Orchard air-assisted intelligent pesticide spraying device and orchard air-assisted intelligent pesticide spraying method

Abstract

An orchard air-assisted intelligent pesticide spraying device and an orchard air-assisted intelligent pesticide spraying method, which relate to the technical field of agricultural machinery. The orchard air-assisted intelligent pesticide spraying device comprises a traveling mechanism (10), a spraying system, a collection system and a processing control system, wherein the traveling mechanism (10) is provided with a pesticide box (11); the spraying system comprises a main body portion (21) and a plurality of spraying pipes (22), wherein first ends of the plurality of spraying pipes (22) are in communication with the main body portion (21), and second ends of the spraying pipes (22) can rotate; the collection system is configured to acquire the canopy contour and canopy volume and foliage density of a fruit tree; and the processing control system is configured to obtain a plurality of pesticide spraying areas (100), calculate the airflow angle of each spraying pipe (22), and control the second end of each spraying pipe (22) to rotate on the basis of the airflow angle. The orchard air-assisted intelligent pesticide spraying device can adjust, on the basis of changes in the canopy contours of different fruit trees, the spraying direction of the spraying pipes (22) in real time, achieves targeted pesticide spraying, promotes pesticide deposition within the canopy and reduces pesticide drift in non-target areas, and improves the quality of pesticide application.

Description

Orchard wind-transported intelligent spraying device and orchard wind-transported intelligent spraying method Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to an orchard wind-transported intelligent spraying device and an orchard wind-transported intelligent spraying method. Background Art

[0002] Chemical control of orchard pests and diseases is the most effective means of controlling them. According to surveys, fruit trees are sprayed with pesticides 8 to 15 times a year, helping fruit farmers recover significant economic losses. Air-assisted spraying is an advanced and efficient pesticide application technology recommended by the Food and Agriculture Organization of the United Nations and is internationally recognized as a highly effective ground application technique. Air-assisted spraying utilizes high-speed airflow to further impact the atomized droplets from the nozzles, transforming them into fine, uniform droplets. This enhances droplet adhesion. The powerful airflow rolls through branches and leaves, carrying the droplets into the target bore, increasing their penetration and ensuring a uniform coverage of the undersides, tops, bores, and exteriors of fruit tree leaves.

[0003] At present, most sprayers on the market are only suitable for spraying fruit trees of a single tree shape or a single variety. They cannot perform variable spraying operation control and wind speed and volume control in real time on demand based on the growth information of fruit trees such as different growth periods, different tree shape contours, canopy volume, and branch and leaf density. During the spraying operation, wind that is too weak or too strong will cause pesticide drift and bring about ecological environment pollution of farmland. In terms of spraying control, most of them are limited to individual control and cannot achieve joint control of spraying amount, wind speed, air volume and wind direction at the same time.

[0004] The contours of fruit trees in orchards vary (apple trees are usually conical or conical, peach trees are usually pistachio-shaped or inverted trapezoidal, and pear trees are usually inverted trapezoidal or conical, etc.). In previous studies, the airflow direction of the spray was changed by a guide plate. Although the wind direction could be changed to a certain extent, it was not possible to apply wind-directed spray to the fruit trees according to their contours.

[0005] Summary of the Invention

[0006] The present invention provides an orchard wind-transported intelligent spraying device and an orchard wind-transported intelligent spraying method, which are used to solve the defect that the spraying device in the prior art cannot target the fruit trees with the wind direction according to the tree shape contour.

[0007] The present invention provides an orchard air-conveyed intelligent spraying device, comprising: a walking mechanism, wherein the walking mechanism is provided with a medicine box; a spray system, wherein the spray system comprises a main body and a plurality of spray pipes, wherein the main body is connected to the medicine box, the first ends of the plurality of spray pipes are connected to the main body, the second ends of the spray pipes are used to spray medicine liquid, and the second ends of the spray pipes are capable of rotating; a collection system, which is arranged on the walking mechanism, and the collection system is used to obtain the canopy contour, canopy volume and branch and leaf density of the fruit tree; a processing control system, which is arranged on the walking mechanism, and the processing control system is used to grid the canopy of the fruit tree according to the canopy contour, the canopy volume and the branch and leaf density to obtain a plurality of spraying areas, and calculate the air outlet angle of each spray pipe according to the spraying area, and control the rotation of the second end of each spray pipe according to the air outlet angle, so that the spray range of the plurality of spray pipes matches the canopy contour of the fruit tree.

