ADAPTIVE SPRAYING ORCHARD PEST CONTROL SYSTEM

Abstract

The invention is a spraying system suitable for orchard spraying, comprising a pesticide reservoir (130), at least one array of spray nozzles (140) connected to the aforementioned pesticide reservoir (130) and containing multiple spray nozzles (141), a carrier (110) enabling the horizontal transport of at least the aforementioned spray nozzles; and at least one spray nozzle control mechanism (142) for controlling the spray of each spray nozzle individually. It includes an occupancy sensor (150) provided on the carrier (110) and positioned to scan the tree to be sprayed (200) horizontally when the carrier (110) moves horizontally in a first direction (250); and a vertical movement mechanism (181) to enable the aforementioned occupancy sensor to perform a vertical scan.It is characterized by the fact that the mentioned presence sensor and the mentioned spray nozzle array (140) are positioned in such a way that the carrier (110) moves in a first direction (250) so that the presence sensor and then the spray nozzle array (140) are aligned with a tree; that it includes a rangefinder (151) which measures the horizontal movement of the carrier (110); and that it includes a control unit (160) which is used to create a tree canopy area map based on the signal it receives from the mentioned presence sensor (150) and the measurements it receives from the rangefinder (151) and to control the activation of the pesticide sprayers at the positions corresponding to the tree canopy area map created when the carrier (110) moves in a first direction (250) and to turn off the others. Figure 1

