Profiling spraying device, profiling sprayer and spraying control method

Abstract

The invention relates to the technical field of agricultural machinery, in particular to a profiling spraying device, a profiling sprayer and a spraying control method. The profiling spraying device comprises a spraying assembly and a swinging assembly, the spraying assembly comprises a spraying rod and a plurality of lifting spraying units, the lifting spraying units are arranged on the spraying rod at intervals, each lifting spraying unit comprises a lifting support, a first linear driving part and at least one spraying head, the lifting supports are in sliding fit with the spraying rod in the vertical direction, and the first linear driving parts are arranged on the lifting supports. And the spray head is arranged on the lifting bracket. The swing assembly comprises a fixed support, a swing support and a second linear driving part, the swing support is hinged to the fixed support, and the spray rod is connected with the swing support. According to the profiling spraying device, the profiling spraying machine and the spraying control method, the defects that an existing boom sprayer lacks effective crop canopy tracking capacity, and the phenomenon of repeated spraying or missing spraying is prone to occurring are overcome.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to a contour spraying device, a contour spraying machine and a spraying control method. Background Art

[0002] As the main equipment for field pesticide application, boom sprayers are widely used in agricultural production due to their adjustable booms and large single-time drug loading. With the rapid development of unmanned technology, autonomous adjustment of boom height has become one of the key technologies for the development of boom sprayers. By adjusting the boom height in real time, the boom can be kept at a constant distance from the crop canopy plane, thereby improving the uniformity of the spray. With the gradual development of boom sprayers, the length of the boom continues to increase, especially for wide-width sprayers, which face problems such as uneven crop layers and excessive spray width when in use, which makes the research on boom profiling technology particularly important. The current boom profiling technology can quickly adjust the boom to be parallel to the crop canopy plane when the sprayer body is tilted, and even when the crop height and angle under the booms on both sides are inconsistent, the booms on both sides can be independently adjusted, thereby improving the profiling ability.

[0003] However, due to the large fluctuations in crop canopies, the independent regulation of the three-stage boom can no longer meet the needs of precise profiling and lacks effective crop canopy tracking capabilities. Especially when the booms on both sides of the sprayer are independently tilted, a certain angle is always formed between the nozzle and the crop, which makes it impossible for the nozzle to maintain vertical spraying, resulting in repeated spraying or missed spraying. In addition, since the adjustment of the boom height requires a certain response time, when the crop canopy fluctuates greatly, the system cannot complete the adjustment of the boom height in time, resulting in a lag in the adjustment of the boom height when the sprayer is moving, affecting the spray effect. Summary of the invention

[0004] The invention provides a profiling spray device, a profiling sprayer and a spray control method, which are used to solve the defects of the existing boom sprayer that lacks effective crop canopy tracking capability and is prone to repeated spraying or missed spraying.

[0005] A first aspect of the present invention provides a contour spray device, comprising: a spraying component and a swinging component.

[0006] The spraying assembly includes a spray rod and a plurality of lifting spraying units, wherein the lifting spraying units are arranged at intervals on the spray rod, and the lifting spraying unit includes a lifting bracket, a first linear driving member and at least one spray head, wherein the lifting bracket is vertically slidably matched with the spray rod, the fixed end of the first linear driving member is connected to the spray rod, and the output end of the first linear driving member is connected to the lifting bracket, so as to drive the lifting bracket to move vertically relative to the spray rod through the first linear driving member, and the spray head is arranged on the lifting bracket.

[0007] The swing assembly includes a fixed bracket, a swing bracket and a second linear drive member, the swing bracket is hinged to the fixed bracket, the spray rod is connected to the swing bracket, the fixed end of the second linear drive member is connected to the fixed bracket, and the output end of the second linear drive member is connected to the swing bracket to drive the swing bracket to swing laterally relative to the fixed bracket through the second linear drive member.

[0008] The contour spray device according to the present invention further comprises a spray rod lifting assembly, one end of which is connected to the swing bracket, and the other end of which is connected to the spray rod, and the spray rod lifting assembly is used to drive the spray rod to move vertically.

