A self-propelled powder spraying device and powder spraying method for a facility

Abstract

The present invention relates to the technical field of greenhouse plant protection machinery, and in particular to a facility self-propelled powder spraying equipment and a powder spraying method. The facility self-propelled powder spraying equipment provided by the present invention comprises a self-propelled platform, a lifting mechanism, a height detection component and a powder spraying device. The lifting mechanism is arranged on the self-propelled platform, and the lifting mechanism has a movable part that can be lifted and lowered; the height detection component is arranged on the movable part, and the height detection component is used to detect the height of the plant canopy, and the height detection component is electrically connected to the lifting mechanism through a controller; the powder spraying device is arranged on the movable part, and the powder spraying device has a powder spraying output end for spraying powder on the plant canopy; wherein the lifting mechanism is lifted and lowered according to the height information of the plant canopy detected by the height detection component, so that the powder spraying output end of the powder spraying device sprays powder on the plant canopy from above, and the facility self-propelled powder spraying equipment provided by the present invention can adjust the powder spraying height according to the height of the plant, thereby improving the uniformity of the powder spraying on the plant.

Description

Technical Field

[0001] The invention relates to the technical field of greenhouse plant protection machinery, and in particular to a facility self-propelled powder spraying device and a powder spraying method. Background Art

[0002] Pesticides are needed to prevent and control pests and diseases in the production and management of greenhouse vegetables. Pesticide spraying methods include spraying and dusting. The spraying method causes the humidity in the greenhouse to increase, increasing the risk of disease, while the dusting method does not increase humidity, which is conducive to disease prevention and control.

[0003] At present, the self-propelled dusting equipment of self-propelled facilities travels among the plants through a self-propelled platform, and then uses the dusting device on the self-propelled platform to dust the plants, which can save manpower. However, there are certain differences in the height of the plants, and the dusting device remains at the same height during the dusting operation, which affects the uniformity of the dusting. Summary of the invention

[0004] The invention provides a facility self-propelled powder spraying device and a powder spraying method. The facility self-propelled powder spraying device can adjust the powder spraying height according to the height of the plant, thereby improving the uniformity of the powder spraying on the plant.

[0005] In the first aspect, an embodiment of the present application provides a self-propelled powder spraying device for a facility, comprising: a self-propelled platform; a lifting mechanism, which is arranged on the self-propelled platform, and the lifting mechanism has a movable part that can be lifted and lowered; a height detection component, which is arranged on the movable part, and the height detection component is used to detect the height of a plant canopy, and the height detection component is electrically connected to the lifting mechanism through a controller; a powder spraying device, which is arranged on the movable part, and the powder spraying device has a powder spraying output end for spraying powder on the plant canopy; wherein the lifting mechanism is lifted and lowered according to the height information of the plant canopy detected by the height detection component, so that the powder spraying output end of the powder spraying device sprays powder on the plant canopy from above.

[0006] In one possible implementation, the height detection component includes a distance sensor, which is used to detect the distance a between the plant canopy; when a is less than or equal to a threshold value b, the powder spraying output end of the powder spraying device sprays powder on the plant canopy from above; when a is greater than the threshold value b, the lifting mechanism adjusts the height of the distance sensor so that a is less than or equal to the threshold value b.

[0007] In a possible implementation, the height detection component includes a first ranging sensor and a second ranging sensor, and the detection position of the first ranging sensor is located above the detection position of the second ranging sensor; wherein, when the first ranging sensor cannot detect the plant canopy and the second ranging sensor can detect the plant canopy, the powder spraying output end of the powder spraying device sprays powder on the plant canopy from above; when the first ranging sensor and the second ranging sensor can both detect the plant canopy, the lifting mechanism raises the height of the movable part so that the first ranging sensor cannot detect the plant canopy and the second ranging sensor can detect the plant canopy.

[0008] In one possible implementation, the powder spraying device includes a fan for outputting powder; when the first ranging sensor and the second ranging sensor can both detect the plant canopy, the fan operates at a first power; when the first ranging sensor cannot detect the plant canopy and the second ranging sensor can detect the plant canopy, the fan operates at a second power; when a is greater than a threshold value b, the fan operates at the second power; wherein the first power is less than the second power.

[0009] In a possible implementation, the powder spraying device further includes: a powder bin; a powder discharge mechanism connected to the bottom output end of the powder bin; and a powder discharge cylinder connected to the output end of the powder discharge mechanism, one end of the powder discharge cylinder forming a powder spraying output end.

