Variable spraying method and device for wine grapes

Abstract

The present invention relates to the technical field of grape spraying, and specifically, to a variable spraying method and device for wine grapes. The method includes the following steps: Step S1, an image acquisition unit is used to obtain the original RGB image I0 of the area to be sprayed; Step S2, an image processing unit is used to process the original RGB image I0 to obtain the leaf coverage ratio S and the leaf concentration reference value D; Step S3, based on the coverage ratio S and the leaf concentration reference value D, a spraying flow signal Q(t) and a spraying pressure signal P(t) are obtained through an output unit. The device is used to implement the above method, and a spraying mechanism is used to spray the area to be sprayed based on the spraying flow Q(t) and the spraying pressure P(t). The present invention can preferably achieve precise variable spraying of wine grapes; and improve the spraying efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of grape spraying, in particular to a variable spraying method and device for wine grapes. Background Art

[0002] Wine grapes have high commercial value, and their quality is closely related to the maintenance during the planting period. The quality of winemaking will directly determine the quality of the wine produced. During the planting period, wine grape vines need to be sprayed regularly to reduce diseases and pests.

[0003] As for spraying during the wine grape planting period, the commonly used spraying devices in the prior art are usually backpack sprayers or air-blown mist machines. These spraying methods can only achieve uniform spraying, which is difficult to meet the characteristics of uneven grape growth density and causes waste of medicine. In addition, using this type of method to spray wine grape trees requires a lot of manpower costs and has low spraying efficiency.

[0004] Currently, the commonly used wine grape spraying device usually mixes the liquid medicine before pouring it into the medicine box of the spraying device. This method requires multiple preparations when spraying operations with liquid medicines of different concentrations are required, and the efficiency is low. Summary of the invention

[0005] The present invention provides a variable spraying method and device for wine grapes, which can overcome certain defects of the prior art that variable spraying cannot be performed.

[0006] The variable spraying method for wine grapes according to the present invention comprises the following steps:

[0007] Step S1: Using an image acquisition unit to obtain the original RGB image I of the area to be sprayed 0 ;

[0008] Step S2: Using an image processing unit to process the original RGB image I 0 Processing is performed to obtain the leaf coverage ratio value S and the leaf concentration reference value D; the leaf coverage ratio value S is used to analyze the original RGB image I 0 The proportion of grape leaves in the image is characterized by the leaf concentration reference value D. 0 Characterize the growth density of grape leaves;

[0009] Step S3, based on the coverage ratio value S and the leaf concentration reference value D, obtain the spray flow signal Q(t) and the spray pressure signal P(t) through an output unit, and use a spray mechanism to spray the area to be sprayed based on the spray flow Q(t) and the spray pressure P(t).

[0010] In the present invention, through S1-S3, the coverage ratio value S and the leaf concentration reference value D of the area to be sprayed can be obtained by the image acquisition unit and the image processing unit, thereby realizing the characterization of the growth density of grape leaves in the area to be sprayed, and the spraying mechanism is used to spray with a quantified spray flow rate and spray pressure based on the acquired grape leaf growth density information, so that the drug spraying matching the growth density of the operating area can be realized, thereby achieving the purpose of precise management of spraying, realizing the overall improvement of the quality of the planted grapes and the reasonable allocation of the drug dosage.

[0011] Preferably, in step S1, I 0 = {I i (u, v) | 0 ≤ u ≤ m, 0 ≤ v ≤ n}; where, I i (u, v) is the original RGB image I 0 The pixel coordinates in are (u, v), and m and n are the i-th pixel points in the original RGB image I 0 The maximum x-axis coordinate value and the maximum y-axis coordinate value of pixel point I i The RGB values ​​of (u, v) are respectively the red score R i , Green score G i and blue score B i ;

[0012] Step S2 specifically includes the following steps:

[0013] Step S21: Obtain the original RGB image I 0 The total number of pixels occupied by grape leaves C, C = countif(I i (u,v), "G i ≥G 0 ”); where G 0 To set the green reference value, countif(I i (u,v), "G i ≥G 0 ”) indicates the statistical green score G i Not less than the set green reference value G 0 All pixels I i The number of (u, v);

[0014] Step S22, obtaining the leaf coverage ratio value S,

[0015] In the present invention, it is possible to preferably obtain the original RGB image I 0 Green score G i Pixel points that are greater than the set green reference value are taken as pixel points where grape leaves are located, so that the coverage ratio value S of the grape leaves can be better obtained.

[0016] Preferably, step S2 further comprises the following steps:

[0017] Step S23: Obtain the original RGB image I 0 The set of pixels occupied by grape leaves in I 1 , and the set of pixels not occupied by grape leaves I 2 ;

[0018] Step S24: Get set I 1 Gray value of all pixels 1 , and set I 2 Gray value of all pixels in the mean 2 ;

[0019] Step S25, obtain the leaf concentration reference value D, D = Gray 1 -Gray 2 .

[0020] In the present invention, considering that the growth density of grapes is also reflected in the overlapping thickness of grape leaves, it is understandable that considering that the thicker the grape leaves are, the lower the light transmittance is, the gray value of the pixel point can be used as the calculation basis for the growth thickness of the grape leaves. 1 Gray value of all pixels 1 The mean grayscale value of the foreground pixels (i.e., grape leaves) can be known by calculating the set I 2 Gray value of all pixels in the mean 2 The average grayscale value of the pixels in the background (i.e., the area not blocked by the grape leaves) can be known, and by calculating the difference between the two values, the growth thickness of the grape leaves can be better characterized.

[0021] As a preference, the gray value mean Gray 1 Gray value mean Gray 2 Based on the following formula,

[0022]

[0023]

[0024] Among them, Gray i (R i , G i , B i ) represents pixel I i Gray value of (u, v), Gray i (R i , G i , B i)=0.299×R i +0.587×G i +0.114×B i .

[0025] In the present invention, the grayscale value of any pixel can be preferably obtained through the above method.

