A spraying device and operation method for fruit trees with a closed canopy

Abstract

The application discloses a kind of fruit trees of closed crown's spray device, including rack unit, spray unit and branch unit, spray unit is set on rack unit, and spray unit includes spray assembly, and spray assembly is communicated with liquid tank, and spray assembly can spray liquid to fruit tree;Along the travel direction of the spray device of closed crown fruit tree, branch unit is set in front of spray unit, when spraying to closed crown fruit tree, branch wheel assembly can be stretched relative to rack unit, during the travel of the spray device of closed crown fruit tree, branch wheel assembly can be opened closed crown, and spray unit sprays liquid to fruit tree canopy using spray assembly, and rack unit provides stable support for spray unit and branch unit.The application also provides a kind of spray operation method of closed crown fruit tree, using the above-mentioned spray device, so that liquid can be sprayed into fruit tree canopy, improve the efficiency of fruit tree plant protection operation, enhance the effect of disease and pest control.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery technology, in particular to a spraying device for fruit trees with closed crown layer and a working method. BACKGROUND

[0002] Chemical control of pests and diseases in orchards is the most effective control method for controlling pests and diseases. Reliable and convenient spraying technology can help fruit farmers recover huge economic losses. Wind-assisted spraying is an advanced and efficient spraying technology widely used, which can effectively improve the efficiency of orchard protection and reduce the cost of manual spraying. For hilly areas or terraced orchards, on the one hand, the existing track-type or wheeled plant protection machinery has limited climbing ability, and the problem of "machines cannot climb mountains" leads to the "organic difficult to use" situation in hilly orchards. On the other hand, the branches and leaves of fruit trees are dense, and the crown layer is mostly closed. The conventional wind-assisted spraying method requires a large fan power to improve the penetration of the liquid medicine in the crown layer, resulting in a large machine weight and structure size, which is difficult to adapt to the inter-row working requirements of small terraced orchards in hilly areas. The penetration of the liquid medicine in the closed fruit tree crown layer is poor, resulting in uneven distribution of the liquid medicine on the branches and leaves of the fruit trees, and poor pest and disease control effect. SUMMARY

[0003] The purpose of the present application is to provide a spraying device for fruit trees with closed crown layer and a working method to solve the problems existing in the prior art, improve the efficiency of orchard protection in hilly areas, enhance the penetration of mist in the fruit tree crown layer, and improve the pest and disease control effect.

[0004] To achieve the above-mentioned purpose, the present application provides the following solutions:

[0005] The present application provides a spraying device for fruit trees with closed crown layer, comprising:

[0006] a rack unit;

[0007] a spraying unit, the spraying unit is arranged on the rack unit, the spraying unit comprises a spraying assembly, the spraying assembly is in communication with a liquid medicine tank, and the spraying assembly can spray liquid medicine on fruit trees;

[0008] a branch pushing unit, which is located in front of the spraying unit along the direction of movement of the spraying device for fruit trees with closed crown layer; the branch pushing unit comprises a branch pushing wheel assembly, the branch pushing wheel assembly can push away the closed crown, the branch pushing wheel assembly is movably connected with the rack unit, and the branch pushing wheel assembly can extend and retract relative to the rack unit.

[0009] Preferably, the rack unit comprises a rack main body and a walking assembly, the spraying unit, the liquid medicine tank and the branch pushing unit are arranged on the rack main body, and the walking assembly can drive the rack main body to move.

[0010] The walking assembly adopts a track structure, a caterpillar structure or a wheel structure.

[0011] Preferably, the spraying assembly comprises a spraying pipe and an atomizing nozzle, the spraying pipe is in communication with the liquid tank and a liquid pump is arranged between the spraying pipe and the liquid tank, the spraying pipe is in communication with the atomizing nozzle, and an electromagnetic throttle valve is arranged between the spraying pipe and the atomizing nozzle.

[0012] The atomizing nozzles are arranged in multiple groups, and all the atomizing nozzles form a downward-opening U-shaped structure.

[0013] Preferably, the spraying unit further comprises an air supply assembly, the air supply assembly comprises a fan and a flow guide element.

[0014] The flow guide element comprises two coaxially arranged flow guide cones, the flow guide cones are variable-diameter cylindrical structures, the larger opening end of the flow guide cones is in communication with the fan, and the smaller opening end of the flow guide cones is in communication with the external environment.

[0015] The U-shaped structure formed by the atomizing nozzles surrounds the fan.