Description

1 TARIFF ADAPTIVE SPRAYING ORCHARD PEST CONTROL SYSTEM TECHNICAL AREA 5 The invention describes a drug dispenser and multiple units connected to the aforementioned drug dispenser. at least one series of spray nozzles including the spray nozzle mentioned a carrier that enables the horizontal transport of the nozzles; each spray nozzle carries the medicine At least one spray nozzle control that allows you to control the spray individually. 10 It relates to a spraying system suitable for spraying orchards, which includes its mechanism. PREVIOUS TECHNIQUE A tree garden irrigation and spraying machine is attached to the back of an agricultural vehicle and holds 15 trees. This can be achieved with spraying devices that spray the pesticide on both sides by passing it through gaps. During this spraying, the crown of the target tree, that is, the part including the leaves and branches, is targeted. The aim is to treat the tree with pesticide. Because a continuous spray is carried out, the tree's height... Depending on the area of ​​the crown, either too much or too little spraying may be done. Document 2022 / 017399 describes spray nozzles that can be individually inspected. Thanks to electrostatically charged distance sensors with integrated cameras, the tree It relates to a garden sprayer that can spray by detecting the canopy. Spraying Real-time images from cameras integrated with the machine's image analysis software By sending the image information of the trees to a central electronic control unit, the tree canopy 25 Check the spray nozzles according to their characteristics and apply the appropriate spraying procedure to the trees. It is implemented. However, the area including the tree canopy is detected with sensors such as cameras. This increases the cost of the system that will perform this task, such as image processing. This increases the system's processing load. Also, in such systems, there is no sunlight. Since additional lighting will be needed in some situations, this system becomes even more complicated and 30 This makes it costly. In addition, a high-quality image is necessary for the system to function properly. Weather conditions that make it difficult to obtain the system (such as foggy weather) reduce its effectiveness. or prevents the effective spraying of the relevant agricultural product or prevents effective spraying waiting for weather conditions to improve prevents timely spraying of the crop. is. 35 2 In conclusion, all the problems mentioned above necessitate an innovation in the relevant technical field. It has made it mandatory. A BRIEF DESCRIPTION OF THE INVENTION The present invention aims to eliminate the aforementioned disadvantages and contribute to the relevant technical field. It is related to a spraying system, aiming to bring new advantages. One aim of the invention is to reduce the amount of pesticide used when spraying orchards. The goal is to establish a system and method that provides this. 10 Another aim of the invention is to reduce the amount of wasted medicine. Another aim of the invention is to reduce the use of system resources. is to ensure. 15 Another aim of the invention is to use less hardware and reduce costs compared to existing systems in the technology. The goal is to reduce drug waste through systemic solutions. Another purpose of the invention is to enable automatic spraying even in foggy or dark weather. The goal is to ensure that it is done. All the purposes mentioned above and those that will emerge from the detailed explanation below. The present invention aims to realize a drug dispenser, with the aforementioned drug dispenser. at least one array of nozzles that are interconnected and contain multiple nozzles, at least 25 at least a carrier that enables the horizontal transport of the aforementioned nozzles; at least one of each spray nozzle that allows for individual control of the pesticide spray. Includes a spray nozzle control mechanism; suitable for spraying orchards. It is a spraying system. Accordingly, it is provided on the carrier and the carrier is a primary A 30-inch machine is positioned so that when it moves horizontally in one direction, it scans the tree to be sprayed horizontally. It includes an object sensor; the object sensor in question performs vertical scanning. It includes a vertical movement mechanism to provide; the aforementioned entity sensor and When the aforementioned spray nozzle array moves in a carrier first direction, a tree aligned with the presence sensor followed by the spray nozzle array its placement; including a distance measuring device that measures the horizontal movement of the carrier; 35 Based on the signal it receives from the aforementioned object sensor and the measurements it receives from the rangefinder, creating a tree canopy area map and generating it while the carrier moves in the first direction. 3 The pesticide sprayers are activated at the locations corresponding to the tree canopy area map, It includes a control unit that helps to control the shutdown of the others. Thus This prevents unnecessary spraying of pesticides in areas where there is no tree canopy. This significantly reduces the system resources used. A feature of a possible design of the invention is that the distance measuring device mentioned is mounted horizontally on its carrier. It is an encoder associated with the rotating mechanism that enables its movement. Another possible configuration of the invention features the aforementioned entity sensor, in foggy conditions. To ensure it functions in ambient and dark environments, an ultrasonic or 10 It is an electromagnetic presence detector. Another possible configuration of the invention involves the carrier being an agricultural vehicle. and includes a spraying trailer towed by the aforementioned agricultural vehicle. Another possible configuration of the invention features the aforementioned entity. the sensor(s) being provided on the agricultural vehicle; pesticide reservoir and sprayer The tip series is provided in the spraying trailer. Another possible configuration of the invention features the control unit being 20 degrees from the presence sensor. Based on the signal it receives, the target crown area map will also include leaf depth information. will create and spray according to depth information as the carrier moves in the first direction. The nozzles are configured to increase or decrease the spray rate of the pesticide. Another possible configuration of the invention features the presence sensor tree 25 degrees along the horizontal axis. It includes a horizontal movement mechanism to enable scanning. Another possible configuration of the invention features a design for each of the aforementioned nozzles. They contain valves that are suitable for control via a given electrical signal. BRIEF DESCRIPTION OF THE FIGURE Figure 1 shows the appearance of the spraying system. Figure 2 shows the vertical tree of the presence sensor in a first configuration of the invention. A representative view of the scan is given. 