[0010] In one possible implementation, the powder discharging mechanism includes: a shell, the two ends of which are respectively connected to the powder bin and the powder discharge barrel; a lower powder wheel, rotatably arranged in the shell, and provided with a groove for transferring powder; and a powder discharging motor, which is connected to the lower powder wheel through a magnetic coupling.

[0011] In a possible implementation, the rotation speed r of the lower powder wheel satisfies: , where v is the walking speed of the self-propelled platform, W is the powder spraying distance, and A is the powder application amount per unit area. is the amount of powder discharged when the lower powder wheel rotates one circle, and k is the variable coefficient.

[0012] In a possible implementation, when both the first ranging sensor and the second ranging sensor can detect the plant canopy, k is 0; when the first ranging sensor cannot detect the plant canopy and the second ranging sensor can detect the plant canopy, k is 1; when both the first ranging sensor and the second ranging sensor cannot detect the plant canopy, k is greater than 1.

[0013] In the second aspect, an embodiment of the present invention provides a powder spraying method for the above-mentioned facility self-propelled powder spraying equipment, comprising the following steps: the self-propelled platform moves along the extension direction of plant planting; the powder spraying device sprays powder on the plants during the moving process; the height detection component obtains the height information of the plant canopy in real time during the moving process; the lifting mechanism adjusts the height of the powder spraying device according to the height information of the plant canopy, so that the powder spraying output end of the powder spraying device sprays powder on the plant canopy from above the plant canopy.

[0014] In one possible implementation, the height detection component includes a first ranging sensor and a second ranging sensor, the detection position of the first ranging sensor is located above the detection position of the second ranging sensor, and the powder spraying device includes a fan for outputting powder; the powder spraying device sprays powder on the plants during the movement, including: when the first ranging sensor and the second ranging sensor can both detect the plant canopy, the fan operates at a first power; when the first ranging sensor cannot detect the plant canopy and the second ranging sensor can detect the plant canopy, the fan operates at a second power, and the first power is less than the second power.

[0015] The present invention provides a facility self-propelled powder spraying device and a powder spraying method. The facility self-propelled powder spraying device detects the height of the plant canopy through a height detection component, and adjusts the height of the powder spraying device through a lifting mechanism according to the height information of the plant canopy, so that the powder spraying output end of the powder spraying device can spray powder from above the plant canopy, and the powder spraying height can be adjusted according to the height of the plant canopy, thereby improving the uniformity of the plant powder spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 It is a three-dimensional structural schematic diagram of a self-propelled powder spraying equipment provided by the present invention.

[0018] Figure 2 It is a three-dimensional structural schematic diagram of a powder spraying device provided by the present invention.

[0019] Figure 3 The present invention is a schematic diagram of the cross-sectional structure of a powder bin, a powder feeding mechanism and a powder discharging cylinder provided by the present invention.

[0020] Figure 4 The present invention provides a flowchart of a powder spraying method for a facility self-propelled powder spraying device.

[0021] Reference numerals:

[0022] 1. Self-propelled platform;

[0023] 2. Lifting mechanism; 21. Movable part;

[0024] 3. Height detection component; 31. First distance measuring sensor; 32. Second distance measuring sensor;

[0025] 4. powder spraying device; 41. powder spraying output terminal; 42. fan; 43. powder bin; 44. powder discharging mechanism; 441. housing; 442. powder discharging wheel; 4421. groove; 443. powder discharging motor; 45. powder discharging cylinder;

[0026] 5. Line patrol module; 6. Obstacle avoidance module. DETAILED DESCRIPTION

[0027] 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.

[0028] Combine the following Figure 1-Figure 3 A self-propelled powder spraying device for a facility provided in an embodiment of the present invention is described, comprising: a self-propelled platform 1, a lifting mechanism 2, a height detection component 3 and a powder spraying device 4, wherein:

[0029] The lifting mechanism 2 is disposed on the self-propelled platform 1 , and the lifting mechanism 2 has a movable portion 21 that can be lifted or lowered.

[0030] The height detection component 3 is disposed on the movable part 21 . The height detection component 3 is used to detect the height of the plant canopy. The height detection component 3 is electrically connected to the lifting mechanism 2 through a controller.

[0031] The powder spraying device 4 is arranged on the movable part 21, and the powder spraying device 4 has a powder spraying output end 41 for spraying powder on the plant canopy.