[0009] According to the contour spray device of the present invention, the spray rod lifting assembly includes a third linear drive member and two parallel four-link brackets arranged at intervals, one end of the parallel four-link bracket is connected to the swing bracket, the other end of the parallel four-link bracket is connected to the spray rod, the fixed end of the third linear drive member is connected to at least one of the parallel four-link brackets, and the output end of the third linear drive member is hinged to the spray rod to drive the spray rod to move up and down through the third linear drive member.

[0010] According to the contour spray device of the present invention, it also includes a first pull-wire sensor, a second pull-wire sensor and a third pull-wire sensor. The pull-wire end of the first pull-wire sensor is connected to the output end of the first linear drive member, the pull-wire end of the second pull-wire sensor is connected to the output end of the second linear drive member, and the pull-wire end of the third pull-wire sensor is connected to the output end of the third linear drive member.

[0011] The contour spray device according to the present invention further comprises an angle sensor for detecting the tilt angle of the swing bracket, wherein the angle sensor is arranged on the swing bracket.

[0012] A second aspect of the present invention provides a contour sprayer, comprising a traveling device, a sensor assembly and a contour spray device as described in any one of the above items, wherein the sensor assembly and the contour spray device are both arranged on the traveling device, and the sensor assembly is used to detect the height of the crop canopy.

[0013] According to the contour sprayer provided by the present invention, the sensor assembly is arranged at the front end of the traveling device, and the contour spray device is arranged at the rear end of the traveling device.

[0014] According to the contour sprayer provided by the present invention, the sensor assembly includes a laser radar sensor and a telescopic bracket, the telescopic bracket is arranged on the traveling device, and the laser radar sensor is arranged at the telescopic end of the telescopic bracket.

[0015] A third aspect of the present invention provides a spray control method based on the contour sprayer as described in any one of the above items, comprising the following steps.

[0016] The crop canopy height within the unit grid corresponding to each lifting spraying unit is obtained.

[0017] Based on the crop canopy height within the unit grid corresponding to each lifting spraying unit, the difference between the average height of the crop canopy and the target height of the spray rod is determined.

[0018] Based on the difference between the average height of the crop canopy and the target height of the spray boom, the spray boom is controlled to reach a set height.

[0019] Based on the crop canopy height within the grid corresponding to each lifting and spraying unit, the difference between the current height of the lifting and spraying unit and the target height is determined.

[0020] Based on the difference between the current height of the lifting and spraying unit and the target height, the lifting and spraying unit is controlled to reach the set height.

[0021] The spray control method provided by the present invention also includes the following steps.

[0022] The current tilt angle of the spray boom is obtained.

[0023] Based on the difference between the current tilt angle of the spray boom and the target tilt angle, the spray boom is controlled to reach the set tilt angle, so that the spray boom remains horizontal, ensuring that the spray head sprays the liquid medicine vertically downward.

[0024] The contour-profiling spray device provided by the present invention, by arranging a spraying component and a swinging component, can adjust the angle of the swinging bracket in real time according to the current inclination angle of the spray boom during spraying, so that the spray boom is always in a horizontal state, and the phenomenon of repeated spraying or missed spraying is prevented, and it is not restricted by the terrain. Moreover, within the entire operating width of the spray boom, each lifting spraying unit on the spray boom can independently adjust the spraying height according to its corresponding crop canopy unit grid, so that the nozzle on each lifting spraying unit can maintain the target height with the corresponding crop canopy below, realize precise contour-profiling control, improve spray uniformity, and solve the defects of the existing spray boom sprayer that lacks effective crop canopy tracking ability and is prone to repeated spraying or missed spraying.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is one of the schematic diagrams of the contour spray device provided in the embodiment of the present invention.

[0028] Figure 2 This is the second schematic diagram of the contour spray device provided in the embodiment of the present invention.

[0029] Figure 3 This is the third schematic diagram of the contour spray device provided in the embodiment of the present invention.

[0030] Figure 4 yes Figure 1 A is a partial enlarged schematic diagram of the middle part.

[0031] Figure 5 Schematic diagram of a contour sprayer provided by an embodiment of the present invention.

[0032] Figure 6 yes Figure 5 A partial enlarged schematic diagram of B in the figure.

[0033] Figure 7 It is a schematic diagram of the initial state of the contour sprayer provided by an embodiment of the present invention.

