Method and device for spraying medicine on a target

Abstract

The invention provides a method for spraying medicine on a target, which includes obtaining the first running distance of the walking device when the laser sensor runs to the first tangent point between the outer contour of the tree of the plant to be sprayed and the first vertical plane; Start spraying when the running distance is equal to the sum of the first running distance and the preset horizontal distance; obtain the third running distance of the walking device when the laser sensor continues to run to the second tangent point between the outer contour of the crown of the plant to be sprayed and the second vertical plane ; Stop spraying when the fourth running distance of the traveling device is equal to the sum of the third running distance and the preset horizontal distance. The target spraying device includes a walking device, a one-dimensional laser sensor and a motor installed on the walking device, and the motor drives the one-dimensional laser sensor to scan on a two-dimensional surface perpendicular to the running direction of the walking device to obtain the plants to be sprayed on the plane. Outer contour on . The target spraying method can realize accurate target spraying, and the target spraying device has better effect and lower cost compared with the prior art.

Description

technical field [0001] The invention relates to a method of spraying medicine on a target, and also relates to a medicine spraying device on a target for realizing the method of spraying medicine on a target. Background technique [0002] At present, the pesticide application in orchards in my country mainly adopts the method of manual pesticide application, which has low production efficiency, high labor intensity and a lot of waste of pesticides. [0003] Some research institutions in China have developed a precision spraying machine for orchards. This spraying machine detects spraying targets (fruit trees) by installing infrared sensors or ultrasonic sensors, and realizes spraying where there are fruit trees; stop spraying. [0004] The core of target spraying lies in target detection, which mainly depends on various sensors, and the sensitivity of sensors directly affects the detection results. [0005] The spraying machine that uses an infrared sensor to detect the ta...

AI Technical Summary

Problems solved by technology

For many fruit trees, the color of their trunks and branches is often relatively dark, and the effect of using infrared sensors for target detection is not very satisfactory

In addition, these sprayers cannot perform variable operations, and operators can only rely on experience to apply pesticides

[0008] Ultrasonic sensors are used to detect targets that are basically not affected by factors such as ambient temperature and target color, but ultrasonic detection is generally suitable for targets with relatively smooth surfaces. The detection of flat surfaces can obtain more accurate data, but for targets with irregular surfaces, the detection There are often large jumps in data, and the surface of fruit trees is uneven. Even if the controller uses a large number of data processing algorithms, it is difficult to obtain accurate target information

Ultrasonic sensors are not very sensitive to targets and cannot detect targets with small reflection areas

The data response time is not fast enough, and a single detection requires more than 150MS, which is not suitable for rapid detection

In order to obtain as much data information as possible, spraying machines using ultrasonic sensor detection technology often use an array of ultrasonic sensors to detect targets. The number of sensors required is large, resulting in high application costs.

[0009] Based on the above problems, a target detection technology based on a two-dimensional laser sensor has been produced in this field, but the existing technology still has the following problems: on the one hand, the price of the two-dimensional laser sensor is relatively high, which increases the cost of the device; on the other hand, , the two-dimensional laser sensor and the nozzle of this prior art are not at the same point (that is, there is a gap in the horizontal distance, the two-dimensional laser sensor is at the front of the vehicle, and the nozzle is at the rear of the vehicle), but this prior art does not disclose how to The position of the spraying plant detected by the laser sensor is used for target spraying

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