[0008] According to the orchard air-conveyed intelligent spraying device provided by the present invention, the acquisition system includes: an image collector for acquiring the canopy contours of fruit trees; and a laser radar for acquiring the canopy volume and branch and leaf density of fruit trees.

[0009] According to an orchard air-conveyed intelligent spraying device provided by the present invention, the spray system also includes: a fan connected to the main body; a plurality of nozzles, the second end of each spray tube is a flat structure, and the plurality of nozzles are arranged in sequence along the extension direction of the length of the flat structure; a plurality of switch valves, each of the nozzles is respectively provided with a switch valve; the processing control system is also used to control the opening or closing of the plurality of switch valves according to the spraying area.

[0010] According to an orchard air-conveyed intelligent spraying device provided by the present invention, the spray system also includes: a mounting frame connected to the main body, the mounting frame including a pair of longitudinal rods arranged opposite to each other, and the plurality of spray tubes are arranged in sequence along the extension direction of the length of the longitudinal rods; a plurality of first motors, the second end of each spray tube is connected to one of the first motors, and the first motor is used to adjust the direction of the spray tube.

[0011] According to an orchard air-conveyed intelligent spraying device provided by the present invention, the spray system also includes multiple adjustment mechanisms, each of which is used to adjust the air outlet area of ​​a spray pipe, and each of the adjustment mechanisms includes: a second motor, which is arranged in the main body; a transmission assembly, which is arranged in the spray pipe, and the transmission assembly is connected to the second motor; a plurality of fan blades, and the plurality of fan blades are stacked in an annular arrangement along the inner wall of the spray pipe, the first side of each fan blade is connected to the transmission assembly, and the second sides of the plurality of fan blades are arranged to form an air outlet, and when the transmission assembly rotates, it can drive the plurality of fan blades to rotate to adjust the area of ​​the air outlet.

[0012] According to an orchard wind-conveyed intelligent spraying device provided by the present invention, the transmission assembly includes: a bevel gear connected to the second motor; a first gear engaged with the bevel gear; a rotating disk, the outer ring and inner ring of the rotating disk are both provided with teeth, the outer ring of the rotating disk is engaged with the first gear; a plurality of second gears are arranged in a ring along the inner ring of the rotating disk, each second gear is engaged with the inner ring of the rotating disk, and each second gear is connected to one of the fan blades.

[0013] According to an orchard air-conveyed intelligent spraying device provided by the present invention, the processing and control system includes: an industrial computer, used to grid the fruit tree canopy according to the canopy contour, the canopy volume and the branch and leaf density to obtain multiple spraying areas; a controller, used to calculate the air outlet angle of each spray tube according to the spraying area, and control the rotation of the second end of each spray tube according to the air outlet angle, so that the spray range of the multiple spray tubes matches the canopy contour of the fruit tree.

[0014] The present invention also provides a method for intelligent spraying based on the orchard wind-conveyed intelligent spraying device as described above, comprising: obtaining the canopy contour, canopy volume and branch and leaf density of the fruit tree; obtaining fruit tree characteristic information based on the canopy contour, canopy volume and branch and leaf density, and gridding the fruit tree canopy based on the fruit tree characteristic information to obtain multiple spraying areas; calculating the air outlet angle of each spray tube based on the spraying area, and controlling the rotation of the second end of each spray tube according to the air outlet angle.

[0015] According to the present invention, a method for intelligent air-delivered spraying of orchards also includes: obtaining the rotation angle of the second end of each spray tube; establishing a wind demand model based on the canopy contour, the canopy volume, the branch and leaf density, and the rotation angle; and controlling the outlet area of ​​each spray tube based on the wind demand model.

[0016] According to the present invention, a method for intelligent air-conveyed spraying of orchards also includes: calculating the wind speed and air volume of each spray tube based on the air outlet area of ​​each spray tube; establishing an intelligent spraying model based on the canopy contour, the canopy volume, the branch and leaf density, the rotation angle, the wind speed and the air volume; calculating the dosage requirement of each spraying area based on the intelligent spraying model; and controlling each sprinkler head to be turned on or off based on the dosage requirement of each spraying area.

