A forest orchard wind medicine double-control variable spraying device and a variable spraying method

Abstract

The present application relates to a kind of orchard wind medicine double-control variable spray device and variable spray method, the device and method are based on automatic driving mechanism and laser radar, comprising: rack, variable spray mechanism, wind speed adjusting mechanism, automatic driving mechanism, electric control mechanism, wind direction stirring mechanism and profile speed measuring mechanism.When operation, automatic driving mechanism and laser radar accurately detect crown depth, combine profile speed measuring mechanism computer group advancing speed, by real-time control the duty cycle of multiple electromagnetic valves, realize variable spray based on fruit tree crown volume;According to the growth period of fruit tree, set fan speed, combined with advancing speed, produce wind speed suitable auxiliary airflow, to increase crown deposition and reduce drift;Through wind direction stirring device, effectively stir up leaf blade, increase the turbulent kinetic energy and transport channel required when mist drop penetrates crown, mist drop is evenly sprayed to entire crown inside and outside and leaf blade front and back, improve the deposition coverage and uniformity of mist drop in leaf blade back and crown inside.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a dual-control variable spraying device and variable spraying method for orchards and forests. Background Technology

[0002] my country has a wide distribution of orchards, with both planting area and total output ranking among the world's top. Orchard plant protection operations are mainly used for pest and disease control, flower and fruit management, foliar fertilization, and plant growth regulator application, and are a crucial part of the orchard planting process. Currently, plant protection operations in my country have basically achieved mechanization, but traditional spraying machinery still has problems such as large pesticide consumption, poor control effect, uneven spraying, and low coverage on the underside of leaves and inside the canopy.

[0003] To achieve efficient pesticide utilization, current variable displacement sprayers generally use sensors to detect parameters such as the shape and outline of fruit trees, canopy volume, or foliage density in real time, thereby improving pesticide utilization to some extent. However, most of these methods use the tree row reference centerline under ideal conditions as a benchmark for canopy depth detection. When the actual travel path of the machine deviates from the tree row reference centerline, it will cause inaccurate canopy depth detection, reducing the precision of variable displacement spraying.

[0004] Furthermore, traditional wind-assisted sprayers mostly cannot adjust the wind speed according to the growth status of the fruit tree canopy. Insufficient wind speed makes it difficult for droplets to penetrate the canopy, while excessive wind speed causes severe pesticide drift. In addition, traditional wind-assisted sprayers often generate a single auxiliary airflow in a fixed direction, which makes it difficult to create a strong turbulent flow field. This is not conducive to droplets penetrating the shield of branches and leaves to reach the back of leaves and the interior of the canopy, ultimately resulting in poor spray uniformity and low coverage on the back of leaves and inside the canopy. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a variable-rate spraying device and method for orchards with dual-control wind-driven spraying. This device and method, based on an automatic driving mechanism and lidar technology, eliminates problems such as inaccurate canopy thickness detection due to the unit deviating from the tree row reference centerline during actual operation, insufficient precision of variable-rate spraying, poor leaf agitation effect of auxiliary airflow from a single wind direction, poor spray uniformity caused by unadjustable wind speed, severe pesticide drift, and low coverage on the back of leaves and inside the canopy.

[0006] To solve the above-mentioned technical problems, the technical solution provided by the present invention is as follows:

[0007] The orchard wind-driven variable spray device includes: a frame, a variable spray mechanism, a wind speed adjustment mechanism, a wind direction stirring mechanism, an automatic driving mechanism, a contour speed measuring mechanism, and an electronic control mechanism;

[0008] The variable spray mechanism includes a medicine tank located on the top of the frame, a spray bar connected to the medicine tank, a solenoid valve and a nozzle whose flow rate is controlled by the solenoid valve on the spray bar, and a lidar.

[0009] The wind speed regulating mechanism includes fan blades and an electromagnetic proportional valve;

[0010] The wind direction stirring mechanism includes a drive motor, and the drive motor is connected to a stirring plate;

[0011] The electronic control mechanism includes an integrated controller. The integrated controller obtains the canopy leaf thickness based on the tree row reference centerline provided by the automatic driving mechanism and the canopy depth detected by the lidar. The integrated controller also combines the speed information measured by the automatic driving mechanism and the contour speed measuring mechanism with the forward speed of the computer group. The integrated controller calculates the canopy volume based on the obtained leaf thickness and the forward speed of the unit, and controls the duty cycle of the solenoid valve.