[0032] Among them, the lifting mechanism 2 is lifted and lowered according to the height information of the plant canopy detected by the height detection component 3, so that the powder output end 41 of the powder spraying device 4 sprays the plant canopy from above. Specifically, the powder output end 41 of the powder spraying device 4 sprays the plant canopy from above, which means that the sprayed powdered agent can directly reach above the plant canopy and be close to the plant canopy, and the uniform powder spraying of the plant canopy is achieved through the falling and self-diffusion of the agent. Moreover, powder spraying requires a certain wind speed. By setting the position of powder spraying above the plant canopy and close to the canopy, it can avoid the wind force directly acting on the plant canopy and causing damage to the plant, thereby improving the protection of the plant. Specifically, the powder spraying device 4 is mainly used to spray powder on the plant canopy, and can also be used to spray powder on the plant support rod part.

[0033] In the present invention, the height of the plant canopy is detected by the height detection component 3, and according to the height information of the plant canopy, the height of the powder spraying device 4 is adjusted by the lifting mechanism 2, so that the powder spraying output end 41 of the powder spraying device 4 can spray powder from above the plant canopy, and the powder spraying height can be adjusted according to the height of the plant canopy, thereby improving the uniformity of the powder spraying on the plants.

[0034] Specifically, through the coordinated work of the self-propelled platform 1, the lifting mechanism 2, the height detection component 3 and the powder spraying device 4, the intelligent powder spraying operation of the plants is realized. In actual application scenarios, especially in facility agricultural environments such as greenhouses, the plant varieties are diverse and the growth periods are different, resulting in significant differences in the height of the plant canopy. The height detection component 3 in this scheme can monitor the plant canopy height in real time, and drive the lifting mechanism 2 to adjust the height of the powder spraying device 4 through the controller, so that the powder spraying output end 41 is always maintained at a suitable spraying height. This adaptive height adjustment mechanism not only ensures that the pesticide powder can evenly cover the plant surface, but also avoids the powder spraying device 4 from causing mechanical damage to the plant too close or causing powder diffusion loss too far. At the same time, the design of the self-propelled platform 1 reduces the need for manual operation, reduces the risk of contact between operators and pesticides, and improves operating efficiency. This scheme can be further expanded and applied to various scenarios such as orchards and nurseries. By adding multiple height detection points and multiple groups of powder spraying output ends 41, precise powder spraying control at different height levels can also be achieved.

[0035] like Figure 1 As shown, a line patrol module 5 and an obstacle avoidance module 6 are provided on the self-propelled platform 1, and the line patrol module 5 can be used to walk along the cables pre-laid in the greenhouse; during the walking process, the obstacle avoidance module 6 can be used to detect obstacles in the direction of travel, thereby ensuring that the facility's self-propelled powder spraying equipment can travel along a predetermined route in the greenhouse to ensure the accuracy of powder spraying on plants.

[0036] In some embodiments, the height detection component 3 includes a distance sensor (not shown), which is used to detect the distance a between the plant canopy; when a is less than or equal to the threshold value b, the powder output end 41 of the powder spraying device 4 sprays powder on the plant canopy from above; when a is greater than the threshold value b, the lifting mechanism 2 adjusts the height of the distance sensor so that a is less than or equal to the threshold value b.

[0037] In a specific embodiment, a specific distance measurement control strategy is introduced in this embodiment. By setting the threshold value b to control the optimal operating distance between the powder spraying device 4 and the plant canopy, more accurate height control is achieved. In practical applications, such as when controlling pests and diseases of tall crops such as cucumbers and tomatoes, maintaining an appropriate powder spraying distance is crucial to the control effect. When the distance a detected by the distance measuring sensor is less than or equal to the threshold value b, it indicates that the powder spraying device 4 is in the optimal powder spraying position, and normal powder spraying can be performed at this time; when the distance a is greater than the threshold value b, the system will automatically adjust the height of the lifting mechanism 2 to ensure that the powder spraying device 4 always remains at the optimal operating height. This precise distance control mechanism not only improves the uniformity and utilization rate of powder spraying, but also can adapt to the application requirements of different crops and different pesticides by adjusting the threshold value b.

[0038] Furthermore, the present embodiment can also add multiple set thresholds to automatically switch the optimal dusting distance according to different crop growth stages or different areas. For example, different crops are planted in a greenhouse, and there is a height difference between different types of crops. By setting multiple thresholds, they correspond to multiple types of crops. Moreover, the threshold can be adjusted according to the growth of the crops. For example, as the plant canopy rises, the threshold is raised accordingly to ensure that the height of the later dusting can be at the optimal dusting position, that is, the canopy can be dusted from above the plant canopy.

