Facility low-volume spraying device and spraying method

Abstract

The invention relates to the technical field of greenhouse plant protection machinery, in particular to a facility low-volume spraying device and a spraying method.The facility low-volume spraying device is arranged at one end in a greenhouse in the first direction, and multiple rows of crops are planted in the greenhouse in the first direction; the spraying mechanism comprises a walking mechanism, a lifting mechanism, a canopy detection device, a spraying mechanism body and a controller, the walking mechanism can move in the second direction, the lifting mechanism is arranged on the walking mechanism, and the lifting mechanism is provided with a liftable supporting table; the canopy detection device is arranged on the supporting table, the canopy detection device is used for detecting a point cloud picture of crop canopy distribution in a first plane, the spraying mechanism is arranged on the supporting table, the spraying mechanism comprises a spray head used for spraying pesticide, and the spray head can swing in the first plane; according to the automatic pesticide spraying device, pesticide spraying operation can be completed without entering crop rows, the occupied space is reduced, and the utilization rate of the internal space of the greenhouse is increased.

Description

Technical Field

[0001] The invention relates to the technical field of greenhouse plant protection machinery, and in particular to a low-capacity spray device and a spray method for a facility. Background Art

[0002] In the process of greenhouse crop cultivation, pesticides need to be sprayed to prevent and control pests and diseases. At present, pesticides are generally sprayed on crops manually with spray machines, which consumes manpower and has low work efficiency. There are also some self-propelled spray mechanisms that spray pesticides on crops in greenhouses, but the spray mechanism needs to enter the crop rows for spraying, which takes up a large space and affects the effective utilization rate of the greenhouse. Summary of the invention

[0003] The invention provides a low-capacity spray device and a spray method for a facility. The low-capacity spray device for a facility can complete a drug spraying operation without entering between crop rows, thereby reducing occupied space and improving the utilization rate of the internal space of a greenhouse.

[0004] In the first aspect, an embodiment of the present application provides a low-volume spray device for a facility, which is arranged at one end of a greenhouse along a first direction, and multiple rows of crops are planted in the greenhouse along the first direction. The low-volume spray device for the facility includes: a walking mechanism, which can move along a second direction, and the second direction is perpendicular to the first direction; a lifting mechanism, which is arranged on the walking mechanism, and the lifting mechanism has a liftable support platform; a canopy detection device, which is arranged on the support platform, and the canopy detection device is used to detect a point cloud map of crop canopy distribution in a first plane, and the second direction is perpendicular to the first plane; a spray mechanism, which is arranged on the support platform, and the spray mechanism includes a nozzle for spraying medicine, and the nozzle can swing in the first plane to change the direction of spraying the medicine; a controller, the controller is electrically connected to the lifting mechanism, the canopy detection device and the spray mechanism, and is used to adjust the height of the support platform and the swing angle of the nozzle according to the point cloud map of crop canopy distribution.

[0005] In a possible implementation, the canopy detection device divides the point cloud image of the crop canopy distribution into multiple intervals along a first direction, wherein the height of the crop canopy within the interval is the difference between the 85% quantile and the 5% quantile within the interval.

[0006] In a possible implementation, the lifting mechanism adjusts the height of the support platform according to the height of the crop canopy in the nearest interval so that the height of the sprinkler head is equal to the height of the crop canopy in the nearest interval.

[0007] In a possible implementation, the swing angle of the nozzle includes a first angle A above the horizontal direction and a second angle B below the horizontal direction, so that the pesticide sprayed by the nozzle can cover the entire row of crops.

[0008] In a possible implementation, the first angle A satisfies:

[0009] Where H is the height of the nozzle, m is the width of a single interval, is the height of the crop canopy in the i-th interval along the first direction.

[0010] In a possible implementation, the second angle B satisfies:

[0011] Here, m is the width of a single interval.

[0012] In one possible implementation, the low-volume spray device of the facility includes an electromagnetic guide line laid in the greenhouse, which extends along the second direction; the walking mechanism includes a crawler chassis and a line-following sensor arranged on the crawler chassis, and the line-following sensor is used to detect the electromagnetic guide line to enable the crawler chassis to move along the second direction.