[0012] The integrated controller will also control the opening of the electromagnetic proportional valve according to the set fruit tree growth stage and the forward speed of the unit, thereby adjusting the fan blades to rotate at different speeds; the airflow and wind field generated by the rotation of the fan blades and the agitator plate will superimpose on the canopy blades.

[0013] Furthermore, a medicine pump is connected to the bottom of the medicine tank via a medicine filter, and the medicine pump is connected to a pressure regulating valve via a pressure sensor; the pressure regulating valve is connected to the bottom of the spray bar via a flow sensor; several solenoid valves are connected to the middle part of the spray bar, and each solenoid valve is connected to one of the spray heads.

[0014] Furthermore, the wind speed regulating mechanism includes an electromagnetic proportional valve, an overflow valve, a rear guide cover, an air cooler, a filler filter, a return oil filter, an oil tank, a hydraulic motor, a hydraulic pump, a fan gearbox, a suction filter, a check valve, a pressure gauge, and a level gauge. The input shaft of the hydraulic pump is drivenly connected to the output shaft of the medicine pump. The hydraulic motor is fixedly connected to the frame, and its inlet is connected to the outlet of the electromagnetic proportional valve. The output shaft of the hydraulic motor is drivenly connected to the input shaft of the fan gearbox, and the output shaft of the fan gearbox is connected to the fan blades. The electromagnetic proportional valve, the overflow valve, and the pipeline filter are all fixedly connected to the frame. The oil tank and the air cooler are both fixedly connected to the frame. The filler filter, the return oil filter, the suction filter, the check valve, the pressure gauge, and the level gauge are integrated and connected to the oil tank.

[0015] Furthermore, the drive motor of the airflow agitation mechanism is connected to the rear guide shroud and its speed can be set by the electronic control mechanism. The output shaft of the drive motor is connected to a rotating shaft through an agitation coupling. The rotating shaft is connected to an agitation plate through a key in the middle. The drive motor drives the agitation plate to rotate around the rotating shaft through the agitation coupling and generates airflow.

[0016] Furthermore, the contour speed measuring mechanism includes a ground wheel, a ground wheel tube, a suspension bracket assembly, a pin, a cotter pin, an encoder bracket, an encoder, a speed measuring coupling, a ground wheel bearing, a ground wheel bearing seat, a ground wheel shaft, and a torsion spring. The suspension bracket assembly is fixedly connected to the frame. One end of the ground wheel tube is fixed to the suspension bracket assembly via a pin and a cotter pin fitted with a torsion spring. One leg of the torsion spring contacts one side of the suspension bracket assembly, and the other leg contacts the inside of the ground wheel tube wall. A ground wheel bearing seat is welded to one end of the ground wheel tube. The ground wheel bearing, with the ground wheel shaft internally connected, is fixedly connected to the ground wheel bearing seat. One end of the ground wheel shaft is fixedly connected to the ground wheel. One end of the encoder bracket is fixedly connected to the ground wheel tube, and the other end is connected to the encoder. One end of the speed measuring coupling is connected to the output shaft of the encoder, and the other end is connected to the ground wheel shaft.

[0017] Furthermore, the automatic driving mechanism includes an integrated display and control unit, an electric steering wheel, and a satellite antenna; the electric steering wheel is mounted on the original tractor's steering shaft, and the integrated display and control unit is mounted on one side of the electric steering wheel; the satellite antenna is fixedly mounted on the original tractor frame; the automatic driving mechanism enables the unit to travel along a calibrated trajectory and can output the unit's latitude and longitude coordinates and forward speed information in real time.

[0018] Furthermore, a variable spraying method based on the above-mentioned orchard wind-dried pesticide dual-control variable spraying device, wherein before operation, the automatic driving mechanism marks a straight operation path along the center line of each fruit tree row, forms a tree row reference center line, and records and stores it in the integrated controller;

[0019] The lidar detects the canopy of the fruit trees, and the integrated controller obtains the detection depth obtained by the lidar. Based on the tree row reference centerline calibrated before the operation, the detection depth is corrected in real time to obtain the accurate leaf canopy thickness.

[0020] The integrated controller will combine the speed information measured by the automatic driving mechanism and the contour speed measuring mechanism to calculate the forward speed of the computer group, and calculate the volume of the fruit tree canopy in real time based on the accurate leaf canopy thickness and the forward speed of the unit obtained above.

[0021] The integrated controller controls each solenoid valve to operate at the corresponding duty cycle by calculating the canopy volume of the fruit trees in real time, thereby realizing variable spraying based on the canopy volume.