[0017] The orchard air-conveyed intelligent spraying device provided by the present invention, by setting a collection system, a processing control system and rotating the second end of each spray tube, can adjust the spray direction of the spray tube in real time according to the changes in the canopy contours of different fruit trees, thereby realizing targeted spraying, thereby maximizing the precipitation of pesticides in the canopy chamber and the drift of pesticides in non-target areas, and improving the quality of pesticide application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] FIG1 is a schematic structural diagram of an orchard air-assisted intelligent spraying device provided by the present invention;

[0020] FIG2 is a schematic structural diagram of the spray system shown in FIG1 ;

[0021] Figure 3 is a schematic structural diagram of a transmission assembly;

[0022] FIG4 is a flow chart of the method for intelligent spraying of orchards with air delivery provided by the present invention;

[0023] FIG5 is a schematic diagram of spraying areas for different fruit tree shapes;

[0024] Figure 6 is the display interface of the industrial computer;

[0025] Figure numerals: 10: walking mechanism; 11: medicine box; 21: main body; 22: spray tube; 23: mounting bracket; 24: first motor; 25: fan; 26: fan blade; 31: image collector; 32: laser radar; 41: industrial computer; 42: controller; 100: spraying area; 221: switch valve; 231: longitudinal rod; 271: bevel gear; 272: first gear; 273: rotating disk; 274: second gear. DETAILED DESCRIPTION

[0026] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0027] The features of the terms "first" and "second" in the description and claims of the present invention may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0028] The following describes the orchard wind-transported intelligent spraying device and the orchard wind-transported intelligent spraying method of the present invention in conjunction with Figures 1 to 6.

[0029] As shown in Figure 1, in an embodiment of the present invention, an intelligent orchard air-assisted spraying device comprises a travel mechanism 10, a spray system, a collection system, and a processing control system. The travel mechanism 10 is equipped with a spray tank 11. The spray system comprises a main body 21 and multiple spray tubes 22. The main body 21 is connected to the spray tank 11. The first ends of the multiple spray tubes 22 are connected to the main body 21, and the second ends of the spray tubes 22 are used to spray the liquid. The second ends of the spray tubes 22 are rotatable. The collection system is mounted on the travel mechanism 10 and is used to obtain the canopy profile, canopy volume, and foliage density of the fruit trees. The processing control system is mounted on the travel mechanism 10 and is used to grid the canopy of the fruit trees based on the canopy profile, canopy volume, and foliage density to obtain multiple spraying areas 100. The processing control system calculates the air outlet angle of each spray tube 22 based on the spraying areas 100 and controls the rotation of the second end of each spray tube 22 based on the air outlet angle to ensure that the spray range of the multiple spray tubes 22 matches the canopy profile of the fruit trees.

[0030] Specifically, the traveling mechanism 10 travels along the row of fruit trees, and the data collection system scans the canopy contours, canopy volumes, and branch and leaf density of the fruit trees on both sides of the traveling mechanism 10 in real time. The collected data is then sent to a processing and control system. The processing and control system obtains characteristic information of the fruit trees based on the canopy contours, canopy volumes, and branch and leaf density, and grids the fruit tree canopies based on this characteristic information to obtain multiple spraying areas 100. The processing and control system is also used to calculate the air outlet angle of each spray tube 22 based on the spraying areas 100, and control the rotation of the second end of each spray tube 22 based on the air outlet angle, so that the spray range of the multiple spray tubes 22 matches the canopy contours of the fruit trees.

[0031] Furthermore, in an embodiment of the present invention, the second end of each spray tube 22 can be rotated so that the outlet of the spray tube 22 faces the fruit tree, thereby allowing the fan-shaped spray sprayed by the multiple spray tubes 22 to cover the canopy contour of the fruit tree.

[0032] The orchard air-conveyed intelligent spraying device provided by the embodiment of the present invention, by setting a collection system, a processing control system and rotating the second end of each spray tube, can adjust the spray direction of the spray tube in real time according to the changes in the canopy contours of different fruit trees, thereby realizing targeted spraying, thereby maximizing the precipitation of pesticides in the canopy chamber and the drift of pesticides in non-target areas, and improving the quality of spraying.