[0016] Preferably, the wheel assembly comprises a bottom layer of wheels, an intermediate layer of wheels and a top layer of wheels which are sequentially connected, the bottom layer of wheels, the intermediate layer of wheels and the top layer of wheels each comprise a wheel frame, a rotating wheel and a plurality of rollers, the rotating wheel is rotatably arranged on the wheel frame, the rollers are rotatably arranged on the rotating wheel, and the rollers are circumferentially distributed around the axis of the rotating wheel, the wheel frames of the bottom layer of wheels, the intermediate layer of wheels and the top layer of wheels are sequentially hinged.

[0017] The outer circumferential surface of the roller is provided with a protective structure layer made of an elastic material.

[0018] Preferably, the branch pricking unit further comprises a lifting assembly and an unfolding assembly, the lifting assembly comprises a first driver, a first scissor mechanism and a mounting frame, the first driver and the first scissor mechanism are arranged on the rack unit, the first driver is in transmission connection with the first scissor mechanism, the mounting frame is arranged on the first scissor mechanism, and the first scissor mechanism can drive the mounting frame to reciprocate along the vertical direction.

[0019] The unfolding assembly comprises a second scissor mechanism and a second driver arranged on the mounting frame, the second driver is connected with the second scissor mechanism, the second scissor mechanism is further connected with the bottom layer of wheels, and the second scissor mechanism can drive the wheel assembly to reciprocate along the horizontal direction, so as to realize the extension and recovery of the wheel assembly.

[0020] Preferably, the second driver is connected with the second scissor mechanism in transmission by a screw nut mechanism;

[0021] An elastic element is arranged between the second scissor mechanism and the bottom layer of the wheel;

[0022] The number of the unfolding assemblies is two, and the two unfolding assemblies are symmetrically arranged, and the unfolding assemblies correspond to the wheel assemblies one by one.

[0023] Preferably, the branch pushing unit further comprises a recycling assembly, the recycling assembly comprises a third driver, a winding drum and a rope, the third driver is fixed to the mounting frame, the output end of the third driver is connected with the winding drum, one end of the rope is connected with the winding drum, and the other end of the rope is connected with the top layer of the wheel after passing through a pulley arranged on the mounting frame.

[0024] The included angle between the bottom layer of the wheel and the middle layer of the wheel is alpha, and the included angle between the middle layer of the wheel and the top layer of the wheel is beta, then: when the wheel assembly is in the working state, alpha = 140° ± 2°, beta = 136° ± 2°; when the wheel assembly is in the recycling state, alpha = 175° ± 2°, beta = 170° ± 2°.

[0025] Preferably, the spraying device for the fruit tree with a closed crown layer further comprises a controller and a visual sensor, the mounting unit, the spraying unit and the branch pushing unit are in communication connection with the controller.

[0026] The visual sensor is arranged on the mounting unit, and is located in front of the branch pushing unit along the advancing direction of the spraying device for the fruit tree with a closed crown layer.

[0027] The spraying device for the fruit tree with a closed crown layer further comprises a controller and a visual sensor, the mounting unit, the spraying unit and the branch pushing unit are in communication connection with the controller.

[0028] The spraying device for the fruit tree with a closed crown layer further comprises a controller and a visual sensor, the mounting unit, the spraying unit and the branch pushing unit are in communication connection with the controller.

[0029] The spraying device for the fruit tree with a closed crown of the present application is provided with a branch-pushing unit in front of the spraying unit, when spraying the fruit tree with a closed crown, the branch-pushing wheel assembly can be stretched relative to the frame unit, during the travel of the spraying device for the fruit tree with a closed crown, the branch-pushing wheel assembly can push away the closed crown, the spraying unit sprays the liquid medicine to the crown of the fruit tree by using the spraying assembly, and the frame unit provides stable support for the spraying unit and the branch-pushing unit.

[0030] The present application also provides a spraying operation method for the fruit tree with a closed crown, which uses the spraying device for the fruit tree with a closed crown to spray the liquid medicine to the crown of the fruit tree, improves the plant protection operation efficiency of the fruit tree, and enhances the disease and pest control effect. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative effort.