[0022] Furthermore, before the operation, the growth stage of the fruit trees can be selected through the human-computer interaction interface on the integrated controller;

[0023] The integrated controller adjusts the opening of the electromagnetic proportional valve in real time according to the set fruit tree growth stage and the calculated forward speed of the unit, and controls the hydraulic motor to drive the fan blades to rotate at different speeds, generating an auxiliary airflow with appropriate air volume and speed to adapt to the current canopy thickness and operating speed.

[0024] Furthermore, during operation, the integrated controller records and stores in real time the machine's operation timestamp, latitude and longitude coordinates, machine forward speed, canopy leaf thickness, spray flow rate, spray pressure, duty cycle of each solenoid valve, opening degree of the solenoid proportional valve, and rotation speed of the agitator, generating fruit tree canopy information prescriptions and operation prescriptions for different plant protection operation periods in the orchard, providing decision-making references for precise orchard management.

[0025] The beneficial effects of this invention are:

[0026] (1) The depth of the fruit tree canopy is detected by lidar, and the canopy volume is calculated by combining the forward speed of the unit. The duty cycle of the multi-channel solenoid valve is controlled in real time by pulse width modulation technology to realize variable spraying based on canopy volume, thereby improving the utilization rate of pesticide solution.

[0027] (2) The spray unit can correct the detection depth of the lidar in real time according to the pre-calibrated tree row reference centerline, and integrate the speed data under the two speed measurement methods of the automatic driving mechanism and the contouring mechanism, thereby improving the accuracy of the variable spray system by improving the detection accuracy of the canopy volume.

[0028] (3) During operation, the spray unit can flexibly adjust the wind speed according to the growth stage of the fruit trees, the growth status of the canopy and the actual operating speed to improve the canopy deposition effect and reduce drift;

[0029] (4) The wind-driven stirring mechanism can effectively stir up the canopy and blow up the blades, increasing the turbulent kinetic energy and transport channels required for droplets to penetrate the canopy, and improving the deposition coverage and uniformity of droplets on the back of the blades and inside the canopy. Attached Figure Description

[0030] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0031] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0032] Figure 2 This is a schematic diagram of the frame structure of the present invention.

[0033] Figure 3This is a schematic diagram of the variable spray mechanism of the present invention.

[0034] Figure 4 This is a schematic diagram of the wind speed regulating mechanism of the present invention. Figure 1 .

[0035] Figure 5 This is a schematic diagram of the wind speed regulating mechanism of the present invention. Figure 2 .

[0036] Figure 6 This is a schematic diagram of the wind speed regulating mechanism of the present invention. Figure 3 .

[0037] Figure 7 This is a schematic diagram of the wind direction stirring mechanism of the present invention.

[0038] Figure 8 This is a schematic diagram of the contour-following speed measuring mechanism of the present invention. Figure 1 .

[0039] Figure 9 This is a schematic diagram of the contour-following speed measuring mechanism of the present invention. Figure 2 .

[0040] Figure 10 This is a schematic diagram of the variable spray mechanism circuit of the present invention.

[0041] Figure 11 This is a schematic diagram of the hydraulic circuit of the wind speed regulating mechanism of the present invention.

[0042] In the diagram: 1-Frame, 1-1-Upper suspension ear plate, 1-2-Pressure regulating valve mounting bracket, 1-3-Medicine filter mounting plate, 1-4-Lower suspension ear plate, 2-Fan mounting bracket, 3-Hydraulic pump mounting base plate, 4-Medicine pump mounting bracket, 5-Oil tank-air-cooled mounting base plate, 6-Valve assembly mounting base plate, 7-Hydraulic motor mounting bracket, 8-Sub-frame, 9-Frame support leg, 10-Medicine pump, 11-Pressure regulating valve, 12-Medicine tank, 13-LiDAR mounting plate, 14-Spray bar plug. 15-Spray boom fixed cross bracket, 16-Spray boom, 17-Spray head, 18-Solenoid valve, 19-LiDAR, 20-Drug solution filter, 21-Pressure sensor, 22-Flow sensor, 23-Front guide cover, 24-Top guide cover, 25-Solenoid proportional valve, 26-Overflow valve, 27-Rear guide cover, 28-Front cover of fan, 29-Air cooler, 30-Oil filler filter, 31-Return oil filter, 32-Oil tank, 33-Hydraulic motor, 34-Pipeline Filter, 35-Hydraulic pump mounting bracket, 36-Hydraulic pump, 37-Fan rear cover, 38-Drive shaft, 39-Coupling, 40-Fan gearbox, 41-Fan blade, 42-Fan rear grille, 43-Suction filter, 44-Check valve, 45-Pressure gauge, 46-Level gauge, 47-Integrated display and control unit, 48-Electric steering wheel, 49-Antenna mounting bracket, 50-Satellite antenna, 51-Integrated controller, 52-Drive motor, 53-Motor bracket, 54-Agitator 55-Moving plate, 56-Rotating shaft, 57-Bearing housing, 58-Agitator coupling, 59-Toothed wheel, 60-Gear tube, 60-Suspension bracket assembly, 60-1-Suspension bracket ear plate, 60-2-Suspension bracket base plate, 60-3-Suspension bracket limiting plate, 61-Square pipe clamp, 62-Pin shaft, 63-Cotter pin, 64-Encoder bracket, 65-Encoder, 66-Speed ​​measuring coupling, 67-Gear bearing, 68-Gear bearing housing, 69-Gear shaft, 70-Torsion spring. Detailed Implementation

