Self-propelled spraying vehicle and method of spraying

Abstract

The present application relates to the technical field of pesticide application equipment for plant protection, in particular to a self-propelled spraying vehicle and a pesticide spraying method. The self-propelled spraying vehicle comprises a vehicle body, a liquid storage tank, a spray head mechanism, a liquid path system, an image acquisition mechanism, a positioning mechanism and a controller arranged at the vehicle body. The liquid path system is used to deliver pesticide liquid in the liquid storage tank to the spray head mechanism to realize pesticide liquid spraying on grape leaf curtains located at both sides of the vehicle body. The controller is used to adjust the pesticide spraying flow of the liquid path system based on a prescription map, leaf curtain image data acquired by the image acquisition mechanism and vehicle body position data acquired by the positioning mechanism. The pesticide spraying method is realized based on the self-propelled spraying vehicle. The present application can realize real-time adjustment of the pesticide spraying flow based on the prescription map and the growth degree of grape leaf curtains, and is suitable for fine operation in complex terrains.

Description

Technical Field

[0001] This invention relates to the field of pesticide application equipment technology for plant protection, and more specifically, to a self-propelled sprayer and a spraying method. Background Technology

[0002] Precision management of pests and diseases in large-scale crop cultivation includes two major research directions: precise identification of pests and diseases and precise spraying of pesticides. Although it is currently possible to obtain the amount of pesticides to be sprayed in different areas of the planting area by outputting prescription maps, thus achieving precise identification of pests and diseases, the current limitations of plant protection machinery make it difficult to spray pesticides according to the prescription maps for each type of large-scale crop.

[0003] Taking large-scale grape cultivation as an example, in the case of large-scale grape cultivation under the vertical trellis system, the grape leaf canopy exhibits a high-density, vertically distributed, wall-like distribution during the growing season. This vertical distribution of the grape leaf canopy places extremely high demands on the automated spraying capabilities and spraying accuracy of the pesticide application equipment. These extremely high demands are mainly reflected in the following aspects: Firstly, the prescription map generated from the spectral data captured from top to bottom using remote sensing technology represents the basic spraying flow rate required per unit planar area of ​​the planting area. This type of data cannot be directly used for spraying vertically distributed grape foliage canopies. Existing technologies lack corresponding conversion models, making data conversion difficult. Secondly, traditional ground spray booms or single-fan sprayers are difficult to achieve uniform coverage in the vertical direction and cannot dynamically adjust the amount of pesticide according to the density of the grape canopy, which can easily lead to problems such as spraying small plants with large amounts of pesticide or spraying missing plants, resulting in pesticide waste and environmental pollution. Third, it is quite difficult to make precise real-time adjustments to the amount of pesticide sprayed during the journey, and existing technologies lack sufficient solutions. Summary of the Invention

[0004] To address the problem that existing spraying equipment is insufficient for precise spraying of large-scale grape cultivation under vertical trellis systems, this disclosure proposes a self-propelled sprayer and spraying method that can adjust the spray flow rate in real time based on a prescription map and the growth level of the grape canopy, making it suitable for precision operations in complex terrain.

[0005] One of the objectives of this disclosure is to provide a self-propelled sprayer, which includes a vehicle body for spraying pesticides onto vertically distributed grape leaf canopies on both sides during travel. An image acquisition mechanism and a nozzle mechanism are installed on the vehicle body. The image acquisition mechanism includes two sets of image acquisition components respectively located on both sides of the vehicle body. The nozzle mechanism includes two sets of nozzle towers respectively located on both sides of the vehicle body. The nozzle towers have multiple air-assisted nozzles spaced apart in the vertical direction. The multiple air-assisted nozzles are used to form a spray area on the grape leaf canopy on the corresponding side. The image acquisition components are used to form an image acquisition area on the grape leaf canopy on the corresponding side. The corresponding image acquisition components are set in front of the corresponding nozzle towers and there is a set fixed installation distance between them. A controller is also installed on the vehicle body. The controller is used to acquire the real-time position of the vehicle body, the real-time running speed of the vehicle body, the real-time spraying flow rate of the nozzle mechanism and the leaf canopy coverage of the image acquisition area, and to control the spraying flow rate required for each nozzle tower in real time and to adjust the required travel speed of the vehicle body in real time. The controller obtains the basic spraying flow rate required per unit plane area from the prescription map based on the real-time position of the vehicle body and converts it into the basic spraying flow rate required per unit vertical area. It also obtains the spraying flow rate required for each nozzle tower based on the leaf canopy coverage of the corresponding image acquisition area and the real-time running speed of the vehicle body. The controller obtains the vehicle's required travel speed based on the fixed installation spacing, the real-time spray flow rate of the nozzle mechanism, and the required spray flow rate of the nozzle mechanism.

