Pesticide spraying system

Abstract

The utility model relates to the technical field of agricultural production, in particular to a pesticide spraying system, which comprises an ultrasonic acquisition module, a pesticide liquid supply module, an intelligent decision module, a pesticide spraying execution module, a mobile platform and a remote monitoring and control module, the information is transmitted to the intelligent decision-making module; the intelligent decision-making module analyzes a plant distribution result based on the plant information, and calculates a pesticide liquid amount and pesticide spraying time required by each area in combination with a preset pesticide spraying strategy to obtain a pesticide spraying decision; the mobile platform autonomously travels according to a preset route, and meanwhile, the pesticide spraying execution module accurately sprays pesticide liquid to plants based on a pesticide spraying decision, so that the system reduces pesticide liquid waste, reduces agricultural production cost, avoids environmental pollution caused by excessive pesticide application, protects the ecological environment, reduces the risk that an operator is in contact with the pesticide, guarantees the health of the operator, and improves the working efficiency. The intelligent and automatic pesticide spraying operation is realized, and the agricultural production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural production, in particular to a spraying system. Background Art

[0002] Crop pests and diseases are among my country's major agricultural disasters. They are numerous, impactful, and frequently erupt. Their scope and severity often cause significant losses to my country's national economy, particularly agricultural production. Common crop pests and diseases in my country include: rice planthoppers, powdery mildew, corn borers, cotton bollworms, wheat rust, cotton aphids, rice sheath blight, rice blast, wheat aphids, wheat spider mites, locusts, and wheat head blight. These pests and diseases have become significant threats to agricultural production, and crop spraying has become the primary method of pest and disease control.

[0003] However, the traditional manual spraying method often wastes liquid medicine and poses a threat to the health of operators. Utility Model Content

[0004] The utility model aims to provide a spraying system, which aims to solve the problem that manual spraying methods waste liquid medicine and harm the health of operators.

[0005] To achieve the above objectives, in a first aspect, the present utility model provides a spraying system, comprising an ultrasonic acquisition module, a liquid medicine supply module, an intelligent decision-making module, a spraying execution module, a mobile platform, and a remote monitoring and control module, wherein the mobile platform is respectively connected to the ultrasonic acquisition module, the liquid medicine supply module, the intelligent decision-making module, the spraying execution module, and the remote monitoring and control module; the intelligent decision-making module is respectively connected to the ultrasonic acquisition module and the remote monitoring and control module; and the liquid medicine supply module is connected to the spraying execution module;

[0006] The ultrasonic acquisition module collects plant information based on ultrasonic radar technology and transmits the plant information to the intelligent decision-making module;

[0007] The liquid medicine supply module is used to supply liquid medicine to the spray execution module;

[0008] The intelligent decision-making module analyzes the plant distribution results based on the plant information, and calculates the required liquid medicine amount and spraying time for each area in combination with the preset spraying strategy to obtain a spraying decision;

[0009] The spraying execution module sprays the liquid medicine on the plants based on the spraying decision;

[0010] The mobile platform is used to carry the ultrasonic acquisition module, the liquid medicine supply module, the intelligent decision-making module, the spraying execution module and the remote monitoring and control module, and move remotely in the farmland or drive autonomously according to a preset route;

[0011] The remote monitoring and control module remotely monitors and controls the ultrasonic acquisition module, the liquid medicine supply module, the intelligent decision-making module, the spraying execution module and the mobile platform based on a wireless network, and interferes with the spraying process.

[0012] Wherein, the spraying system further includes a navigation module, and the navigation module is connected to the mobile platform;

[0013] The navigation module obtains the position of the mobile platform based on RTK differential positioning technology, and the remote monitoring and control module parses the position data, compares the actual position of the remote monitoring and control module with the route position, and corrects the actual driving direction and speed of the remote monitoring and control module.

[0014] Among them, the medicine liquid supply module includes a medicine liquid storage tank, a medicine liquid pump and a medicine liquid delivery pipeline. The medicine liquid pump is connected to the medicine liquid storage tank and is located on one side of the medicine liquid storage tank. The medicine liquid delivery pipeline is connected to the medicine liquid pump and is located on one side of the medicine liquid pump.