4 Figure 3 shows the horizontal tree of the presence sensor in a preliminary configuration of the invention. A representative view of the scan is given. Figure 4 shows a second configuration of the invention where the presence sensor is vertically arranged in a tree. A representative view of the scan is given. 5 Figure 5 shows a horizontal tree of the presence sensor in a second configuration of the invention. A representative view of the scan is given. Figure 6 shows a representative illustration of the spray nozzles that spray according to the tree canopy area. An appearance is given. Figure 7 shows spraying a tree with a larger crown area than the one in Figure 6. A representative view of the nozzles that produce the spray is given. DETAILED DESCRIPTION OF THE INVENTION This detailed explanation of the invention does not merely aim to provide a better understanding of the subject matter. This is explained with examples that will not create a limiting effect. 20 Referring to Figure 1, the invention is a device that enables the spraying of pesticides on trees in orchards. It is a spraying system (100). The system is an entity that scans the tree horizontally and vertically. A tree crown that expresses the tree crown (220) thanks to the signals received from the sensor (150). creating a map of the area and using this map, 25 which includes only the tree crown (220). A series of spray nozzles (140) that will enable the spraying of medicine onto the parts Suitable spray nozzles (141) are operated. The spraying system (100) more specifically includes a carrier (110); in the aforementioned carrier (110) a provided medicine container (130); multiple 30 connected with the aforementioned medicine container (130). the spray nozzle array (140) which includes the spray nozzle (141); the aforementioned spray nozzles (141) includes the spray nozzle control mechanism (142) which controls its operation. In addition, the system has a control unit (160). The control unit (160), It controls the spray nozzle control mechanism (142). 35 The carrier (110) spray nozzles mentioned here move horizontally in the orchard. It refers to the means by which it enables the carrier (110) to transport, for example, an agricultural vehicle and It may include a spraying trailer attached to the rear of the carrier (110) only. It can also be an agricultural vehicle. It moves in a first direction (250) by means of its wheels. This allows the spray nozzles to scan the trees when done. Similar in structure. Spraying equipment is well-known in the field of technology. The spraying system (100) includes a presence detector (150). Presence detector (150) It sends the measurement signals to the control unit (160). The presence detector (150), for example, It gives different signals when it detects an object and when it doesn't. It can send. Presence sensor (150), carrier (110) move in the first direction (250). It is positioned to scan the tree trunks (210) when it does so. For example, the carrier 10 (110) looking outwards from the side body at a 90-degree angle to the side body It can be positioned in this way. The spraying system is located in the tree of the presence sensor (150). (200) includes a movement mechanism (180) to enable scanning. Movement The mechanism (180) enables the sensor to scan the tree by changing its tilt. The drive mechanism (180) is controlled by the control unit (160) (Figure 15 (not shown) or it can be controlled directly by the control unit. The control unit (160) is a processor unit and a unit that reads / writes data. It can include a memory unit (162). The processor unit (161) is a microprocessor, CPU, etc. Memory unit (162) also enables the temporary and permanent storage of data. It can include memory. The memory unit (162) consists of command lines executed by the processor unit (161). Software may be installed. The invention is brought to life by running this software. [Appendix] as such, the position of the presence sensors (150) on the carrier (110), the nozzles 25 (150) Previously known data such as the distance to the object sensor are also recorded in the memory unit. It is possible. The spray system (100) also has a distance meter (151) which measures the distance traveled by the carrier (110). It includes. Thus, when the presence sensor (150) passes in front of a tree, the tree 30 It generates a signal by scanning its body horizontally, and this signal, distance traveled, and spray pattern... Using the predetermined and known positions of the tips (141), the appropriate tree crown can be made Where on the tree crown map are the spray nozzles (141) for spraying the places? It can be determined that he / she has arrived. 35 Referring to Figure 2, the motion mechanism (180) is the vertical scanning of the presence sensor (150). It contains at least one vertical motion mechanism (181) that enables it to perform the movement. 6 The movement mechanism (181) depends on the presence sensor (150) and the presence sensor (150) enables angular movement. Vertical movement mechanisms in the technique It is well known that changing the perspective of the sensor relative to a point of movement This is provided. For example, the sensor's angular movement on the vertical axis between a 90-degree arc. It can be made to move as follows. The carrier (110) moves in a first direction (250) 5 When done (Figure 3), the tree is also scanned horizontally, thus scanning the tree both along the horizontal axis and in the horizontal axis. By ensuring that it is scanned on the vertical axis, a crown of the tree (200) part of the tree crown (220) can be seen. A field map can be drawn. The control unit (160) is the first according to the crown area map. Which spray nozzles (141) are used according to the distance covered during the movement in the direction (250) to determine when it should be operated and accordingly the spray nozzles (141) 10 It enables its operation. The control unit (160), in other words the processor unit (161) of the control unit (160), asset a tree crown receives signals from the sensor (150) and measurements from the distance meter (151) A tree crown area map is being created. For example, a tree crown area map, 2 15 from the side. It can