阅读说明：本技术 一种基于果树冠层叶面积指数的变量喷雾控制系统及方法 (A kind of variable rate spray control system and method based on fruit tree canopy leaf area index ) 是由 贾卫东 李勇 欧鸣雄 于 2019-07-31 设计创作，主要内容包括：本发明涉及农业智能机械技术领域,更具体地,涉及一种基于果树冠层叶面积指数的变量喷雾控制系统及其对果树冠层变量喷雾方法。该系统由信息采集端实时获取回波能量、靶标距离、喷雾机行驶速度的信息,经过中央处理器模块的计算,得出冠层叶面积指数喷雾依据值L,根据L值的变化,实现实时变量喷雾。该检测系统及方法具有在线实时检测果树冠层叶面积指数的功能,能够对果树冠层不同位置有针对性的进行药物的喷施,可以更好的满足果园的精准化施药的要求,同时该系统具有适应性强、响应快、检测精度高等优点。(The present invention relates to agriculture intelligent machine technical fields, more particularly, to a kind of variable rate spray control system based on fruit tree canopy leaf area index and its to fruit tree canopy variable rate spray method.The system obtains backward energy, target distance, the information of spraying machine travel speed by information collection end in real time, by the calculating of CPU module, show that canopy leaf area index is spraying according to value L, according to the variation of L value, realizes that real-time variable is spraying.The detection system and method have the function of on-line real-time measuremen fruit tree canopy leaf area index, drug can targetedly be carried out to fruit tree canopy different location to spray, the requirement of the precision application in orchard can be better met, while the system is adaptable by force, responds the advantages that fast, detection accuracy is high.)

1. a kind of variable rate spray control system based on fruit tree canopy leaf area index, which is characterized in that the system includes ultrasound Wave sensor mould group, wireless data transfer module, velocity sensor, locating module, track display module, central data handle mould Block, external power supply module, power module, variable rate spray control module and control switch；

The ultrasonic sensor mould group comprising 3 ultrasonic sensors, microprocessor and storage card, 3 ultrasonic waves pass Sensor, storage card are connect with microprocessor respectively；Ultrasonic sensor is for real time emission ultrasound information and receives its echo Information, and the test leakage of target is effectively avoided, detection accuracy is improved, storage card is for storing backward energy numerical value, micro process Device is used to handle the echo voltage data of the receiving of ultrasonic wave mould group 1；

The distance and backward energy information that the wireless data transfer module is used in real time obtain ultrasonic sensor mould group pass It is defeated to arrive CPU module；

The velocity sensor for acquiring spraying machine driving speed information in real time；

The locating module and track display module are to monitor spraying machine for positioning and showing spraying machine run trace in real time It is no to respray and the phenomenon that drain spray；

The CPU module in real time to received target distance, backward energy information, spraying machine driving speed information into Row calculates and processing；CPU module is made of central processing unit and storage card；

The variable rate spray module is connect with CPU module, and the information for being obtained according to central processing module carries out Real-time variable is spraying；

The ultrasonic sensor mould group, external power supply module connect with wireless data transfer module respectively, and pass through no line number Information is sent according to transmission module；The velocity sensor, locating module, track display module connect with central processing module respectively It connects；The power module is respectively central processing module, locating module, the power supply of track display module；

The control switch is used for the start and stop of entire control system.

2. a kind of variable rate spray control system based on fruit tree canopy leaf area index as described in claim 1, feature exist In the ultrasonic sensor, wireless data transfer module, external power supply module encapsulate together, and provide charging interface and surpass Sound wave transmitting outlet, integrated moveable ultrasound information collection system are set to spraying machine first half, ultrasonic sensor mould Group is located on same perpendicular with spray head.

3. a kind of variable rate spray control system based on fruit tree canopy leaf area index as described in claim 1, feature exist In being set on the traveling wheel of spraying machine by the speed detector that velocity sensor and code-disc form, for acquiring spraying machine Driving speed information；Wherein, velocity sensor bracket is provided on the traveling wheel to fix the velocity sensor.