[0006] Preferably, a liquid storage tank and a liquid circuit system are provided at the vehicle body. The liquid circuit system includes two sets of drug delivery branches corresponding to the two sets of nozzle towers. The drug delivery branches are used to deliver the liquid in the liquid storage tank to the corresponding nozzle tower according to the required spray flow rate of the corresponding nozzle tower. A positioning mechanism is installed on the vehicle body to acquire vehicle body position data in real time. The controller obtains the vehicle body's real-time running speed and real-time position based on the analysis of the vehicle body position data. The image acquisition component is used to acquire single-sided leaf canopy image data at the corresponding image acquisition area, and the controller obtains the corresponding leaf canopy coverage based on the parsing of the single-sided leaf canopy image data. After obtaining the basic spraying flow rate required per unit plane area, the controller converts the basic spraying flow rate required per unit plane area into the basic spraying flow rate required per unit vertical area based on the canopy height of the grape foliage and the spacing between rows in the grape planting area. The required basic spraying flow rate per unit area and the required spraying flow rate for the corresponding nozzle tower satisfy the following relationship. ; In the above formula, This represents the required spray flow rate for the i-th nozzle tower; This represents the leaf canopy coverage of the i-th side image acquisition area, used to characterize the proportion of pixels in the single-sided leaf canopy image data; v represents the real-time operating speed of the vehicle. h represents the canopy height of the grape foliage, which is a preset value; R represents the spacing between rows in the grape growing area, which is a preset value; This is the base spray flow rate required per unit area of ​​the planar surface, obtained in real time from the prescription map; i can be either 1 or 2.

[0007] Preferably, the drug delivery branch includes a drug delivery pipeline, and an electric ball valve is installed at the drug delivery pipeline; the controller has a flow control module, which repeatedly adjusts the opening of the electric ball valve through the flow control module to achieve real-time control of the required spraying flow for each nozzle tower.

[0008] Preferably, the controller includes a prescription map parsing module and a matching module, wherein... The prescription map parsing module is used to process the prescription map to obtain the geographic coordinates of each grid and the basic drug application rate required per unit area of ​​the corresponding plane. The matching module is used to match the vehicle's real-time location with geographic coordinates to obtain the basic spraying flow rate required per unit area in real time.

[0009] Preferably, the controller includes a leaf canopy image analysis module, which performs analysis of single-sided leaf canopy image data, including... Obtain the number of pixels belonging to the grape leaf canopy and the total number of pixels in the image data of a single leaf canopy; The canopy coverage is obtained by comparing the number of pixels belonging to the grape canopy with the total number of pixels in the single-sided canopy image data.

[0010] Preferably, the drug delivery branch includes a flow meter, which is used to obtain the real-time spraying flow of each nozzle tower, and the sum of the real-time spraying flow of all nozzle towers is used to obtain the real-time spraying flow of the nozzle mechanism; the vehicle body has a chassis mechanism, and the controller has a vehicle speed control module, which is used to adjust the required travel speed of the vehicle body in real time. The required speed of the vehicle is obtained based on the following: ; In the above formula, The required speed for the vehicle body; The fixed installation distance set between the image acquisition mechanism and the corresponding nozzle tower; The time required for a single adjustment of the opening degree of the electric ball valve; The required spray flow rate is based on the total spray flow rate required for the entire nozzle tower. The sum of is obtained; Real-time spray flow rate, based on the real-time spray flow rate of all nozzle towers. The sum of is obtained; K represents the flow rate change value corresponding to each opening degree; |*| indicates that the absolute value operation is performed.

[0011] Preferably, a flexible nozzle mechanism is provided below the plurality of air-blown nozzles; both the air-blown nozzles and the flexible nozzle mechanism are used to spray liquid medicine onto the outside of the vehicle body.

[0012] Preferably, the nozzle tower has vertically arranged mounting posts and horizontally arranged mounting crossbars, and the multiple air-driven nozzles can be evenly spaced at the mounting posts; the flexible nozzle mechanism includes a flexible connecting rod and an atomizing nozzle, with the flexible connecting rod located at the lower end of the mounting post.

[0013] Preferably, the sprinkler tower has a sleeve rod, which is fixedly installed on the vehicle body, and a mounting crossbar is movably engaged with the sleeve rod. An electric push rod is installed between the mounting crossbar and the sleeve rod, which is used to realize the lateral displacement of the mounting pole on the vehicle body. A distance detection mechanism is also installed on the vehicle body, which includes a first distance measuring component located on the sprinkler tower and a second distance measuring component located on the corresponding side of the vehicle body. The first distance measuring component is used to obtain a first horizontal distance between the sleeve rod and the mounting pole, and the second distance measuring component is used to obtain a second distance between the corresponding side of the vehicle body and the grape foliage. Correspondingly, the controller includes an electric push rod control module, which is used to generate control commands based on the first and second distances to control the electric push rod to perform displacement actions, so that the distance between the mounting pole and the grape foliage is maintained at a set distance.

[0014] Another objective of this disclosure is to provide a spraying method based on a self-propelled sprayer, which can use any of the above-mentioned self-propelled sprayers to spray vertically distributed grape leaf canopies while in motion.