[0043] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0044] like Figure 1 As shown, a variable spraying device for forest and orchards with dual-control wind and pesticide spraying is disclosed. The device is based on an automatic driving system and lidar and includes: a frame, a variable spraying mechanism, a wind speed adjustment mechanism, an automatic driving mechanism, an electronic control mechanism, a wind direction stirring mechanism, and a contour speed measuring mechanism.

[0045] like Figure 2As shown, the upper side of the frame 1 is welded with an upper suspension ear plate 1-1 and a pressure regulating valve fixing bracket 1-2, and the lower side is welded with a liquid filter fixing plate 1-3 and a lower suspension ear plate 1-4. The frame 1 is also fixedly connected to the fan fixing bracket 2, the hydraulic pump fixing base plate 3, the medicine pump fixing bracket 4, the oil tank-air-cooled fixing base plate 5, the sub-frame 8, and the frame support leg 9 by bolt pairs. The fan fixing bracket 2 is also fixedly connected to the valve group fixing base plate 6 and the hydraulic motor fixing bracket 7.

[0046] like Figure 3 , 10 As shown, the variable spray mechanism includes a chemical pump 10, a pressure regulating valve 11, a chemical tank 12, a lidar mounting plate 13, a spray bar plug 14, a spray bar mounting bracket 15, a spray bar 16, a nozzle 17, a solenoid valve 18, a lidar 19, a chemical filter 20, a pressure sensor 21, and a flow sensor 22; the chemical tank 12 is connected to the upper end of the frame 1; the chemical pump 10 is fixed to the chemical pump mounting bracket 4 by bolts, the pressure regulating valve 11 is fixed to the pressure regulating valve mounting bracket 1-2 by bolts, and the chemical filter 20 is fixed to the chemical filter mounting plate 1-3 by bolts.

[0047] Several horizontal support brackets 15 for fixing the spray booms are symmetrically fixedly connected to the upper and lower sides of the front guide shroud 23, and laser radar fixing plates 13 and spray booms 16 are fixedly connected to the horizontal support brackets 15 respectively; several laser radars 19 are evenly fixedly connected to the laser radar fixing plates 13.

[0048] The bottom of the medicine tank 12 is connected to the inlet of the medicine pump 10 via the medicine liquid filter 20. After the medicine liquid is filtered by the medicine liquid filter 20 and pressurized by the medicine pump 10, one path is connected to the inlet of the pressure regulating valve 11 via the pressure sensor 21, and the other path returns to the medicine tank 12 through the bottom of the medicine tank 12, forming a jet and stirring the medicine liquid in the medicine tank 12.

[0049] The pressure regulating valve 11 has three outlets. The first outlet overflows back to the medicine tank 12 to stabilize the pressure in the spray system circuit. The other two outlets are connected to the bottom of the spray bar 16 via a flow sensor 22. Several solenoid valves 18 are fixedly connected to the middle part of the spray bar 16, and each solenoid valve 18 is connected to a nozzle 17. A spray bar plug 14 is also fixedly connected to the upper part of each spray bar 16.