[0015] Among them, the spray execution module includes a solenoid valve and a nozzle, the solenoid valve is arranged on the side of the liquid medicine delivery pipeline away from the liquid medicine pump, and the nozzle is connected to the liquid medicine delivery pipeline and is located on the side of the liquid medicine delivery pipeline away from the liquid medicine pump.

[0016] In a second aspect, the present invention further provides a spraying method, which is applied to the spraying system described in the first aspect, and is characterized by comprising the following steps:

[0017] Install and debug the ultrasonic acquisition module on the mobile platform, and configure the liquid supply module based on the spraying operation requirements;

[0018] The remote monitoring and control module controls the ultrasonic acquisition module to collect plant information and transmits the plant information to the intelligent decision-making module;

[0019] The intelligent decision-making module analyzes the plant distribution results based on plant information, and calculates the required amount of liquid medicine and spraying time for each area based on the preset spraying strategy to make a spraying decision;

[0020] The mobile platform drives autonomously according to the preset route. At the same time, the spraying execution module sprays the plants based on the spraying decision.

[0021] The utility model provides a spraying system, which controls the ultrasonic acquisition module to collect plant information through the remote monitoring and control module, and transmits the plant information to the intelligent decision-making module. Specifically, the ultrasonic radar forms a detection matrix, obtains the plant distribution and crown growth status of the orchard plants in real time, and obtains the required amount of medicine for the target plant through the algorithm. First, a group of ultrasonic acquisition modules on the head of the mobile platform (robot) are used to pre-scan the target plant to be sprayed, and the ultrasonic acquisition module detects the distance from the mobile platform (robot) to the plant trunk and crown, and calculates the distance of the front plant relative to the mobile platform (robot) and the crown diameter and plant height in combination with the vehicle speed. The intelligent decision-making module analyzes the plant distribution results based on the plant information, and calculates the required liquid medicine amount and spraying time for each area in combination with the preset spraying strategy to obtain the spraying decision. Specifically, the intelligent decision-making module establishes a preliminary 3D model of the appearance of the front plant, and the robot main controller makes a decision based on the established 3D model. The 3D model of the standing plant's appearance is combined with the database of the combined spraying effect of the selected medicine pump and the nozzle to formulate a spraying pre-plan for the target plant to be sprayed in front, including control variables such as the required amount of medicine, medicine pump pressure and the direction of the nozzle. Then, the ultrasonic acquisition module matrix in the middle of the robot is used to perform a close scanning and analysis of the target plant to be sprayed to obtain a more accurate 3D model of the plant, and the previously formed pre-plan is adjusted to form a more accurate time-slice spraying plan. The mobile platform travels autonomously according to the preset route. At the same time, the spraying execution module accurately sprays the liquid medicine on the plants based on the spraying decision. The system improves the accuracy of spraying, reduces the waste of liquid medicine, reduces the cost of agricultural production, avoids the pollution of the environment caused by excessive spraying, protects the ecological environment, and reduces the risk of operators being exposed to pesticides, protects the health of operators, realizes the intelligence and automation of spraying operations, improves agricultural production efficiency, and solves the problem of liquid medicine waste and harm to the health of operators in manual spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in 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 only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 This is a connection diagram of a spraying system provided by the utility model.

[0024] Figure 2 This is a schematic diagram of a liquid supply module of a spraying system provided by the utility model.

[0025] Figure 3 This is a schematic diagram of a liquid spraying execution module of a spraying system provided by the utility model.

[0026] Figure 4 This is a schematic diagram of the travel direction of a spraying system provided by the utility model.

[0027] Figure 5 The utility model is a schematic flow chart of a spraying method provided by the utility model.

[0028] Figure 6 The utility model provides a flow chart of the steps of a spraying method.