[0034] Figure 8 It is a schematic diagram of the contour sprayer provided by an embodiment of the present invention when in operation.

[0035] Fig. 9 It is a flow chart of the spray control method provided by an embodiment of the present invention.

[0036] Fig.10 It is a detection schematic diagram of a laser radar sensor in a spray control method provided in an embodiment of the present invention.

[0037] Fig.11 It is a control structure block diagram of the spray control method provided by an embodiment of the present invention.

[0038] Reference numerals: 10. Contour spray device; 110. Spraying assembly; 111. Spraying rod; 112. Lifting spraying unit; 1121. Lifting bracket; 1122. First linear drive member; 1123. Spray head; 1124. First pull-wire sensor; 120. Swinging assembly; 121. Fixed bracket; 122. Swinging bracket; 123. Second linear drive member; 124. Second pull-wire sensor; 125. Angle sensor; 130. Spraying rod lifting assembly; 131. Third linear drive member; 132. Parallel four-bar bracket; 133. Connecting rod; 134. Third pull-wire sensor; 20. Traveling device; 210. Sensor assembly; 211. LiDAR sensor; 212. Telescopic bracket; 30. Control device; 40. Crop canopy. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0041] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0042] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0043] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0044] Combine the following Figures 1 to 11 The invention describes a contour spray device, a contour spray machine and a spray control method.

[0045] See also Figures 1 to 4 As shown, the contour spray device 10 provided in the embodiment of the present invention includes: a spraying component 110 and a swinging component 120.

[0046] The spraying assembly 110 includes a spray rod 111 and a plurality of lifting spraying units 112. The lifting spraying units 112 are arranged at intervals on the spray rod 111. The lifting spraying units 112 include a lifting bracket 1121, a first linear drive member 1122 and at least one nozzle 1123. The lifting bracket 1121 and the spray rod 111 are vertically slidably matched. The fixed end of the first linear drive member 1122 is connected to the spray rod 111, and the output end of the first linear drive member 1122 is connected to the lifting bracket 1121 to drive the lifting bracket 1121 to move vertically relative to the spray rod 111 through the first linear drive member 1122. The nozzle 1123 is arranged on the lifting bracket 1121.

[0047] The swing assembly 120 includes a fixed bracket 121, a swing bracket 122 and a second linear drive member 123. The swing bracket 122 is hinged to the fixed bracket 121, the spray rod 111 is connected to the swing bracket 122, the fixed end of the second linear drive member 123 is connected to the fixed bracket 121, and the output end of the second linear drive member 123 is connected to the swing bracket 122, so as to drive the swing bracket 122 to swing laterally relative to the fixed bracket 121 through the second linear drive member 123.

[0048] See also Figure 7 and Figure 8 As shown, the contour spraying device 10 provided by the present invention, by providing a spraying component 110 and a swing component 120, can adjust the angle of the swing bracket 122 in real time according to the current inclination angle of the spray rod 111 during spraying, so that the spray rod 111 is always in a horizontal state to prevent the phenomenon of repeated spraying or missed spraying, without being restricted by the terrain. Moreover, within the working width of the entire spray rod 111, each lifting spraying unit 112 on the spray rod 111 can independently adjust the spraying height according to its corresponding crop canopy 40 unit grid, so that the nozzle 1123 on each lifting spraying unit 112 can maintain the target height with the corresponding crop canopy 40 below, realize precise contour control, improve spray uniformity, and solve the defect that the existing spray rod 111 sprayer lacks effective crop canopy 40 tracking ability and is prone to repeated spraying or missed spraying.

[0049] Specifically, the spray rod 111 may be a one-piece whole section spray rod 111, or may be formed by splicing multiple sections of the spray rod 111. Specifically, it may be set according to the length of the spray rod 111. For example, when the overall length of the spray rod 111 is short, the spray rod 111 may be a one-piece whole section spray rod 111, and when the overall length of the spray rod 111 is long, it may be formed by splicing multiple sections of the spray rod 111.

[0050] As an example, the spray bar 111 in this embodiment is formed by splicing three sections of the spray bar 111, and four lifting spraying units 112 are evenly spaced on each section of the spray bar 111. The spray heads on the three sections of the spray bar 111 respectively transport the liquid medicine through different pipelines.