[0015] This disclosure has the following beneficial effects: Based on the reading of the prescription map, it can obtain the basic spraying flow rate required per unit vertical area at the grid where the vehicle body is located; at the same time, by processing the leaf canopy image data of grape leaves, it can achieve real-time fine adjustment of the basic spraying flow rate required for the vertical area based on the coverage of the grape leaves in the area to be operated; thus realizing the fine spraying of vertically distributed grape leaves. The layered nozzle tower design can construct a spraying space that matches the geometry of the grape foliage canopy based on its distribution characteristics, thereby improving the uniformity of pesticide coverage in the vertical direction. This layered application design achieves targeted coverage of the vertical foliage canopy in the height direction, improving application accuracy while reducing pesticide usage and improving overall spray performance. The distance between the air-blowing nozzles and atomizing nozzles and the grape leaf canopy can be dynamically adjusted to maintain the set distance, ensuring that the wind field can always cover the grape leaf canopy at the best effective distance. This avoids incomplete coverage of the pesticide due to too close a distance, and also prevents wind power attenuation and pesticide drift due to too far a distance. Attached Figure Description

[0016] Figure 1 This is a structural schematic diagram of a self-propelled sprayer vehicle proposed in this disclosure; Figure 2 This is a schematic diagram of the chassis mechanism of a self-propelled sprayer proposed in this disclosure; Figure 3 This is a schematic diagram of the nozzle mechanism of the chassis of a self-propelled sprayer proposed in this disclosure; Figure 4 This is a schematic diagram of the drug delivery pipeline of the chassis mechanism of a self-propelled sprayer proposed in this disclosure; Figure 5 This is a schematic diagram of the hydraulic system of the chassis mechanism of a self-propelled sprayer proposed in this disclosure; Figure 6 This is a schematic diagram of an existing prescription chart; Figure 7 This is a schematic diagram of the mounting bracket for the chassis mechanism of a self-propelled sprayer as disclosed in this disclosure; Figure 8 This is a schematic diagram of the image acquisition component of the chassis mechanism of a self-propelled sprayer proposed in this disclosure; Figure 9 This is a schematic block diagram of the control mechanism of the chassis of a self-propelled sprayer proposed in this disclosure; Figure 10 This is a schematic diagram of the control flow of the chassis mechanism of a self-propelled sprayer proposed in this disclosure. Detailed Implementation

[0017] To further understand the content of this invention, the invention will be described in detail with reference to the embodiments. It should be understood that the embodiments are merely illustrative and not limiting of the invention.

[0018] Seen in Figure 1This disclosure proposes a self-propelled sprayer capable of spraying pesticides onto vertically distributed grape leaf canopies on both sides while in motion. Specifically, it has a vehicle body 100; the vehicle body 100 has a chassis mechanism 110, and the chassis mechanism 110 is equipped with a liquid storage tank 120, a nozzle mechanism 130, a liquid system 140, an image acquisition mechanism, a distance detection mechanism, a positioning mechanism 170, and a controller 180; the liquid system 140 is used to transport the pesticide solution in the liquid storage tank 120 to the nozzle mechanism 130 to achieve pesticide spraying onto the grape leaf canopies located on both sides of the vehicle body 100; the controller 180 is used to adjust the spraying flow rate of the liquid system 140 based on the prescription map, leaf canopy image data acquired by the image acquisition mechanism, and position data acquired by the positioning mechanism 170; furthermore, the controller 180 is also used to adjust the distance between the nozzle mechanism 130 and the grape leaf canopy based on the distance data acquired by the distance detection mechanism.

[0019] Seen in Figure 2 In order to better cope with complex road conditions, the chassis mechanism 110 of this disclosure may include a rubber track chassis running gear and may be powered by, for example, a range-extended electric power system. This is conventional prior art and will not be described in detail in this disclosure.

[0020] In this disclosure, the liquid storage tank 120 is used to store the liquid to be sprayed; it is understood that the liquid storage tank 120 has an injection port, an vent port and an outlet port for connecting to the liquid circuit system 140; these will not be described in detail here.

[0021] Seen in Figure 3 The nozzle mechanism 130 in this disclosure includes two sets of nozzle towers 300 located on both sides of the vehicle body 100. Each nozzle tower 300 has a plurality of air-assisted nozzles 310 spaced apart in the vertical direction. A flexible nozzle mechanism 320 can also be arranged below the plurality of air-assisted nozzles 310. Both the air-assisted nozzles 310 and the flexible nozzle mechanism 320 are used to spray liquid medicine to the outside of the vehicle body 100. The plurality of air-assisted nozzles 310 and / or the flexible nozzle mechanism 320 can form a spray area at the grape leaf canopy on the corresponding side. Based on this design, the air-assisted nozzle 310 can spray the canopy of the grape foliage, while the flexible nozzle mechanism 320 can spray the bottom of the grape foliage. This layered design can construct a spraying space that matches the geometry of the grape foliage based on its distribution characteristics, thereby improving the uniformity of spray coverage in the vertical direction. This layered application design achieves targeted coverage of the vertical foliage in the height direction, improving application accuracy while reducing the amount of pesticide used, and improving the overall performance of the spray.

[0022] The nozzle tower 300 can have a vertically arranged mounting post 331 and a horizontally arranged mounting crossbar 332. The plurality of air-driven nozzles 310 can be evenly spaced at the mounting post 331. The flexible nozzle mechanism 320 can include a flexible connecting rod 321 and an atomizing nozzle 322. The flexible connecting rod 321 is located at the lower end of the mounting post 331. The flexible connecting rod 321 can be made of, for example, rubber. The flexible nozzle mechanism 320 can avoid damage caused by contact with uneven ground due to its low installation position.