[0039] In some embodiments, the height detection component 3 includes a first ranging sensor 31 and a second ranging sensor 32, and the detection position of the first ranging sensor 31 is located above the detection position of the second ranging sensor 32; wherein, when the first ranging sensor 31 cannot detect the plant canopy and the second ranging sensor 32 can detect the plant canopy, the powder output end 41 of the powder spraying device 4 sprays powder on the plant canopy from above; when the first ranging sensor 31 and the second ranging sensor 32 can both detect the plant canopy, the lifting mechanism 2 lifts the height of the movable part 21 so that the first ranging sensor 31 cannot detect the plant canopy, and the second ranging sensor 32 can detect the plant canopy.

[0040] In another specific embodiment, this embodiment proposes an innovative design of dual ranging sensors, and a more reliable height detection system is constructed by arranging two ranging sensors (i.e., the first ranging sensor 31 and the second ranging sensor 32) at different heights. In practical applications, for example, when spraying dust on vine crops such as cucumbers, the detection of a single height is easily affected by the obstruction of branches and leaves. The design of two upper and lower ranging sensors can more accurately determine the position and height of the plant canopy. When the first ranging sensor 31 cannot detect the plant canopy but the second ranging sensor 32 can detect it, it means that the powder spraying device 4 is at an ideal powder spraying height; when both sensors detect the plant canopy, the system will automatically increase the height of the powder spraying device 4. This dual detection mechanism not only improves the accuracy and reliability of height control, but also effectively avoids direct contact between the powder spraying device 4 and the plant.

[0041] Specifically, the first ranging sensor 31 is located directly above the second ranging sensor 32. Both the first ranging sensor 31 and the second ranging sensor 32 are used to measure the vertical distance between the plant canopy. When it can detect the plant canopy, it means that it is on the same horizontal plane as the plant canopy. When it cannot detect the plant canopy, it means that it is higher than the plant canopy or located in the gap of the canopy.

[0042] Furthermore, the scheme can be further expanded, such as adding multi-point detection in the horizontal direction to achieve three-dimensional perception of the plant canopy morphology, and based on the three-dimensional perception of the canopy, adjust the powder spraying device 4 in the direction vertical to the plant to ensure the distance between the powder spraying device 4 and the canopy. Not only can the height of the powder spraying device 4 be adjusted, but also the horizontal distance between the powder spraying device 4 and the plant can be adjusted, so as to better adapt to irregularly growing plants.

[0043] In some embodiments, the powder spraying device 4 includes a fan 42 for outputting powder; when the first ranging sensor 31 and the second ranging sensor 32 can both detect the plant canopy, the fan 42 operates at a first power; when the first ranging sensor 31 cannot detect the plant canopy and the second ranging sensor 32 can detect the plant canopy, the fan 42 operates at a second power; or, when a is less than or equal to a threshold value b, the fan 42 operates at a first power; when a is greater than a threshold value b, the fan 42 operates at a second power; wherein the first power is less than the second power.

[0044] In the present invention, the power of the fan 42 is linked to the height detection result to realize intelligent powder spraying intensity control. In actual application scenarios, such as when spraying vegetables at different growth stages in a greenhouse, it is necessary to adjust the powder spraying intensity according to the wind resistance of the plants. When both ranging sensors detect the plant canopy, it means that the powder spraying device 4 is close to the plant. At this time, the fan 42 runs at a lower power to avoid mechanical damage to the plant caused by strong airflow; when the powder spraying device 4 is at an ideal height, the fan 42 runs at a higher power to ensure that the powder can fully cover the target area. This adaptive wind adjustment mechanism not only protects plants, but also improves the utilization efficiency of pesticides.

[0045] Furthermore, the solution can also add multi-level wind speed regulation, adjust the powder spraying parameters in real time based on environmental factors (such as temperature, humidity, wind speed, etc.), or automatically select the optimal powder spraying intensity according to the characteristics of different pesticide formulations.

[0046] In some embodiments, the powder spraying device 4 further includes: a powder bin 43; a powder discharge mechanism 44, which is connected to the bottom output end of the powder bin 43; a powder discharge tube 45, which is connected to the output end of the powder discharge mechanism 44, one end of the powder discharge tube 45 is connected to the output end of the fan 42, and the other end forms a powder spraying output end 41.

[0047] The structural design of the powder spraying device 4 is described in detail in the embodiment of the present invention, including the organic cooperation of the powder bin 43, the powder discharging mechanism 44 and the powder discharge tube 45. In practical applications, such as pest control of greenhouse crops, the continuous and stable delivery of pesticide powder is crucial. The design of the powder bin 43 takes into account the flow characteristics of the pesticide powder. The connection between the powder discharging mechanism 44 and the bottom of the powder bin 43 ensures that the powder can fall stably; the powder discharge tube 45 cooperates with the fan 42 to form an efficient powder delivery channel. This structural design not only solves the problems of easy agglomeration and uneven delivery of pesticide powder, but also realizes accurate metering and uniform spraying of powder.