[0050] like Figure 4 , 5As shown in Figures 6 and 11, the wind speed regulating mechanism includes a front guide shroud 23, a top guide shroud 24, an electromagnetic proportional valve 25, an overflow valve 26, a rear guide shroud 27, a fan front cover 28, an air cooler 29, an oil filler filter 30, a return oil filter 31, an oil tank 32, a hydraulic motor 33, a pipeline filter 34, a hydraulic pump mounting bracket 35, a hydraulic pump 36, a fan rear cover 37, a drive shaft 38, a coupling 39, a fan gearbox 40, fan blades 41, a fan rear grille 42, an oil suction filter 43, a check valve 44, a pressure gauge 45, and a level gauge 46.

[0051] The front cover 28 of the fan is fixed to the fan mounting bracket 2 by welding; the front cover 28, the front guide cover 23, the top guide cover 24, the rear guide cover 27, and the rear cover 37 of the fan are sequentially fixed and connected by bolts to form the air chamber; the rear grille 42 of the fan is fixedly connected to the rear cover 37 of the fan; the fan gearbox 40 is fixed to the front cover 28 of the fan, and the hydraulic motor 33 is fixedly connected to the hydraulic motor mounting bracket 7. The input shaft of the fan gearbox 40 is connected to the output shaft of the hydraulic motor 33 through a coupling 39, and the output shaft of the fan gearbox 40 is connected to the fan blade 41; the inlet of the hydraulic motor 33 is connected to the outlet 25 of the electromagnetic proportional valve; the hydraulic pump mounting bracket 35 is fixedly connected to the hydraulic pump mounting base plate 3 by bolts, and the hydraulic pump 36 is connected to the hydraulic pump mounting bracket 35; the input shaft of the hydraulic pump 36 is connected to the output shaft of the medicine pump 10 through a drive shaft 38.

[0052] The air cooler 29 and the oil tank 32 are both fixedly connected to the oil tank-air cooler fixed base plate 5; the oil filling filter 30, the return oil filter 31, the suction oil filter 43 and the level gauge 46 are all integrated and fixedly connected to the oil tank 32; the electromagnetic proportional valve 25, the overflow valve 26 and the pipeline filter 34 are all connected to the valve group fixed base plate 6; the hydraulic oil in the oil tank 32 is sucked into the hydraulic pump 36 through the suction oil filter 43, and then flows through the pipeline filter 34, the check valve 44 and the pressure gauge 45 before being divided into two paths. The first path flows through the overflow valve 26, the air cooler 29 and the return oil filter 31 back to the oil tank 32, and the second path flows through the electromagnetic proportional valve 25 into the hydraulic motor 33. The hydraulic motor 33 drives the coupling 39 and the fan gearbox 40 in turn, and finally drives the fan blade 41 to rotate at high speed to generate airflow. After that, the airflow returns to the oil tank 32 through the outlet of the hydraulic motor 33, the air cooler 29 and the return oil filter 31.

[0053] like Figure 1As shown, the automatic driving mechanism includes a display and control integrated machine 47, an electric steering wheel 48, an antenna mounting bracket 49, and a satellite antenna 50; the electric steering wheel 48 is connected to the original tractor's steering shaft, and the display and control integrated machine 47 is connected to one side of the electric steering wheel 48; the antenna mounting bracket 49 is fixedly connected to the original tractor frame, and a satellite antenna 50 is fixedly connected to each of the two ends of the upper part of the antenna mounting bracket 49; the automatic driving mechanism enables the unit to travel along the calibrated trajectory and can output the unit's latitude and longitude coordinates and forward speed in real time.

[0054] like Figure 1 , 5 As shown, the electrical control mechanism includes an integrated controller 51; the integrated controller 51 is fixedly connected to the upper part of the rear guide cover 27 by bolts; the integrated controller 51 can input and view the machine's operating parameters through the equipped human-machine interface.

[0055] like Figure 1 , 4 As shown in Figures 5 and 7, the wind direction agitation mechanism includes a drive motor 52, a motor bracket 53, an agitator 54, a rotating shaft 55, a bearing seat 56, and an agitation coupling 57. Several sets of wind direction agitation mechanisms are fixedly connected to both sides of the rear guide shroud 27. Each set of wind direction agitation mechanisms consists of a drive motor 52, a motor bracket 53, an agitator 54, a rotating shaft 55, a bearing seat 56, and an agitation coupling 57. The motor bracket 53 is fixedly connected to the rear guide shroud 27 via bolts, and the drive motor 52 is fixedly connected to the motor bracket 53. The speed of the drive motor 52 is adjustable, and the output shaft of the drive motor 52 is connected to the rotating shaft 55 via the agitation coupling 57. The rotating shaft 55 is connected to the agitator 54 via a key in the middle, and a bearing seat 56 is fixedly connected to each end of the rotating shaft 55. The bearing seats 56 are all fixedly connected to the front guide shroud 23 and the rear guide shroud 27 via bolts.