[0023] The air-assisted nozzle 310 may include an air duct assembly 311 and a fan assembly and a nozzle assembly disposed inside the air duct assembly 311. The fan assembly generates airflow to achieve high-speed delivery of the sprayed liquid from the nozzle assembly, which effectively increases the penetration ability of the liquid into the deep grape leaf canopy and the adhesion effect of the liquid on the back of the grape leaf canopy. It is understood that the air-assisted nozzle mechanism composed of components such as the fan, nozzle, and air duct is a relatively mature technology, and the air-assisted nozzle 310 in this disclosure can directly adopt existing related products, which will not be described in detail in this disclosure.

[0024] Because the thickness and area of ​​the grape canopy vary significantly at different growth stages, for example, during the budding stage, the vines are sparse and the branches and leaves are tender, requiring low-speed airflow for pesticide application; during the fruiting stage, the thickness and area of ​​the grape canopy increase, requiring strong airflow to agitate the leaves and increase the penetration of the pesticide solution. Therefore, in this disclosure, the airflow for pesticide delivery can be adjusted by regulating the rotational speed of the fan assembly.

[0025] Specifically, the controller 180 may include a fan speed control module, which can adjust the speed of the fan components based on PWM control, thereby adjusting the fan air delivery parameters according to the grape growth cycle.

[0026] In this disclosure, the number of air-driven nozzles 310 at each nozzle tower 300 can be up to three, for use on the upper, middle and lower parts of the canopy corresponding to the grape foliage; the number of flexible nozzle mechanisms 320 can be up to one, for use on the bottom of the grape foliage.

[0027] It is understandable that the kinetic energy of the pesticide droplets will rapidly decrease with increasing distance during airflow. In order to ensure the best deposition effect, the distance between the air-driven nozzle 310 and the atomizing nozzle 322 and the grape leaf canopy should be maintained. Under actual working conditions, the relative distance between the nozzle tower 300 and the grape leaf canopy will change due to objective factors such as undulating ground or uneven rows. Therefore, this disclosure also allows for the active adjustment of the distance between the air-driven nozzle 310 and the atomizing nozzle 322 and the grape leaf canopy.

[0028] Specifically, the nozzle tower 300 also has a sleeve rod 333, which is fixedly mounted on the chassis mechanism 110. The mounting crossbar 332 is movably engaged with the sleeve rod 333. An electric push rod 340 is provided between the mounting crossbar 332 and the sleeve rod 333. The electric push rod 340 is used to realize the lateral upward displacement of the mounting pole 331 on the vehicle body 100. Meanwhile, the distance detection mechanism includes a first distance measuring component 161 located on the nozzle tower 300 and a second distance measuring component 162 located on the corresponding side of the vehicle body 100. The first ranging component 161 is used to obtain a first horizontal distance between the sleeve rod 333 and the mounting pole 331, and the second ranging component 162 is used to obtain a second distance between the corresponding side of the vehicle body 100 and the grape leaf curtain; correspondingly, the controller 180 may include an electric push rod control module, which is used to generate control commands for controlling the electric push rod 340 to perform displacement actions based on the first distance and the second distance, so that the distance between the mounting pole 331 and the grape leaf curtain is maintained at a set distance.

[0029] It is understandable that the electric actuator 340 is an existing device, and the electric actuator control module that controls the electric actuator 340 is also an existing matching control circuit, so it will not be described in detail in this disclosure. Further explanation: when the distance between the mounting post 331 and the grape leaf canopy is maintained at a set distance D, the first distance D1, the second distance D2, and the set distance D should satisfy D = D2 - D1. Based on this formula, when the second distance D2 changes, the required adjustment amount of the first distance D1 can be known, and then the corresponding adjustment command can be issued through the electric actuator control module to achieve distance adjustment.

[0030] In this disclosure, both the first ranging component 161 and the second ranging component 162 may include an ultrasonic ranging sensor; the first ranging component 161 may include a first ultrasonic ranging sensor, which may be mounted on the sleeve rod 333 via a bracket, and correspondingly, a reflector for cooperating with the first ultrasonic ranging sensor is provided at the mounting rod 331; the second ranging component 162 may include a second ultrasonic ranging sensor, which may be directly mounted on the vehicle body 100.

[0031] Based on the above, the distance between the air-blowing nozzle 310 and the atomizing nozzle 322 and the grape leaf canopy can be dynamically adjusted to maintain the set distance, ensuring that the wind field can always cover the grape leaf canopy at the best effective distance. This avoids incomplete coverage of the pesticide due to too close a distance, and also prevents wind power attenuation and pesticide drift due to too far a distance.

[0032] Seen in Figure 4 and 5The liquid circuit system 140 in this disclosure includes two sets of drug delivery branches (531, 532) corresponding to the two sets of nozzle towers 300 respectively. Each drug delivery branch includes a plunger pump 510 and a drug delivery pipeline 400. An electric ball valve 410, a flow meter 420 and a normally open solenoid valve 430 are sequentially installed at the drug delivery pipeline 400. The normally open solenoid valve 430 is used to connect to the corresponding nozzle 520. The liquid medicine in the storage tank 120 is pumped to the corresponding nozzle 520 through the plunger pump 510 and the drug delivery pipeline 400.