4. a kind of variable rate spray control system based on fruit tree canopy leaf area index as described in claim 1, feature exist In the locating module, track display module, central data processing module, power module and control switch are integrated in central behaviour Make on platform, is located in spraying machine driver's cabin；The variable rate spray module is located at spraying machine tail end.

5. implement the variable rate spray control method based on fruit tree canopy leaf area index using system as described in claim 1, It is characterized in that, the specific steps are as follows:

(1) nozzle position is obtained to the distance of target canopy, is directly measured by ultrasonic sensor mould group 1；

(2) further, by time domain energy calculation method, ultrasonic echo energy information is obtained, method particularly includes:

Wherein E is signal energy, and x (t) is analog signal voltage, t₀It is transmitting signal initial time, t₁It is t₀After 2ms Time corresponding to one voltage greater than 1.2V, t₂It is t₁The last one is greater than the time corresponding to the voltage of 1.2V later；

(3) further, fruit tree canopy leaf area index information is obtained, method particularly includes:

Wherein, L₁It is leaf area index；S is ultrasonic sensor at a distance from target canopy, i.e. nozzle position to target canopy Distance, unit m；E is backward energy value, unit J；A is operation canopy blade face average area, unit cm², Calculation method pertains only to the calculating of numerical value；

(4) spraying machine driving speed information is obtained, and is real-time transmitted in CPU module, obtains variable rate spray according to value L information；Variable rate spray foundation value L is obtained, method particularly includes: as 0 < V < 2, the variable rate spray foundation practical L1 of value L=canopy, As 2 < < V, spraying according to value L=2 × practical L1 of canopy, spraying machine travel speed is V, unit m/s；

Hereby, it is achieved that realizing the purpose of variable rate spray according to canopy leaf area index.

6. method as claimed in claim 5, which is characterized in that microprocessor is obtained and target canopy by ultrasonic sensor Range information and echo information, echo information sampling period are T, and wherein T is 100ms；Ultrasonic sensor 1 is in sampling duration T0 The backward energy data obtained in (0s~0.1s) time generate array E1={ E1₁；E1₂；E1₃；……E1_N, wherein 0.5 < E_1N < 0.8, array E1 is corrected by processor to obtain effective array E1 '={ E1 '₁；E1′₂；E1′₃；……E1′_M, and by described micro- The average value of processor calculating array E1 ':VarianceAnd ultrasonic sensor measures S1 is denoted as with target distance；Similarly, the average value of effective array of ultrasonic sensor and ultrasonic sensor is obtained VarianceWith target distance S2, S3；WhenOrWhen, it takesWhenOrWhen, it takesWhen OrWhen, it takesThen pass through wireless data transfer module 2 for numerical valueIt is sent to CPU module, it is spraying as this The backward energy numerical value e of operation；It takesDistance values S as this spraying operation.

7. method as claimed in claim 5, which is characterized in that duty ratio D needed for being worth PWM control valve according to L, to control Spray head processed carries out on-demand variable rate spray；Its duty ratio D circular are as follows: D=L × 25%, wherein D is variable rate spray Duty ratio numerical value, L are spraying according to value, as D > 4, D 100%；Meanwhile each spray head is equipped with a ultrasonic sensor Mould group 1 realizes the on-demand application of whole strain fruit tree.

Technical field

The present invention relates to agriculture intelligent machine technical fields, are referred to more particularly, to one kind based on fruit tree canopy leaf area Several variable rate spray control system and its to fruit tree canopy variable rate spray method.

Background technique

Pest control in orchard is sprayed mainly by chemical pesticide, but the mode that tradition is continuously administered can have a large amount of agriculture Medicine residual does not meet today's society environmental protection, the requirement of sustainable development.The problem that Orchard Spray is primarily present on technological layer It is to be difficult to be distributed and implement to control target variable rate spray in line computation target dose demand.Reach orchard to solve above-mentioned problem Precisely spraying requirement needs to study orchard target characteristic recognition method to obtain the letter such as target position, volume, dense degree Breath, and spray value intelligent control technology is studied to realize to target variable rate spray.