[0056] After being powered on, the drive motor 52 drives the agitator 54 to rotate around the shaft 55 through the agitator coupling 57 to generate airflow. This airflow is superimposed with the airflow generated by the wind speed regulation mechanism to form an airflow field with a certain turbulence intensity, so as to carry the mist droplets through the shield of branches and leaves to reach the inside of the fruit tree canopy and the back of the leaves.

[0057] like Figure 1 , 5 As shown in Figures 8 and 9, the contour speed measuring mechanism includes a toothed ground wheel 58, a ground wheel tube 59, a suspension bracket assembly 60, a square tube clamp 61, a pin shaft 62, a cotter pin 63, an encoder bracket 64, an encoder 65, a speed measuring coupling 66, a ground wheel bearing 67, a ground wheel bearing seat 68, a ground wheel shaft 69, and a torsion spring 70.

[0058] The suspension bracket assembly 60 consists of two suspension bracket ear plates 60-1, a suspension bracket base plate 60-2, and a suspension bracket limiting plate 60-3. The suspension bracket ear plates 60-1 are welded to both sides of the suspension bracket base plate 60-2, and the two ends of the suspension bracket limiting plate 60-3 are welded to the bottom of the two suspension bracket ear plates 60-1.

[0059] The suspension bracket assembly 60 is fixedly connected to the sub-frame 8 via square pipe clamps 61; one end of the ground wheel tube 59 is fixed to the suspension bracket assembly 60 via a pin 62 fitted with a torsion spring 70 and a cotter pin 63, one leg of the torsion spring 70 contacts one side of the suspension bracket base plate 60-2, and the other leg contacts the inside of the ground wheel tube 59 wall; a ground wheel bearing seat 68 is welded and fixed to one end of the ground wheel tube 59; a ground wheel bearing 67, which has a ground wheel shaft 69 connected inside, is fixedly connected to the ground wheel bearing seat 68; a toothed ground wheel 58 is fixedly connected to one end of the ground wheel shaft 69 via bolt pairs; one end of the encoder bracket 64 is fixedly connected to the ground wheel tube 59, and the other end is connected to the encoder 65; one end of the speed measuring coupling 66 is connected to the output shaft of the encoder 65, and the other end is connected to the ground wheel shaft 69.

[0060] The torsion spring 70 can act on the ground wheel tube 59 to keep the toothed ground wheel 58 in conformal contact with the ground. After the toothed ground wheel 58 rotates in contact with the ground, it can drive the ground wheel shaft 69 and the speed measuring coupling 66 to rotate in sequence, and finally drive the encoder 65 to rotate, so as to measure the forward speed of the unit.

[0061] The working process of this invention is as follows:

[0062] Before the operation, the automatic driving mechanism first marks a straight operation path along the center line of each row of fruit trees to form a reference center line for the tree row and records and stores it in the integrated controller 51. The driving unit travels along the center line of the tree row according to the pre-planned operation path to complete the marking and storage of the reference center line for the tree row (for any orchard, this marking process only needs to be performed once and is permanently valid for subsequent operations).

[0063] Before spraying, connect the tractor's rear three-point suspension to the machine's upper suspension lug 1-1 and lower suspension lug 1-4. Connect the tractor's rear power take-off shaft to the input shaft of the pesticide pump 10 using the drive shaft. Connect the power lines of the automatic driving mechanism and the integrated controller 51 to the tractor's onboard power supply. Then, press the power switch of the integrated controller 51, start the human-machine interface, select the type of fruit tree, growth stage, rotation speed of the agitator 54, and application coefficient per unit canopy volume. After adjusting the working pressure of the spraying system using the pressure regulating valve 11 and raising the unit to a suitable height, spraying can begin.

[0064] During operation, after entering the fruit tree row, the unit moves along the pre-marked reference centerline of the tree row under the control of the autopilot mechanism. After the lidar 19 detects the fruit tree canopy, the integrated controller 51 obtains the canopy depth detected by the lidar 19 and corrects the detection depth in real time according to the tree row reference centerline marked before operation to obtain the accurate leaf canopy thickness. Then, the integrated controller 51 integrates the speed information measured by the autopilot mechanism and the contour speed measuring mechanism, calculates the forward speed of the unit, and calculates the volume of the fruit tree canopy in real time based on the leaf canopy thickness and the forward speed of the unit, and controls each solenoid valve 18 to work at the corresponding duty cycle.