[0013] In a possible implementation, the line patrol sensor includes a front line patrol sensor disposed at the front end of the crawler chassis and a rear line patrol sensor disposed at the rear end of the crawler chassis. The crawler chassis has a left crawler and a right crawler. The distance that the electromagnetic guide line deviates from the center line of the walking mechanism to the left at the line patrol sensor is positive, and to the right is negative. The heading angle :

[0014] in, is the offset distance detected by the front line patrol sensor, is the offset distance detected by the rear line-following sensor, is the distance between the front line patrol sensor and the rear line patrol sensor; but:

[0015] in, is the left track speed, is the right track speed, is the heading angle error, is the set vehicle speed.

[0016] In the second aspect, an embodiment of the present invention provides a spraying method for the low-volume spray device of the above-mentioned facility, comprising the following steps: a walking mechanism moves along a second direction to one end of a row of crops; a canopy detection device detects a point cloud map of the canopy distribution of the row of crops; a lifting mechanism adjusts the height of the support platform according to the point cloud map of the canopy distribution of the crops; the spraying mechanism adjusts the swing angle of the nozzle according to the point cloud map of the canopy distribution of the crops, and sprays the liquid medicine on the row of crops at the swing angle.

[0017] In a possible implementation, the canopy detection device divides the point cloud image of the crop canopy distribution into multiple intervals along a first direction, and the swing angle of the sprinkler includes a first angle A above the horizontal direction and a second angle B below the horizontal direction; The lifting mechanism adjusts the height of the support platform according to the point cloud diagram of crop canopy distribution, including: the lifting mechanism adjusts the height of the support platform according to the height of the crop canopy in the nearest interval; And / or, the spray mechanism adjusts the swing angle of the nozzle according to the point cloud diagram of crop canopy distribution, including: Adjust the first angle A to satisfy:

[0018] Adjust the second angle B to meet:

[0019] Where H is the height of the nozzle, m is the width of a single interval, is the height of the crop canopy in the i-th interval along the first direction.

[0020] The present invention provides a low-volume spray device and a spray method for a facility. The low-volume spray device for the facility moves to one end of each row of crops along a second direction through a walking mechanism, detects a point cloud map of the canopy distribution of each row of crops through a canopy detection device, and sends the point cloud map to a controller for processing and analysis. The controller controls a lifting mechanism and a spray mechanism according to the analysis result, so that the lifting mechanism completes the adjustment of the support platform and the height of the nozzle, and the spray mechanism completes the adjustment of the swing angle, so as to ensure that the liquid medicine sprayed by the nozzle can cover the entire row of crops, and the drug spraying operation can be completed without entering between the crop rows, thereby reducing the occupied space and improving the utilization rate of the internal space of the greenhouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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 any creative work.

[0022] Figure 1 It is a three-dimensional structural schematic diagram of a low-volume spray device for a facility provided by the present invention.

[0023] Figure 2 It is a structural schematic diagram of a low-volume spray device and an electromagnetic guide line provided by the present invention.

[0024] Figure 3 The present invention is a schematic diagram of a top view of the structure of a low-volume spray device provided by the present invention in a greenhouse.

[0025] Figure 4 It is a point cloud map within a first plane in a greenhouse provided by the present invention.

[0026] Figure 5 yes Figure 4 A partial enlarged view of the point cloud image shown.

[0027] Figure 6 It is a flow chart of a spraying method provided by the present invention.

[0028] Reference numerals: X, first direction; Y, second direction; a, greenhouse; b, crops; 1. Walking mechanism; 11. Front line patrol sensor; 12. Rear line patrol sensor; 13. Tracked chassis; 131. Left track; 132. Right track; 14. Obstacle avoidance module; 2. Lifting mechanism; 21. Support platform; 22. Equipment box; 3. Canopy detection device; 4. Spray mechanism; 41. Spray head; 42. Swing arm; 5. Electromagnetic guide wire; 6. Interval. DETAILED DESCRIPTION

[0029] 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.