[0029] In the figure: 1-ultrasonic acquisition module, 2-liquid supply module, 3-intelligent decision-making module, 4-spraying execution module, 5-mobile platform, 6-remote monitoring and control module, 7-navigation module, 21-liquid storage tank, 22-liquid pump, 23-liquid delivery pipeline, 41-solenoid valve, 42-spray nozzle. DETAILED DESCRIPTION

[0030] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0031] See also Figures 1 to 4 In a first aspect, the utility model provides a spraying system, comprising an ultrasonic acquisition module 1, a liquid medicine supply module 2, an intelligent decision-making module 3, a spraying execution module 4, a mobile platform 5, and a remote monitoring and control module 6. The mobile platform 5 is respectively connected to the ultrasonic acquisition module 1, the liquid medicine supply module 2, the intelligent decision-making module 3, the spraying execution module 4, and the remote monitoring and control module 6. The intelligent decision-making module 3 is respectively connected to the ultrasonic acquisition module 1 and the remote monitoring and control module 6. The liquid medicine supply module 2 is connected to the spraying execution module 4.

[0032] The ultrasonic acquisition module 1 collects plant information based on ultrasonic radar technology and transmits the plant information to the intelligent decision module 3;

[0033] The liquid medicine supply module 2 is used to supply liquid medicine to the spray execution module 4;

[0034] The intelligent decision module 3 analyzes the plant distribution results based on the plant information, and calculates the required liquid medicine amount and spraying time for each area in combination with the preset spraying strategy to obtain a spraying decision;

[0035] The spraying execution module 4 sprays the plant with the liquid medicine based on the spraying decision;

[0036] The mobile platform 5 is used to carry the ultrasonic acquisition module 1, the liquid medicine supply module 2, the intelligent decision-making module 3, the spraying execution module 4 and the remote monitoring and control module 6, and is remotely moved in the farmland or autonomously driven according to a preset route;

[0037] The remote monitoring and control module 6 remotely monitors and controls the ultrasonic acquisition module 1, the liquid medicine supply module 2, the intelligent decision module 3, the spraying execution module 4 and the mobile platform 5 based on a wireless network, and interferes with the spraying process.

[0038] In an embodiment of the present utility model, the ultrasonic acquisition module 1 is controlled by the remote monitoring and control module 6 to collect plant information and transmit the plant information to the intelligent decision-making module 3. Specifically, the ultrasonic radar forms a detection matrix to obtain the plant distribution and crown growth status of the orchard plants in real time, and obtains the required amount of medicine for the target plant through the algorithm. First, a group of ultrasonic acquisition modules 1 on the head of the mobile platform 5 (robot) are used to pre-scan the target plant to be sprayed. The ultrasonic acquisition module 1 detects the distance from the mobile platform 5 (robot) to the plant trunk and crown, and the distance of the front plant relative to the mobile platform 5 (robot) and the crown diameter and plant height are calculated in combination with the vehicle speed. The intelligent decision-making module 3 analyzes the plant distribution results based on the plant information, and calculates the required liquid medicine amount and spraying time for each area in combination with the preset spraying strategy to obtain a spraying decision. Specifically, the intelligent decision-making module 3 establishes a preliminary 3D model of the appearance of the front plant, and the robot main controller makes a decision based on the The established 3D model of the plant's appearance is combined with the database of the combined spraying effect of the selected drug pump and the nozzle 42 to formulate a spraying pre-plan for the target plant to be sprayed in front, including control variables such as the required amount of medicine, drug pump pressure and the direction of the nozzle 42. Then, the ultrasonic acquisition module 1 matrix in the middle of the robot is used to perform a close scanning and analysis of the target plant to be sprayed to obtain a more accurate 3D model of the plant, and the previously formed pre-plan is adjusted to form a more accurate time-slice spraying plan. The mobile platform 5 travels autonomously according to the preset route. At the same time, the spraying execution module 4 accurately sprays the liquid medicine on the plants based on the spraying decision. The system improves the accuracy of spraying, reduces the waste of liquid medicine, reduces the cost of agricultural production, avoids the pollution of the environment caused by excessive spraying, protects the ecological environment, and reduces the risk of operators being exposed to pesticides, protects the health of operators, realizes the intelligence and automation of spraying operations, improves agricultural production efficiency, and solves the problem of liquid medicine waste and harm to the health of operators in manual spraying.