[0026] Preferably, in step S3, based on the reference flow control signal Q ref and reference pressure control signal P ref Generate a spray flow signal Q(t) and a spray pressure signal P(t);

[0027] in,

[0028]

[0029] Where t represents the image acquisition unit collecting the original RGB image I 0 At the moment of t, Q(t+Δt) represents the spraying flow signal at the moment of t+Δt, P(t+Δt) represents the spraying pressure signal at the moment of t, S(t) and D(t) represent the original RGB image I collected at the moment of t, respectively. 0 The coverage ratio S and leaf concentration reference value D, S 0 is the distance between the image acquisition unit and the spraying mechanism, V 0 represents the average moving speed of the spraying mechanism moving toward the image acquisition unit, Q ref The corresponding spray flow signal when the coverage ratio S is 0, P ref The spraying pressure signal corresponding to the leaf concentration reference value D is 0.

[0030] In the present invention, the above method can better realize the control of the spraying pressure and the spraying flow rate based on the coverage ratio value S and the leaf concentration reference value D.

[0031] The present invention also provides a variable spraying device for wine grapes, which is used to implement the above method, comprising: a movably arranged device body, wherein a collection area, a mixing area and a spraying area are sequentially arranged on the device body; an image collection mechanism is provided in the collection area, and the image collection mechanism is used to collect images of the area to be sprayed; a drug mixing mechanism is provided in the mixing area, and the drug mixing mechanism is used to mix the drug liquid with water; a drug spraying mechanism is provided in the spraying area, and the drug spraying mechanism is used to spray drugs to the area to be sprayed;

[0032] The image acquisition mechanism comprises an image acquisition unit, an image processing unit and an output unit. The image acquisition unit is used to execute step S1, the image processing unit is used to execute step S2, and the output unit is used to output the spray flow signal Q(t) and the spray pressure signal P(t).

[0033] Preferably, the drug mixing mechanism includes a drug mixing component and a feeding component; the drug mixing component includes a component body, and the component body includes a mixing barrel; a mixing chamber is formed inside the mixing barrel, and the mixing chamber forms a drug inlet area, a drug mixing area and a drug outlet area in sequence from top to bottom in the height direction; a drug inlet and a water inlet are arranged at the drug inlet area, the drug inlet is used to access the drug liquid concentrate, and the water inlet is used to access water; a plurality of liquid baffles are staggered at the drug mixing area, and the plurality of liquid baffles form a plurality of tortuous flow channels at the drug mixing area; a collecting plate is arranged at the drug outlet area, and the mixing barrel is located at the lower part of the collecting plate to form a drug outlet, and the collecting plate is used to guide the mixed drug liquid after flowing through the flow channel to the drug outlet.

[0034] In the present invention, the image acquisition unit can be used to acquire the image of the area to be sprayed, the image processing unit can perform data processing on the image of the area to be sprayed and obtain the value to be output, and the output unit can output the spray flow signal Q(t) and the spray pressure signal P(t) to the spray mechanism. Therefore, the spray mechanism can accurately adjust the spray flow and spray pressure according to the specific conditions of the area to be sprayed, thereby preferably improving the spraying efficiency and spraying quality.

[0035] Preferably, the feeding assembly includes a water tank and a medicine box arranged at the main body of the device, a water outlet pipe is formed at the lower part of the water tank, a first flow pump is provided at the water outlet pipe, and the first flow pump is connected to the water inlet through a hose; a medicine outlet pipe is formed at the lower part of the medicine box, a second flow pump is provided at the medicine outlet pipe, and the second flow pump is connected to the medicine inlet through a hose.

[0036] In the present invention, the first flow pump can pump a certain amount of water to the water inlet through a hose, and the second flow pump can pump a certain amount of medicine concentrate to the medicine inlet, so that the medicine inlet and the water inlet can input a certain amount / a certain proportion of medicine concentrate / water, thereby better obtaining medicines of different concentrations.

[0037] Preferably, the spraying mechanism includes a spraying component and a medicine supply component, the spraying component includes a shell, and a spraying channel is provided inside the shell along the length direction; the spraying channel includes an air inlet chamber and a diffusion chamber arranged in sequence; a fan assembly is provided in the air inlet chamber, and the fan assembly is used to supply air to the diffusion chamber along the length direction; an atomizer is provided in the diffusion chamber, and the atomizer is used to atomize the connected medicine liquid.

[0038] In the present invention, the medicine liquid can be preferably atomized and sprayed onto the wine grape vines through the airflow generated by the fan assembly; and by providing the air inlet chamber and the diffusion chamber, the airflow can be preferably moved toward the wine grape vines.

[0039] Preferably, the medicine supply assembly includes a medicine supply box arranged at the main body of the device, a matching tube is formed on one side of the medicine supply box along the length direction, and the matching tube is connected to the medicine outlet through a hose; a medicine supply pipe is formed at the bottom of the medicine supply box, and a third flow pump is provided at the medicine supply pipe.

[0040] In the present invention, by setting a matching pipe, the mixed liquid medicine in the mixing barrel can be preferably drained to the medicine supply box through a hose, and the medicine supply box is used to store the mixed liquid medicine; by setting a third flow pump, the liquid medicine can be preferably pumped to the atomizer. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic flow chart of a variable spraying method for wine grapes in at least one embodiment of the present disclosure;

[0042] Figure 2 A schematic diagram of the image acquisition mechanism in at least one embodiment of the present disclosure;

[0043] Figure 3 is a schematic axial side view of a device body in at least one embodiment of the present disclosure;

[0044] Figure 4 for Figure 3 A partial enlarged schematic diagram in the middle;

[0045] Figure 5 It is a schematic diagram of the first screw shaft side in at least one embodiment of the present disclosure;

[0046] Figure 6 is a schematic axial view of a support plate in at least one embodiment of the present disclosure;

[0047] Figure 7 A partial cross-sectional view of a device body in at least one embodiment of the present disclosure;

[0048] Figure 8 for Figure 7 A partial enlarged view of point B in the middle;

[0049] Fig. 9 for Figure 7 A partial enlarged view of point C in the middle;

[0050] Fig.10 It is a left schematic view of a mixing barrel in at least one embodiment of the present disclosure;

[0051] Fig.11 for Fig.10 Middle DD section view;

[0052] Fig.12 for Fig.10 Middle EE section view;

[0053] Fig.13 It is a schematic front view of a mixing barrel in at least one embodiment of the present disclosure;

[0054] Fig.14 for Fig.13 Middle FF section view;

[0055] Fig.15 is an axial side schematic diagram of a second lifting mechanism in at least one embodiment of the present disclosure;

[0056] Fig.16 It is a schematic diagram of the second screw shaft side in at least one embodiment of the present disclosure;

[0057] Fig.17 is an axial schematic diagram of a support frame in at least one embodiment of the present disclosure;

[0058] Fig.18 It is a schematic axial view of a spraying assembly in at least one embodiment of the present disclosure;

[0059] Fig.19 It is a left side schematic diagram of a medicine spraying assembly in at least one embodiment of the present disclosure;

[0060] Fig. 20 It is an axial schematic diagram of a drug supply assembly in at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0061] In order to further understand the content of the present invention, the present invention is described in detail in conjunction with the embodiments. It should be understood that the embodiments are only for explaining the present invention and are not intended to limit it.