[0033] It is understandable that when there are 3 air-driven nozzles 310 and 1 flexible nozzle mechanism 320 at each nozzle tower 300, there are 4 normally open solenoid valves 430, and the nozzles 520 connected to the normally open solenoid valves 430 correspond to the nozzle assembly and atomizing nozzles 322.

[0034] Based on the above design, it is possible to achieve precise control of spraying in each spraying area, such as stopping spraying in a specific area.

[0035] In this disclosure, when adjusting the spray flow rate of the liquid circuit system 140, the required spray flow rate can be calculated based on the following formula. ; In the above formula, Q represents the required spray flow rate of the hydraulic system 140, in L / min. r represents the canopy coverage, in percentage, used to characterize the proportion of pixels in the canopy image data, and is obtained by the controller 180 through the processing of the canopy image data. v represents the real-time operating speed of vehicle body 100, in m / min, which is obtained by the controller 180 through processing vehicle body position data. h represents the canopy height of the grape foliage, in meters, and is a preset value. R is the spacing between rows in the grape growing area, in meters, and is a preset value; The basic spraying flow rate required for the vehicle body 100 at its current position (the basic spraying flow rate required per unit area obtained in real time from the prescription map), in units of L / hm2, is obtained from the prescription map by the controller 180 based on the vehicle body position data.

[0036] The positioning mechanism 170 can be used to acquire vehicle position data in real time, and the controller 180 can acquire the real-time running speed and real-time position of the vehicle 100 based on the analysis of the vehicle position data.

[0037] It is understandable that when the nozzle tower 300 has two sets of nozzles, each supplied with liquid independently by corresponding delivery branches (531, 532), the image acquisition mechanism can also include two sets of image acquisition components 800 for independently acquiring leaf canopy image data at both sides of the vehicle body 100; wherein, the image acquisition component 800 is used to form an image acquisition area at the grape leaf canopy on the corresponding side; that is, the spraying flow rate of the entire liquid circuit system 140 can be adjusted by controlling the spraying flow rate required by each nozzle tower 300 in real time. It is also understandable that multiple air-assisted nozzles 310 and / or flexible nozzle mechanisms 320 can uniformly distribute the real-time spraying flow rate, or can distribute the real-time spraying flow rate proportionally according to the distribution characteristics of the grape leaf canopy in vertical space. Specifically, the controller 180 can obtain the basic spraying flow rate required per unit planar area from the prescription map based on the real-time position of the vehicle body 100 and convert it into the basic spraying flow rate required per unit vertical area. Furthermore, it can obtain the spraying flow rate required for each nozzle tower 300 in real time based on the leaf canopy coverage of the corresponding image acquisition area and the real-time operating speed of the vehicle body 100. The basic spraying flow rate required per unit planar area and the spraying flow rate required for the corresponding nozzle tower 300 satisfy the following relationship: ; In the above formula, This represents the required spray flow rate (single-sided spray flow rate) for the i-th side nozzle tower 300. The corresponding leaf canopy coverage (single-sided leaf canopy coverage) of the i-th side image acquisition area is used to characterize the proportion of pixels in the single-sided leaf canopy image data, and is obtained based on the processing of the single-sided leaf canopy image data by the controller 180. i can be either 1 or 2.

[0038] The image acquisition component 800 can be used to acquire single-sided leaf canopy image data at the corresponding image acquisition area, and the controller 180 can obtain the corresponding leaf canopy coverage based on the parsing of the single-sided leaf canopy image data.

[0039] The controller 180 may have a computing unit to perform the above-mentioned calculations.

[0040] Through the above methods, the real-time position of the vehicle body 100 can be obtained based on the positioning mechanism 170, thereby enabling the reading of the basic spraying flow rate at each grid in the prescription map; and the single-sided leaf canopy image data obtained by the image acquisition component 800 can achieve secondary adjustment of the single-sided spraying flow rate on each side based on the single-sided leaf canopy coverage, thereby greatly improving the precision management of spraying grape leaf canopy.

[0041] Seen in Figure 6This is a schematic diagram of a prescription map. Constructing a prescription map based on pest and disease monitoring of the planting area is a well-known technique in the field, and this disclosure does not cover the process of constructing the prescription map, so it will not be described in detail. For illustrative purposes, when constructing the prescription map, the planting area is divided into multiple grids based on the actual geographical information of the planting area. By establishing an attribute table, the geographical coordinates and prescription information of each grid can be recorded. The geographical coordinates are generally the latitude and longitude coordinates of the corresponding grid boundary, and the prescription information generally includes, for example, the severity of pests and diseases, the operating area, and the required spraying flow rate.