[0030] Combine the following Figure 1-Figure 5 A low-volume spray device for a facility provided by an embodiment of the present invention is described, which is arranged at one end of a greenhouse a along a first direction X, and a plurality of rows of crops b are planted in the greenhouse a along the first direction X. The low-volume spray device for a facility comprises: a walking mechanism 1, a lifting mechanism 2, a canopy detection device 3, a spray mechanism 4 and a controller, wherein: The walking mechanism 1 can move along a second direction Y, and the second direction Y is perpendicular to the first direction X.

[0031] The lifting mechanism 2 is arranged on the walking mechanism 1 , and the lifting mechanism 2 has a lifting and lowering support platform 21 .

[0032] The canopy detection device 3 is disposed on the support platform 21 . The canopy detection device 3 is used to detect a point cloud diagram of the canopy distribution of the crop b in a first plane. The second direction Y is perpendicular to the first plane.

[0033] The spray mechanism 4 is disposed on the support platform 21 . The spray mechanism 4 includes a spray head 41 for spraying medicine. The spray head 41 can swing in a first plane to change the direction of spraying the medicine.

[0034] The controller is electrically connected to the lifting mechanism 2, the canopy detection device 3 and the spray mechanism 4, and is used to adjust the height of the support platform 21 and the swing angle of the spray head 41 according to the point cloud diagram of the canopy distribution of the crop b.

[0035] In the present invention, the walking mechanism 1 moves along the second direction Y to one end of each row of crops b, the canopy detection device 3 detects the point cloud map of the canopy distribution of each row of crops b, and the point cloud map is sent to the controller for processing and analysis. The controller controls the lifting mechanism 2 and the spraying mechanism 4 according to the analysis results, so that the lifting mechanism 2 completes the adjustment of the height of the support platform 21 and the nozzle 41, and the spraying mechanism 4 completes the adjustment of the swing angle to ensure that the liquid medicine sprayed by the nozzle 41 can cover the entire row of crops b, and the drug spraying operation can be completed without entering the rows of crops b, thereby reducing the occupied space and improving the utilization rate of the internal space of the greenhouse a.

[0036] Specifically, the device is arranged at one end of the greenhouse a along the first direction X, including core components such as a walking mechanism 1, a lifting mechanism 2, a canopy detection device 3, a spray mechanism 4 and a controller. The primary advantage brought by this arrangement is that the space utilization rate of the greenhouse a is significantly improved. In practical applications, taking the cucumber greenhouse a as an example, the traditional spray mechanism needs to move between the rows of crop b of 60-80cm, which not only occupies precious planting space, but also easily causes mechanical damage or damage to crop b. The present invention completely avoids these problems by arranging the device at the end of the row of crop b, and can increase the effective planting area by about 15-20%. In addition, this arrangement also simplifies the navigation requirements of the equipment and improves the reliability of the operation. By completing the pesticide spraying of crop b row by row, the operating efficiency can be increased by 2-3 times, and the utilization rate of the liquid medicine can be increased by about 20%.