[0033] As shown in Figure 1, in an embodiment of the present invention, the acquisition system includes: an image collector 31 and a laser radar 32. The image collector 31 is used to obtain the canopy contour of the fruit tree, and the laser radar 32 is used to obtain the canopy volume and branch and leaf density of the fruit tree.

[0034] Specifically, the traveling mechanism 10 can be any type of traveling vehicle. In this embodiment, the traveling mechanism 10 is a tractor. The traveling mechanism 10 is provided with a raise / lower bracket, on which the image collector 31 and the laser radar 32 are mounted. When the bracket is raised or lowered, the height of the image collector 31 and the laser radar 32 can be adjusted, thereby adjusting the height of the image collector 31 and the laser radar 32 according to the height of different fruit trees. Furthermore, in this embodiment, the image collector 31 and the laser radar 32 utilize the time-of-flight principle to achieve non-contact measurement of target objects. Optionally, in embodiments of the present invention, the image collector 31 can be a camera or a depth camera.

[0035] As shown in Figure 1, in an embodiment of the present invention, the processing and control system includes an industrial computer 41 and a controller 42. The industrial computer 41 is used to grid the fruit trees based on their canopy contours, canopy volume, and foliage density, generating multiple spraying areas 100. The controller 42 is used to calculate the air outlet angle of each spray tube 22 based on the spraying areas 100 and control the rotation angle of each spray tube 22 based on the air outlet angle to ensure that the spray range of the multiple spray tubes 22 matches the canopy contours of the fruit trees.

[0036] Specifically, as the traveling mechanism 10 travels along the rows of fruit trees, the image collector 31 scans the canopy contours of the fruit trees on both sides of the traveling mechanism 10 in real time, and the laser radar 32 scans the canopy volume and branch and leaf density of the fruit trees on both sides of the traveling mechanism 10 in real time. The image collector 31 and the laser radar 32 send the collected data to the industrial computer 41. The industrial computer 41 obtains fruit tree characteristic information based on the canopy contours, canopy volume, and branch and leaf density, and divides the fruit tree canopy into grids based on this fruit tree characteristic information to obtain multiple spraying areas 100. The controller 42 calculates the air outlet angle of each spray tube 22 based on the spraying areas 100 and controls the rotation angle of each spray tube 22 based on the air outlet angle to ensure that the spray range of the multiple spray tubes 22 matches the canopy contours of the fruit trees.

[0037] Furthermore, in an embodiment of the present invention, the acquisition system also includes multiple angle sensors, each of which is used to detect the actual rotation angle of a spray tube 22. The angle sensor sends the detected actual rotation angle to the controller 42 to establish closed-loop control, thereby completing precise control of real-time wind direction.

[0038] Furthermore, the controller 42 establishes a wind demand model based on the canopy contour, canopy volume, branch and leaf density, and rotation angle, and calculates the wind demand of the fruit trees at different positions based on the wind demand model, that is, the outlet area of ​​each spray tube 22, and calculates the air volume and wind speed of each spray tube 22 based on the outlet area of ​​each spray tube 22, thereby achieving precise control of the wind speed and wind volume at different positions of the fruit trees.

[0039] Specifically, as shown in FIG. 1 and FIG. 2 , in the embodiment of the present invention, the spray system further includes: a mounting frame 23 and a plurality of first motors 24 .

[0040] Specifically, in this embodiment, a mounting frame 23 is connected to the main body 21 and includes a pair of opposing longitudinal rods 231. Multiple spray tubes 22 are arranged sequentially along the longitudinal extension of the longitudinal rods 231. The second end of each spray tube 22 is connected to a first motor 24. Rotation of the first motor 24 drives the second end of the spray tube 22 to rotate, thereby adjusting the orientation of the second end of each spray tube 22 so that the spray range matches the contours of the fruit tree canopy.

[0041] Furthermore, the controller 42 calculates the air outlet angle of each spray tube 22 based on the spraying area 100 and controls the first motor 24 to rotate based on the air outlet angle, thereby driving the spray tube 22 to rotate. An angle sensor detects the actual rotation angle of the spray tube 22 and transmits the actual rotation angle to the controller 42. The controller 42 controls the first motor 24 based on the actual rotation angle to fine-tune the rotation angle of the spray tube 22 so that the actual rotation angle of the spray tube 22 matches the theoretical rotation angle, thereby achieving precise control of the air outlet angle, and therefore, the spray angle.

