Accurate target spraying control method and matched device

Abstract

The invention relates to the technical field of targeted precise pesticide application, in particular to a precise targeted spraying control method and matched device.The precise targeted spraying control method comprises a main controller, a water supply pipe, a spraying rod hanging frame and pendulum type spraying head modules, the spraying rod hanging frame is installed in front of a vehicle, and the pendulum type spraying head modules are installed on the spraying rod hanging frame at equal intervals; the pendulum type spray head module is installed on the spray rod hanging frame and connected with the main controller through a cable, a nozzle of the pendulum type spray head module is connected with an external water supply system through a water supply pipe, a camera is installed on the spray rod hanging frame, and the main controller is connected with the camera through a cable. The pendulum type sprayer can adjust the direction of the nozzle according to an instruction, so that the center axis of the nozzle directly faces a target and sprays mist, and compared with an existing target mist spraying mode using a proximity principle mode, the pendulum type sprayer has the advantage of being higher in spraying precision, the pesticide utilization rate can be effectively increased, and soil pollution can be effectively reduced.

Description

Technical Field

[0001] The invention relates to the technical field of precise target application of medicines, and in particular to a precise target spray control method and a matching device. Background Art

[0002] Spraying pesticides is the main means of preventing and controlling crop diseases, insect pests and weeds in my country, and has made great contributions to increasing crop yields and improving quality. However, the excessive use of pesticides over the years has brought about many pesticide damages, high chemical residues, reduced species diversity and environmental pollution, which seriously hindered the sustainable development of agriculture. The key way to solve the excessive use of pesticides is to improve the utilization rate of pesticides. According to research, the part of pesticides lost during the application process includes about 20% of fine droplets that drift into the air with the airflow, and about 40% of the part that misses the target or rolls off the target to the ground due to droplet accumulation. Therefore, accurately controlling the amount of pesticides to reduce the part directly sprayed on the ground and reducing the rolling caused by droplet accumulation is an important way to improve the utilization rate of pesticides. Targeted spraying technology can identify specific spraying targets through a machine vision system and only spray these targets to avoid spraying pesticides on non-target areas, thereby achieving the purpose of improving the utilization rate of pesticides, reducing the amount of pesticides used, and reducing environmental pollution.

[0003] The essence of targeted spraying is that the spray is performed only when the nozzle sweeps over the target. The image of the target on the camera is a two-dimensional irregular shape. After the target is detected by machine vision, a boundary box of the target is generated. The position and size attributes of the box are generally used as the position and size attributes of the target. Therefore, "targeting" requires the nozzle to align the target in two dimensions: "forward direction" and "along the spray boom direction", and different targeted spray devices have different methods for aligning the target in the above two dimensions.

[0004] The existing target spraying devices all fix the nozzles on the spraying boom, and the nozzles are evenly arranged in the direction of the spraying boom. The nozzles are vertically downward, and the nozzle spacing matches the spraying angle of the nozzles, which can achieve full coverage of the spraying boom operation area. Each nozzle is controlled by a separate solenoid valve to open and close. In terms of target alignment in the "forward direction", the scheme of calculating the delay by measuring the distance and the speed of the vehicle is generally adopted to control the spraying time and the stop spraying time; in the "along the spraying boom direction" alignment of the target, the "proximity principle" is adopted, that is, the "sprinkler closest to the target center" or the "sprinkler with the most overlap in length with the target along the spraying boom direction" is allocated for spraying. When the task of the target spraying device is weeding, since the position of the weeds is random, the spraying boom with fixed nozzles cannot guarantee that the nozzles are "facing" the target every time, so the accuracy of the target spraying is not high. Reducing the nozzle spacing can improve the accuracy, but due to structural limitations, it is ultimately impossible to guarantee accurate targeting "along the spraying boom direction".