[0051] A sliding sleeve is provided at the installation position of the spray rod 111 corresponding to the lifting spray unit 112, and a sliding groove arranged vertically is provided in the sliding sleeve. The lifting spray unit 112 is configured to slide with the spray rod 111 in the vertical direction through the sliding sleeve.

[0052] See also Figure 4As shown, as an example, the lifting bracket 1121 is a rectangular frame structure, and the two side brackets of the lifting bracket 1121 are respectively slidably matched with the corresponding sliding sleeves, and the two nozzles 1123 are arranged at intervals on the bottom bracket of the lifting bracket 1121. The output end of the first linear drive member 1122 is connected to the top bracket of the lifting bracket 1121. When the output end of the first linear drive member 1122 is extended, the lifting bracket 1121 and the nozzle 1123 can be driven to move vertically upward. Correspondingly, when the output end of the first linear drive member 1122 is retracted, the lifting bracket 1121 and the nozzle 1123 can be driven to move vertically downward, so as to adjust the distance between the lifting spraying unit 112 and the crop canopy 40.

[0053] See also Figure 2 and Figure 3 As shown, the fixed bracket 121 and the swing bracket 122 are both rectangular frame structures, the fixed bracket 121 is used to be fixed to the traveling device 20, the middle part of the swing bracket 122 is hinged to the fixed bracket 121 through a pin, the fixed end of the second linear drive member 123 is connected to the top of the fixed bracket 121, the output end of the second linear drive member 123 is hinged to the top of the swing bracket 122, and a distance is provided between the hinge point of the second linear drive member 123 and the swing bracket 122 and the hinge point of the fixed bracket 121 and the swing bracket 122. When the output end of the second linear drive member 123 extends outward or retracts inward, the swing bracket 122 can drive the spray rod 111 to swing along the set direction, so that the spray rod 111 always maintains a horizontal state relative to the crop canopy 40.

[0054] It should be noted that, when the traveling device 20 is traveling in the field, it is affected by the field terrain and the traveling device 20 itself may be in a tilted state, causing the spray rod 111 to be in a tilted state following the vehicle body. At this time, the angle of the spray rod 111 can be adjusted by the swing assembly 120 so that it always remains horizontal relative to the crop canopy 40, thereby preventing the occurrence of over-spraying and missed spraying, and is not restricted by the terrain.

[0055] The first linear drive 1122 and the second linear drive 123 can both be electric push rods or hydraulic push rods. Both electric push rods and hydraulic push rods can provide efficient and reliable linear motion, and can provide higher precision and stability. Both can be flexibly customized to meet different load, stroke and control requirements, and have a long service life and low failure rate.

[0056] See also Figure 2 and Figure 3As shown, according to some embodiments of the present invention, the contour spray device 10 further includes a spray rod lifting assembly 130, one end of the spray rod lifting assembly 130 is connected to the swing bracket 122, and the other end of the spray rod lifting assembly 130 is connected to the spray rod 111, and the spray rod lifting assembly 130 is used to drive the spray rod 111 to move vertically.

[0057] By setting the spray bar lifting assembly 130, the spray bar lifting assembly 130 can be used to control the vertical movement of the spray bar 111, so as to adjust the distance between the spray bar 111 as a whole and the crop canopy 40. By adjusting the vertical position of the spray bar 111, the distance between the spray bar 111 and the crop canopy 40 can be flexibly adjusted according to the height or growth condition of the crop, ensuring uniform coverage of the spray and improving the utilization rate of the agent. It can not only improve the spray effect, but also reduce the waste of agents, avoid damage to crops, and improve the efficiency and accuracy of the spray operation. In addition, the setting of the spray bar lifting assembly 130 can also be adjusted according to the needs of different crop types and growth stages, so that the contoured spray device 10 has higher adaptability and flexibility.

[0058] Specifically, the spray bar lifting assembly 130 can adopt a linear drive assembly known in the prior art, such as an electric push rod, a hydraulic push rod or a pneumatic push rod, etc. Taking the electric push rod as an example, in specific implementation, the fixed end of the electric push rod can be set on the swing bracket 122, and the output end of the electric push rod can be connected to the spray bar 111. When the output end of the electric push rod moves along the vertical telescopic movement, the spray bar 111 can be driven to move vertically.