[0042] As shown in Figure 3, in an embodiment of the present invention, the spray system further includes a plurality of adjustment mechanisms, each of which is used to adjust the air outlet area of ​​a spray pipe 22, and each adjustment mechanism includes: a second motor, a transmission assembly, and a plurality of blades 26. The second motor is disposed in the main body 21, and the transmission assembly is disposed in the spray pipe 22, and the transmission assembly is connected to the second motor. The plurality of blades 26 are stacked in an annular arrangement along the inner wall of the spray pipe 22, and the first side of each blade 26 is connected to the transmission assembly, and the second sides of the plurality of blades 26 are arranged to form an air outlet. When the transmission assembly rotates, it can drive the plurality of blades 26 to rotate to adjust the area of ​​the air outlet.

[0043] Specifically, multiple blades 26 are arranged in a ring along the inner wall of the spray tube 22, with adjacent blades 26 partially overlapping. The first side of each blade 26 is connected to the transmission assembly, and the second sides of the multiple blades 26 are surrounded by a circular hole, which serves as the air outlet. In this embodiment, when the second motor rotates, it can drive the transmission assembly to rotate. Specifically, when the second motor rotates in the forward direction, the overlapping area of ​​the multiple blades 26 increases, the area of ​​the circular hole becomes larger, and the area of ​​the air outlet increases; correspondingly, when the second motor rotates in the reverse direction, the overlapping area of ​​the multiple blades 26 decreases, the area of ​​the circular hole becomes smaller, and the area of ​​the air outlet decreases.

[0044] Furthermore, as shown in FIG3 , in an embodiment of the present invention, the transmission assembly includes a bevel gear 271, a first gear 272, a rotating disk 273, and a plurality of second gears 274. The bevel gear 271 is connected to the second motor, the first gear 272 meshes with the bevel gear 271, and the outer and inner rings of the rotating disk 273 are provided with teeth, and the rotating disk 273 meshes with the first gear 272. The plurality of second gears 274 are arranged in an annular shape along the inner ring of the rotating disk 273, each second gear 274 meshes with the inner ring of the rotating disk 273, and each second gear 274 is connected to a fan blade 26.

[0045] Specifically, the rotating shaft of the second motor extends through the spray tube 22 and into the spray tube 22. Only a portion of the outer ring of the rotating disk 273 is provided with teeth, and the bevel gear 271 and the first gear 272 are both located within the spray tube 22. A filler is provided between the outer ring of the rotating disk 273 and the inner wall of the spray tube 22 to prevent air from flowing through the gap between the outer ring of the rotating disk 273 and the inner wall of the spray tube 22. When the second motor rotates, it drives the bevel gear 271 to rotate, which in turn drives the first gear 272 to rotate. The first gear 272 drives the rotating disk 273 to rotate, and the rotating disk 273 drives multiple second gears 274 to rotate. Each second gear 274 drives a fan blade 26 to rotate, thereby allowing the area of ​​the air outlet to be adjusted.

[0046] Furthermore, the controller 42 calculates the outlet area of ​​each spray pipe 22 according to the wind demand model, and then controls the direction and speed of the second motor according to the outlet area, thereby controlling the rotation of each fan blade 26 to adjust the outlet area.

[0047] The orchard wind-conveyed intelligent spraying device provided by the embodiment of the present invention is configured by arranging multiple fan blades in the spray tube to form a circular air outlet between the second sides of the multiple fan blades. When the transmission component drives the fan blades to rotate, the area of ​​the circular air outlet is adjustable, and the air volume and wind speed of each spray tube can be adjusted according to the canopy contour of the fruit tree and the density of the branches and leaves; at the same time, when the circular air outlet area is adjusted, the air volume can be ensured to be uniform.

[0048] As shown in Figure 2 , in this embodiment of the present invention, the spray system further comprises a fan 25, multiple nozzles, and multiple on-off valves 221. The second end of each spray pipe 22 is provided with multiple nozzles, each of which is equipped with an on-off valve 221. The processing control system is further configured to control the opening and closing of the multiple on-off valves 221 based on the spraying area 100.