[0005] Therefore, the existing target spray has the following disadvantages: (1) In the "direction along the spray boom", the probability of the nozzle center and the target center coinciding is low, resulting in a low overlap rate between the droplet deposition area and the target area. The liquid medicine will be deposited on the ground, resulting in a large amount of liquid medicine residue in the soil. (2) In order to increase the overlap rate between the droplet deposition area and the target area, the existing spray boom needs to increase the number of nozzles and reduce the nozzle spacing. This not only increases the manufacturing cost, but also fails to completely solve the problem. Summary of the invention

[0006] In view of the above-mentioned defects and problems, the present invention provides a precise targeted spray control method and supporting device. The pendulum nozzle can adjust the nozzle direction according to instructions so that the central axis of the nozzle faces the target and sprays. Compared with the existing targeted spray mode using the "proximity principle" mode, it has the advantage of higher spraying accuracy, which can effectively improve the utilization rate of pesticides and reduce soil pollution.

[0007] The solution adopted by the present invention to solve the technical problem is: a precise target spray control method and supporting device, including a main controller, a water supply pipe, a spray rod suspension frame, and a pendulum nozzle module, wherein the spray rod suspension frame is installed in front of a vehicle, the pendulum nozzle module is installed on the spray rod suspension frame at equal intervals and is connected to the main controller through a cable, the nozzle of the pendulum nozzle module is connected to an external water supply system through a water supply pipe, a camera is installed on the spray rod suspension frame, and the main controller and the camera are connected through a cable; the pendulum nozzle module is composed of a steering gear, a control box housing, a bearing, and a solenoid valve, the steering gear is fixed on the control box housing, the output shaft of the steering gear extends out of the control box housing, a steering wheel is connected to the output shaft, the steering wheel is connected to the solenoid valve, the input end of the solenoid valve body is connected to the water supply pipe, the output end is connected to the nozzle, and the solenoid valve is connected to a control board in the control box through a solenoid valve control line, a laser ranging module is fixed at the lower end of the control box housing, and the laser ranging module is connected to the control board in the control box.

[0008] Furthermore, when the number of the pendulum type nozzle modules is an odd number N, the camera is installed at the top center of the spray rod suspension frame; when the number of the pendulum type nozzle modules is an even number N+1, the camera is installed in the middle position of the N / 2 and N / 2+1 pendulum type nozzle modules.

[0009] Furthermore, the main controller is composed of a microcomputer and a display screen, and a power line of the main controller is connected to the vehicle-mounted power supply.

[0010] Furthermore, the spray boom suspension bracket is also equipped with a speed measuring device, which is installed at a position where the vehicle speed can be obtained.

[0011] A control method for a precise target spray device comprises the following steps: S1. Establish the spray bar coordinate system, sort the pendulum nozzle modules and spray targets along the positive direction of the y-axis, and calculate the coordinate Y of nozzle i on the y-axis. i , and collect the top z-axis coordinate z of target j through the camera j , canopy center coordinates (x j , y j ), the length of the target l j and width w j ; S2. When the coordinates of the jth target satisfy When the main controller allocates a target nozzle to the target, and sends a control message to the pendulum nozzle module; Among them, t d is the time consumption of image acquisition and target detection, t s To control the time consumed in message transmission and parsing, t v is the time taken for the solenoid valve to open, t w is the time it takes for a droplet to be ejected from the nozzle and deposited on the target, t c is the time taken by the servo to adjust the angle, v is the speed of the nozzle over the ground, l j is the length of target j in the x-axis direction; S3, after receiving the control message, the pendulum nozzle module controls the steering gear to drive the nozzle to rotate, and points its axis to the angle direction, so as to control the pendulum nozzle module to spray in a directional manner; S4. Calculate the duration T1 of the delayed spray by dividing the distance between the target and the nozzle by the vehicle speed, and calculate the spray duration T2 by dividing the target length by the vehicle speed. Pass T1 to the timer of the microcontroller. When the timer reaches T1, send a control signal to open the solenoid valve to start spraying, and at the same time pass T2 to another timer of the microcontroller to start timing. When the timing reaches T2, stop spraying.