[0032] Figure 1 Structure diagram of the spraying device for the fruit tree with a closed crown disclosed by the embodiments of the present application;

[0033] Figure 2 Structure diagram of the spraying unit of the spraying device for the fruit tree with a closed crown disclosed by the embodiments of the present application;

[0034] Figure 3 Structure diagram of the flow guide element of the spraying device for the fruit tree with a closed crown disclosed by the embodiments of the present application;

[0035] Figure 4 Structure diagram of the spraying device for the fruit tree with a closed crown disclosed by the embodiments of the present application when the unfolding assembly is closed;

[0036] Figure 5 Structure diagram of the spraying device for the fruit tree with a closed crown disclosed by the embodiments of the present application when the unfolding assembly is unfolded;

[0037] Figure 6 Structure diagram of the spraying device for the fruit tree with a closed crown disclosed by the embodiments of the present application from another perspective when the unfolding assembly is unfolded;

[0038] Figure 7 Structure diagram of the branch-pushing wheel assembly of the spraying device for the fruit tree with a closed crown disclosed by the embodiments of the present application;

[0039] Figure 8Structure schematic view of the dial wheel assembly of the spraying device for the fruit trees with closed crown layer in other states disclosed by the embodiment of the present application;

[0040] Figure 9 Flow chart of the spraying operation method for the fruit trees with closed crown layer disclosed by the embodiment of the present application;

[0041] Figure 10 Schematic view of the branch dialing when the spraying device for the fruit trees with closed crown layer is working.

[0042] In the figure: 100, spraying device for the fruit trees with closed crown layer;

[0043] 1, rack unit; 101, rack main body; 102, walking assembly;

[0044] 2, spraying unit; 201, spraying assembly; 202, liquid tank; 203, atomizing nozzle; 204, liquid pump; 205, air supply assembly; 206, fan; 207, flow guide element; 208, flow guide cone;

[0045] 3, branch dialing unit; 301, dial wheel assembly; 302, bottom dial wheel; 303, middle dial wheel; 304, top dial wheel; 305, roller; 306, lifting assembly; 307, unfolding assembly; 308, first driver; 309, first scissor mechanism; 310, mounting frame; 311, second driver; 312, second scissor mechanism; 313, elastic element; 314, recycling assembly; 315, third driver; 316, winding drum; 317, rope; 318, pulley;

[0046] 4, controller;

[0047] 5, visual sensor. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0049] The present application aims to provide a spraying device and operation method for fruit trees with closed crown layer to solve the problems in the prior art, improve the efficiency of hill and mountain fruit tree plant protection operation, enhance the penetration of mist droplets in the fruit tree crown, and improve the disease and pest control effect.

[0050] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0051] Embodiment one

[0052] The embodiment provides a spraying device 100 for fruit trees with closed crown, which comprises a rack unit 1, a spraying unit 2 and a branch pushing unit 3, the spraying unit 2 is arranged on the rack unit 1, the spraying unit 2 comprises a spraying assembly 201, the spraying assembly 201 is communicated with a liquid tank 202, and the spraying assembly 201 can spray liquid medicine on the fruit trees; the branch pushing unit 3 is located in front of the spraying unit 2 along the advancing direction of the spraying device 100 for the fruit trees with closed crown; the branch pushing unit 3 comprises a branch pushing wheel assembly 301, the branch pushing wheel assembly 301 can push away the closed crown, the branch pushing wheel assembly 301 is movably connected with the rack unit 1, and the branch pushing wheel assembly 301 can extend and retract relative to the rack unit 1.

[0053] The spraying device 100 for the fruit trees with closed crown provided by the embodiment is provided with the branch pushing unit 3 in front of the spraying unit 2, when spraying the fruit trees with closed crown, the branch pushing wheel assembly 301 can extend relative to the rack unit 1, in the advancing process of the spraying device 100 for the fruit trees with closed crown, the branch pushing wheel assembly 301 can push away the closed crown, the spraying unit 2 sprays liquid medicine on the crown of the fruit trees by using the spraying assembly 201, and the rack unit 1 provides stable support for the spraying unit 2 and the branch pushing unit 3. The spraying device 100 solves the problem that the liquid medicine has poor penetration in the closed crown of the fruit trees in the prior art, so that the liquid medicine can be sprayed into the crown of the fruit trees, the distribution uniformity of the liquid medicine among the branches and leaves of the fruit trees is improved, the efficiency of plant protection work of the fruit trees is improved, and the disease and pest control effect is enhanced.

[0054] The rack unit 1 comprises a rack main body 101 and a walking assembly 102, the spraying unit 2, the liquid tank 202 and the branch pushing unit 3 are arranged on the rack main body 101, and the walking assembly 102 can drive the rack main body 101 to move; the rack main body 101 can bear the spraying unit 2, the liquid tank 202 and the branch pushing unit 3, the walking assembly 102 drives the rack main body 101 to move, the advancing of the spraying device is realized, and the smooth spraying operation is ensured. In actual application, the rack unit 1 can also be driven to move by using other separate carriers, for example, the spraying device is driven to move by using a vehicle, and the spraying operation is performed.