[0037] Among them, the walking mechanism 1 can move along the second direction Y, which is perpendicular to the first direction X. In this embodiment, the walking mechanism 1 adopts a crawler chassis 13, which has better passability and stability than a wheeled chassis. Of course, in other embodiments, a wheeled chassis or a suspended walking device can also be used as long as stable movement can be achieved. The setting of the walking mechanism 1 enables the equipment to move along the edge of the greenhouse a without entering the rows of crops b, thereby avoiding damage to crops b. The lifting mechanism 2 is arranged on the walking mechanism 1 and has a lifting support platform 21. In this embodiment, the lifting mechanism 2 can adopt an electric screw lifting device, and the lifting and lowering of the support platform 21 can be achieved by controlling the forward and reverse rotation of the motor. Of course, other forms such as a hydraulic lifting device or a pneumatic lifting device can also be used. The setting of the lifting mechanism 2 enables the height of the nozzle 41 to be flexibly adjusted according to the height of the crop b to ensure the best spraying effect. The canopy detection device 3 is arranged on the support platform 21, and is used to detect the point cloud map of the canopy distribution of the crop b in the first plane, and the second direction Y is perpendicular to the first plane. In this embodiment, a single-line laser radar is used as the canopy detection device 3, which has the advantages of high detection accuracy and fast response speed. Of course, other detection devices such as 3D cameras or ultrasonic sensors can also be used. By real-time detection of the canopy distribution of crop b, a data basis is provided for precise application of pesticides. The spray mechanism 4 is also arranged on the support platform 21, including a nozzle 41 for spraying the agent. The nozzle 41 can swing in the first plane to change the direction of spraying the agent. In this embodiment, a pneumatic atomization nozzle 41 is used to produce fine and uniform droplets. The swing of the nozzle 41 is driven by a motor, and different swing frequencies are achieved by controlling the motor speed. Swinging spray can achieve a wider range of liquid coverage and improve the uniformity of pesticide application. The controller is electrically connected to the lifting mechanism 2, the canopy detection device 3 and the spray mechanism 4, and is used to adjust the height of the support platform 21 and the swing angle of the nozzle 41 according to the point cloud map of the canopy distribution of crop b. The controller adopts an industrial-grade PLC with strong anti-interference ability and stability. The control algorithm includes modules such as point cloud data processing, height calculation and angle optimization.

[0038] In a specific embodiment, the canopy detection device 3 uses a single-line laser radar to detect only a point cloud on a plane. An equipment box 22 is provided on the support platform 21, and the laser radar is installed outside the equipment box 22; the spray mechanism 4 includes a swing arm 42 and a nozzle 41 provided on the swing arm 42, and the swing arm 42 is rotatably connected to the equipment box 22. A peristaltic pump, an air pump, a medicine box, a motor and a controller are installed inside the equipment box 22. The motor is used to drive the swing arm 42 to swing, and then drive the nozzle 41 to swing. The peristaltic pump and the air pump are used together for spraying the medicine, and the air force is used to assist the atomizing nozzle 41 to atomize the liquid medicine, and the atomization effect is good.

[0039] In some embodiments, the canopy detection device 3 divides the point cloud map of the canopy distribution of crop b into multiple intervals 6 along the first direction X, wherein the height of the canopy of crop b in interval 6 is the difference between the 85% quantile and the 5% quantile in interval 6.

[0040] In the present invention, the point cloud map of the crop b canopy distribution is divided into multiple intervals 6 along the first direction X, and the difference between the 85% quantile and the 5% quantile is used to determine the height of the crop b canopy in interval 6. This data processing method has significant technical advantages: first, the processing of the interval 6 reduces the computational complexity and improves the system response speed; second, the quantile difference method can effectively filter outliers and improve measurement accuracy. In practical applications, the traditional average value method is easily affected by factors such as leaf shaking and sunlight reflection. After preliminary experiments, it was found that the difference between the 85% quantile and the 5% quantile in the cucumber greenhouse a was the most accurate in predicting the plant height of the corresponding interval 6, thereby obtaining the height of the crop b in different intervals 6. This solution can control the height measurement error within ±3cm, providing a reliable data basis for subsequent precision spraying.

[0041] In some embodiments, the lifting mechanism 2 adjusts the height of the support platform 21 according to the height of the canopy of the crop b in the nearest interval 6 so that the height of the nozzle 41 is equal to the height of the canopy of the crop b in the nearest interval 6.

[0042] In the embodiment of the present invention, a control strategy for the height of the support platform 21 is provided, that is, the height of the support platform 21 is adjusted according to the height of the canopy of the crop b in the nearest interval 6, so that the height of the nozzle 41 is equal to the height of the canopy of the crop b in the nearest interval 6. The advantages of this control strategy are: first, the detection data of the nearest interval 6 is the most accurate, which can provide a real-time and reliable control basis; second, the lifting mechanism 2 raises the nozzle 41 to the same height as the plants in the nearest area to reduce obstruction and increase the spray range. Finally, the nozzle 41 is adjusted to the same height as the crop b, which can significantly reduce the drift of the liquid medicine. In the actual application of cucumber greenhouse a, this control strategy increases the utilization rate of the liquid medicine by about 25%, while reducing the drift loss of the liquid medicine by about 30%. In addition, this adaptive height adjustment can also adapt to the needs of crops b at different growth stages.