[0012] Furthermore, in the spray boom coordinate system, the rotation axis of the pendulum nozzle module located in the middle of the spray boom suspension frame is the x-axis, the forward direction is the positive direction of the x-axis, the intersection of the nozzle center axis and the x-axis is the origin, the vertical direction is the z-axis, the downward direction is the positive direction of the z-axis, the direction along the spray boom is the y-axis, and the right side of the forward direction is the positive direction of the y-axis, and the coordinate system satisfies the right-hand rule.

[0013] Furthermore, in S2, the principle of the main controller assigning the target nozzle to the target is: firstly, the distance between the target and all the nozzles is calculated. ji =(y j -y i ), dis jiThe nozzle corresponding to the smallest positive number is set as the target spray nozzle. If the working state of the nozzle is occupied, the nozzle with the assigned sequence number i+1 is the target spray nozzle.

[0014] Furthermore, the control message contains the servo angle θ i 、Target distance (x j -0.5l j ), target length l j , vehicle speed v, among which the steering gear angle is calculated by the following formula: .

[0015] Furthermore, the single nozzle of the pendulum nozzle module is connected to the external main controller through a four-core cable, of which two cores are power supply lines and the other two cores are RS485 communication lines. After RS485 conversion to TTL level, it is connected to the built-in microcontroller serial port. The microcontroller receives the control message sent by the external main controller through the serial port interrupt mode.

[0016] The beneficial effects of the present invention are as follows: the present invention proposes a new single-body structure of a target spray nozzle, designs a matching control method, and designs a spray rod structure composed of multiple nozzles. When a target that needs to be sprayed is found during the vehicle's advancement, a corresponding pendulum-type nozzle is assigned to point to the target. When the target enters the spray range, the solenoid valve is opened to start spraying. When the target moves out of the spray range of the nozzle, the solenoid valve is closed to stop spraying. The pendulum-type nozzle designed in the present invention can adjust the nozzle direction according to instructions so that the center axis of the nozzle faces the target and sprays. Compared with the existing target spray mode using the "proximity principle" mode, it has the advantage of higher spraying accuracy, can effectively improve the utilization rate of pesticides, reduce soil pollution, and accurately control the spray direction and angle to ensure that the pesticide can be accurately sprayed on the target and reduce the deposition of pesticides in non-target areas, thereby improving the utilization rate of pesticides and reducing pesticide waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the pendulum type nozzle module of the present invention; Figure 2 It is a schematic structural diagram of the spray bar type targeted spray device of the present invention; Figure 3 It is a schematic diagram of the spray boom coordinate system of the present invention.

[0018] In the figure: 1. main controller; 2. water supply pipe; 3. camera; 4. spray rod suspension bracket; 5. pendulum nozzle module; 51. servo; 52. control box top cover; 53. control box shell; 54 laser ranging module; 55. L-shaped aluminum profile; 56. fixing bracket; 57. nozzle; 58. bearing; 59. U-shaped aluminum profile; 510. solenoid valve; 511 solenoid valve control line composition; 6. cables. DETAILED DESCRIPTION

[0019] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0020] See also Figure 1-3 The present invention provides a technical solution for a precise target spray control method and a matching device: Embodiment 1: This embodiment provides a precise target spray device according to Figure 1 As shown, the spray rod type target spray device mainly includes a main controller 1, a water supply pipe 2, a camera 3, a spray rod hanging bracket 4, a pendulum type nozzle module 5, and a cable 6. Among them, the spray rod type target spray device is installed in front of the vehicle through the spray rod suspension frame 4, the input end of the water supply pipe 2 is connected to the vehicle-mounted pressure-stabilizing water supply system, and the output end is connected to each pendulum type nozzle module 5, the pendulum type nozzle module 5 is installed on the spray rod suspension frame 4 at equal intervals, and the fixing frame of the pendulum type nozzle module 5 is fixed to the lower end of the spray rod suspension frame 4 by bolts and nuts. The pendulum type nozzle module 5 is separately connected to the main controller 1 through cables 6, and the solenoid valve fluid input port of the pendulum type nozzle module 5 is connected to the external water supply system through the water supply pipe 2. The main controller 1 is composed of a microcomputer and a display screen. The power cord of the main controller 1 is connected to the vehicle-mounted power supply. The camera 3 is installed at the top center of the spray rod suspension frame 4. The main controller 1 and the camera 3 are connected by a cable 6. A speed measuring device is also provided on the device, and the speed measuring device is installed at a position where the vehicle speed can be obtained.