[0055] In actual application, the walking assembly 102 can adopt a track type structure, a track type structure or a wheel type structure, and a suitable structure of the walking assembly 102 can be selected according to actual working conditions; for example, in the embodiment, the spraying device is applied to hilly and mountainous environments, a track type structure is adopted, a power element is arranged on the rack main body 101, the power element drives the rack main body 101 to move along the laid track, so that the spraying device has the ability to “climb the mountain”, the climbing ability of the spraying device is enhanced, and the problem that the spraying device is difficult to use in the prior art is solved.

[0056] The spraying assembly 201 comprises a spraying pipe and an atomizing nozzle 203. The spraying pipe is in communication with the liquid medicine tank 202, and a liquid medicine pump 204 is arranged between the spraying pipe and the liquid medicine tank 202. The spraying pipe is in communication with the atomizing nozzle 203, and an electromagnetic throttle valve is arranged between the spraying pipe and the atomizing nozzle 203. The liquid medicine pump 204 pumps the liquid medicine in the liquid medicine tank 202 out and delivers the liquid medicine to the atomizing nozzle 203 through the spraying pipe, and the atomizing nozzle 203 sprays the liquid medicine to the tree crown. The liquid medicine pump 204 can be a diaphragm pump, which is small in size and reliable in operation. The electromagnetic throttle valve arranged between the liquid medicine pump 204 and the spraying pipe facilitates the control of the working state of the spraying assembly 201, and the spraying angle of the atomizing nozzle 203 can be adjusted to adapt to various liquid medicine spraying requirements, thereby improving the flexible adaptability of the spraying assembly 201.

[0057] In order to improve the liquid medicine spraying efficiency, the number of the atomizing nozzles 203 is multiple groups, and all the atomizing nozzles 203 form a U-shaped structure with an opening downward, which can spray the liquid medicine to the tree crown in all directions and improve the uniformity of the liquid medicine spraying.

[0058] In actual application, in order to ensure the smooth delivery of the liquid medicine, multiple spraying pipes can be arranged to improve the control convenience of the liquid medicine spraying. In the embodiment, two spraying pipes are arranged, which correspond to the atomizing nozzles 203 on both sides respectively, and the liquid outlets of the electromagnetic throttle valves are connected to the spraying pipes on both sides respectively.

[0059] Specifically, the spraying unit 2 further comprises an air supply assembly 205, which comprises a fan 206 and a flow guide element 207. The rotation of the fan blade of the fan 206 generates transverse wind, and the flow guide element 207 can guide the transverse wind to be longitudinal wind, thereby enhancing the liquid medicine atomization effect and improving the penetration of the liquid medicine to the crown.

[0060] In the embodiment, the flow guide element 207 comprises two flow guide cones 208 arranged in a telescopic manner. The flow guide cone 208 is a variable-diameter cylindrical structure. The larger opening end of the flow guide cone 208 is in communication with the fan 206, and the smaller opening end of the flow guide cone 208 is in communication with the external environment. The two flow guide cones 208 change the air supply direction of the fan 206, thereby enhancing the spraying effect of the liquid medicine. In actual application, the flow guide cone 208 can be a conical structure to avoid the existence of dead angles affecting air flow. In addition, the U-shaped structure formed by the atomizing nozzles 203 can be arranged around the fan 206 to enhance the atomization effect of the atomizing nozzles 203 by using air supply. The air flow increases the atomization distance, reduces the waste of liquid medicine, and saves the space occupied by the device.

[0061] More specifically, the dial wheel assembly 301 comprises a bottom dial wheel 302, an intermediate dial wheel 303 and a top dial wheel 304 connected in sequence, the bottom dial wheel 302, the intermediate dial wheel 303 and the top dial wheel 304 each comprise a wheel frame, a rotating wheel and a plurality of rollers 305, the rotating wheel is rotatably arranged on the wheel frame, the rollers 305 are rotatably arranged on the rotating wheel, and the rollers 305 are circumferentially distributed around the axis of the rotating wheel; the wheel frames of the bottom dial wheel 302, the intermediate dial wheel 303 and the top dial wheel 304 are hingedly connected in sequence; when the dial wheel assembly 301 is stretched, the rack unit 1 drives the branch dial unit 3 to move forward, the bottom dial wheel 302, the intermediate dial wheel 303 and the top dial wheel 304 contact the tree crown, and as the spraying device moves forward, the rotating wheel and the rollers 305 of the bottom dial wheel 302, the intermediate dial wheel 303 and the top dial wheel 304 rotate while the dense crown is dialled open, thereby avoiding excessive frictional resistance between the dial wheel assembly 301 and the tree crown, which affects the continuous movement of the spraying device, and reducing the damage to the fruit trees. The dial wheel assembly 301 of the present application adopts a three-section structure, the bottom dial wheel 302, the intermediate dial wheel 303 and the top dial wheel 304 are hingedly connected in sequence, the angle between them can be adjusted, so that the dial wheel assembly 301 can adapt to different specifications of fruit trees and smoothly dial the tree crown, providing convenience for liquid spraying; in actual application, the dial wheel assembly 301 can also adopt a multi-section structure, so that the dial wheel assembly 301 can change shape and further improve its flexibility and adaptability.