[0039] Furthermore, the spraying system further includes a navigation module 7, which is connected to the mobile platform 5;

[0040] The navigation module 7 obtains the position of the mobile platform 5 based on the RTK differential positioning technology, and the remote monitoring and control module 6 parses the position data, compares the actual position of the remote monitoring and control module 6 with the route position, and corrects the actual driving direction and speed of the remote monitoring and control module 6.

[0041] In an embodiment of the present utility model, the navigation module 7 obtains the position of the mobile platform 5 based on the RTK differential positioning technology, and the remote monitoring and control module 6 parses the position data. The actual position of the remote monitoring and control module 6 is compared with the route position, and the actual driving direction and speed of the remote monitoring and control module 6 are corrected. The navigation module 7 mainly serves as the navigator of the mobile platform 5, guiding the mobile platform 5 to move along a pre-defined route. The combination of the two modules can realize unmanned intelligent and precise spraying.

[0042] Furthermore, the medicine liquid supply module 2 includes a medicine liquid storage tank 21, a medicine liquid pump 22 and a medicine liquid delivery pipeline 23. The medicine liquid pump 22 is connected to the medicine liquid storage tank 21 and is located on one side of the medicine liquid storage tank 21. The medicine liquid delivery pipeline 23 is connected to the medicine liquid pump 22 and is located on one side of the medicine liquid pump 22.

[0043] In an embodiment of the present utility model, the liquid medicine storage tank 21 selects a suitable capacity according to the needs of the spraying operation, and the liquid medicine pump 22 is driven by a driving motor to extract the liquid medicine in the liquid medicine storage tank 21 and introduce it into the liquid medicine delivery pipe 23, and then introduce it into the spraying execution module 4 through the liquid medicine delivery pipe 23 for spraying.

[0044] Furthermore, the spray execution module 4 includes a solenoid valve 41 and a nozzle 42, the solenoid valve 41 is arranged on the side of the liquid medicine delivery pipe 23 away from the liquid medicine pump 22, and the nozzle 42 is connected to the liquid medicine delivery pipe 23 and is located on the side of the liquid medicine delivery pipe 23 away from the liquid medicine pump 22.

[0045] In the embodiment of the present invention, the amount of medicine sprayed by the spray head 42 and the spraying time are controlled by opening or closing the solenoid valve 41, thereby achieving precise spraying of the plants.

[0046] See also Figure 5-Figure 6 In a second aspect, the present invention further provides a spraying method, which is applied to a spraying system as described in the first aspect, and is characterized in that it comprises the following steps:

[0047] S1 installs and debugs the ultrasonic acquisition module 1 on the mobile platform 5, and configures the liquid supply module 2 based on the spraying operation requirements;

[0048] In this embodiment of the utility model, multiple ultrasonic acquisition modules 1 are installed at appropriate locations on both sides of the mobile platform 5 to ensure complete collection of plant information. The installation angle and detection distance of the ultrasonic acquisition modules 1 are adjusted to ensure normal operation and transmit the acquired plant data to the remote monitoring and control module 6. Based on the needs of the spraying operation, the liquid medicine storage tank 21 of appropriate capacity is selected, and the liquid medicine pump 22 and liquid medicine delivery pipeline 23 are installed to ensure a stable supply of liquid medicine to the spraying execution module 4.

[0049] S2 remote monitoring and control module 6 controls ultrasonic acquisition module 1 to collect plant information and transmits the plant information to intelligent decision module 3;

[0050] In the embodiment of the present utility model, the remote monitoring and control module 6 controls