[0042] Furthermore, this disclosure achieves real-time pesticide application by adjusting the opening of the electric ball valve 410 to regulate the flow rate at the corresponding pesticide delivery pipeline 400. This allows for gradual and smooth flow rate regulation, preventing water hammer effects within the pipeline. Specifically, the controller 180 has a flow control module. When adjusting the single-sided spray flow rate of the corresponding pesticide delivery branch, the flow control module repeatedly adjusts the opening of the electric ball valve 410 to achieve the required single-sided spray flow rate at the corresponding pesticide delivery pipeline 400. That is, after obtaining the single-sided spray flow rate, the flow control module sequentially issues multiple opening adjustment commands. Each opening adjustment command controls the opening change of the electric ball valve 410 to be only 1, until the opening of the electric ball valve 410 reaches the opening value corresponding to the required single-sided spray flow rate.

[0043] As those skilled in the art will know, the opening degree of the electric ball valve 410 is generally set to 0-10; an opening degree of 0 means that the electric ball valve 410 is 0% open, at which point the electric ball valve 410 is completely closed; an opening degree of 10 means that the electric ball valve 410 is 100% open, at which point the electric ball valve 410 is completely open.

[0044] In addition, in order to obtain the basic spraying flow rate required for the vehicle body 100 at its current position, the controller 180 should also have a prescription map parsing module and a matching module; specifically, The prescription map parsing module is used to process the prescription map to obtain the geographic coordinates of each grid and the basic drug application rate required per unit area of ​​the corresponding plane. The matching module is used to match real-time vehicle location data (real-time location) with geographic coordinate information to obtain the basic spraying flow rate required for vehicle 100 at its current location.

[0045] The positioning mechanism 170 may include a satellite signal receiving device, and the controller 180 may correspondingly include a satellite signal parsing module, thereby enabling the acquisition of vehicle position data such as real-time geographic coordinates and real-time operating speed of the vehicle body 100 based on satellite positioning technology; the prescription map parsing module may be implemented based on communication circuits and register circuits, thereby enabling the reading and storage of relevant data in the prescription map; the matching module may match the real-time geographic coordinates in the vehicle position data with the geographic coordinate information at each grid based on existing coordinate matching algorithms, thereby completing the coordinate matching action.

[0046] Furthermore, to achieve the acquisition of unilateral leaf canopy coverage based on unilateral leaf canopy image data, the controller 180 may also include a leaf canopy image analysis module. This module can acquire the number of pixels belonging to the grape leaf canopy and the number of pixels belonging to the background based on image processing algorithms, and then obtain the leaf canopy coverage using the ratio of these related pixels. Specifically, the leaf canopy image analysis module's analysis and processing of unilateral leaf canopy image data may include: Obtain the number of pixels belonging to the grape leaf canopy and the total number of pixels in the image data of a single leaf canopy; The coverage of a single side of the canopy is obtained by comparing the number of pixels belonging to the canopy to the total number of pixels in the single-side canopy image data.

[0047] The leaf canopy image analysis module can calculate the leaf canopy coverage using, for example, the method for calculating the percentage of leaf coverage disclosed in Chinese invention patent CN116831101A, which will not be elaborated in this embodiment.

[0048] In this disclosure, the corresponding image acquisition component 800 can be positioned in front of the corresponding nozzle tower 300 in the forward direction of the vehicle body 100. At this time, the single-sided canopy image data acquired by the image acquisition component 800 is an image of the grape leaf canopy area at the front side of the corresponding nozzle tower 300 in the forward direction of the vehicle body 100. That is, the single-sided spraying flow rate calculated by the flow control module each time is for the grape leaf canopy area located in front of the corresponding nozzle tower 300. In other words, the corresponding nozzle tower 300 lags behind the grape leaf canopy area on which the calculation is based. To reduce the decrease in spraying accuracy caused by this lag, this disclosure can compensate for it in the following ways: One method of compensation for lag is... Seen in Figure 7 and 8The image acquisition mechanism is installed by mounting bracket 710. The mounting bracket 710 is provided with a strip-shaped mounting hole 711 extending along the running direction of the vehicle body 100. The image acquisition mechanism has a mounting base 810 and a shooting component 820. The shooting component 820 is fixedly mounted on the mounting base 810. The mounting base 810 is engaged with the strip-shaped mounting hole 711 by bolt connector 830. Based on this design, the running speed of the vehicle body 100 can be preset to a fixed value, and the installation position of the image acquisition component 800 can be adjusted before each operation based on the preset running speed during a single operation. Specifically, the distance between the image acquisition component 800 and the corresponding nozzle tower 300 should satisfy the following relationship. ; in, The preset operating speed of vehicle body 100 is expressed in m / s. The maximum number of times the electric ball valve 410 can perform opening adjustment within the set resolution interval range of the leaf curtain image resolution module; The time required for a single opening adjustment of the electric ball valve 410; The second method of compensation for lag is... The installation position of the image acquisition component 800 remains unchanged, that is, there is a set fixed installation distance between the corresponding image acquisition component 800 and the corresponding nozzle tower 300; the flow meter 420 is used to obtain the real-time spray flow rate at the corresponding drug delivery pipeline 400; the controller 180 has a vehicle speed control module, which controls the travel speed of the chassis mechanism 110 based on the real-time spray flow rate and the required spray flow rate; specifically, ; In the above formula, The required travel speed for the vehicle body 100 (the target travel speed that the chassis mechanism 110 needs to be adjusted to). The fixed installation distance is set between the image acquisition mechanism and the corresponding nozzle tower 300; The time required for a single opening adjustment of the electric ball valve 410; For the required spray flow rate, based on the total unilateral spray flow rate. Obtain the sum of (the required spray flow rate for a 300mm nozzle tower); For real-time spray flow rate, based on the total real-time spray flow rate on all one side. The sum of is obtained; K represents the flow rate change value corresponding to each opening degree; whereby the flow rate change value K corresponding to each opening degree can be obtained based on the ratio of the maximum flow rate value of the electric ball valve 410 under constant pressure liquid supply to the maximum opening value; |*| indicates that the absolute value operation is performed.