[0049] Specifically, the controller 42 is further configured to establish an intelligent spraying model based on the canopy profile, canopy volume, foliage density, the rotation angle of each spray tube 22, and the wind speed and air volume of each spray tube 22. The controller 42 is further configured to calculate the spraying dosage requirement for each spraying area 100 based on the intelligent spraying model and control the opening or closing of each nozzle based on the spraying dosage requirement for each spraying area 100.

[0050] Specifically, in this embodiment of the present invention, the second end of the spray tube 22 is flat, with multiple nozzles arranged in sequence along the length of the flat structure. Each nozzle is equipped with an on / off valve 221 to individually control whether or not the nozzle sprays. In this embodiment, the controller 42 controls the opening or closing of each on / off valve 221 based on the required dosage of each spraying area 100, achieving precise spraying and avoiding waste of liquid medicine.

[0051] The orchard wind-conveyed intelligent spraying device provided by the embodiment of the present invention can automatically adjust the spray direction of each spray tube according to the different shapes of fruit trees, can adjust the wind speed and air volume of the air outlet according to the canopy structure and branch and leaf density of the fruit trees, can adjust the amount of medicine according to the spray area, can meet the spraying operation needs of fruit trees of different periods, different fruit tree varieties, and different external contours, realize directional operation of the spray direction, and can perform variable spraying according to the amount of medicine required at the spray position in different areas of the fruit tree canopy, so that the amount of medicine spraying is more accurate and effective.

[0052] As shown in FIG4 , an embodiment of the present invention further provides a method for intelligent spraying of orchards by air delivery, which specifically includes the following steps:

[0053] Step 01: Obtain the canopy contour, canopy volume and branch and leaf density of the fruit tree; Step 02: Obtain the characteristic information of the fruit tree based on the canopy contour, canopy volume and branch and leaf density, and grid the fruit tree canopy based on the fruit tree characteristic information to obtain multiple spraying areas 100; Step 03: Calculate the air outlet angle of each spray tube 22 based on the spraying area 100, and control the rotation of the second end of each spray tube 22 according to the rotation angle.

[0054] Specifically, as the travel mechanism 10 moves along the rows of fruit trees, the image collector 31 scans the canopy contours of the fruit trees on both sides of the travel mechanism 10 in real time, while the laser radar 32 scans the canopy volume and foliage density of the fruit trees on both sides of the travel mechanism 10 in real time. The image collector 31 and the laser radar 32 transmit the collected data to the industrial computer 41. Based on the canopy contours, canopy volume, and foliage density, the industrial computer 41 determines characteristic information about the fruit trees and grids the canopy based on this information, creating multiple spraying areas 100. The controller 42 calculates the air outlet angle of each spray tube 22 based on the spraying areas 100 and controls the rotation of the second end of each spray tube 22 based on the air outlet angle, so that the spray range of the multiple spray tubes 22 matches the canopy contours of the fruit trees. The angle sensor transmits the actual rotation angle of the spray tube 22 to the controller 42 to establish a closed-loop control system, achieving precise real-time wind direction control.

[0055] The method for intelligent wind-assisted spraying of orchards provided by the embodiment of the present invention can adjust the spray direction of the spray tube in real time according to the changes in the canopy contours of different fruit trees, thereby achieving targeted spraying, thereby maximizing the precipitation of pesticides in the canopy chamber and the drift of pesticides in non-target areas, thereby improving the quality of spraying.

[0056] Furthermore, in an embodiment of the present invention, the method for intelligent wind-delivered spraying in orchards also includes the following steps: obtaining the rotation angle of the second end of each spray tube 22, establishing a wind demand model based on the canopy contour, canopy volume, branch and leaf density, and rotation angle; and controlling the outlet area of ​​each spray tube 22 based on the wind demand model.

[0057] Specifically, the controller 42 establishes a wind demand model based on the canopy contour, canopy volume, branch and leaf density, and rotation angle, and calculates the wind demand of fruit trees at different positions based on the wind demand model, that is, the outlet area of ​​each spray tube 22, and calculates the air volume and wind speed of each spray tube 22 based on the outlet area of ​​each spray tube 22, thereby achieving precise control of wind speed and wind volume at different positions of fruit trees.