[0065] Driven by the rear power take-off shaft of the tractor, the medicine pump 10 delivers the medicine liquid from the medicine tank 12 to the spray bar 16. The integrated controller 51 controls the solenoid valve 18 and the nozzle 17 according to the canopy volume to achieve variable spraying based on the canopy volume.

[0066] Meanwhile, the integrated controller 51 adjusts the opening of the electromagnetic proportional valve 25 in real time according to the growth stage and forward speed of the fruit trees. The hydraulic pump 36 is driven by the medicine pump 10 to rotate, providing a pressure source for the entire hydraulic system and driving the hydraulic motor 33 to rotate the fan blades 41 at different speeds. This generates an auxiliary airflow with appropriate air volume and speed. The airflow is superimposed on the wind field generated by the wind direction stirring device and after stirring and turning the canopy leaves, the mist droplets are evenly sprayed to the entire canopy inside and out and the front and back of the leaves, achieving precise wind-delivered pesticide application.

[0067] During operation, the integrated controller 51 can record and store the operation timestamp, latitude and longitude coordinates, forward speed, leaf canopy thickness, spray flow rate, spray pressure, duty cycle of each solenoid valve 18, opening degree of solenoid proportional valve 25, and rotation speed of agitator 54 in real time. It generates fruit tree canopy information prescriptions and operation prescriptions for different plant protection operation periods in the orchard, thereby providing decision-making reference for precision management of the orchard.

[0068] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0069] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A dual-control variable spraying device for pesticides in orchards, characterized in that, include: The frame, variable spray mechanism, wind speed adjustment mechanism, wind direction stirring mechanism, automatic driving mechanism, contour speed measurement mechanism, and electronic control mechanism; The variable spray mechanism includes a medicine tank (12) located on the top of the frame, the medicine tank (12) is connected to a spray bar (16), the spray bar (16) is provided with a solenoid valve (18) and a nozzle (17) whose flow rate is controlled by the solenoid valve (18), and the variable spray mechanism is also provided with a laser radar (19). The wind speed regulating mechanism includes a fan blade (41) and an electromagnetic proportional valve (25). The wind direction stirring mechanism includes a drive motor (52), and the drive motor (52) is connected to a stirring plate (54). The electronic control mechanism includes an integrated controller (51). The integrated controller (51) obtains the canopy leaf thickness based on the tree row reference centerline provided by the automatic driving mechanism and the canopy depth detected by the lidar (19). The integrated controller (51) also combines the speed information measured by the automatic driving mechanism and the contour speed measuring mechanism with the forward speed of the computer group. The integrated controller (51) calculates the canopy volume based on the obtained leaf thickness and the forward speed of the unit, and controls the duty cycle of the solenoid valve (18). The integrated controller (51) will also control the opening of the electromagnetic proportional valve (25) according to the set fruit tree growth period and the forward speed of the unit, thereby adjusting the fan blades (41) to rotate at different speeds; the airflow and wind field generated by the rotation of the fan blades (41) and the agitator (54) superimpose on the canopy blades. The bottom of the medicine tank (12) is connected to a medicine pump (10) via a medicine filter (20). The medicine pump (10) is connected to a pressure regulating valve (11) via a pressure sensor (21). The pressure regulating valve (11) is connected to the bottom of the spray bar (16) via a flow sensor (22). Several solenoid valves (18) are respectively provided on the spray bar (16), and each solenoid valve (18) is connected to one of the nozzles (17). The wind speed regulating mechanism includes an electromagnetic proportional valve (25), an overflow valve (26), a rear guide shroud (27), an air cooler (29), a refueling filter (30), a return oil filter (31), an oil tank (32), a hydraulic motor (33), a hydraulic pump (36), a fan gearbox (40), a suction filter (43), a check valve (44), a pressure gauge (45), and a level gauge (46); the input shaft of the hydraulic pump (36) is connected to the output shaft of the medicine pump (10), and the hydraulic motor (33) is fixedly connected to the frame (1). The inlet is connected to the outlet of the electromagnetic proportional valve (25), and the output shaft of the hydraulic motor (33) is connected to the input shaft of the fan gearbox (40). The output shaft of the fan gearbox (40) is connected to the fan blade (41). The electromagnetic proportional valve (25), overflow valve (26), pipeline filter (34), oil tank (32) and air cooler (29) are all fixedly connected to the frame (1). The oil filling filter (30), return oil filter (31), suction oil filter (43), check valve (44), pressure gauge (45) and level gauge (46) are integrated and connected to the oil tank (32).