[0049] Seen in Figure 9 and Figure 10 Based on a self-propelled sprayer of this disclosure, this disclosure also proposes a spraying method based on the self-propelled sprayer for spraying vertically distributed grape leaf canopies during travel; it includes, Based on the processing of prescription map, leaf canopy image data acquired by image acquisition mechanism and vehicle body position data acquired by positioning mechanism 170 by controller 180, the spraying flow rate of liquid circuit system 140 is adjusted in real time. Based on the controller 180's processing of the fixed installation distance between the image acquisition component 800 and the corresponding nozzle tower 300, the real-time spraying flow rate, and the required spraying flow rate, the running speed of the vehicle body 100 is adjusted in real time. Based on the first distance between the nozzle mechanism 130 and the vehicle body 100 and the second distance between the corresponding side of the vehicle body 100 and the grape leaf canopy, the controller 180 adjusts the distance between the nozzle mechanism 130 and the grape leaf canopy in real time. The controller 180 presets the delivery airflow of the nozzle mechanism 130.

[0050] Compared to traditional constant-volume spraying equipment, the solution disclosed in this paper is specifically applicable to spraying large-scale grape cultivation under vertical trellis cultivation mode. Its application accuracy reaches 94.53%, the uniformity of pesticide distribution reaches 81.21%, and the pesticide saving rate reaches 31.30%. It has better control stability and application uniformity, and is suitable for complex terrain and precision operations.

[0051] It is readily understood that those skilled in the art can combine, split, or reorganize the embodiments of this application to obtain other embodiments based on one or more embodiments provided in this disclosure, and none of these embodiments exceed the protection scope of this application.

[0052] The foregoing illustrative description of this disclosure and its embodiments is not restrictive, and the embodiments shown are only part of the embodiments of this disclosure; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of this invention, such designs should fall within the protection scope of this disclosure.

Claims

1. A self-propelled sprayer, characterized in that: Includes a vehicle body (100), which is used to spray the vertically distributed grape leaf canopy on both sides during travel; An image acquisition mechanism and a nozzle mechanism (130) are provided on the vehicle body. The image acquisition mechanism includes two sets of image acquisition components (800) respectively located on both sides of the vehicle body (100). The nozzle mechanism (130) includes two sets of nozzle towers (300) respectively located on both sides of the vehicle body (100). The nozzle towers (300) have multiple air-driven nozzles (310) spaced apart in the vertical direction. The multiple air-driven nozzles (310) are used to form a spray area on the grape leaf canopy on the corresponding side. The image acquisition components (800) are used to form an image acquisition area on the grape leaf canopy on the corresponding side. The corresponding image acquisition components (800) are located in front of the corresponding nozzle towers (300) and there is a set fixed installation distance between them. A controller (180) is also provided at the vehicle body (100). The controller (180) is used to acquire the real-time position of the vehicle body (100), the real-time running speed of the vehicle body (100), the real-time spraying flow rate of the nozzle mechanism (130) and the leaf canopy coverage of the image acquisition area. It is also used to control the spraying flow rate required for each nozzle tower (300) in real time and to adjust the travel speed required for the vehicle body (100) in real time. The controller (180) obtains the basic spraying flow rate required per unit plane area from the prescription map based on the real-time position of the vehicle body (100) and converts it into the basic spraying flow rate required per unit vertical area. It also obtains the spraying flow rate required for each nozzle tower (300) based on the leaf canopy coverage of the corresponding image acquisition area and the real-time running speed of the vehicle body (100). The controller (180) obtains the required travel speed of the vehicle body (100) based on the fixed installation spacing, the real-time spray flow rate of the nozzle mechanism (130), and the spray flow rate required by the nozzle mechanism (130). A liquid storage tank (120) and a liquid circuit system (140) are provided at the vehicle body (100). The liquid circuit system (140) includes two sets of drug delivery branches corresponding to the two sets of nozzle towers (300). The drug delivery branches are used to deliver the liquid in the liquid storage tank (120) to the corresponding nozzle tower (300) according to the required spray flow rate of the corresponding nozzle tower (300). A positioning mechanism (170) is provided at the vehicle body (100). The positioning mechanism (170) is used to acquire vehicle body position data in real time. The controller (180) acquires the real-time running speed and real-time position of the vehicle body (100) based on the parsing of the vehicle body position data. The image acquisition component (800) is used to acquire single-sided leaf canopy image data at the corresponding image acquisition area, and the controller (180) obtains the corresponding leaf canopy coverage based on the parsing of the single-sided leaf canopy image data; After obtaining the basic spraying flow rate required per unit plane area, the controller (180) converts the basic spraying flow rate required per unit plane area into the basic spraying flow rate required per unit vertical area based on the canopy height of the grape leaf canopy and the spacing between rows in the grape planting area. The basic spraying flow rate required per unit area of ​​the plane and the spraying flow rate required for the corresponding nozzle tower (300) satisfy the following relationship: ； In the above formula, Indicates the required spray flow rate for the i-th side nozzle tower (300); This represents the leaf canopy coverage of the i-th side image acquisition area, used to characterize the proportion of pixels in the single-sided leaf canopy image data; v is the real-time operating speed of the vehicle body (100); h represents the canopy height of the grape foliage, which is a preset value; R represents the spacing between rows in the grape growing area, which is a preset value; The basic spray flow rate required per unit area of ​​the planar surface is obtained in real time from the prescription map; i can be either 1 or 2.