[0043] In some embodiments, the swing angle of the nozzle 41 includes a first angle A above the horizontal direction and a second angle B below the horizontal direction, so that the agent sprayed by the nozzle 41 can cover the entire row of crops b.

[0044] The embodiment of the present invention describes a swing angle control scheme for the nozzle 41, including a first angle A above the horizontal direction and a second angle B below the horizontal direction. The advantage of this two-way swing design is that it can achieve full coverage of the entire plant. In practical applications, taking greenhouse a cucumber as an example, this design makes the leaf coverage rate of the upper part of the plant reach 15.64±3.70%, the middle part 12.93±4.16%, and the lower part 9.73±4.22%, which is much better than the traditional fixed-angle spraying method. By precisely controlling the swing angle of the nozzle 41, the spray parameters can also be adjusted according to the morphological characteristics of different crops b.

[0045] like Figure 5 As shown, further, the first angle A satisfies:

[0046] Wherein, H is the height of the nozzle 41, m is the width of a single interval 6, is the height of the crop canopy in the i-th interval along the first direction.

[0047] The embodiment of the present invention further defines a specific calculation method for the first angle A. The calculation formula comprehensively considers multiple factors such as the height of the nozzle 41, the width of the interval 6 and the height of the crop b, and can automatically adjust the upward spray angle according to real-time detection data. This angle control scheme based on a mathematical model is universal and can adapt to crops b of different heights and varieties. The application in greenhouse a tomato planting shows that this scheme can increase the liquid coverage rate of the upper leaves by about 20% while maintaining a low liquid loss.

[0048] Specifically, the width of a single interval 6 is 1m. That is, it represents the width of i intervals 6, 0.5m is equal to the width of half interval 6, that is, half of the width of the measurement interval 6, and the crop b in the interval 6 is set to be located at the center of the interval 6, thereby improving the accuracy of the test. By calculating the swing angle between the nozzle 41 and the top of each interval 6, and selecting the largest angle as the first angle A, it can be ensured that the swing spraying medicine can cover the canopy of the crop b in each interval 6.

[0049] like Figure 5 As shown, in some embodiments, the second angle B satisfies:

[0050] Here, m is the width of a single interval 6.

[0051] The calculation method of the second angle B is specified in the embodiment of the present invention. This angle is mainly used to ensure that the lower plants are covered by the liquid medicine, and its calculation takes into account the relationship between the width of the interval 6 and the height of the nozzle 41. This precise angle control can avoid waste caused by excessive spraying, while ensuring that the lower leaves are adequately covered by the liquid medicine. In the application of eggplant greenhouse a, this solution makes the liquid medicine coverage rate of the lower leaves reach 8-10%, meeting the needs of pest control.

[0052] Specifically, the width of a single interval 6 is 1 m.

[0053] In some embodiments, the low-volume spray device of the facility includes an electromagnetic guide line 5 laid in the greenhouse a, and the electromagnetic guide line 5 extends along the second direction Y; the walking mechanism 1 includes a crawler chassis 13 and a line patrol sensor arranged on the crawler chassis 13, and the line patrol sensor is used to detect the electromagnetic guide line 5 so that the crawler chassis 13 moves along the second direction Y.

[0054] The embodiment of the present invention proposes a navigation control system for the equipment, including an electromagnetic guide line 5 and a line patrol sensor. The advantages of this navigation scheme are: first, the electromagnetic guidance is not affected by lighting conditions and adapts to the complex environment of greenhouse a; second, the crawler chassis 13 cooperates with the line patrol sensor to achieve accurate path tracking. In practical applications, the system can control the navigation deviation within the range of ±2cm, meet the requirements of precise operation, and further ensure the accuracy of spraying drugs on each row of crops b in the later stage. In addition, this navigation method is also characterized by easy installation and low maintenance cost.