[0062] Example 1

[0063] This embodiment provides a variable spraying method for wine grapes, which includes the following steps:

[0064] See Figure 1 Step S1: Use an image acquisition unit to obtain the original RGB image I of the area to be sprayed. 0 ;

[0065] Step S2: Using an image processing unit to process the original RGB image I 0 Processing is performed to obtain the leaf coverage ratio value S and the leaf concentration reference value D; the leaf coverage ratio value S is used to analyze the original RGB image I 0 The proportion of grape leaves in the image is characterized by the leaf concentration reference value D. 0 Characterize the growth density of grape leaves;

[0066] Step S3, based on the coverage ratio value S and the leaf concentration reference value D, obtain the spray flow signal Q(t) and the spray pressure signal P(t) through an output unit, and use a spray mechanism to spray the area to be sprayed based on the spray flow Q(t) and the spray pressure P(t).

[0067] Through the above steps S1-S3, the coverage ratio value S and the leaf concentration reference value D of the area to be sprayed can be obtained through the image acquisition unit and the image processing unit, thereby realizing the characterization of the growth density of grape leaves in the area to be sprayed, and the spraying mechanism is used to spray with a quantified spray flow rate and spray pressure based on the acquired grape leaf growth density information, so that the drug spraying matching the growth density of the operating area can be realized, thereby achieving the purpose of precise management of spraying, realizing the overall improvement of the quality of the planted grapes and the reasonable allocation of drug dosage.

[0068] Preferably, in step S1, I 0 = {I i (u, v) | 0 ≤ u ≤ m, 0 ≤ v ≤ n}; where, I i (u, v) is the original RGB image I 0 The pixel coordinates in are (u, v), and m and n are the i-th pixel points in the original RGB image I 0 The maximum x-axis coordinate value and the maximum y-axis coordinate value of pixel point I i The RGB values ​​of (u, v) are respectively the red score R i , Green score G i and blue score B i ;

[0069] Step S2 specifically includes the following steps:

[0070] Step S21: Obtain the original RGB image I 0 The total number of pixels occupied by grape leaves C, C = countif(I i (u,v), "G i ≥G 0 ”); where G 0 To set the green reference value, countif(I i (u,v), "G i ≥G 0 ”) indicates the statistical green score G i Not less than the set green reference value G 0 All pixels I i The number of (u, v);

[0071] Step S22, obtaining the leaf coverage ratio value S,

[0072] Through the above, it is possible to better obtain the original RGB image I 0 Green score G i Pixel points that are greater than the set green reference value are taken as pixel points where grape leaves are located, so that the coverage ratio value S of the grape leaves can be better obtained.

[0073] Preferably, step S2 further comprises the following steps:

[0074] Step S23: Obtain the original RGB image I 0 The set of pixels occupied by grape leaves in I 1 , and the set of pixels not occupied by grape leaves I 2 ;

[0075] Step S24: Get set I 1 Gray value of all pixels 1 , and set I 2 Gray value of all pixels in the mean 2 ;

[0076] Step S25, obtain the leaf concentration reference value D, D = Gray 1 -Gray 2 .

[0077] It can be known that, considering that the growth density of grapes is also reflected in the overlapping thickness of grape leaves, it can be understood that, considering that the thicker the grape leaves are, the lower their transmittance is, the grayscale value of the pixel point can be used as the basis for calculating the thickness of the grape leaves. 1 Gray value of all pixels 1 The mean grayscale value of the foreground pixels (i.e., grape leaves) can be known by calculating the set I 2 Gray value of all pixels in the mean 2 The average grayscale value of the pixels in the background (i.e., the area not blocked by the grape leaves) can be known, and by calculating the difference between the two values, the growth thickness of the grape leaves can be better characterized.

[0078] As a preference, the gray value mean Gray 1 Gray value mean 2 Based on the following formula,

[0079]

[0080]

[0081] Among them, Gray i (R i , G i , B i ) represents pixel I i Gray value of (u, v), Gray i (R i , G i , B i)=0.299×R i +0.587×G i +0.114×B i .

[0082] Therefore, the gray value of any pixel can be obtained better.

[0083] Preferably, in step S3, based on the reference flow control signal Q ref and reference pressure control signal P ref Generate a spray flow signal Q(t) and a spray pressure signal P(t);

[0084] in,

[0085]

[0086] Where t represents the image acquisition unit collecting the original RGB image I 0 At the moment of t, Q(t+Δt) represents the spraying flow signal at the moment of t+Δt, P(t+Δt) represents the spraying pressure signal at the moment of t, S(t) and D(t) represent the original RGB image I collected at the moment of t, respectively. 0 The coverage ratio S and leaf concentration reference value D, S 0 is the distance between the image acquisition unit and the spraying mechanism, V 0 represents the average moving speed of the spraying mechanism moving toward the image acquisition unit, Q ref The corresponding spray flow signal when the coverage ratio S is 0, P ref The spraying pressure signal corresponding to the leaf concentration reference value D is 0.

[0087] Through the above, the control of the spraying pressure and the spraying flow rate based on the coverage ratio value S and the leaf concentration reference value D can be better achieved.

[0088] Specifically, by adding the time difference Δt, a delayed control signal can be formed. Therefore, in actual application, accurate management of spraying can be better achieved by first capturing images and then spraying.