[0059] See also Figure 2 and Figure 3 As shown, according to some embodiments of the present invention, the spray rod lifting assembly 130 includes a third linear drive member 131 and two parallelogram-link brackets 132 arranged at intervals, one end of the parallelogram-link bracket 132 is connected to the swing bracket 122, the other end of the parallelogram-link bracket 132 is connected to the spray rod 111, the fixed end of the third linear drive member 131 is connected to at least one parallelogram-link bracket 132, and the output end of the third linear drive member 131 is hinged to the spray rod 111 to drive the spray rod 111 to move up and down through the third linear drive member 131.

[0060] When the spray rod 111 needs to be lifted, the output end of the third linear drive member 131 is controlled to extend outward, and at this time, the two parallel four-link brackets 132 are deformed under the action of external force, so that the end connected to the spray rod 111 rises, thereby driving the spray rod 111 to move up. When the spray rod 111 needs to be moved down, the output end of the third linear drive member 131 is controlled to retract inward, and at this time, the two parallel four-link brackets 132 are deformed under the action of external force, so that the end connected to the spray rod 111 moves down, thereby driving the spray rod 111 to move down. Since the end of the parallel four-link bracket 132 connected to the swing bracket 122 is always in a vertical state, the end of the parallel four-link bracket 132 connected to the rod can also always be in a vertical state, thereby realizing the vertical up and down movement of the spray rod 111, and the angle of the spray rod 111 will not change.

[0061] In addition, the two parallel four-link brackets 132 can extend the spray rod 111 to a set length to prevent the spray head 1123 on the spray rod 111 from being too close to the traveling device 20, thereby affecting the spraying effect of the spray head 1123.

[0062] See also Figure 2 and Figure 3 As shown, according to some embodiments of the present invention, the spray rod lifting assembly 130 also includes a connecting rod 133 , both ends of the connecting rod 133 are respectively connected to the corresponding parallelepiped connecting rod bracket 132 , and the fixed end of the third linear drive member 131 is connected to the connecting rod 133 .

[0063] By arranging the connecting rod 133 between the two parallel four-link brackets 132, a mounting position can be provided for the fixed end of the third linear drive member 131, so that it is easy to install and fix.

[0064] See also Figures 2 to 4 As shown, according to some embodiments of the present invention, the contour spray device 10 also includes a first pull-wire sensor 1124, a second pull-wire sensor 124 and a third pull-wire sensor 134, the pull-wire end of the first pull-wire sensor 1124 is connected to the output end of the first linear drive 1122, the pull-wire end of the second pull-wire sensor 124 is connected to the output end of the second linear drive 123, and the pull-wire end of the third pull-wire sensor 134 is connected to the output end of the third linear drive 131.

[0065] By setting the first pull-wire sensor 1124, the second pull-wire sensor 124 and the third pull-wire sensor 134, the first pull-wire sensor 1124, the second pull-wire sensor 124 and the third pull-wire sensor 134 can be used to monitor in real time the extended lengths of the output ends of the first linear drive member 1122, the second linear drive member 123 and the third linear drive member 131, respectively, and then determine the vertical position of the lifting spray unit 112 relative to the spray rod 111, the swing angle of the swing bracket 122 and the overall rising height of the spray rod 111.

[0066] Specifically, the fixed end of the first pull-wire sensor 1124 is fixed to the fixed end of the first linear drive 1122, the fixed end of the second pull-wire sensor 124 is fixed to the fixed end of the second linear drive 123, and the fixed end of the third pull-wire sensor 134 is fixed to the fixed end of the third linear drive 131. Taking the first pull-wire sensor 1124 as an example, when the output end of the first linear drive 1122 is extended, the pull-wire end of the first pull-wire sensor 1124 is pulled out driven by the output end of the first linear drive 1122, and the pulled-out length is known. According to the pulled-out length of the pull-wire end of the first pull-wire sensor 1124, the vertical position of the lifting spray unit 112 relative to the spray rod 111 can be converted.

[0067] See also Figure 2 As shown, according to some embodiments of the present invention, the contour spray device 10 further includes an angle sensor 125 for detecting the tilt angle of the swing bracket 122 , and the angle sensor 125 is disposed on the swing bracket 122 .