[0055] Specifically, the low-volume spray device can be flexibly moved by the walking mechanism 1 along the electromagnetic guide wire 5 pre-laid in the greenhouse a, and can be driven into the greenhouse a when spraying is needed, and then driven along the electromagnetic guide wire 5 to complete the spraying of pesticides. After spraying the pesticides, the low-volume spray device can be driven out of the greenhouse a without occupying the space inside the greenhouse a.

[0056] Optionally, a guide rail extending along the second direction Y can be set in the greenhouse a, and the walking mechanism 1 is slidably set on the guide rail, which can also ensure the accuracy of the walking mechanism 1 moving along the second direction Y. A detection point is set on the guide rail, and the detection point is aligned with each row of crops b. When the walking mechanism 1 moves to the detection point position, the detection point is triggered, and the walking mechanism 1 is controlled to pause, and continue to move after completing the spraying of the drug on this row of crops b.

[0057] like Figure 2As shown, in some embodiments, the line patrol sensor includes a front line patrol sensor 11 disposed at the front end of the crawler chassis 13 and a rear line patrol sensor 12 disposed at the rear end of the crawler chassis 13. The crawler chassis 13 has a left crawler 131 and a right crawler 132. It is agreed that the distance of the electromagnetic guide line 5 deviating from the center line of the walking mechanism 1 to the left at the line patrol sensor is positive, and to the right is negative, and the heading angle :

[0058] in, is the offset distance detected by the front line patrol sensor 11, is the offset distance detected by the rear line patrol sensor 12, and L is the distance between the front line patrol sensor 11 and the rear line patrol sensor 12; but:

[0059] in, 131 speed for the left track, 132 speed for the right track, is the heading angle error, is the set vehicle speed.

[0060] Specifically, an obstacle avoidance module 14 is also provided at the front end of the crawler chassis 13. The obstacle avoidance module 14 is used to detect obstacles ahead during the walking process to ensure operation safety.

[0061] The navigation control algorithm is described in detail in the embodiment of the present invention, including the heading angle calculation and the speed control strategy. The control algorithm can accurately calculate the heading deviation and realize the differential steering control through the cooperation of the front and rear line patrol sensors 12. The advantages of this algorithm design are rapid response and precise control, which can ensure that the equipment runs smoothly along the predetermined trajectory. In practical applications, this control scheme makes the steering process smoother and reduces the impact of the shaking of the liquid medicine.

[0062] Specifically, if the electromagnetic guide line 5 is on the same side of the center line of the walking mechanism 1, the guide line turns until the center line intersects with the electromagnetic guide line 5 to ensure that the front patrol line sensor 11 is offset by a distance of , the rear line sensor 12 offset distance The signs are opposite. When the heading angle error is 0°, the speeds of the left and right tracks 132 are equal, and the vehicle moves forward along the electromagnetic guide line 5; when the front of the vehicle deviates to the left, the heading angle is less than 0, and the calculated speed of the right track 132 is less than that of the left track 131, and the vehicle yaws to the right, so that the heading angle error tends to 0. At this time, the larger the heading angle error, the greater the speed difference between the left and right tracks 132, and the faster the turning speed; the same is true when the front of the vehicle deviates to the right. The above method is used to realize automatic deviation correction of the walking mechanism 1, ensuring that the walking mechanism 1 can move accurately along the electromagnetic guide line 5, thereby ensuring that the distance between the spray mechanism 4 and each row of crops b and the spray direction of the spray mechanism 4 are consistent with the extension direction of each row of crops b, thereby ensuring the accuracy of the later drug spraying and the uniformity of coverage, and achieving the uniformity of crop b spraying with a smaller amount of medicine.

[0063] The low-volume spray device of the facility moves to one end of each row of crops b along the second direction Y through the walking mechanism 1, detects the point cloud map of the canopy distribution of each row of crops b through the canopy detection device 3, and sends the point cloud map to the controller for processing and analysis. The controller controls the lifting mechanism 2 and the spray mechanism 4 according to the analysis results, so that the lifting mechanism 2 completes the adjustment of the height of the support platform 21 and the nozzle 41, and the spray mechanism 4 completes the adjustment of the swing angle to ensure that the liquid medicine sprayed by the nozzle 41 can cover the entire row of crops b, and the drug spraying operation can be completed without entering the rows of crops b, thereby reducing the occupied space and improving the utilization rate of the internal space of the greenhouse a.

