liquid to enter the canopy.

3. The method of claim 2, wherein the method further comprises: Height of the spray head from the ground H 1. The conditions to be met are: ; the crop row spacing can be adjusted by adjusting the distance between the longitudinal main support beam fixing members L to adapt to crops of different planting patterns.

4. The method of claim 2, wherein the method further comprises: Change the length and bending radius of spring wire to adjust the depth of the tines H 2 and the angle of the tines θ So that the gap formed by the tines is not less than the horizontal distance from the nozzle to the end of the flexible tine cloth X 1, the conditions to be met are: .

5. The method of claim 2, wherein the method further comprises: The device travels at a speed of V In case 1, from the moment the flexible webbing cloth begins to contact the plant until it detaches from the plant, the canopy branches bend along the direction of travel. The average horizontal distance the plant generates is called the webbing width. W , width of the stalks ,in T The device passes through the width of the hoe. W The time required; Swath width W Should be greater than travel speed V 1 times the time it takes a droplet to travel from the nozzle to the top of the canopy T 3, but less than travel speed V 1 times the time it takes a droplet to travel from the nozzle to the bottom of the canopy T 1; therefore, the swath width of the device must satisfy the following condition, i.e., .

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