[0068] By providing the angle sensor 125 , the tilt angle of the swing bracket 122 can be detected, so that the angle of the swing bracket 122 can be controlled to always keep it level with the crop canopy 40 .

[0069] Specifically, the angle sensor 125 is disposed below the crossbar of the swing bracket 122. When the swing bracket 122 changes its angle under the driving action of the second linear driving member 123, the angle sensor 125 can accurately detect the tilt angle of the swing bracket 122.

[0070] The following is a description of the contour sprayer provided by the present invention. The contour sprayer described below and the contour spray device 10 described above can be referred to each other.

[0071] See also Figure 5 and Figure 6 As shown, the contour sprayer provided in the embodiment of the present invention includes a traveling device 20, a sensor assembly 210 and a contour spray device 10 as described in any of the above embodiments, the sensor assembly 210 and the contour spray device 10 are both arranged on the traveling device 20, and the sensor assembly 210 is used to detect the height of the crop canopy 40.

[0072] The contour sprayer provided by the present invention adopts the above-mentioned contour spraying device 10. During field spraying operations, the angle of the swing bracket 122 can be adjusted in real time according to the current inclination angle of the spray rod 111, so that the spray rod 111 is always in a horizontal state to prevent the phenomenon of repeated spraying and missed spraying, without being restricted by the terrain. Moreover, within the entire operating width of the spray rod 111, each lifting spraying unit 112 on the spray rod 111 can independently adjust the spraying height according to its corresponding crop canopy 40 unit grid, so that the nozzle 1123 on each lifting spraying unit 112 can maintain the target height with the corresponding crop canopy 40 below, thereby realizing precise contour control and improving spray uniformity.

[0073] See also Figure 5 and Figure 6 As shown, according to some embodiments of the present invention, the sensor assembly 210 is disposed at the front end of the traveling device 20 , and the contour spray device 10 is disposed at the rear end of the traveling device 20 .

[0074] By arranging the sensor assembly 210 at the front end of the traveling device 20 and arranging the contour spray device 10 at the rear end of the traveling device 20, the contour spray device 10 and the sensor assembly 210 can be spaced apart in the traveling direction of the traveling device 20. When the traveling device 20 is traveling in the field, the sensor assembly 210 at the front end can obtain the height data of the crop canopy 40 in advance and transmit it to the control device 30. When the contour spray device 10 at the rear end reaches the corresponding position, the spray rod 111 can be adjusted to the corresponding height in time, and each lifting spray unit 112 on the spray rod 111 can be adjusted to the corresponding height in time.

[0075] See also Figure 6 As shown, according to some embodiments of the present invention, the sensor assembly 210 includes a laser radar sensor 211 and a telescopic bracket 212 , the telescopic bracket 212 is disposed on the traveling device 20 , and the laser radar sensor 211 is disposed at the telescopic end of the telescopic bracket 212 .

[0076] By configuring the sensor assembly 210 as a telescopic bracket 212 and a laser radar sensor 211, accurate detection and dynamic adjustment of the crop canopy 40 can be achieved. The telescopic bracket 212 can perform telescopic movement on the traveling device 20 to adjust the height and / or position of the laser radar sensor 211 to meet the needs of different crop growth stages. The laser radar sensor 211 can obtain the distance, shape and height information of the crop canopy 40 in real time by emitting a laser beam and receiving a reflected signal.

[0077] The spray control method provided by the present invention is described below. The spray control method described below and the contour spray device 10 and contour spray machine described above can be referred to each other.

[0078] See also Figures 9 to 11 As shown, the spray control method provided by the embodiment of the present invention is implemented based on the contour sprayer as described in any of the above embodiments, and includes the following steps.

[0079] S910, obtaining the height of the crop canopy 40 in the unit grid corresponding to each lifting spraying unit 112.

[0080] S920 , based on the height of the crop canopy 40 in the unit grid corresponding to each lifting spraying unit 112 , determine the difference between the average height of the crop canopy 40 and the target height of the spray rod 111 .

[0081] S930 , based on the difference between the average height of the crop canopy 40 and the target height of the spray boom 111 , control the spray boom 111 to reach a set height.