[0058] Specifically, in an embodiment of the present invention, the wind demand model is: (CanopyProfile, CanopyVolume, LeafDensity) = F'(AngleVolume, AreaVolume)

[0059] Where: CanopyProfile is the canopy profile; CanopyVolume is the canopy volume; LeafDensity is the leaf density; AngleVolume is the spray tube's rotation angle; AreaVolume is the outlet area; and F' is the functional relationship between the canopy profile, canopy volume, leaf density, rotation angle, and outlet area. Based on this wind demand model, the outlet area of ​​each spray tube 22 can be calculated.

[0060] Furthermore, the method for intelligent wind-conveyed spraying in orchards also includes the following steps: calculating the wind speed and air volume of each spray tube 22 based on the outlet area of ​​each spray tube 22; establishing an intelligent spraying model based on the canopy contour, canopy volume, branch and leaf density, rotation angle, wind speed and air volume, and calculating the dosage requirement of each spraying area 100 based on the intelligent spraying model; and controlling each nozzle to open or close based on the dosage requirement of each spraying area 100.

[0061] Specifically, the intelligent spraying model based on neural network:

[0062] Input: canopy outline, canopy volume, and foliage density;

[0063] Input vector: x = (x1 x2 … x m )

[0064] Output: rotation angle, wind speed, air volume and spray volume;

[0065] Output vector: y = (y1 y2 … y n )

[0066] Where: m is the number of neurons in the input layer, n is the number of neurons in the output layer, k is the number of neurons in the hidden layer, foutput-layer is the output layer transfer function; fhidden-layer is the hidden layer transfer function; w nh is the weight between hidden output neurons n; w hi is the weight between the input neuron m and the hidden neuron k; w h0 is the threshold of hidden neuron k; w n0 is the threshold of the output neuron n; x i is the i-th neuron;

[0067] The BP neural network method is used to conduct spraying tests. By inputting layer data including information such as canopy contour, canopy volume, and branch and leaf density, a large amount of spraying test data on rotation angle, wind speed, air volume, and spraying amount is obtained and trained. This allows the system to acquire a perception capability based on the image collector and lidar 32, and can independently complete precise control of wind direction (rotation angle), wind speed, air volume, and spraying amount, thereby realizing an adaptive and precise variable spraying.

[0068] Furthermore, the spraying amount demand model is:

[0069] Where: Ln is the spray volume at the nth outlet, N is the coefficient correction matrix for the combined parameter of the nozzle on / off number, and Dij is the on / off value of the i-th nozzle in the j-th spray pipe (where 1 represents an off nozzle and 0 represents an on nozzle). The established spray volume demand model is used to calculate the spray volume demand for fruit trees in different spraying areas. The number of nozzles to be opened or closed is calculated based on the spray volume demand, and by controlling the opening and closing of the on / off valve 221, precise control of the spray volume in different areas is achieved, as shown in Figure 5.

[0070] As shown in Figure 6, the industrial computer 41 is equipped with a display screen. Based on the principle of wind force targeting, the screen features a control interface for the orchard wind force targeting control system. This interface allows for starting and stopping the entire system, verifying communication parameters, and setting parameters such as the row spacing between fruit trees, the height of the LiDAR 32, and the height of the image collector 31. It also displays, in real time, the volume of fruit trees, their height, the density of their branches and leaves, operating speed, fan speed, outlet area, wind speed, air volume, and rotation angle.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An orchard wind-assisted intelligent spraying device, characterized in that: include: A walking mechanism, wherein the walking mechanism is provided with a medicine box; A spray system, the spray system comprising a main body and a plurality of spray pipes, the main body being connected to the medicine box, the first ends of the plurality of spray pipes being connected to the main body, the second ends of the spray pipes being used to spray the medicine liquid, and the second ends of the spray pipes being rotatable; A collection system is arranged on the walking mechanism, and the collection system is used to obtain the canopy contour, canopy volume and branch and leaf density of the fruit tree; A processing control system is arranged on the walking mechanism, and the processing control system is used to grid the canopy of the fruit tree according to the canopy contour, the canopy volume and the density of the branches and leaves to obtain multiple spraying areas, and calculate the air outlet angle of each of the spray pipes according to the spraying areas, and control the rotation of the second end of each of the spray pipes according to the air outlet angle, so that the spray range of the multiple spray pipes matches the canopy contour of the fruit tree; A plurality of adjustment mechanisms, each of which is used to adjust the air outlet area of ​​one of the spray pipes, and each of which comprises: a second motor, which is arranged in the main body; a transmission assembly, which is arranged in the spray pipe, and the transmission assembly is connected to the second motor; a plurality of fan blades, which are stacked and arranged in an annular manner in sequence along the inner wall of the spray pipe, a first side of each of the fan blades is connected to the transmission assembly, and a second side of the plurality of fan blades is arranged to form an air outlet, and when the transmission assembly rotates, the plurality of fan blades can be driven to rotate to adjust the area of ​​the air outlet; Wherein, the transmission assembly includes: a bevel gear connected to the second motor; a first gear meshing with the bevel gear; a rotating disk, the outer ring and the inner ring of the rotating disk are both provided with teeth, the outer ring of the rotating disk meshes with the first gear; a plurality of second gears arranged in a ring shape along the inner ring of the rotating disk, each of the second gears meshes with the inner ring of the rotating disk, and each of the second gears is connected to one of the fan blades.