2. The self-propelled sprayer truck according to claim 1, characterized in that: The drug delivery branch includes a drug delivery pipeline (400), and an electric ball valve (410) is provided at the drug delivery pipeline (400). The controller (180) has a flow control module, which repeatedly adjusts the opening of the electric ball valve (410) to achieve real-time control of the required spraying flow for each nozzle tower (300).

3. The self-propelled sprayer truck according to claim 1, characterized in that: The controller (180) has a prescription map parsing module and a matching module, wherein, The prescription map parsing module is used to process the prescription map to obtain the geographic coordinates of each grid and the basic drug application rate required per unit area of ​​the corresponding plane. The matching module is used to match the real-time location of the vehicle body (100) with the geographic coordinate information to obtain the basic spraying flow rate required per unit plane area in real time.

4. The self-propelled sprayer truck according to claim 1, characterized in that: The controller (180) has a leaf canopy image analysis module, which analyzes single-sided leaf canopy image data including, Obtain the number of pixels belonging to the grape leaf canopy and the total number of pixels in the image data of a single leaf canopy; The canopy coverage is obtained by comparing the number of pixels belonging to the grape canopy with the total number of pixels in the single-sided canopy image data.

5. The self-propelled sprayer truck according to claim 2, characterized in that: The drug delivery branch includes a flow meter (420), which acquires the real-time drug flow rate of each nozzle tower (300) based on the flow meter (420), and acquires the real-time drug flow rate of the nozzle mechanism (130) based on the sum of the real-time drug flow rates of all nozzle towers (300); the vehicle body (100) has a chassis mechanism (110), and the controller (180) has a vehicle speed control module, which adjusts the required travel speed of the vehicle body (100) in real time based on the vehicle speed control module; The required travel speed of the vehicle body (100) is obtained based on the following: ； In the above formula, The required speed of travel for the vehicle body (100); The fixed installation distance is set between the image acquisition mechanism and the corresponding nozzle tower (300); The time required for a single opening adjustment of the electric ball valve (410); The required spray flow rate is based on the total spray flow rate required for the entire nozzle tower (300). The sum of is obtained; Real-time spray flow rate, based on the real-time spray flow rate of the entire nozzle tower (300). The sum of is obtained; K represents the flow rate change value corresponding to each opening degree; |*| indicates that the absolute value operation is performed.

6. The self-propelled sprayer truck according to claim 1, characterized in that: A flexible nozzle mechanism (320) is provided below the plurality of air-blown nozzles (310); both the air-blown nozzles (310) and the flexible nozzle mechanism (320) are used to spray liquid medicine to the outside of the vehicle body (100).

7. The self-propelled sprayer according to claim 6, characterized in that: The nozzle tower (300) has a vertically arranged mounting pole (331) and a horizontally arranged mounting crossbar (332). The plurality of air-driven nozzles (310) can be evenly spaced at the mounting pole (331). The flexible nozzle mechanism (320) includes a flexible connecting rod (321) and an atomizing nozzle (322). The flexible connecting rod (321) is located at the lower end of the mounting pole (331).

8. The self-propelled sprayer truck according to claim 7, characterized in that: The nozzle tower (300) has a sleeve (333), which is fixedly installed on the vehicle body (100). A mounting crossbar (332) is movably engaged with the sleeve (333). An electric push rod (340) is provided between the mounting crossbar (332) and the sleeve (333). The electric push rod (340) is used to realize the lateral upward displacement of the mounting pole (331) on the vehicle body (100). A distance detection mechanism is also provided on the vehicle body (100). The distance detection mechanism includes a first distance measuring component (161) located on the nozzle tower (300) and a corresponding component located on the vehicle body (100). The second ranging component (162) is used to obtain the first distance in the horizontal direction between the sleeve rod (333) and the mounting pole (331), and the second ranging component (162) is used to obtain the second distance between the corresponding side of the vehicle body (100) and the grape leaf curtain; correspondingly, the controller (180) includes an electric push rod control module, which is used to generate control commands for controlling the electric push rod (340) to perform displacement actions based on the first distance and the second distance, so that the distance between the mounting pole (331) and the grape leaf curtain is maintained at a set distance.

9. A spraying method based on a self-propelled sprayer, characterized in that: The self-propelled sprayer described in any one of claims 1-8 is used to spray the vertically distributed grape leaf canopy while in motion.

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