[0089] Example 2

[0090] See Figure 3-4In order to implement the method in Example 1, this embodiment provides a variable spraying device for wine grapes. The device includes a movable device body 300, where a collection area 301, a mixing area 302 and a spraying area 303 are sequentially arranged; the collection area 301 is provided with an image collection mechanism 310, which is used to collect images of the area to be sprayed 303; the mixing area 302 is provided with a mixing mechanism 320, which is used to mix the original liquid of the drug with water; the spraying area 303 is provided with a spraying mechanism 330, which is used to spray the area to be sprayed 303;

[0091] See Figure 2 The image acquisition mechanism 310 has an image acquisition unit, an image processing unit and an output unit. The image acquisition unit is used to execute step S1, the image processing unit is used to execute step S2, and the output unit is used to output the spray flow signal Q(t) and the spray pressure signal P(t).

[0092] Through the scheme in this embodiment, the image acquisition unit can be used to acquire the image of the area to be sprayed 303, the image processing unit can perform data processing on the image of the area to be sprayed 303 and obtain the value to be output, and the output unit can output the spray flow signal Q(t) and the spray pressure signal P(t) to the spray mechanism 330. Therefore, the spray mechanism 330 can accurately adjust the spray flow and spray pressure according to the specific situation of the area to be sprayed 303, thereby preferably improving the spraying efficiency and spraying quality.

[0093] Among them, see Figure 3 , there are two image acquisition mechanisms 310 and two spraying mechanisms 330, which are respectively arranged on both sides of the width direction of the device body 300. The image acquisition mechanism 310 and the spraying mechanism 330 on one side constitute an independent system to operate the method in Example 1, so that the device body 300 can operate between adjacent rows of grape planting areas to achieve synchronous spraying of drugs on the grape planting areas on both sides.

[0094] It is understandable that only one drug mixing mechanism 320 can be provided, and it can supply drugs to two drug spraying mechanisms 330 at the same time, so the structure of the drug spraying device can be simplified.

[0095] See Figure 3-5In this embodiment, the image acquisition mechanism 310 includes a first lifting mechanism 411 and an acquisition camera 412. The first lifting mechanism 411 includes a first bottom plate 4111 connected to the device body 300 by bolts and a first lead screw 4112 rotatably arranged at the first bottom plate 4111. The first lead screw 4112 includes a first lead screw body 5112a. A first matching portion 5112b is formed at one end of the first lead screw body 5112a, and a first wrench portion 5112c is formed at the other end. The first wrench portion 5112c is formed inwardly with a first wrench groove 5112d, and the first wrench groove 5112d is used to cooperate with a wrench. A first sleeve portion 4111a is correspondingly formed at the first bottom plate 4111, and the first matching portion 5112b is correspondingly matched with the first sleeve portion 4111a.

[0096] See Figure 4-10 The first lifting mechanism 411 also includes a support plate 4113, a first threaded hole 6113a is formed at the center of the support plate 4113, the first threaded hole 6113a is used to threadably cooperate with the first lead screw 4112, two first optical axis 4114 holes are formed on both sides of the first threaded hole 6113a along the length direction, a first optical axis 4114 is provided in the first optical axis 4114 hole, the first optical axis 4114 is used to guide the support plate 4113, one end of the first optical axis 4114 is threadedly connected or welded to the first bottom plate 4111, and the other end is provided with a first top plate 4115, the first optical axis 4114 is threadedly connected or welded to the first top plate 4115; the acquisition camera 412 is connected to the support plate 4113 through a camera bracket, and the camera bracket is threadedly connected to the support plate 4113 through a plurality of screws.

[0097] It can be understood that the first lifting mechanism 411 is used to enable the acquisition camera 412 to move axially along the first screw 4112, so that wine grape vines at different heights can be photographed, which facilitates the acquisition of images; that is, when in use, when adjusting the height of the acquisition camera 412, the staff can cooperate with the wrench and the wrench slot, and turn the wrench to drive the first screw 4112 to rotate, thereby adjusting the position of the support plate 4113 in the height direction.

[0098] The first screw 4112 can be, for example, a self-locking screw.

[0099] The drug mixing mechanism 320 includes a drug mixing component and a feeding component 723; the drug mixing component includes a component body 721, and the component body 721 includes a mixing barrel 722; a mixing chamber 11224 is formed inside the mixing barrel 722, and the mixing chamber 11224 is formed from top to bottom in the height direction to form a drug inlet area 11224a, a drug mixing area 11224b and a drug outlet area 11224c; a drug inlet port 10222 and a water inlet port 10223 are provided at the drug inlet area 11224a, and the drug inlet port 10222 is used to The raw liquid medicine is connected, and the water inlet 10223 is used to connect water; a plurality of liquid baffles 11225 are staggeredly arranged in the medicine mixing area 11224b, and the plurality of liquid baffles 11225 form a plurality of tortuous flow channels in the medicine mixing area 11224b; a collecting plate 11227 is arranged in the medicine outlet area 11224c, and the mixing barrel 722 is located at the lower part of the collecting plate 11227 to form a medicine outlet 11226, and the collecting plate 11227 is used to guide the mixed medicine after flowing through the flow channel to the medicine outlet 11226.

[0100] Through the scheme in this embodiment, the original medicine liquid and water can be drained to the mixing medicine area 11224b through the medicine inlet 10222 and the water inlet 10223 respectively. The tortuous flow channel formed by the multiple liquid baffles 11225 in the mixing medicine area 11224b allows the original medicine liquid and water to fully contact and mix in the flow channel, thereby preferably achieving the purpose of forming a homogeneous medicine liquid. By setting the collecting plate 11227, the mixed medicine liquid can be preferably drained to the medicine outlet 11226.

[0101] The current collecting plate 11227 includes a first current collecting piece 11227a and a second current collecting piece 11227b, and the first current collecting piece 11227a and the second current collecting piece 11227b are both arranged along the width direction of the drug mixing area 11224b.

[0102] The feeding assembly 723 includes a water tank 7231 and a medicine box 7232 arranged at the device body 300, a water outlet pipe 9231a is formed at the lower part of the water tank 7231, a first flow pump 9234 is provided at the water outlet pipe 9231a, and the first flow pump 9234 is connected to the water inlet 10223 through a hose; a medicine outlet pipe 8232a is formed at the lower part of the medicine box 7232, a second flow pump 8233 is provided at the medicine outlet pipe 8232a, and the second flow pump 8233 is connected to the medicine inlet 10222 through a hose.