[0062] In actual application, a protective structure layer is arranged on the outer circumferential surface of the roller 305, the protective structure layer is made of elastic material, for example, soft rubber or fiber material is used to wrap the roller 305, so as to prevent the dial wheel assembly 301 from damaging the tree crown branches.

[0063] In order to adapt to the dialing of branches of various varieties of fruit trees, the branch dialing unit 3 further comprises a lifting assembly 306 and an unfolding assembly 307, the lifting assembly 306 comprises a first driver 308, a first scissor mechanism 309 and a mounting frame 310, the first driver 308 and the first scissor mechanism 309 are arranged on the rack unit 1, the first driver 308 is in transmission connection with the first scissor mechanism 309, the mounting frame 310 is arranged on the first scissor mechanism 309, and the first scissor mechanism 309 can drive the mounting frame 310 to reciprocate along the vertical direction; the lifting assembly 306 drives the dial wheel assembly 301 to lift by using the first scissor mechanism 309, so as to ensure that the dial wheel assembly 301 can dial the tree crown.

[0064] In the specific embodiment, the unwinding assembly 307 drives the dial wheel assembly 301 to move relative to the rack unit 1 to realize unwinding and recovery, the unwinding assembly 307 comprises a second scissor mechanism 312 arranged on the mounting frame 310 and a second driver 311 connected with the second scissor mechanism 312, the second scissor mechanism 312 is further connected with the bottom dial wheel 302, and the second scissor mechanism 312 can drive the dial wheel assembly 301 to reciprocate in the horizontal direction to realize extension and recovery of the dial wheel assembly 301.

[0065] In actual application, the first driver 308 is connected with the first scissor mechanism 309 by a screw nut mechanism, and correspondingly, the second driver 311 is connected with the second scissor mechanism 312 by a screw nut mechanism, the transmission is stable and reliable, and other transmission structures can also be used in other specific embodiments of the present application; it should be noted that the first driver 308 is connected with the first scissor mechanism 309 by a screw nut mechanism, a group of screw nut mechanisms can be used to drive a scissor arm of the first scissor mechanism 309 to slide to realize opening and closing of the first scissor mechanism 309 and lifting of the lifting assembly 306. Correspondingly, when the second driver 311 is connected with the second scissor mechanism 312 by a screw nut mechanism to realize unwinding and recovery of the unwinding assembly 307, the second driver 311 can also use a group of screw nut mechanisms to drive a scissor arm of the second scissor mechanism 312 to slide to realize opening and closing of the second scissor mechanism 312, the second driver 311 can also use two groups of screw nut mechanisms to drive two scissor arms of the second scissor mechanism 312 to slide, which can also realize opening and closing of the second scissor mechanism 312, when the second driver 311 uses two groups of screw nut mechanisms to drive two scissor arms of the second scissor mechanism 312 to slide, the rotation directions of the screws of the two groups of screw nut mechanisms are opposite. The first driver 308 and the second driver 311 can both be motors. In order to save energy, one group of second drivers 311 can be used to drive two groups of unwinding assemblies 307 to act simultaneously, the two groups of unwinding assemblies 307 are symmetrically arranged about the middle line of the mounting frame 310 in the vertical direction, the two groups of unwinding assemblies 307 act simultaneously to drive synchronous extension and recovery of the two groups of dial wheel assemblies 301.

[0066] It should be further emphasized that the elastic element 313 is arranged between the second scissor mechanism 312 and the bottom dial wheel 302, in the specific embodiment, the elastic element 313 is a nitrogen spring, one end of the nitrogen spring is connected with the second scissor mechanism 312 close to one end of the dial wheel assembly 301, and the other end of the nitrogen spring is connected with the bottom dial wheel 302, the nitrogen spring has the advantages of large elastic force and stable operation, which can control and restore the direction of the bottom dial wheel 302 in the dial wheel assembly 301 to be always vertical, and also has the function of protecting the crown branches from being broken by excessive hard contact force.