2. The orchard wind-assisted intelligent spraying device according to claim 1 is characterized in that: The acquisition system comprises: Image collector, used to obtain the canopy profile of fruit trees; LiDAR is used to obtain the canopy volume and branch density of fruit trees.

3. The orchard wind-assisted intelligent spraying device according to claim 1 or 2, characterized in that: The spray system also includes: A fan connected to the main body; A plurality of spray heads, wherein the second end of each spray pipe is a flat structure, and a plurality of the spray heads are sequentially arranged along the extension direction of the length of the flat structure; A plurality of switch valves, each of the nozzles is provided with one switch valve; The processing control system is also used to control the opening or closing of the plurality of switch valves according to the spraying area.

4. The orchard wind-assisted intelligent spraying device according to claim 1 is characterized in that: The spray system also includes: A mounting frame connected to the main body, the mounting frame comprising a pair of longitudinal rods arranged opposite to each other, and the plurality of spray pipes are arranged in sequence along the extension direction of the longitudinal rods; A plurality of first motors are provided, and the second end of each of the spray tubes is connected to one of the first motors, and the first motor is used to adjust the direction of the spray tube.

5. The orchard wind-assisted intelligent spraying device according to claim 1 is characterized in that: The process control system comprises: An industrial computer is used to divide the canopy of the fruit tree into grids according to the canopy contour, the canopy volume and the density of the branches and leaves, so as to obtain a plurality of spraying areas; The controller is used to calculate the wind outlet angle of each spray tube according to the spraying area, and control the second end of each spray tube to rotate according to the wind outlet angle, so that the spray range of multiple spray tubes matches the canopy contour of the fruit tree.

6. A method for intelligent spraying of orchards based on the intelligent spraying device for wind conveying according to any one of claims 1 to 5, characterized in that: include: Obtain the canopy outline, canopy volume and branch density of fruit trees; Obtaining fruit tree characteristic information based on the canopy contour, the canopy volume and the branch and leaf density, and dividing the fruit tree canopy into grids based on the fruit tree characteristic information to obtain multiple spraying areas; The air outlet angle of each spray tube is calculated based on the spraying area, and the second end of each spray tube is controlled to rotate according to the air outlet angle.

7. The intelligent spraying method according to claim 6, characterized in that: Also includes: Obtaining the rotation angle of the second end of each of the spray tubes; Establishing a wind demand model based on the canopy profile, the canopy volume, the branch density and the rotation angle; Based on the wind force demand model, the air outlet area of ​​each of the spray pipes is controlled.

8. The intelligent spraying method according to claim 7, characterized in that: Also includes: Calculating the wind speed and air volume of each of the spray pipes based on the air outlet area of ​​each of the spray pipes; Establishing an intelligent spraying model based on the canopy contour, the canopy volume, the branch and leaf density, the rotation angle, the wind speed and the wind volume; Based on the intelligent spraying model, calculating the amount of spray required for each spraying area; Each spray head is controlled to be turned on or off based on the amount of medicine required in each spraying area.

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