[0021] like Figure 2 As shown, the pendulum nozzle module 5 is composed of a servo 51, a control box top cover 52, a control box housing 53 (containing a control panel), a laser ranging module 54, an L-shaped aluminum profile 55, a fixing frame 56, a nozzle 57, a bearing 58, a U-shaped aluminum profile 59, a solenoid valve 510, and a solenoid valve control line 511. The steering gear 51 is fixed to the control box housing 53 by bolts and nuts, a control box top cover 52 is arranged on the rear side of the control box housing 53, the short side of the L-shaped aluminum profile 55 and the fixing frame 56 are stacked and fixed to the front side of the control box housing 53 by screws, the two sides of the U-shaped aluminum profile 59 are respectively connected to the long sides of the two L-shaped aluminum profiles 55 by screws, the outer ring of the bearing 58 is tightly matched with the U-shaped aluminum profile 59, the output shaft of the steering gear 51 extends out of the control box housing 53, a steering wheel is connected to the output shaft, the steering wheel is connected to the mounting hole of the solenoid valve 510 by screws, the coil locking nut of the solenoid valve 510 is tightly matched with the inner ring of the bearing 58, the input end of the solenoid valve body is connected to the water supply pipe 2, and the output end is connected to the nozzle 57, the solenoid valve control line 511 passes through the control box housing 53 and is connected to the control board in the control box, the lower end of the control box housing 53 is fixed with a laser ranging module 54, and the laser ranging module 54 is connected to the control board in the control box.

[0022] In specific use, the present invention provides a precise target spray control method and supporting device. When the vehicle moves forward, the camera 3 collects images in real time. When a target that needs to be sprayed is found, a signal is sent to the main controller 1, and the main controller 1 assigns the corresponding pendulum nozzle module 5 to point to the target. The output shaft of the servo 51 controls the nozzle 57 to rotate to a specified angle. When the target enters the spray range, the solenoid valve 510 is opened, and the water supply pipe 2 supplies water to the nozzle to start spraying. When the target moves out of the spray range of the nozzle, the solenoid valve is closed to stop spraying.

[0023] The angle control sources of the pendulum nozzle module 5 are diverse. In addition to the steering gear, a servo motor, a stepper motor, a DC motor with an encoder, an electric actuator, a rotating platform, a gyroscope and an accelerometer can also be used to control the rotation angle of the nozzle.

[0024] Embodiment 2: This embodiment provides a precise target spray control method like Figure 3 As shown, a spray boom coordinate system is established. In the spray boom coordinate system, the rotation axis of the pendulum nozzle module 5 located in the middle of the spray boom suspension frame 4 is the x-axis, the forward direction is the positive direction of the x-axis, the intersection of the nozzle center axis and the x-axis is the origin, the vertical direction is the z-axis, the downward direction is the positive direction of the z-axis, the direction along the spray boom is the y-axis, and the right side of the forward direction is the positive direction of the y-axis. The coordinate system satisfies the right-hand rule.

[0025] In the spray boom coordinate system, the spray boom length is recorded as L, the number of pendulum-type target nozzle modules installed on the spray boom is recorded as N, N is an odd number, the pendulum-type target nozzles are evenly spaced along the spray boom suspension frame 4, the spacing d=L / (N-1), the pendulum-type nozzle modules 5 are sorted in ascending order along the positive direction of the y-axis, the serial number is represented by i, -((N-1) / 2)≤i≤((N-1) / 2), the nozzle serial number at the origin of the y-axis is i=0, the nozzle serial number in the negative direction of the y-axis is i<0, and the nozzle serial number in the positive direction of the y-axis is i>0. i is the coordinate of nozzle i on the y-axis, Y i = i × d, the ground speed of the nozzle 58 is the same as the speed of the boom sprayer, denoted as v. The z-axis coordinate of the top of the target is z j =(Hh), the coordinates of the canopy center are (x j , y j ), the length (x-axis direction) and width (y-axis direction) of the target are l j and w j , where H is the vertical height of the pendulum-type target sprinkler's rotating axis from the ground, h is the height of the target plant, and j is the target's serial number.