[0064] like Figure 6 As shown, an embodiment of the present invention provides a spraying method of the low-volume spray device of the above-mentioned facility, comprising the following steps: S1, the traveling mechanism 1 moves along the second direction Y to one end of a row of crops b; S2, the canopy detection device 3 detects the point cloud map of the canopy distribution of the crop row b; S3, the lifting mechanism 2 adjusts the height of the support platform 21 according to the point cloud diagram of the canopy distribution of the crop b; S4. The spray mechanism 4 adjusts the swing angle of the nozzle 41 according to the point cloud diagram of the canopy distribution of the crop b, and sprays the liquid medicine on the row of crops b at the swing angle.

[0065] The present invention describes the complete process of spraying operation. First, the walking mechanism 1 is moved to one end of each row of crop b, and the point cloud map of the canopy distribution of the row of crop b is detected by the canopy detection device 3. According to the point cloud map of the canopy distribution of crop b, the lifting mechanism 2 and the spray mechanism 4 are controlled. The lifting mechanism 2 adjusts the height of the nozzle 41 to a suitable position, and then the spray mechanism 4 adjusts the appropriate swing angle to ensure that the medicine sprayed by the spray mechanism 4 can fully cover the row of crop b. The same method is used to complete the spraying of the medicine for each row of crop b in turn. This standardized operation method not only improves work efficiency, but also ensures the consistency of operation quality. By organically combining spatial positioning, parameter optimization, motion control and other links, a complete set of intelligent operation system is formed. In the experiment of cucumber greenhouse a, this method increased the operation efficiency by 3-4 times, while ensuring excellent prevention and control effects.

[0066] In some embodiments, the canopy detection device 3 divides the point cloud image of the canopy distribution of the crop b into a plurality of intervals 6 along the first direction X, and the swing angle of the nozzle 41 includes a first angle A above the horizontal direction and a second angle B below the horizontal direction; The lifting mechanism 2 adjusts the height of the support platform 21 according to the point cloud diagram of the canopy distribution of the crop b, including: S31, the lifting mechanism 2 adjusts the height of the support platform 21 according to the height of the canopy of the crop b in the nearest interval 6; And / or, the spray mechanism 4 adjusts the swing angle of the nozzle 41 according to the point cloud diagram of the canopy distribution of the crop b, including: S41, adjusting the first angle A to satisfy:

[0067] S42, adjusting the second angle B to satisfy:

[0068] Wherein, H is the height of the nozzle 41, m is the width of a single interval 6, is the height of the crop canopy in the i-th interval along the first direction.

[0069] The embodiments of the present invention further refine the specific parameter calculations in the operation method. The advantages of these calculation methods are: combined with real-time detection data, the operation parameters can be dynamically adjusted according to the actual situation of crop b; standardized mathematical models are used to ensure the repeatability of the control effect. In practical applications, this precise parameter control increases the utilization rate of the liquid medicine by about 30%, significantly reducing production costs and environmental pollution.

[0070] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0071] 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 low-volume spray device, arranged at one end of a greenhouse along a first direction, wherein a plurality of rows of crops are planted along the first direction in the greenhouse, characterized in that: The facility's low volume spraying device includes: A walking mechanism (1) capable of moving along a second direction, the second direction being perpendicular to the first direction; A lifting mechanism (2) is arranged on the walking mechanism (1), and the lifting mechanism (2) has a lifting support platform (21); A canopy detection device (3) is arranged on the support platform (21), the canopy detection device (3) is used to detect a point cloud diagram of the crop canopy distribution in a first plane, the second direction being perpendicular to the first plane; A spray mechanism (4) is disposed on the support platform (21), the spray mechanism (4) comprising a spray head (41) for spraying the agent, the spray head (41) being capable of swinging within the first plane to change the direction in which the agent is sprayed; A controller, the controller being electrically connected to the lifting mechanism (2), the canopy detection device (3) and the spray mechanism (4), and being used for adjusting the height of the support platform (21) and the swing angle of the spray head (41) according to the point cloud diagram of the crop canopy distribution.