2. The orchard sprayer with dual-control variable spraying system according to claim 1, characterized in that, The drive motor (52) of the wind direction stirring mechanism is connected to the rear guide cover (27). The output shaft of the drive motor (52) is connected to a rotating shaft (55) through a stirring coupling (57). The rotating shaft (55) is connected to a stirring plate (54) through a key in the middle. The drive motor (52) drives the stirring plate (54) to rotate around the rotating shaft (55) through the stirring coupling (57) and generate airflow.

3. The orchard sprayer with dual-control variable spraying system according to claim 1, characterized in that, The contour-following speed measuring mechanism includes a ground wheel (58), a ground wheel tube (59), a suspension bracket assembly (60), a pin (62), a cotter pin (63), an encoder bracket (64), an encoder (65), a speed measuring coupling (66), a ground wheel bearing (67), a ground wheel bearing seat (68), a ground wheel shaft (69), and a torsion spring (70). The suspension bracket assembly (60) is fixedly connected to the frame (1). One end of the ground wheel tube (59) is fixed to the suspension bracket assembly (60) via a pin (62) fitted with a torsion spring (70) and a cotter pin (63). One leg of the torsion spring (70) is connected to... One side of the suspension bracket assembly (60) is in contact with the other leg, and the other leg is in contact with the inside of the wall of the ground wheel tube (59); a ground wheel bearing seat (68) is welded and fixed to one end of the ground wheel tube (59); a ground wheel bearing (67) with a ground wheel shaft (69) inside is fixedly connected to the ground wheel bearing seat (68); a ground wheel (58) is fixedly connected to one end of the ground wheel shaft (69); one end of the encoder bracket (64) is fixedly connected to the ground wheel tube (59), and the other end is connected to the encoder (65); one end of the speed measuring coupling (66) is connected to the output shaft of the encoder (65), and the other end is connected to the ground wheel shaft (69).

4. The orchard sprayer with dual-control variable spraying system according to claim 1, characterized in that, The automatic driving mechanism includes a display and control unit (47), an electric steering wheel (48), and a satellite antenna (50); the electric steering wheel (48) is mounted on the original tractor's steering shaft, and the display and control unit (47) is mounted on one side of the electric steering wheel (48); the satellite antenna (50) is fixedly mounted on the original tractor frame; the automatic driving mechanism enables the unit to travel along the calibrated trajectory and can output the unit's latitude and longitude coordinates and forward speed information in real time.

5. A variable spraying method based on the dual-control variable spraying device for wind-dried pesticides in orchards according to any one of claims 1 to 4, characterized in that, Before the operation, the automatic driving mechanism marks a straight operation path along the center line of each fruit tree row, forms a tree row reference center line, and records and stores it in the integrated controller (51); The lidar (19) detects the canopy of the fruit tree. The integrated controller (51) obtains the detection depth obtained by the lidar (19) and corrects the detection depth in real time according to the tree row reference center line calibrated before the operation to obtain the accurate leaf canopy thickness. The integrated controller (51) will combine the speed information measured by the automatic driving mechanism and the contour speed measuring mechanism to calculate the forward speed of the computer group, and calculate the volume of the fruit tree canopy in real time based on the accurate leaf canopy thickness and the forward speed of the unit obtained above. The integrated controller (51) controls each solenoid valve (18) to operate at the corresponding duty cycle by calculating the canopy volume of the fruit tree in real time.

6. The method according to claim 5, characterized in that, Before the operation, the growth period of the fruit tree is selected through the human-computer interaction interface on the integrated controller (51); The integrated controller (51) adjusts the opening of the electromagnetic proportional valve (25) in real time according to the set fruit tree growth period and the calculated forward speed of the unit, and controls the hydraulic motor (33) to drive the fan blades (41) to rotate at different speeds, so as to generate an auxiliary airflow with appropriate air volume and speed.

7. The method according to claim 5, characterized in that, During operation, the integrated controller (51) records and stores the operation timestamp, latitude and longitude coordinates, forward speed of the unit, canopy leaf thickness, spray flow rate, spray pressure, duty cycle of each solenoid valve (18), opening degree of the electromagnetic proportional valve (25) and rotation speed of the agitator (54) in real time, and generates fruit tree canopy information prescriptions and operation prescriptions for different plant protection operation periods in the orchard.

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