[0067] In order to improve the working efficiency of the spraying device, the number of the unfolding assemblies 307 is two groups, the two groups of unfolding assemblies 307 are symmetrically arranged, the unfolding assemblies 307 correspond to the dial wheel assemblies 301 one by one, and the tree crowns on both sides are dialled to spray the liquid medicine.

[0068] Meanwhile, the branch dialling unit 3 further comprises a recycling assembly 314, the recycling assembly 314 comprises a third driver 315, a winding drum 316 and a rope 317, the third driver 315 is fixed on the mounting frame 310, the output end of the third driver 315 is connected with the winding drum 316, one end of the rope 317 is connected with the winding drum 316, and the other end of the rope 317 is connected with the top dial wheel 304 after passing through a pulley 318 arranged on the mounting frame 310; the third driver 315 drives the winding drum 316 to rotate to complete the release and winding of the rope 317, and the dial wheel assembly 301 is released and recycled by using the rope 317 to adapt to the dialling of the tree crowns in different forms; when the winding drum 316 winds the rope 317, the top dial wheel 304 and the middle dial wheel 303 are pulled back to the direction of the rack unit 1 to realize the "folding" of the dial wheel assembly 301; when the winding drum 316 releases the rope 317, the top dial wheel 304 and the middle dial wheel 303 rotate to the direction away from the rack unit 1 under the action of gravity to realize the "opening" of the dial wheel assembly 301. It should be further pointed out that, since the middle dial wheel 303 and the top dial wheel 304 only rely on gravity to press branches to realize the branch dialling function, the single weight of the middle dial wheel 303 and the top dial wheel 304 is required to be not less than 25 kg to ensure the branch dialling effect, and a counterweight element can be arranged on the middle dial wheel 303 and the top dial wheel 304.

[0069] It should be further emphasized that the included angle between the bottom dial wheel 302 and the middle dial wheel 303 is α, and the included angle between the middle dial wheel 303 and the top dial wheel 304 is β, and then: when the dial wheel assembly 301 is in the working state, α = 140° ± 2°, β = 136° ± 2°; when the dial wheel assembly 301 is in the recycling state, α = 175° ± 2°, β = 170° ± 2°. The reasonable angle limitation can effectively prevent the rope from being wound too much or causing the dial wheel assembly 301 to tilt inward under the action of external force, or the top dial wheel 304 deflects downward too much in the working state to realize normal unfolding to dial branches, thereby improving the working reliability of the branch dialling unit 3. In addition, the bottom dial wheel 302, the middle dial wheel 303 and the top dial wheel 304 are connected in sequence, mechanical baffles are arranged at the two limit positions of the hinge in the working state and the recycling state to limit the above-mentioned angles to be realized, and the working stability of the dial wheel assembly 301 is improved.

[0070] In order to improve the degree of automation of the spraying device, the spraying device 100 for the fruit tree with closed crown of the application further comprises a controller 4 and a visual sensor 5, the rack unit 1, the spraying unit 2 and the branch pricking unit 3 are in communication connection with the controller 4, and the working state of each unit is controlled by the controller 4, thereby further improving the spraying operation efficiency.

[0071] The visual sensor 5 is arranged on the rack unit 1 and located in front of the branch pricking unit 3 along the advancing direction of the spraying device 100 for the fruit tree with closed crown, and the visual sensor 5 identifies and analyzes the crown size of the fruit trees on both sides of the device through photographing, thereby reasonably controlling the liquid flow of the spraying device and adjusting the deployment position of the pricking wheel assembly 301, and realizing more accurate spraying.

[0072] Embodiment two

[0073] The embodiment provides a spraying operation method for the fruit tree with closed crown, which utilizes the spraying device 100 for the fruit tree with closed crown of the embodiment one, the pricking wheel assembly 301 can be stretched relative to the rack unit 1, and as the spraying device 100 for the fruit tree with closed crown advances, the pricking wheel assembly 301 pricks the closed crown, and the spraying unit 2 sprays the liquid to the crown of the fruit tree by using the spraying assembly 201, so that the liquid can be sprayed into the crown of the fruit tree, thereby improving the plant protection operation efficiency of the fruit tree and enhancing the disease and pest control effect.