2. A low-volume spray device for facilities according to claim 1, characterized in that: The canopy detection device (3) divides the point cloud image of the crop canopy distribution into a plurality of intervals (6) along the first direction, wherein the height of the crop canopy within the interval (6) is the difference between the 85% quantile and the 5% quantile within the interval (6).

3. A low-volume spray device for facilities according to claim 2, characterized in that: The lifting mechanism (2) adjusts the height of the support platform (21) according to the height of the crop canopy in the nearest interval (6), so that the height of the nozzle (41) is equal to the height of the crop canopy in the nearest interval (6).

4. A low-volume spray device for facilities according to claim 3, characterized in that: The swing angle of the spray head (41) includes a first angle A above the horizontal direction and a second angle B below the horizontal direction, so that the pesticide sprayed by the spray head (41) can cover the entire row of crops.

5. A low-volume spray device for facilities according to claim 4, characterized in that: The first angle A satisfies: ； Wherein, H is the height of the nozzle (41), m is the width of a single interval (6), is the height of the crop canopy in the i-th interval (6) along the first direction.

6. A low-volume spray device for facilities according to claim 4 or 5, characterized in that: The second angle B satisfies: ； Here, m is the width of a single interval (6).

7. A low-volume spray device for facilities according to claim 1, characterized in that: The facility low-volume spray device comprises an electromagnetic guide line (5) laid in the greenhouse, the electromagnetic guide line (5) extending along the second direction; the walking mechanism (1) comprises a crawler chassis (13) and a line-following sensor arranged on the crawler chassis (13), the line-following sensor being used to detect the electromagnetic guide line (5) so as to enable the crawler chassis (13) to move along the second direction.

8. A low-volume spray device for facilities according to claim 7, characterized in that: The line patrol sensor comprises a front line patrol sensor (11) arranged at the front end of the crawler chassis (13) and a rear line patrol sensor (12) arranged at the rear end of the crawler chassis (13). The crawler chassis (13) has a left crawler (131) and a right crawler (132). The distance that the electromagnetic guide line (5) deviates from the center line of the walking mechanism (1) to the left at the line patrol sensor is positive, and to the right is negative. The heading angle : ； in, is the offset distance detected by the front line sensor (11), is the offset distance detected by the rear line patrol sensor (12), and L is the distance between the front line patrol sensor (11) and the rear line patrol sensor (12); but: ； in, is the speed of the left track (131), is the speed of the right track (132), is the heading angle error, is the set vehicle speed.

9. A spraying method of a low-volume spraying device for a facility as claimed in any one of claims 1 to 8, characterized in that: The steps include: The traveling mechanism (1) moves along a second direction to one end of a row of crops; The canopy detection device (3) detects a point cloud image of the canopy distribution of the crop row; The lifting mechanism (2) adjusts the height of the support platform (21) according to the point cloud diagram of the crop canopy distribution; The spray mechanism (4) adjusts the swing angle of the spray head (41) according to the point cloud diagram of the crop canopy distribution, and sprays the liquid medicine on the row of crops at the swing angle.

10. The spraying method according to claim 9, characterized in that: The canopy detection device (3) divides the point cloud image of the crop canopy distribution into a plurality of intervals (6) along the first direction, and the swing angle of the nozzle (41) includes a first angle A above the horizontal direction and a second angle B below the horizontal direction; The lifting mechanism (2) adjusting the height of the support platform (21) according to the point cloud diagram of the crop canopy distribution comprises: the lifting mechanism (2) adjusting the height of the support platform (21) according to the height of the crop canopy in the nearest interval (6); And / or, the spray mechanism (4) adjusting the swing angle of the spray head (41) according to the point cloud diagram of the crop canopy distribution includes: Adjust the first angle A to satisfy: ； Adjust the second angle B to meet: ； Wherein, H is the height of the nozzle (41), m is the width of a single interval (6), is the height of the crop canopy in the i-th interval (6) along the first direction.

Images