be similar in structure to its three-dimensional view. Control unit (160), tree crown area map, spraying according to the location of the nozzles (141) and the distance traveled. which of the ends of the carrier (110) moves in the first direction (250) to the tree crown area calculating when and how it will respond and spraying accordingly. It ensures that the appropriate ends (141) are operated. Thus, only the tree 20 Spraying can be done in a way that corresponds to the crown (220). Referring to Figure 4, the motion mechanism (180) is the vertical scanning of the presence sensor (150). It includes at least one vertical motion mechanism (181) that enables it to perform the movement. The vertical movement mechanism (181) is dependent on the presence sensor (150) and the presence 25 It enables the sensor (150) to move angularly. Vertical movement The mechanisms are well known in technology. The perspective of the sensor relative to a point of movement. The angle can be changed. For example, the sensor can be positioned within a 90-degree arc. It is possible to make it move angularly along the vertical axis. In addition, the movement The mechanism (180) also includes a horizontal movement mechanism (182). Horizontal 30 movement mechanism (182), scanning of the vertical axis by the vertical movement mechanism by making its movement on the horizontal axis, in addition to the forward movement in the first direction (250), This enables the sensor to perform scanning motion in the horizontal direction as well. Horizontal movement mechanism (182) indirectly by moving the vertical movement mechanism (181) It can move the sensor. The movement mechanism (180) is in the carrier (110) 35 is provided. 7 When the carrier (110) moves in a first direction (250), it also scans the tree horizontally. In addition, the horizontal movement mechanism (182) also performs horizontal scanning movement (figure 5) It can map the tree canopy area even if the vehicle stops. This allows us to see both the tree's canopy area and its surroundings. By ensuring that the tree crown (200) is scanned both on the horizontal axis and the vertical axis. A crown area map of part (220) can be generated. Control unit (160), crown area 5 According to the map, which distance was covered during the movement in the first direction (250)? to determine when the spray nozzles (141) should be operated and accordingly It enables the operation of the spray nozzles (141). Figures 6 and 7 show different trunk widths, and therefore different crown widths. Trees with areas are shown representatively. Control unit (160) spraying It opens its tips appropriately according to the defined crown area. In Figure 6, compared to Figure 7. Due to the smaller crown area, some of the upper and lower nozzles have been covered. In a possible configuration of the invention, the control unit (160) is the 15 leaves on the crown area map. It also provides markings related to density. Areas with denser leaves correspond to those with more frequent leaves. the flow rate of the incoming spray nozzles (141) is higher than the others This ensures that the pesticide penetrates even areas with dense foliage. is provided. The spray nozzle control mechanism (142) is provided for each spray nozzle (141). valves which stop or allow flow at the spray nozzle (141) It is possible. When the valves in question receive a signal from the control unit (160) They are able to function. These valves are solenoid valves of suitable sizes for spray nozzles. It is possible. 25 In a possible configuration of the invention, the presence detector (150) is an ultrasonic or It is an electromagnetic sensor. This allows it to operate horizontally and vertically even in foggy or dark environments. The tree's structure is determined by scanning, and then spraying is done accordingly. is provided. 30 Presence sensor (150) detects a vehicle when the carrier (110) is moving in the first direction (250). located on one side (111), spray nozzle arrays (140) also, sensor detection After completing the operation, they will carry out the appropriate spraying operation on a secondary side. (112) is included. For example, presence sensors are located on the agricultural vehicle, while spraying 35 The nozzle array (140) can be positioned on the spray trailer. At this point, the areas that cannot be sprayed to eliminate the possibility of a regional problem occurring with the presence detector (150) 8 spray nozzle array (140), tree trunk (210) end and tree crown (220) beginning It is essential that it is positioned so that it is longer than the distance between them. As is known in the technology, the nozzle arrays (140) are on either side of the carrier (110). Multiple numbers can be provided facing outwards. Each series of spray nozzles (140) 5 for which at least one presence sensor (150) is located in the relevant spray nozzle array (140) It is located on the side. Thus, the carrier (110) goes in the first direction (250) with both the right hand The control unit (160) performs spraying on the trees on the left hand side. This can be done by operating only the appropriate nozzles. It does. 10 In a possible configuration of the invention, the presence sensor (150) is placed on the tree trunk (210) When not detected, spray nozzles when reaching the undetected parts. It is being stopped. In a possible configuration of the invention, the distance measuring device (151) has a rotating carrier (110). It is an encoder associated with the components. For example, it can be associated with the shaft of the carrier (110), the shaft by counting the number of laps completed, the distance covered can be calculated or calculated. It generates data. The scope of protection of the invention is specified in the claims attached hereto, and these details are strictly adhered to. The explanation cannot be limited to those given for illustrative purposes. Because a technically skilled person... the person, without deviating from the main theme of the invention, in light of what has been described above, similar It is clear that these structures can emerge. REFERENCE NUMBERS GIVEN IN THE FIGURE 100 Spray system 110 Carrier 30 111 Leading side 112 Aftershocks 113 Agricultural vehicles 114 Sprayer trailers 130 Medicine containers 35 140 Spray Nozzle Set 141 Spray nozzles 9 142 Spray nozzle control mechanism 150 Presence detectors 151 Distance measuring device 160 Control units 161 Processor units 5 162 Memory units 163 User interface 180 Movement mechanism 181 Vertical movement mechanism 182 Horizontal movement mechanism 10 200 Trees 210 Tree trunks 220 Tree Crowns 250 First direction