[0026] The target parameters in the above-mentioned boom coordinate system are obtained by coordinate transformation of the target parameters in the image coordinate system, and the target parameters in the image coordinate system are determined by the target detection algorithm.

[0027] When the center x coordinate of the jth target satisfies the following formula, the main controller 1 allocates the corresponding nozzle to the target and sends a control message to the nozzle: (1) In the formula, t d is the time consumption of image acquisition and target detection, t s To control the time consumed in message transmission and parsing, t v is the time taken for the solenoid valve to open, t w is the time it takes for a droplet to be ejected from the nozzle and deposited on the target, t c The time taken to adjust the angle of the steering gear 51.

[0028] The principle of the main controller 1 assigning the target nozzle to the target is as follows: first calculate the distance between the target and all nozzles dis ji =(y j -y i ), dis ji The nozzle corresponding to the smallest positive number is set as the target spray nozzle. If the working state of the nozzle is occupied (it has been assigned a target and has not yet completed spraying), the nozzle with the assigned sequence number i+1 is the target spray nozzle, that is, the 1st to N-1st nozzles are responsible for the targets in the area on their right side (positive direction of the y axis) first, and the 2nd to Nth nozzles are responsible for the area on their left only when they receive coordination information.

[0029] The main controller 1 sends a control message to the nozzle assigned to spray through serial communication. The control message contains the angle θ of the steering gear 51. i 、Target distance (x j -0.5l j ), target length l j , vehicle speed v, among which the steering gear 51 angle is calculated by the following formula: (2) Where i is the assigned nozzle number.

[0030] The single nozzle of the pendulum nozzle module 5 is connected to the external main controller 1 through a four-core cable, wherein two cores are power supply lines and the other two cores are RS485 communication lines. After being converted to TTL level by RS485, it is connected to the built-in single-chip microcomputer serial port. The single-chip microcomputer receives the control message sent by the external main controller 1 through the serial port interrupt mode. The control message contains four parameters: steering gear angle, target distance, target length and vehicle speed. After receiving the control message, the single-chip microcomputer first converts the steering gear angle into a PWM wave with a certain duty cycle and outputs it to the steering gear 51. The steering gear 51 drives the nozzle to rotate and points its axis in the direction of the angle; secondly, the time length T1 of the delayed spray is calculated by dividing the distance between the target and the nozzle by the vehicle speed, and the spray time length T2 is calculated by dividing the target length by the vehicle speed. T1 is passed to the timer of the single-chip microcomputer. When the timer reaches T1, a control signal is sent to open the solenoid valve to start spraying, and T2 is passed to another timer of the single-chip microcomputer to start timing at the same time. When the timing reaches T2, the spraying stops.

[0031] In this embodiment, the number of nozzles installed on the spray rod suspension bracket is preset to an odd number, but in practice the number of nozzles may also be an even number. When the number of nozzles is an even number, the camera is installed in the middle of the N / 2 and N / 2+1 nozzles.

[0032] The above description is only a preferred embodiment of the present invention and does not limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A precise target spray device, comprising a main controller, a water supply pipe, a spray rod suspension frame, and a pendulum nozzle module, characterized in that: The spray boom suspension frame is installed in front of the vehicle, the pendulum nozzle modules are installed on the spray boom suspension frame at equal intervals and are connected to the main controller through cables, the nozzles of the pendulum nozzle modules are connected to the external water supply system through a water supply pipe, a camera is installed on the spray boom suspension frame, and the main controller and the camera are connected through cables; the pendulum nozzle module is composed of a steering gear, a control box housing, a bearing, and a solenoid valve, the steering gear is fixed on the control box housing, the output shaft of the steering gear extends out of the control box housing, a steering wheel is connected to the output shaft, the steering wheel is connected to the solenoid valve, the input end of the solenoid valve body is connected to the water supply pipe, the output end is connected to the nozzle, and the solenoid valve is connected to the control board in the control box through the solenoid valve control line, a laser ranging module is fixed at the lower end of the control box housing, and the laser ranging module is connected to the control board in the control box.