[0103] Through the scheme in this embodiment, the first flow pump 9234 can pump a certain amount of water to the water inlet 10223 through the hose, and the second flow pump 8233 can pump a certain amount of medicine concentrate to the medicine inlet 10222, so that the medicine inlet 10222 and the water inlet 10223 can input a certain amount / a certain proportion of medicine concentrate / water, so that different concentrations of medicine can be better obtained.

[0104] See Figure 3 , 18 -20, the spray mechanism 330 includes a spray component 333 and a medicine supply component 332, the spray component 333 includes a shell 18331, and a spray channel 18332 is provided inside the shell 18331 along the length direction; the spray channel 18332 includes an air inlet chamber 19332a and a diffusion chamber 19332b arranged in sequence; a fan component is provided in the air inlet chamber 19332a, and the fan component 18334 is used to supply air to the diffusion chamber 19332b along the length direction; an atomizer 18333 is provided in the diffusion chamber 19332b, and the atomizer 18333 is used to atomize the connected medicine liquid.

[0105] Through the scheme in this embodiment, the medicine liquid can be preferably atomized and sprayed onto the wine grape vines through the airflow generated by the fan assembly; by providing the air inlet chamber 19332a and the diffusion chamber 19332b, the airflow movement toward the wine grape vines is preferably achieved.

[0106] Among them, see Figure 3 , 15 -17, the spraying assembly 333 has multiple and is arranged at two second lifting mechanisms 331, and the two second lifting mechanisms 331 are respectively arranged on both sides of the width direction of the device body 300; the second lifting mechanism 331 includes a second bottom plate 15311 connected to the device body 300 by bolts and a second lead screw 15312 rotatably arranged at the second bottom plate 15311, the second lead screw 15312 includes a second lead screw 15312 body, two ends of the second lead screw 15312 body form second matching parts 16312b, and the other two ends form second wrench parts 16312c, the second wrench part 16312c forms a second wrench groove 16312d inwardly, and the second wrench groove 16312d is used to cooperate with a wrench, and a second sleeve part 15311a is correspondingly formed at the second bottom plate 15311, and the second matching part 16312b is correspondingly matched with the second sleeve part 15311a;

[0107] The second lifting mechanism 331 also includes a support frame 15313, a second threaded hole 17313a is formed at the center of the support frame 15313, the second threaded hole 17313a is used to threadably cooperate with the second lead screw 15312, two second optical axis 15314 holes are formed on both sides of the second threaded hole 17313a along the length direction, a second optical axis 15314 is arranged in the second optical axis 15314 hole, the second optical axis 15314 is used to guide the support frame 15313, two ends of the second optical axis 15314 are threadedly connected or welded to the second bottom plate 15311, and the other two ends are provided with a second top plate 15315, the second optical axis 15314 is threadedly connected or welded to the second top plate 15315; the acquisition camera 412 is connected to the support frame 15313 through a second camera bracket, and the camera bracket is threadedly connected to the support frame 15313 through a plurality of screws.

[0108] Among them, a plurality of mounting positions 17313c arranged in an array are formed in the second support frame 15313, and the mounting positions 17313c are used to cooperate with the spray component 333, and the spray component 333 is threadedly connected to the mounting positions 17313c through bolts.

[0109] In addition, it can be understood that the method in Example 1 needs to ensure that the collection center of the image processing unit and the spraying center of the spraying mechanism 330 are at the same height. Through the first lifting mechanism 411 and the second lifting mechanism 331, the leveling between the collection center and the spraying center can be better achieved.

[0110] The medicine supply component 332 includes a medicine supply box 20321 arranged at the device body 300, and a matching tube 20324 is formed on one side of the medicine supply box 20321 along the length direction, and the matching tube 20324 is connected to the medicine outlet 11226 through a hose; a medicine supply pipe 20322 is formed at the bottom of the medicine supply box 20321, and a third flow pump 20323 is provided at the medicine supply pipe 20322.

[0111] Through the scheme in this embodiment, by setting the matching tube 20324, the mixed medicine in the mixing barrel 722 can be better drained to the medicine supply box 20321 through the hose, and the medicine supply box 20321 is used to store the mixed medicine; by setting the third flow pump 20323, the medicine can be better pumped to the atomizer 18333.

[0112] It is worth noting that in this embodiment, the spraying mechanism 330 can have four spraying components 333 arranged in a 2×2 array. This arrangement enables the following in actual operation:

[0113] 1. In step S2, the original RGB image I 0 The system is divided into 4 independent areas of 2×2, and the leaf coverage ratio S and the leaf concentration reference value D of each area are calculated separately; and in step S3, based on the leaf coverage ratio S and the leaf concentration reference value D of each area, a separate spraying flow signal Q(t) and a spraying pressure signal P(t) corresponding to each area are generated; thus, the management accuracy of spraying can be further improved;

[0114] When calculating the leaf coverage ratio S and the leaf concentration reference value D for each independent region, in step S21, only the total number of pixel points C occupied by the grape leaves in the current independent region and the total number of pixel points in the current independent region (m×n / 4 in this embodiment) can be collected, so as to obtain the leaf coverage ratio S of each independent region; in step S23, only the set of pixel points occupied by the grape leaves in the current independent region can be obtained, and the set of pixel points not occupied by the grape leaves can still be obtained based on the original RGB image I0 All statistics are performed, so that the leaf concentration reference value D of each independent area can be obtained better;

[0115] 2. It can further increase the operating area of ​​a single spraying and improve the spraying efficiency;

[0116] 3. Considering the inherent characteristic of poor uniformity between the central area and the edge area in the nozzle operation mode, the precise management of the spraying amount can be further achieved by setting up multiple groups of spraying components 333.

[0117] Example 3

[0118] See Figure 7 , 11 -14, this embodiment provides a medicine mixing component that can be used in embodiment 2, which includes a component body 721, the component body 721 includes a mixing barrel 722; a mixing chamber 11224 formed inside the mixing barrel 722, the mixing chamber 11224 sequentially forming a medicine inlet area 11224a, a medicine mixing area 11224b and a medicine outlet area 11224c from top to bottom in the height direction; a medicine inlet port 10222 and a water inlet port 10223 are arranged at the medicine inlet area 11224a, and the medicine inlet port 10222 is used for For receiving the raw liquid medicine, the water inlet 10223 is used to receive water; a plurality of liquid baffles 11225 are staggeredly arranged at the medicine mixing area 11224b, and the plurality of liquid baffles 11225 form a plurality of tortuous flow channels at the medicine mixing area 11224b; a collecting plate 11227 is arranged at the medicine outlet area 11224c, and the mixing barrel 722 is located at the lower part of the collecting plate 11227 to form a medicine outlet 11226, and the collecting plate 11227 is used to guide the mixed medicine after flowing through the flow channel to the medicine outlet 11226.