[0048] Furthermore, this embodiment can be further improved, for example, by adding moisture-proof and anti-caking devices in the powder bin 43, designing a modular quick-change mechanism, or adding a multi-bin design to achieve mixed use of different pesticides.

[0049] like Figure 3 As shown, in some embodiments, the powder discharging mechanism 44 includes: a shell 441, the two ends of the shell 441 are respectively connected to the powder bin 43 and the powder discharge barrel 45; a lower powder wheel 442, rotatably arranged in the shell 441, and the lower powder wheel 442 is provided with a groove 4421 for transferring powder; a powder discharging motor 443, and the powder discharging motor 443 is connected to the lower powder wheel 442 through a magnetic coupling.

[0050] In the present invention, an innovative magnetic coupling transmission scheme is proposed for the powder discharging mechanism 44. In practical applications, pesticide powders are highly corrosive and permeable, and are easily damaged by traditional mechanical transmission components. The design of the groove 4421 on the powder discharging wheel 442 is adopted, and the magnetic coupling transmission is combined to achieve physical isolation between the powder discharging motor 443 and the pesticide powder. This design not only prolongs the service life of the equipment and reduces maintenance costs, but also improves the reliability and safety of the powder spraying system. The contactless characteristics of the magnetic coupling transmission also ensure the stability and accuracy of the powder discharging process.

[0051] Furthermore, this embodiment can also develop an intelligent groove 4421 volume adjustment mechanism, design multiple sets of parallel lower powder wheel 442 systems, or add automatic blockage detection and cleaning functions to ensure the accuracy and adjustability of the lower powder wheel 442 in conveying the medicine downward.

[0052] In some embodiments, the rotation speed r of the lower powder wheel 442 satisfies: , where v is the walking speed of the self-propelled platform 1, W is the powder spraying distance, and A is the powder application amount per unit area. is the amount of powder dropped when the lower powder wheel 442 rotates one circle, and k is the variable coefficient.

[0053] An innovative formula for calculating the amount of powder applied is proposed in the embodiment of the present invention, which realizes the precise control of the amount of powder sprayed. In actual application scenarios, such as when controlling pests and diseases on vegetables with high economic value, the accurate amount of pesticide applied is directly related to the control effect and economic benefits. The formula takes into account multiple key parameters such as the speed of the self-propelled platform 1 (v), the powder spraying distance (W), and the amount of powder applied per unit area (A), and calculates the optimal rotation speed (r) of the lower powder wheel 442 through a mathematical model. This precise metering method not only avoids the waste and pesticide damage caused by excessive application of pesticides, but also prevents unsatisfactory control effects caused by insufficient application of pesticides.

[0054] Furthermore, this embodiment can also establish an intelligent parameter adaptive system to automatically adjust the application parameters according to factors such as crop variety, growth stage, degree of pests and diseases, etc.; or add a real-time detection feedback mechanism to dynamically optimize the spraying parameters.

[0055] In some embodiments, when both the first ranging sensor 31 and the second ranging sensor 32 can detect the plant canopy, k is 0; when the first ranging sensor 31 cannot detect the plant canopy and the second ranging sensor 32 can detect the plant canopy, k is 1; when both the first ranging sensor 31 and the second ranging sensor 32 cannot detect the plant canopy, k is greater than 1.

[0056] In the present invention, by introducing a control strategy of the variable coefficient k, intelligent powder spraying control in different scenarios is realized. In practical applications, such as the three-dimensional planting system in a greenhouse, plant distribution often shows significant spatial differences. Through the cooperation of two ranging sensors, the system can identify three typical scenarios: directly aiming at the plant (k=0), normal powder spraying position (k=1) and plant gap (k>1). This scene-based adaptive control not only ensures the safety and uniformity of powder spraying, but also optimizes the distribution of pesticides in different parts of the plant. When the powder spraying device 4 is aimed at the plant gap, increasing the amount of pesticide applied can increase the pesticide coverage rate at the bottom and sides.

[0057] Furthermore, the present embodiment may also add more scene recognition types, develop an intelligent scene recognition system based on machine learning, or combine image recognition technology to achieve more accurate powder spraying control.

[0058] The self-propelled powder spraying equipment of the facility detects the height of the plant canopy through the height detection component 3, and adjusts the height of the powder spraying device 4 through the lifting mechanism 2 according to the height information of the plant canopy, so that the powder spraying output end 41 of the powder spraying device 4 can spray powder from above the plant canopy, and the powder spraying height can be adjusted according to the height of the plant canopy, thereby improving the uniformity of the powder spraying of the plants.