[0051] The S3 intelligent decision module 3 analyzes the plant distribution results based on the plant information, and calculates the amount of liquid medicine and spraying time required for each area in combination with the preset spraying strategy to obtain a spraying decision; a group of ultrasonic acquisition modules 1 on the head of the mobile platform 5 (robot) performs a pre-scan of the target plants to be sprayed, and detects the distance from the mobile platform 5 (robot) to the trunk and crown of the plant through the ultrasonic acquisition module 1, and calculates the distance of the plant in front relative to the mobile platform 5 (robot) and the diameter of the crown and the height of the plant in combination with the vehicle speed. The intelligent decision module 3 analyzes the plant distribution results based on the plant information, and calculates the amount of liquid medicine and spraying time required for each area in combination with the preset spraying strategy. The required amount of liquid medicine and spraying time for each area are calculated to obtain a spraying decision. The intelligent decision-making module 3 establishes a preliminary 3D model of the appearance of the plant in front. The robot main controller formulates a spraying pre-plan for the target plant to be sprayed in front, including control variables such as the required amount of medicine, pump pressure and direction of the nozzle 42, based on the established 3D model of the plant's appearance and the combined spraying effect database of the selected medicine pump and nozzle 42. Then, the ultrasonic acquisition module 1 matrix in the middle of the robot is used to perform a close scanning and analysis of the target plant to be sprayed to obtain a more accurate 3D model of the plant, adjust the previously formed pre-plan, and form a more accurate time-slice spraying plan.

[0052] S4 The mobile platform 5 drives autonomously according to the preset route. At the same time, the spraying execution module 4 sprays the plant with liquid medicine based on the spraying decision.

[0053] In an embodiment of the present invention, remote monitoring and control of the spraying system is achieved through a wireless network. The operator can understand the spraying operation status in real time and intervene when necessary. By opening or closing the solenoid valve 41, the amount of medicine sprayed by the nozzle 42 and the spraying time are controlled to achieve precise spraying of plants.

[0054] The above disclosure is only a preferred embodiment of the spraying system of the present invention, and it is certainly not intended to limit the scope of the rights of the present invention. A person skilled in the art will understand that implementing all or part of the processes of the above embodiment and making equivalent changes according to the claims of the present invention still fall within the scope of the utility model.

Claims

1. A spraying system, characterized in that: It includes an ultrasonic acquisition module, a liquid medicine supply module, an intelligent decision-making module, a spraying execution module, a mobile platform and a remote monitoring and control module. The mobile platform is respectively connected to the ultrasonic acquisition module, the liquid medicine supply module, the intelligent decision-making module, the spraying execution module and the remote monitoring and control module. The intelligent decision-making module is respectively connected to the ultrasonic acquisition module and the remote monitoring and control module, and the liquid medicine supply module is connected to the spraying execution module. The ultrasonic acquisition module collects plant information based on ultrasonic radar technology and transmits the plant information to the intelligent decision-making module; The liquid medicine supply module is used to supply liquid medicine to the spray execution module; The intelligent decision-making module analyzes the plant distribution results based on the plant information, and calculates the required liquid medicine amount and spraying time for each area in combination with the preset spraying strategy to obtain a spraying decision; The spraying execution module sprays the liquid medicine on the plants based on the spraying decision; The mobile platform is used to carry the ultrasonic acquisition module, the liquid medicine supply module, the intelligent decision-making module, the spraying execution module and the remote monitoring and control module, and move remotely in the farmland or drive autonomously according to a preset route; The remote monitoring and control module remotely monitors and controls the ultrasonic acquisition module, the liquid medicine supply module, the intelligent decision-making module, the spraying execution module and the mobile platform based on a wireless network, and interferes with the spraying process.

2. A spraying system according to claim 1, characterized in that: The spraying system further includes a navigation module, which is connected to the mobile platform; The navigation module obtains the position of the mobile platform based on RTK differential positioning technology, and the remote monitoring and control module parses the position data, compares the actual position of the remote monitoring and control module with the route position, and corrects the actual driving direction and speed of the remote monitoring and control module.

3. A spraying system according to claim 1, characterized in that: The liquid medicine supply module includes a liquid medicine storage tank, a liquid medicine pump and a liquid medicine delivery pipeline. The liquid medicine pump is connected to the liquid medicine storage tank and is located on one side of the liquid medicine storage tank. The liquid medicine delivery pipeline is connected to the liquid medicine pump and is located on one side of the liquid medicine pump.

4. A spraying system according to claim 3, characterized in that: The spray execution module includes a solenoid valve and a nozzle. The solenoid valve is arranged on the side of the liquid medicine delivery pipeline away from the liquid medicine pump. The nozzle is connected to the liquid medicine delivery pipeline and is located on the side of the liquid medicine delivery pipeline away from the liquid medicine pump.

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