[0119] The mixing barrel 722 comprises a mixing barrel 722 body and a mixing barrel 722 cover 10221, a mixing chamber 11224 is formed inside the mixing barrel 722 body and the mixing barrel 722 cover 10221; a medicine inlet area 11224a is formed at the mixing barrel 722 cover 10221;

[0120] The drug inlet 10222 is arranged at the side wall of the cover 10221 of the mixing barrel 722, and a drug inlet pipe 12228 is provided at the drug inlet area 11224a; a drug inlet channel 12228a with an open end is formed axially in the middle part of the drug inlet pipe 12228, and the opening of the drug inlet channel 12228a cooperates with the drug inlet 10222; a plurality of drug leakage holes 12228b are radially penetrated on the lower side of the drug inlet pipe 12228, and the plurality of drug leakage holes 12228b are arranged at intervals along the length direction of the drug inlet pipe 12228.

[0121] Through the solution in this embodiment, the drug liquid can be sprayed into the mixing chamber 11224 through the drug leakage hole 12228b, thereby better achieving uniform distribution of the drug liquid in the mixing chamber.

[0122] The water inlet 10223 and the medicine inlet 10222 are arranged on the side wall of the cover 10221 of the mixing barrel 722, and the medicine inlet area 11224a is provided with a water inlet pipe 12229; a water inlet channel 12229a with an open end is formed axially in the middle part of the water inlet pipe 12229, and the opening of the water inlet channel 12229a cooperates with the water inlet 10223; a plurality of water leakage holes 12229b are radially penetrated on the lower side of the water inlet pipe 12229, and the plurality of water leakage holes 12229b are arranged at intervals along the length direction of the water inlet pipe 12229.

[0123] Through the scheme in this embodiment, water can be sprayed into the mixing chamber 11224 through the water leakage hole 12229b, so as to better achieve uniform distribution of water in the mixing chamber; increase the contact area between the medicine liquid and water, and better improve the mixing efficiency of the medicine liquid and water.

[0124] The drug inlet pipe 12228 and the water inlet pipe 12229 both extend along the length direction of the mixing chamber 11224, and the multiple liquid baffles 11225 include a first liquid baffle assembly 11225a and a second liquid baffle assembly 11225b arranged alternately in the height direction in the drug mixing area 11224b; the first liquid baffle assembly 11225a is used to construct a first sub-channel 11225c extending along the width direction at the corresponding area, and the second liquid baffle assembly 11225b is used to construct a second sub-channel 14225g extending along the length direction at the corresponding area.

[0125] Through the scheme in this embodiment, the first liquid baffle assembly 11225a and the second liquid baffle assembly 11225b can form a tortuous flow channel in the mixing chamber 11224, so the speed of the medicine and water moving downward along the height direction in the mixing chamber 11224 is slowed down, thereby increasing the mixing time and contact area of ​​the medicine concentrate and water, and further improving the mixing efficiency of the medicine concentrate and water.

[0126] The first liquid blocking plate assembly 11225a includes a longitudinal flow channel unit, which has an inclined first longitudinal liquid guiding plate 11225d and an inclined second longitudinal liquid guiding plate 11225e, and a first liquid guiding area 11225f is formed between the first longitudinal liquid guiding plate 11225d and the second longitudinal liquid guiding plate 11225e; the cross-sectional area of ​​the first liquid guiding area 11225f perpendicular to the height direction gradually decreases from top to bottom, and the first sub-flow channel 11225c is formed at the lower part of the first liquid guiding area 11225f.

[0127] Through the solution in this embodiment, the first liquid guiding area 11225f can converge the medicine and water at the first sub-channel 11225c through the first liquid guiding plate and the second liquid guiding plate, so that the medicine concentrate and water can collide at the first sub-channel 11225c, further promoting the mixing of the medicine concentrate and water.

[0128] The second longitudinal liquid-conducting piece 11225e is arranged higher than the first longitudinal liquid-conducting piece 11225d.

[0129] Through the solution in this embodiment, since the second longitudinal liquid guiding piece 11225e is higher than the first longitudinal liquid guiding piece 11225d, the medicine liquid and water at the second longitudinal liquid guiding piece 11225e can be drained and collide with the first longitudinal liquid guiding piece 11225d, thereby better improving the mixing efficiency of the medicine liquid and water.

[0130] The first liquid blocking plate assembly 11225 a has a plurality of longitudinal flow channel units spaced apart in the length direction of the mixing chamber 11224 .

[0131] Through the scheme in this embodiment, the mixing efficiency of the drug liquid stock solution and water is further improved.

[0132] The second liquid blocking plate assembly 11225b comprises a first transverse liquid guiding plate 14225h and a second transverse liquid guiding plate 14225i which are arranged obliquely, and a second liquid guiding region 14225j is formed between the first transverse liquid guiding plate 14225h and the second transverse liquid guiding plate 14225i; the cross-sectional area of ​​the second liquid guiding region 14225j perpendicular to the height direction gradually decreases from top to bottom, and a second sub-channel 14225g is formed at the lower part of the second liquid guiding region 14225j.

[0133] Through the scheme in this embodiment, the first transverse liquid guiding plate 14225h and the second transverse liquid guiding plate 14225i can better guide the mixture of the medicinal liquid concentrate and water to the second sub-channel 14225g, thereby further slowing down the descending speed of the medicinal liquid concentrate and water, and further improving the mixing efficiency of the medicinal liquid concentrate and water.

[0134] The second liquid-blocking sheet assembly 11225b further comprises a third transverse liquid-guiding sheet 14225k disposed directly below the second sub-flow channel 14225g, wherein the length direction of the third transverse liquid-guiding sheet 14225k forms an angle with the length direction of the mixing chamber 11224, and the width direction of the third transverse liquid-guiding sheet 14225k is consistent with the width direction of the mixing chamber 11224; one end of the third transverse liquid-guiding sheet 14225k is connected to one side of the mixing chamber 11224 in the length direction, and the other end of the third transverse liquid-guiding sheet 14225k is connected to the other side of the mixing chamber 11224 in the length direction, and a third sub-flow channel 14225l is formed between the two sides of the third transverse liquid-guiding sheet 14225k and the corresponding sides in the width direction of the mixing chamber 11224;

[0135] When there are at least two second liquid blocking sheet assemblies 11225b, the inclination directions of the third transverse liquid guiding sheets 14225k in two adjacent second liquid blocking sheet assemblies 11225b are opposite.