[0059] like Figure 4 As shown, the embodiment of the present invention provides a powder spraying method of the above-mentioned facility self-propelled powder spraying equipment, comprising the following steps:

[0060] S1, the self-propelled platform 1 moves along the extension direction of the plant planting;

[0061] S2, the powder spraying device 4 sprays powder on the plants during the movement;

[0062] S3, the height detection component 3 obtains the height information of the plant canopy in real time during the movement;

[0063] S4. The lifting mechanism 2 adjusts the height of the powder spraying device 4 according to the height information of the plant canopy, so that the powder spraying output end 41 of the powder spraying device sprays powder on the plant canopy from above the plant canopy.

[0064] The embodiment of the present invention also proposes a complete powder spraying method, which systematically solves the process flow problem of automated powder spraying operation. In actual application scenarios, such as the continuous operation process of a large greenhouse, this method realizes fully automated operation through the closed-loop control of "travel-detection-adjustment-powder spraying". The self-propelled platform 1 travels along the direction of plant planting to ensure the standardization of the operation route; the height information is obtained in real time and the powder spraying height is dynamically adjusted to ensure the stability of the application effect; the plants are powdered from above to improve the uniformity of pesticide coverage.

[0065] Furthermore, this embodiment may also add an intelligent path planning function, develop a differentiated spraying strategy based on crop growth conditions, or integrate an environmental monitoring system to achieve precise spraying.

[0066] In some embodiments, the height detection component 3 includes a first distance sensor 31 and a second distance sensor 32, the detection position of the first distance sensor 31 is located above the detection position of the second distance sensor 32, and the powder spraying device 4 includes a fan 42 for outputting powder; the powder spraying device 4 sprays powder on the plant during the moving process, including:

[0067] S21, when the first distance measuring sensor 31 and the second distance measuring sensor 32 can both detect the plant canopy, the fan 42 operates at the first power;

[0068] S22: When the first distance measuring sensor 31 cannot detect the plant canopy, and the second distance measuring sensor 32 can detect the plant canopy, the fan 42 operates at a second power, and the first power is less than the second power.

[0069] In the present invention, dual sensor detection (first distance sensor 31 and second distance sensor 32) is combined with fan 42 power control to form a complete intelligent powder spraying control solution. In practical applications, such as when preventing and treating solanaceous vegetables in different growth periods, this control strategy can effectively balance the powder spraying effect and plant protection. Through the differentiated design of the first power and the second power, the system can ensure the powder spraying effect while avoiding mechanical damage to the plants to the greatest extent.

[0070] Specifically, when both the first distance measuring sensor 31 and the second distance measuring sensor 32 can detect the plant canopy, the powder spraying output end 41 of the powder spraying device 4 is facing the plant canopy. If the plant canopy is sprayed directly, it is easy to cause damage to the plant. Therefore, at this time, by reducing the power of the fan 42, the fan 42 is operated at the first power to reduce or prevent damage to the plants caused by direct wind. When the first detection sensor cannot detect the plant canopy, and the second detection sensor can detect the plant canopy, the powder spraying device 4 is at the optimal powder spraying height at this time, and the powder spraying device 4 can be accurately positioned in the height direction to ensure that the agent output by the powder spraying output end 41 of the powder spraying device 4 can be just above the plant canopy, and then the plant canopy is evenly covered by diffusion.

[0071] Furthermore, this embodiment can also add multi-level power regulation, develop an intelligent power curve control system, or combine meteorological parameters to achieve more accurate powder spraying control. By combining with other claims, more complex scene adaptive control can also be achieved, further improving the intelligence level and operating efficiency of the system.

[0072] In some embodiments, the powder spraying device 4 further includes: a powder bin 43; a powder discharging mechanism 44, which is connected to the bottom output end of the powder bin 43; a powder discharge tube 45, which is connected to the output end of the powder discharging mechanism 44, one end of the powder discharge tube 45 is connected to the output end of the fan 42, and the other end forms a powder spraying output end 41. The powder discharging mechanism 44 includes: a shell 441, the two ends of the shell 441 are respectively connected to the powder bin 43 and the powder discharge tube 45; a lower powder wheel 442, which is rotatably arranged in the shell 441, and the lower powder wheel 442 is provided with a groove 4421 for transferring powder; a powder discharging motor 443, and the lower powder motor 443 is connected to the lower powder wheel 442 through a magnetic coupling. The rotation speed r of the lower powder wheel 442 satisfies: , where v is the walking speed of the self-propelled platform 1, W is the powder spraying distance, and A is the powder application amount per unit area. is the amount of powder dropped when the lower powder wheel 442 rotates one circle, and k is the variable coefficient.