Claims

REQUESTS 1. A medicine container (130), connected to the aforementioned medicine container (130) and multiple at least one array of spray nozzles (140) containing a spray nozzle (141), at least a carrier that enables the horizontal transport of the aforementioned nozzles (110); every 5 at least one of the following is used to individually control the spraying of the pesticide from a spray nozzle. including a spray nozzle control mechanism (142); suitable for spraying orchards spray system (100) and its feature is that it is provided on the carrier (110) and the carrier (110) when moving horizontally in one direction (250) the tree to be sprayed (200) horizontally It includes an entity detector (150) positioned to scan; the mentioned entity is 10 a vertical movement mechanism to enable the sensor to perform vertical scanning (181) including the carrier of the aforementioned presence sensor and the aforementioned spray nozzle array (140). (110) when moving in a first direction (250) the presence sensor first aligns with a tree then the series of nozzles (140) must be positioned in such a way as to correspond to the carrier; (110) containing a distance measuring device (151) that measures its horizontal movement; the mentioned entity 15 a tree based on the signal it receives from the sensor (150) and the measurements it receives from the distance meter (151). to create a crown area map and while the carrier (110) moves in the first direction (250) pesticide sprayers at locations corresponding to the generated tree canopy area map a control unit (160) that is used to control the operation of the others and their shutdown It includes. 20 2. According to claim 1, a spraying system (100) and its feature is; the distance meter mentioned (151) It is an encoder associated with the rotary assembly that enables the horizontal movement of the carrier (110).

3. According to claim 1, a spraying system (100) and its feature is that the mentioned entity sensor is 25 (150), to enable it to function in foggy and dark environments as well. It is an ultrasonic sensor.

4. According to claim 1, a spraying system (100) and its feature is that the mentioned entity sensor (150), to enable it to function in foggy and dark environments, a 30 It is an electromagnetic sensor.

5. According to claim 1, a spraying system (100) has the characteristic of being a carrier (110) of the mentioned carrier. agricultural vehicle (113) and a spraying trailer towed by the aforementioned agricultural vehicle (113) It includes. 35 11 6. According to claim 5, a spraying system (100) and its feature is; the mentioned entity the sensor / sensors are provided on the agricultural vehicle (113); the pesticide container (130) and The spray nozzle arrays (140) are provided in the spraying trailer.

7. According to claim 1, a spraying system (100) has the characteristic of receiving 5 from the presence sensor. According to the signal, the target crown area map will also include leaf depth information. to create and according to the depth information while the carrier (110) moves in the first direction (250), a control unit used to increase or decrease the spray rate of the pesticide from the nozzles (160) is included.

8. According to claim 1, a spray system (100) has the characteristic of; the tree of the presence detector (150). a horizontal movement mechanism to enable scanning on the horizontal axis (182) It includes.

9. According to claim 1, a spray system (100) has the characteristic that each of the mentioned sprays is 15 It includes a valve at each end that is suitable for control by an electrical signal provided to it.

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