[0136] Through the solution in this embodiment, the third transverse liquid guiding piece 14225k can guide the liquid medicine flowing down the second sub-channel 14225g to both sides of the mixing chamber 11224 in the width direction, so that the liquid medicine can be better diverted to the third sub-channel 14225l.

[0137] Example 4

[0138] See Figure 3 ,18-19, this embodiment provides a spray component 333 that can be used in Example 2, which includes a shell 18331, and a spray channel 18332 is provided inside the shell 18331 along the length direction; the spray channel 18332 includes an air inlet chamber 19332a and a diffusion chamber 19332b arranged in sequence; a fan component is provided in the air inlet chamber 19332a, and the fan component 18334 is used to supply air to the diffusion chamber 19332b along the length direction; an atomizer 18333 is provided in the diffusion chamber 19332b, and the atomizer 18333 is used to atomize the connected liquid medicine.

[0139] The air inlet chamber 19332a is generally cylindrical, and the diffusion chamber 19332b is generally truncated cone. The diameter of the axial section of the diffusion chamber 19332b gradually increases in the direction away from the air inlet chamber 19332a.

[0140] Through the scheme in this embodiment, the air inlet chamber 19332a is used for the entry of air, and the diffusion chamber 19332b is used for the output of airflow. The truncated cone-shaped diffusion chamber 19332b can form a high pressure at the small end of the diffusion chamber 19332b and a low pressure at the large end of the diffusion chamber 19332b. Therefore, the volume of the liquid medicine mist formed after atomization can increase in the diffusion chamber 19332b, thereby better realizing the diffusion spraying of the liquid medicine and better improving the efficiency of spraying the liquid medicine.

[0141] A fan bracket 19334a is arranged at the outer end of the air inlet cavity 19332a, and an air inlet hole 18331a is formed at the fan bracket 19334a; a fan assembly 18334 is arranged in the middle of the fan bracket 19334a, and the fan assembly 18334 has a motor 19334b and fan blades 19334c.

[0142] Through the scheme in this embodiment, air can enter the air inlet chamber 19332a and be converted into high-speed airflow. The air inlet hole 18331a can better enable air to enter the air inlet chamber 19332a. The fan can be fixed by the fan bracket 19334a, and the air flow can be accelerated by the fan blades 19334c to generate high-speed airflow, thereby better achieving the output of high-speed airflow to the diffusion chamber 19332b.

[0143] Among them, the motor 19334b is a speed-regulating motor 19334b. Through the speed-regulating motor 19334b, the rotation speed of the fan blade 19334c can be better controlled, so the spraying pressure can be controlled.

[0144] The shell 18331 is provided with a base 18335 at the lower part of the air inlet cavity 19332a, and the base 18335 has a vertically arranged support rod portion 19335a and a horizontally arranged mounting plate portion 19335b.

[0145] Through the solution in this embodiment, the installation of the spray assembly 333 on a plane can be better achieved.

[0146] A mounting screw hole 18335c is provided at the mounting plate portion 19335b, and the mounting screw hole 18335c is a bar-shaped hole.

[0147] Through the solution in this embodiment, the disassembly and assembly of the spray component 333 is preferably achieved.

[0148] The shell 18331 is located at the lower part of the diffusion chamber 19332b and a first limiting hole 18331b is penetrated therethrough. A first drug delivery pipeline 19336 is fixedly disposed at the first limiting hole 18331b. The atomizer 18333 is disposed at the axis of the diffusion chamber 19332b through the first drug delivery pipeline 19336.

[0149] Through the scheme in this embodiment, by setting the first limiting hole 18331b, the limiting of the first drug delivery pipeline 19336 is preferably achieved, thereby preferably achieving the installation of the atomizer 18333.

[0150] Among them, the mist-generating port of the atomizer 18333 faces the large end of the diffusion chamber 19332b.

[0151] A second limiting hole 18335d is provided at the base 18335 along the axis of the spraying channel 18332 , and a second drug delivery pipeline 19337 connected to the first drug delivery pipeline 19336 is fixedly provided at the second limiting hole 18335d .

[0152] Through the solution in this embodiment, by setting the second limiting hole 18335d, the limiting of the second drug delivery pipeline 19337 is better achieved.

[0153] The first drug delivery pipeline 19336 and the second drug delivery pipeline 19337 are connected through an elbow.

[0154] The first drug delivery pipeline 19336 is a hard pipeline, and the second drug delivery pipeline 19337 is a hard or soft pipeline.

[0155] According to the solution in this embodiment, the first drug delivery pipe 19336 is used to fix the nebulizer 18333 , so the use of a hard pipe can better improve the stability of the fixation of the nebulizer 18333 .

[0156] Among them, the material of the first drug delivery pipeline 19336 is stainless steel, and the material of the second drug delivery pipeline 19337 is PVC.

[0157] Through the solution in this embodiment, the first drug delivery pipeline 19336 is made of stainless steel, which can better prevent the drug solution from corroding the pipe wall and causing blockage. The second drug delivery pipeline 19337 is made of PVC material, which can better cope with the tolerances that may occur during the production of the first limiting hole 18331b and the second limiting hole 18335d, thereby improving the stability of the installation.

[0158] Example 5

[0159] This embodiment provides a variable spraying system for wine grapes, which has the spraying device in embodiment 2, and the mixing component of the spraying device adopts the form of embodiment 3, and the spraying component 333 of the spraying device adopts the form of embodiment 4.

[0160] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments based on one or several embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.

[0161] The present invention and its implementation methods are described schematically above, and the description is not restrictive. The embodiments shown in the embodiments are only part of the implementation methods of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by the embodiments and designs a structure and an implementation method similar to the technical solution without creativity without departing from the purpose of the invention, they should all fall within the protection scope of the present invention.