[0073] The powder spraying device 4 sprays powder on the plants during the process of traveling, including:

[0074] S23, when both the first distance measuring sensor 31 and the second distance measuring sensor 32 can detect the plant canopy, k is 0;

[0075] S24, when the first distance measuring sensor 31 cannot detect the plant canopy, and the second distance measuring sensor 32 can detect the plant canopy, k is 1;

[0076] S25: When both the first distance measuring sensor 31 and the second distance measuring sensor 32 cannot detect the plant canopy, k is greater than 1.

[0077] In the present invention, when both the first distance measuring sensor 31 and the second distance measuring sensor 32 can detect the plant canopy, the powder spraying output end 41 of the powder spraying device 4 is facing the plant canopy, and the fan 42 operates at the first power. At this time, k is equal to 0, and the lower powder wheel 442 does not spray powder, so as to prevent high-concentration powder from being sprayed on the plant to cause pesticide damage. Optionally, k at this time can also be less than 1, and the amount of the sprayed agent can be reduced by reducing the amount of the powder sprayed.

[0078] When the first distance measuring sensor 31 cannot detect the plant canopy, and the second distance measuring sensor 32 can detect the plant canopy, it means that the powder spraying device 4 is at the optimal powder spraying height, the fan 42 operates at the second power, and k is equal to 1 at this time. The lower powder wheel 442 sprays powder normally, and the powder spraying device 4 sprays powder normally.

[0079] When both the first distance measuring sensor 31 and the second distance measuring sensor 32 cannot detect the plant canopy, it means that the powder spraying output end 41 of the powder spraying device 4 is aimed at the gap between the canopies, and the medicine needs to diffuse to the canopies on both sides below, so k is greater than 1, and the powder spraying amount is increased to ensure the deposition amount of the medicine powder in the canopy below. Specifically, k is equal to 2 at this time.

[0080] In a specific embodiment,

[0081] Setting the travel route in the greenhouse: electromagnetic guide lines are pre-laid in the greenhouse as a travel reference. The guide lines maintain a standard distance of 1.2m from the plant canopy. Front and rear dual line patrol sensors are used to improve tracking accuracy, and the standard travel speed is set to 1m / s.

[0082] Height detection and control strategy: Set the dual sensor detection threshold to 1.8m. If it is lower than 1.8m, it is judged as a canopy detected, and if it is higher than 1.8m, it is judged as a non-canopy area. The adjustment step of the lifting mechanism is 50mm, and the detection frequency is 10 times / second.

[0083] Powder spraying control scheme: normal working wind speed: 16m / s (maximum wind speed), protection mode wind speed: 5m / s (low speed mode), wind speed switching time: ≤0.5s. Precise control of the amount of pesticide spraying: powder spraying distance (W): 10.5m (greenhouse width), powder spraying amount per unit area (A): 0.18g / m², powder spraying amount per single circle of the lower powder wheel: 0.5g, walking speed (v): 1m / s, specific application of variable coefficient k: k=0: both sensors detect the canopy, k=1: normal powder spraying position, k=2: canopy gap position.

[0084] Pesticide effect test:

[0085] The pesticide application effect test was carried out in a greenhouse with mature cucumbers (about 1.5m high). Five deposition test points were selected in the greenhouse using the five-point sampling method, and three cucumbers were selected at each test point for deposition test. Sticky dust counting cards were placed with clips at the top, middle and bottom heights of the plants to be tested, and then the pesticide application test was carried out. After the pesticide micropowder settled for four hours, the dust counting cards were recovered, and the particles were counted under a stereoscope to calculate the pesticide powder deposition (in pieces / cm2).

[0086] The experimental results show that the average deposition in the upper canopy is 2083±293 pieces / cm2, the average deposition in the middle canopy is 1361±142 pieces / cm2, and the average deposition in the lower canopy is 967±254 pieces / cm2. Spatial application of pesticides above the canopy and increasing the application rate in the gaps in the canopy can meet the prevention and control requirements. There is still enough pesticide deposition in the middle and lower parts of the canopy to ensure the uniformity of the pesticide spraying.

[0087] 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.