[0074] In actual application, when the spraying operation for the fruit tree with closed crown is performed, the following steps can be included:

[0075] 1. The visual sensor 5 acquires the crown information on both sides:

[0076] The visual camera photographs and sends to the industrial computer for extraction and analysis of the crown information, and then feeds back to the controller 4. Since the track and the spraying device are basically arranged symmetrically in the middle of the fruit tree row, the size of the fruit tree crown is determined by using the imaging principle, then the extracted crown information is matched with the set value, and finally the matching information is fed back to the controller 4, thereby controlling the operation of the spraying device. The set value divides the two-dimensional shape of the crown in the height and width directions according to the model, in order to realize more accurate division interval, the interval size in the width direction is generally between 100-150mm, and the interval size in the height direction is generally between 300-500mm;

[0077] 2. Pricking wheel lifting adjustment:

[0078] For different varieties of fruit trees, the height is generally different, and the lifting and lowering assembly 306 is mainly compatible with such cases. After the controller 4 receives the fruit tree height signal sent by the industrial computer, the first driver 308 is controlled to reverse to drive the screw nut mechanism to operate, the rotation number of the motor is controlled to control the horizontal movement distance of the screw nut, thereby controlling the lifting and lowering of the first scissors mechanism 309, and the overall lifting or lowering of the unfolding assembly 307 is completed.

[0079] 3. Unfolding assembly 307 adjustment:

[0080] The unfolding amplitude of the unfolding assembly 307 is mainly related to the crown width information, and the dial wheel unfolding amplitude = the distance from the track to the fruit tree - the distance from the dial wheel assembly 301 to the track - the crown width / 2. After the controller 4 receives the information, the rotation number of the second driver 311 is controlled to control the distance between the two screw nuts, thereby realizing the control of the unfolding or contraction of the dial wheel assembly 301 to adapt to the branch shaking effect of different sizes of crown layers. The screw rods with opposite rotation directions used in the unfolding assembly 307 are mainly used to ensure that the dial wheel assembly 301 always operates on the same horizontal plane, that is, the intersection centers of the two second scissors mechanisms 312 always move on the same horizontal straight line. The nitrogen gas spring is always in a compressed state, so that it has sufficient elastic force to ensure that the direction of the bottom dial wheel 302 is vertical.

[0081] 4. Spray unit 2 adjustment:

[0082] The spraying effect mainly depends on the flow rate and air speed. According to the identified crown size level information, an electrical signal is sent to control the opening amplitude of the electromagnetic throttle valve, thereby controlling the flow rate of the pesticide solution in the left and right spray pipes, respectively, to realize more accurate pesticide spraying. For the fan 206 control, since the two sides of the spray pipe share one fan 206, in order to ensure the spraying effect, it is necessary to judge the crown information on both sides, and the fan 206 speed is always determined according to the large crown signal level. In this specific embodiment, the fan 206 and the engine are directly connected through a belt, and the engine speed needs to be controlled to control the air volume. After the controller receives the crown information, the signal is sent to the stepper motor driver to control the rotation number of the stepper motor, the stepper motor is connected to the engine throttle screw, and the engine speed is controlled by adjusting the engine throttle size, so as to effectively control the fan 206 speed, thereby controlling the air speed.

[0083] 5. Recovery assembly 314 adjustment:

[0084] The recovery state and working state of the recovery assembly 314 are controlled by a fixed button, and the opening button is pressed before starting the work, the third driver 315 rotates to drive the drum 316 to rotate, the rope 317 is released, and the dial assembly 301 is freely expanded under the action of gravity. When starting to receive signals, the controller 4 controls the expansion amplitude of the dial assembly 301 according to the size of the tree crown, and synchronously controls the third driver 315 to rotate to release or recover the rope 317, and the length of the released or recovered rope 317 is equal to the expansion or recovery amplitude of the dial, that is, the rope 317 does not change the posture of the dial assembly 301 in the free state. When the work is finished, the recovery button is pressed, and the third driver 315 rotates to recover the dial under the tension of the rope 317 to the non-working state.

[0085] The spraying device 100 for the fruit tree with a closed crown layer of the present application combines AR visual recognition and adaptive branch dialing technology, the visual sensor 5 takes a picture to identify the size of the tree crown and the distance between the two rows, then controls the height and opening position of the branch dialing unit 3 according to the shape of the tree crown, and dials the closed tree crown through the branch dialing unit 3; the spraying unit 2 adjusts the liquid flow according to the size of the crown layer judged in advance, starts to spray, and realizes a more accurate and uniform spraying effect.

[0086] In the present application, specific examples are applied to illustrate the principles and implementation modes of the present application, and the above examples are only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed. In conclusion, the content of the present application should not be understood as a limitation of the present application.