The acquisition of orchard canopy information is the key that target variable rate spray system research.Currently, the spy of fruit tree canopy target Survey technology mainly have optical sensor target Detection Techniques, machine vision target Detection Techniques, laser radar target Detection Techniques, Ultrasonic sensor target Detection Techniques, and, application highly developed to the Detection Techniques of the position of fruit tree canopy, volume information Extensively, the Detection Techniques of fruit tree canopy consistency information and the spray value intelligent control according to fruit tree canopy consistency information Also in the research of technique stage, need to be furtherd investigate further towards orchard application direction to realize technological break-through.

Summary of the invention

In view of the above problems, the present invention provides a kind of variable rate spray control systems based on fruit tree canopy leaf area index And its to fruit tree canopy variable rate spray method, that is, ultrasonic sensor and wireless-transmission network technology is combined to complete adopting for data Collection, and by processor module with the output of the completion information such as time domain energy calculation method.

To achieve the goals above, the invention provides the following technical scheme:

A kind of variable rate spray control system based on fruit tree canopy leaf area index, the system include ultrasonic sensor mould Group, wireless data transfer module, velocity sensor, locating module, track display module, central data processing module, external electrical Source module, power module, variable rate spray control module and control switch.

The ultrasonic sensor mould group comprising 3 ultrasonic sensors, microprocessor and storage card, 3 ultrasounds Wave sensor, storage card are connect with microprocessor respectively；Ultrasonic sensor is for real time emission ultrasound information and receives it Echo information, and the test leakage of target is effectively avoided, detection accuracy is improved, storage card is micro- for storing backward energy numerical value Processor is used to handle the echo voltage data of the receiving of ultrasonic wave mould group 1.

Distance and the backward energy letter that the wireless data transfer module is used in real time obtain ultrasonic sensor mould group Breath is transferred to CPU module.

The velocity sensor for acquiring spraying machine driving speed information in real time.

The locating module and track display module are spraying to monitor for positioning and showing spraying machine run trace in real time Whether machine is resprayed and the phenomenon that drain spray.

The CPU module in real time believes received target distance, backward energy information, spraying machine travel speed Breath is calculated and is handled；CPU module is made of central processing unit and storage card.

The variable rate spray module is connect with CPU module, and the information for being obtained according to central processing module It is spraying to carry out real-time variable.

The ultrasonic sensor mould group, external power supply module connect with wireless data transfer module respectively, and pass through nothing Line data transmission module sends information；The velocity sensor, locating module, track display module respectively with central processing module Connection；The power module is respectively central processing module, locating module, the power supply of track display module.

The control switch is used for the start and stop of entire control system.

Based on the above technical solution, the present invention can also be improved as follows:

Further, the ultrasonic sensor, wireless data transfer module, external power supply module are encapsulated together, and are given Charging interface and ultrasonic wave transmitting outlet, integrated moveable ultrasound information collection system are set to spraying machine first half out, Ultrasonic sensor mould group and spray head are located on same perpendicular.

Further, speed detector is set on the traveling wheel of spraying machine, including velocity sensor and code-disc, is used for Acquire the driving speed information of spraying machine, wherein velocity sensor bracket is provided on the traveling wheel to fix the speed Sensor.

During the locating module, track display module, central data processing module, power module and control switch are integrated in It entreats on station, is located in spraying machine driver's cabin；The variable rate spray module is located at spraying machine tail end.

According to another aspect of the present invention, a kind of variable rate spray control based on fruit tree canopy leaf area index is additionally provided Method processed, comprising:

Nozzle position is obtained to the distance of target canopy, is directly measured by ultrasonic sensor mould group 1；

Further, by time domain energy calculation method, ultrasonic echo energy information is obtained, method particularly includes:

Wherein E is signal energy, and x (t) is analog signal voltage, t₀It is transmitting signal initial time, t₁It is t₀By 2ms Time corresponding to first voltage greater than 1.2V afterwards, t₂It is t₁When the last one is greater than corresponding to the voltage of 1.2V later Between.