[0088] 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 self-propelled powder spraying equipment, characterized in that: include: Self-propelled platform (1); A lifting mechanism (2) is arranged on the self-propelled platform (1), and the lifting mechanism (2) has a movable part (21) that can be lifted or lowered; A height detection component (3) is arranged on the movable part (21), the height detection component (3) is used to detect the height of the plant canopy, and the height detection component (3) is electrically connected to the lifting mechanism (2) via a controller; A powder spraying device (4) is arranged on the movable portion (21), and the powder spraying device (4) has a powder spraying output end (41) for spraying powder on the plant canopy; The lifting mechanism (2) is lifted or lowered according to the height information of the plant canopy detected by the height detection component (3), so that the powder spraying output end (41) of the powder spraying device (4) sprays powder on the plant canopy from above; The height detection component (3) comprises a first distance measuring sensor (31) and a second distance measuring sensor (32), the first distance measuring sensor (31) being located directly above the second distance measuring sensor (32), and the first distance measuring sensor (31) and the second distance measuring sensor (32) being used to measure the vertical distance to the plant canopy; When the first distance sensor (31) cannot detect the plant canopy, and the second distance sensor (32) can detect the plant canopy, the powder output end (41) of the powder spraying device (4) sprays powder on the plant canopy from above; when both the first distance sensor (31) and the second distance sensor (32) can detect the plant canopy, the lifting mechanism (2) raises the height of the movable part (21) so that the first distance sensor (31) cannot detect the plant canopy, and the second distance sensor (32) can detect the plant canopy; the powder spraying device (4) comprises a fan (42) for outputting powder; when both the first distance sensor (31) and the second distance sensor (32) can detect the plant canopy, the fan (42) operates at a first power; when the first distance sensor (31) cannot detect the plant canopy, and the second distance sensor (32) can detect the plant canopy, the fan (42) operates at a second power; wherein the first power is less than the second power.

2. A self-propelled powder spraying equipment according to claim 1, characterized in that: The powder spraying device (4) further comprises: Powder bin (43); A powder discharge mechanism (44) connected to the bottom output end of the powder bin (43); The powder discharge cylinder (45) is connected to the output end of the powder discharge mechanism (44), and one end of the powder discharge cylinder (45) forms the powder spraying output end (41).

3. A self-propelled powder spraying equipment according to claim 2, characterized in that: The powder feeding mechanism (44) comprises: A shell (441), wherein two ends of the shell (441) are respectively connected to the powder bin (43) and the powder outlet cylinder (45); A lower powder wheel (442) is rotatably disposed in the housing (441), and a groove (4421) for transferring powder is provided on the lower powder wheel (442); A powder lowering motor (443), wherein the powder lowering motor (443) is transmission-connected to the powder lowering wheel (442) via a magnetic coupling.

4. A self-propelled powder spraying equipment for facilities according to claim 3, characterized in that: The rotation speed r of the lower powder wheel (442) satisfies: , where v is the walking speed of the self-propelled platform (1), W is the powder spraying distance, and A is the powder application amount per unit area. is the amount of powder dropped when the lower powder wheel (442) rotates one circle, and k is the variable coefficient.

5. The self-propelled powder spraying equipment according to claim 4, characterized in that: When both the first distance measuring sensor (31) and the second distance measuring sensor (32) can detect the plant canopy, k is 0; when the first distance measuring sensor (31) cannot detect the plant canopy and the second distance measuring sensor (32) can detect the plant canopy, k is 1; when both the first distance measuring sensor (31) and the second distance measuring sensor (32) cannot detect the plant canopy, k is greater than 1.

6. A powder spraying method for the self-propelled powder spraying equipment of any one of claims 1 to 5, characterized in that: The steps include: The self-propelled platform (1) moves along the extension direction of the plant planting; The dusting device (4) sprays dust on the plants during the movement; The height detection component (3) obtains the height information of the plant canopy in real time during the movement; The lifting mechanism (2) adjusts the height of the powder spraying device (4) according to the height information of the plant canopy, so that the powder spraying output end (41) of the powder spraying device sprays powder on the plant canopy from above the plant canopy.

7. The powder spraying method according to claim 6, characterized in that: The height detection component (3) comprises a first distance measuring sensor (31) and a second distance measuring sensor (32), wherein a detection position of the first distance measuring sensor (31) is located above a detection position of the second distance measuring sensor (32), and the powder spraying device (4) comprises a fan (42) for outputting powder; the powder spraying device (4) sprays powder on plants while moving, comprising: When both the first distance measuring sensor (31) and the second distance measuring sensor (32) can detect the plant canopy, the fan (42) operates at a first power; When the first distance measuring sensor (31) cannot detect the plant canopy, and the second distance measuring sensor (32) can detect the plant canopy, the fan (42) operates at a second power, the first power being less than the second power.

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