[0082] S940. Based on the height of the crop canopy 40 in the grid corresponding to each lifting and spraying unit 112, determine the difference between the current height of the lifting and spraying unit 112 and the target height.

[0083] S950. Based on the difference between the current height of the lifting and spraying unit 112 and the target height, control the lifting and spraying unit 112 to reach the set height.

[0084] The spray control method provided by the present invention can, within the operating width of the entire spray boom 111, when the entire spray boom 111 reaches the target height, each segmented electric push rod can be individually extended and retracted according to the fluctuation of the crop canopy 40 below each lifting spraying unit 112, so that the nozzle 1123 on each lifting spraying unit 112 can maintain the target height with the corresponding crop canopy 40 below, thereby realizing precise profiling control and improving spray uniformity.

[0085] According to some embodiments of the present invention, the spray control method further includes the following steps.

[0086] The current tilt angle of the spray boom 111 is obtained.

[0087] Based on the difference between the current tilt angle of the spray rod 111 and the target tilt angle, the spray rod 111 is controlled to reach the set tilt angle, so that the spray rod 111 remains horizontal, ensuring that the spray head 1123 sprays the liquid medicine vertically downward.

[0088] See also Fig.10 As shown, specifically, the contour sprayer moves along the y-axis direction, and the laser radar sensor 211 is installed at the front end to detect the height information in advance. As an example, the lifting spraying units 112 on the contour sprayer are arranged in sequence along the extension of the spray rod 111, and a total of 12 lifting spraying units 112 are installed from left to right.

[0089] The height information of the crop canopy 40 scanned by the laser radar sensor 211 is processed as follows: The crop canopy 40 area scanned by the laser radar sensor 211 in a single scan is a rectangular area with an area of: * ; in, x i is the spray width of the nozzle 1123 on a single lifting spraying unit 112. The total number of lifting spraying units 112 installed on the contour sprayer is 12. is the working width of the contour sprayer, y j The laser radar sensor 211 scans the crop canopy 40 area length in a single scan.

[0090] The laser radar sensor 211 scans the crop canopy 40 area once and divides it into cells, and the spray width of the nozzle 1123 on the single lifting spraying unit 112 is used as the cell width x i , with a single scan of the crop canopy 40 area length by the lidar sensor 211 y j The grid is divided as the unit cell length, and the area of ​​a single unit grid is .

[0091] The lidar sensor 211 scans the crop canopy 40 area below in a single scan, which is divided into 12 unit grids. The height of the crop canopy 40 in each unit grid is h k .

[0092] When the contour sprayer is moving, the laser radar sensor 211 sends a single scan of the crop canopy 40 height information to the control device 30: h1, h2, h3, ..., h 12 .

[0093] After receiving the information, the control device 30 controls the third linear drive member 131 to move and adjust the height of the entire spray boom 111 by comparing the difference between the average height of the spray boom 111 from the crop canopy 40 in each unit grid area and the target height H of the spray boom 111. When the entire spray boom 111 reaches the target height, the control device 30 compares the height h of the lifting spray unit 112 in each unit grid area. k The difference between the height H and the target height H controls the first linear drive member 1122 to independently adjust the height of the lifting and spraying unit 112 corresponding to each unit grid area, so that the nozzle 1123 on each lifting and spraying unit 112 can maintain the target height with the crop canopy 40 in the unit grid below.