Claims

1. Variable spraying method for wine grapes, The following steps are involved: Step S1: Using an image acquisition unit to obtain the original RGB image I of the area to be sprayed 0 ; Step S2: Using an image processing unit to process the original RGB image I 0 Processing is performed to obtain the leaf coverage ratio value S and the leaf concentration reference value D; the leaf coverage ratio value S is used to analyze the original RGB image I 0 The proportion of grape leaves in the image is characterized by the leaf concentration reference value D. 0 Characterize the growth density of grape leaves; Step S3, based on the coverage ratio value S and the leaf concentration reference value D, a spraying flow signal Q(t) and a spraying pressure signal P(t) are obtained through an output unit, and a spraying mechanism is used to spray the area to be sprayed based on the spraying flow rate Q(t) and the spraying pressure P(t); In step S3, based on the reference flow control signal Q ref and reference pressure control signal P ref Generate a spray flow signal Q(t) and a spray pressure signal P(t); in, Where t represents the image acquisition unit collecting the original RGB image I 0 At the moment of t, Q(t+Δt) represents the spraying flow signal at the moment of t+Δt, P(t+Δt) represents the spraying pressure signal at the moment of t, S(t) and D(t) represent the original RGB image I collected at the moment of t, respectively. 0 The coverage ratio S and leaf concentration reference value D, S 0 is the distance between the image acquisition unit and the spraying mechanism, V 0 represents the average moving speed of the spraying mechanism moving toward the image acquisition unit, Q ref The corresponding spray flow signal when the coverage ratio S is 0, P ref The spraying pressure signal corresponding to the leaf concentration reference value D is 0.

2. The variable spraying method for wine grapes according to claim 1, Features: In step S1, I 0 = {I i (u, v) | 0 ≤ u ≤ m, 0 ≤ v ≤ n}; where, I i (u, v) is the original RGB image I 0 The pixel coordinates in are (u, v), and m and n are the i-th pixel points in the original RGB image I 0 The maximum x-axis coordinate value and the maximum y-axis coordinate value of pixel point I i The RGB values ​​of (u, v) are respectively the red score R i , Green score G i and blue score B i ; Step S2 specifically includes the following steps: Step S21: Obtain the original RGB image I 0 The total number of pixels occupied by grape leaves C, C = countif(I i (u,v), "G i ≥G 0 ”); where G 0 To set the green reference value, countif(I i (u,v), "G i ≥G 0 ”) indicates the statistical green score G i Not less than the set green reference value G 0 All pixels I i The number of (u, v); Step S22, obtaining the leaf coverage ratio value S, 3. The variable spraying method for wine grapes according to claim 2, Features: Step S2 also includes the following steps: Step S23: Obtain the original RGB image I 0 The set of pixels occupied by grape leaves in I 1 , and the set of pixels not occupied by grape leaves I 2 ; Step S24: Get set I 1 Gray value of all pixels 1 , and set I 2 Gray value of all pixels in the mean 2 ; Step S25, obtain the leaf concentration reference value D, D = Gray 1 -Gray 2 .

4. The variable spraying method for wine grapes according to claim 3, Features: Gray value mean Gray 1 Gray value mean Gray 2 Based on the following formula, Among them, Gray i (R i , G i , B i ) represents pixel I i Gray value of (u, v), Gray i (R i , G i , B i )=0.299×R i +0.587×G i +0.114×B i .

5. Variable spraying device for wine grapes, Features: Used to implement any of the methods described in claims 1-4; comprising a movably arranged device body, wherein a collection area, a mixing area and a spraying area are sequentially arranged on the device body; an image collection mechanism is provided in the collection area, and the image collection mechanism is used to collect images of the area to be sprayed; a mixing mechanism is provided in the mixing area, and the mixing mechanism is used to mix the original liquid of the drug with water; a spraying mechanism is provided in the spraying area, and the spraying mechanism is used to spray the drug to the area to be sprayed; The image acquisition mechanism comprises an image acquisition unit, an image processing unit and an output unit. The image acquisition unit is used to execute step S1, the image processing unit is used to execute step S2, and the output unit is used to output the spray flow signal Q(t) and the spray pressure signal P(t).

6. The variable spraying device for wine grapes according to claim 5, Features: The drug mixing mechanism includes a drug mixing component and a feeding component; the drug mixing component includes a component body, and the component body includes a mixing barrel; a mixing chamber is formed inside the mixing barrel, and the mixing chamber forms a drug inlet area, a drug mixing area and a drug outlet area from top to bottom in the height direction; a drug inlet and a water inlet are arranged at the drug inlet area, the drug inlet is used to access the drug liquid concentrate, and the water inlet is used to access water; a plurality of liquid baffles are staggered at the drug mixing area, and the plurality of liquid baffles form a plurality of tortuous flow channels at the drug mixing area; a collecting plate is arranged at the drug outlet area, and the mixing barrel is located at the lower part of the collecting plate to form a drug outlet, and the collecting plate is used to guide the mixed drug liquid after flowing through the flow channel to the drug outlet.

7. The variable spraying device for wine grapes according to claim 6, Features: The feeding assembly includes a water tank and a medicine box arranged at the main body of the device. A water outlet pipe is formed at the lower part of the water tank, and a first flow pump is provided at the water outlet pipe. The first flow pump is connected to the water inlet through a hose; a medicine outlet pipe is formed at the lower part of the medicine box, and a second flow pump is provided at the medicine outlet pipe. The second flow pump is connected to the medicine inlet through a hose.

8. The variable spraying device for wine grapes according to claim 7, Features: The spraying mechanism includes a spraying component and a medicine supply component. The spraying component includes a shell, and a spraying channel is provided inside the shell along the length direction; the spraying channel includes an air inlet chamber and a diffusion chamber arranged in sequence; a fan component is provided in the air inlet chamber, and the fan component is used to supply air to the diffusion chamber along the length direction; an atomizer is provided in the diffusion chamber, and the atomizer is used to atomize the connected medicine liquid.

9. The variable spraying device for wine grapes according to claim 8, Features: The medicine supply component includes a medicine supply box arranged at the device body, a matching pipe is formed on one side of the medicine supply box along the length direction, and the matching pipe is connected to the medicine outlet through a hose; a medicine supply pipe is formed at the bottom of the medicine supply box, and a third flow pump is arranged at the medicine supply pipe.

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