Claims

1. A spraying device for fruit trees with a closed canopy, characterized in that, include: Rack unit; A spraying unit is mounted on the frame unit. The spraying unit includes a spraying assembly connected to a liquid tank. The spraying assembly is capable of spraying liquid onto the fruit trees. A branch-pulling unit is located in front of the spraying unit along the travel direction of the spraying device for the closed canopy fruit trees. The branch-pulling unit includes a puller assembly capable of parting the closed canopy. The puller assembly is movably connected to the frame unit and can extend and retract relative to the frame unit. The puller assembly includes a bottom puller, a middle puller, and a top puller connected in sequence. Each of the bottom, middle, and top pullers includes a wheel frame, a rotating wheel, and a roller. The rotating wheel is rotatably mounted on the wheel frame, and the roller is rotatably mounted on the rotating wheel. There are multiple rollers, all of which are circumferentially distributed around the axis of the rotating wheel. The wheel frames of the bottom, middle, and top pullers are hinged in sequence. A protective structural layer made of elastic material is provided on the outer circumferential surface of the roller.

2. The spraying device for fruit trees with closed canopies according to claim 1, characterized in that: The frame unit includes a frame body and a walking assembly. The spraying unit, the liquid tank and the branch-removing unit are all mounted on the frame body. The walking assembly can drive the frame body to move. The walking assembly adopts a track-type structure, a track-type structure, or a wheel-type structure.

3. The spraying device for fruit trees with closed canopies according to claim 1, characterized in that: The spray assembly includes a spray pipe and an atomizing nozzle. The spray pipe is connected to the liquid tank and a liquid pump is provided between them. The spray pipe is connected to the atomizing nozzle and an electromagnetic throttle valve is provided between the spray pipe and the atomizing nozzle. The number of atomizing nozzles is multiple, and all the atomizing nozzles form a U-shaped structure with the opening facing downwards.

4. The spraying device for fruit trees with closed canopies according to claim 3, characterized in that: The spray unit also includes an air delivery component, which includes a fan and a flow guiding element; The flow guiding element includes two stacked flow guiding cones, each with a variable diameter cylindrical structure. The larger opening end of the flow guiding cone is connected to the fan, while the smaller opening end is connected to the external environment. The U-shaped structure formed by the atomizing nozzles is arranged around the fan.

5. The spraying device for fruit trees with closed canopies according to claim 1, characterized in that: The branch-removing unit also includes a lifting assembly and a unfolding assembly. The lifting assembly includes a first driver, a first scissor mechanism, and a mounting frame. The first driver and the first scissor mechanism are disposed on the frame unit. The first driver is connected to the first scissor mechanism in a transmission manner. The mounting frame is disposed on the first scissor mechanism. The first scissor mechanism can drive the mounting frame to slide back and forth in the vertical direction. The unfolding assembly includes a second scissor mechanism and a second driver disposed on the mounting frame. The second driver is connected to the second scissor mechanism, and the second scissor mechanism is also connected to the bottom dial. The second scissor mechanism can drive the dial assembly to reciprocate in the horizontal direction to realize the extension and retraction of the dial assembly.

6. The spraying device for fruit trees with closed canopies according to claim 5, characterized in that: The second driver is connected to the second scissor mechanism via a lead screw and nut mechanism; An elastic element is provided between the second scissor mechanism and the bottom dial; The number of the unfolding components is two sets, and the two sets of unfolding components are symmetrically arranged. Each unfolding component corresponds to a dial component.

7. The spraying device for fruit trees with closed canopies according to claim 5, characterized in that: The branch-removing unit also includes a recovery component, which includes a third driver, a drum, and a rope. The third driver is fixed to the mounting frame, and the output end of the third driver is connected to the drum. One end of the rope is connected to the drum, and the other end of the rope passes around a pulley set on the mounting frame and is connected to the top-level deflector. The angle between the bottom dial and the middle dial is α, and the angle between the middle dial and the top dial is β. Then: when the dial assembly is in the working state, α = 140°±2°, β = 136°±2°; when the dial assembly is in the retracted state, α = 175°±2°, β = 170°±2°.

8. The spraying device for fruit trees with closed canopies according to any one of claims 1-4, characterized in that: It also includes a controller and a vision sensor, and the frame unit, the spraying unit and the branch-removing unit are all communicatively connected to the controller; The visual sensor is mounted on the frame unit, along the direction of travel of the spray device for the closed canopy fruit trees, and is located in front of the branch-pulling unit.

9. A method for spraying fruit trees with a closed canopy, characterized in that: Using the spraying device for closed-canopy fruit trees according to any one of claims 1-8, the deflector assembly can extend relative to the frame unit. As the spraying device for the closed-canopy fruit trees moves forward, the deflector assembly opens up the closed canopy, and the spraying unit sprays the pesticide onto the canopy of the fruit trees using the spraying assembly.

Images