2. A precise target spray device according to claim 1, characterized in that: When the number of the pendulum nozzle modules is an odd number N, the camera is installed at the top center of the spray rod suspension frame. When the number of the pendulum nozzle modules is an even number N+1, the camera is installed in the middle of the N / 2 and N / 2+1 pendulum nozzle modules.

3. A precise target spray device according to claim 1, characterized in that: The main controller is composed of a microcomputer and a display screen, and a power line of the main controller is connected to the vehicle-mounted power supply.

4. The precise target spray device according to claim 1, characterized in that: The boom suspension bracket is also equipped with a speed measuring device, which is installed at a position where the vehicle speed can be obtained.

5. A control method based on the precise target spray device according to claim 1, characterized in that: The following steps are involved: S1. Establish the spray bar coordinate system, sort the pendulum nozzle modules and spray targets along the positive direction of the y-axis, and calculate the coordinate Y of nozzle i on the y-axis. i , and collect the top z-axis coordinate z of target j through the camera j , canopy center coordinates (x j , y j ), the length of the target l j and width w j ; S2. When the coordinates of the jth target satisfy When the main controller allocates a target nozzle to the target, and sends a control message to the pendulum nozzle module; Among them, t d is the time consumption of image acquisition and target detection, t s To control the time consumed in message transmission and parsing, t v is the time taken for the solenoid valve to open, t w is the time it takes for a droplet to be ejected from the nozzle and deposited on the target, t c is the time taken by the servo to adjust the angle, v is the speed of the nozzle over the ground, l j is the length of target j in the x-axis direction; S3, after receiving the control message, the pendulum nozzle module controls the steering gear to drive the nozzle to rotate, and points its axis to the angle direction, so as to control the pendulum nozzle module to spray in a directional manner; S4. Calculate the duration T1 of the delayed spray by dividing the distance between the target and the nozzle by the vehicle speed, and calculate the spray duration T2 by dividing the target length by the vehicle speed. Pass T1 to the timer of the microcontroller. When the timer reaches T1, send a control signal to open the solenoid valve to start spraying, and at the same time pass T2 to another timer of the microcontroller to start timing. When the timing reaches T2, stop spraying.

6. The control method according to claim 5, characterized in that: In the spray boom coordinate system, the rotation axis of the pendulum nozzle module located in the middle of the spray boom suspension frame is the x-axis, the forward direction is the positive direction of the x-axis, the intersection of the nozzle center axis and the x-axis is the origin, the vertical direction is the z-axis, the downward direction is the positive direction of the z-axis, the direction along the spray boom is the y-axis, and the right side of the forward direction is the positive direction of the y-axis. The coordinate system satisfies the right-hand rule.

7. The control method according to claim 5, characterized in that: In S2, the principle of the main controller assigning the target nozzle to the target is as follows: first calculate the distance between the target and all nozzles dis ji =(y j -y i ), dis ji The nozzle corresponding to the smallest positive number is set as the target spray nozzle. If the working state of the nozzle is occupied, the nozzle with the assigned sequence number i+1 is the target spray nozzle.

8. The control method according to claim 5, characterized in that: The control message contains the servo angle θ i 、Target distance (x j -0.5l j ), target length l j , vehicle speed v, among which the steering gear angle is calculated by the following formula: 。 9. The control method according to claim 5, characterized in that: The single nozzle of the pendulum nozzle module is connected to the external main controller through a four-core cable, of which two cores are power supply lines and the other two cores are RS485 communication lines. After RS485 conversion to TTL level, it is connected to the built-in microcontroller serial port. The microcontroller receives the control message sent by the external main controller through the serial port interrupt mode.

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