[0094] It is understandable that, during the movement of the profiling sprayer, the laser radar sensor 211 installed at the front end of the traveling device 20 obtains the height information of the spray frame from the crop canopy 40 within the crop width range of the profiling sprayer in advance, and controls the third linear drive member 131 to make the spray boom lifting assembly 130 move, and adjust the entire spray boom 111 to reach the target height. The angle sensor 125 installed below the swing bracket 122 obtains the inclination angle of the spray boom 111 in real time, and controls the second linear drive member 123 to keep the entire spray boom 111 horizontal, ensuring that the spray head 1123 always sprays the liquid vertically downward. Within the working width of the entire spray boom 111, when the entire spray boom 111 reaches the target height, according to the fluctuation of the crop canopy 40 below each lifting spraying unit 112, each segmented first linear drive member 1122 is independently extended and retracted, so that the spray head 1123 on each lifting spraying unit 112 can maintain the target height with the corresponding crop canopy 40 below, so as to achieve precise profiling control and improve spray uniformity.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A contour spray device, characterized in that: include: A spraying assembly, the spraying assembly comprising a spraying rod and a plurality of lifting spraying units, the lifting spraying units being arranged at intervals on the spraying rod, the lifting spraying unit comprising a lifting bracket, a first linear driving member and at least one spray head, the lifting bracket and the spraying rod being slidably matched in a vertical direction, the fixed end of the first linear driving member being connected to the spraying rod, the output end of the first linear driving member being connected to the lifting bracket, so as to drive the lifting bracket to move vertically relative to the spraying rod through the first linear driving member, and the spray head being arranged on the lifting bracket; A swing assembly, the swing assembly comprising a fixed bracket, a swing bracket and a second linear drive member, the swing bracket is hinged to the fixed bracket, the spray rod is connected to the swing bracket, the fixed end of the second linear drive member is connected to the fixed bracket, and the output end of the second linear drive member is connected to the swing bracket, so as to drive the swing bracket to swing laterally relative to the fixed bracket through the second linear drive member.

2. The contour spray device according to claim 1, characterized in that: It also includes a spray boom lifting assembly, one end of which is connected to the swing bracket, and the other end of which is connected to the spray boom, and the spray boom lifting assembly is used to drive the spray boom to move vertically.

3. The contour spray device according to claim 2, characterized in that: The spray boom lifting assembly includes a third linear drive and two parallelogram-link brackets arranged at intervals, one end of the parallelogram-link bracket is connected to the swing bracket, the other end of the parallelogram-link bracket is connected to the spray boom, the fixed end of the third linear drive is connected to at least one of the parallelogram-link brackets, and the output end of the third linear drive is hinged to the spray boom to drive the spray boom to move up and down through the third linear drive.

4. The contour spray device according to claim 3, characterized in that: It also includes a first pull-wire sensor, a second pull-wire sensor and a third pull-wire sensor. The pull-wire end of the first pull-wire sensor is connected to the output end of the first linear drive, the pull-wire end of the second pull-wire sensor is connected to the output end of the second linear drive, and the pull-wire end of the third pull-wire sensor is connected to the output end of the third linear drive.

5. The contour spray device according to any one of claims 1 to 4, characterized in that: It also includes an angle sensor for detecting the tilt angle of the swing bracket, and the angle sensor is arranged on the swing bracket.

6. A contour sprayer, characterized in that: The invention comprises a traveling device, a sensor assembly and a contour spray device as described in any one of claims 1 to 5, wherein the sensor assembly and the contour spray device are both arranged on the traveling device, and the sensor assembly is used for detecting the height of crop canopy.

7. The contour sprayer according to claim 6, characterized in that: The sensor assembly is arranged at the front end of the traveling device, and the contour spray device is arranged at the rear end of the traveling device.

8. The contour sprayer according to claim 6, characterized in that: The sensor assembly includes a laser radar sensor and a telescopic bracket. The telescopic bracket is arranged on the traveling device, and the laser radar sensor is arranged on the telescopic end of the telescopic bracket.

9. A spray control method based on the contour sprayer according to any one of claims 6 to 8, characterized in that: include: Obtaining the crop canopy height within the unit grid corresponding to each lifting spraying unit; Based on the crop canopy height within the unit grid corresponding to each lifting spraying unit, determining the difference between the average height of the crop canopy and the target height of the spray boom; Based on the difference between the average height of the crop canopy and the target height of the spray boom, controlling the spray boom to reach a set height; Based on the crop canopy height within the grid corresponding to each lifting spraying unit, determining the difference between the current height of the lifting spraying unit and the target height; Based on the difference between the current height of the lifting and spraying unit and the target height, the lifting and spraying unit is controlled to reach the set height.

10. The spray control method according to claim 9, characterized in that: Also includes: Obtaining a current tilt angle of the spray boom; Based on the difference between the current tilt angle of the spray boom and the target tilt angle, the spray boom is controlled to reach the set tilt angle, so that the spray boom remains horizontal, ensuring that the spray head sprays the liquid medicine vertically downward.

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