Further, fruit tree canopy leaf area index information is obtained, method particularly includes:

Wherein, L₁It is leaf area index, S is ultrasonic sensor at a distance from target canopy, i.e. nozzle position to target The distance of canopy, unit m, e are backward energy values, unit J,A is operation canopy blade face average area, single Position is cm², calculation method pertains only to the calculating of numerical value.

Spraying machine driving speed information is obtained, and is real-time transmitted in CPU module, obtains variable rate spray foundation Value L information；Variable rate spray foundation value L is obtained, method particularly includes:

As 0 < V < 2, variable rate spray is according to the practical L of value L=canopy₁, spraying according to value L=2 × canopy as 2 < < V Practical L₁, spraying machine travel speed is V, unit m/s.

Hereby, it is achieved that realizing the purpose of variable rate spray according to canopy leaf area index.

The present invention have compared with the existing technology it is following the utility model has the advantages that

The present invention detects the density degree of canopy using ultrasonic sensor, and proposes canopy density degree Quantitative criteria-leaf area index calculation method realizes the real-time online detection of canopy density degree, dense in fruit tree canopy It achieves in terms of degree detecting compared with quantum jump, and has invented a kind of orchard variable rate spray control based on fruit tree canopy leaf area index System processed and its to fruit tree canopy variable rate spray method, is widely used, operating environment moreover, the ultrasonic sensor used has The advantages of relative requirement is lower, and Detection Techniques are mature, and cost is relatively low.

Detailed description of the invention

Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments Obviously and it is readily appreciated that, in which:

Fig. 1 is a kind of overall structure block diagram of the variable rate spray control system based on fruit tree canopy leaf area index of the present invention.

Fig. 2 is part of module of the present invention position view on spraying machine.

Fig. 3 is the structure drawing of device of ultrasonic sensor mould group of the present invention and CPU module.

Fig. 4 is that track display screen of the present invention is resprayed and drain spray schematic diagram.

In Fig. 1: 1, ultrasonic sensor mould group；2, wireless data transfer module；3, external power supply module；4, power supply mould Block；5, velocity sensor；6, variable rate spray control module；7, central data processing module；8, track display module；9, control is opened It closes；10, locating module；

In Fig. 3: 11, ultrasonic sensor；12, microprocessor；13,14, storage card；15, central processing unit；

Specific embodiment

Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited In this.

As shown in Figure 1, the variable rate spray control based on orchard canopy leaf area index provided for one embodiment of the invention System structure diagram, system combination velocity sensor 5, locating module 10, ultrasonic sensor 11 and the microprocessor 12, in The acquisition and processing of the completion data of central processor 15.The system include ultrasonic sensor mould group 1, wireless data transfer module 2, Velocity sensor 5, locating module 10, track display module 8, central data processing module 7, external power supply module 3, power module 4, variable rate spray control module 6 and control switch 9；The ultrasonic sensor mould group 1 for acquiring at a distance from target in real time With echo waveform information, and backward energy information is obtained by time domain energy calculation method；The wireless data transfer module 2 is used " packing " processing is carried out in the data information for the distance and backward energy in real time obtaining ultrasonic sensor mould group 1, and will beat Data after packet are sent to the CPU module 7；The velocity sensor 5 for acquiring spraying machine travel speed in real time Information；The locating module 10 and track display module 8 are for positioning in real time and showing spraying machine run trace；The center number Received target distance, backward energy information, spraying machine driving speed information are calculated and located in real time according to processing module 7 Reason；It is spraying that the information that the variable rate spray module 6 is used to be obtained according to central processing module carries out real-time variable；The ultrasonic wave Sensor module 1, external power supply module 3 are connect with wireless data transfer module 2 respectively, and pass through wireless data transfer module 2 Send information；The velocity sensor 5, locating module 10, track display module 8, power module 4 respectively with central processing module 7 connections；The control switch 9 is used for the start and stop of entire control system.

The present invention is based on the control methods and rate-determining steps of the variable rate spray control system of fruit tree canopy leaf area index: In When carrying out spraying operation, " work 1 " instruction, external power supply mould are sent from control switch 9 to microprocessor 12, central processing unit 15 Block 3, power module 4 start as whole system power supply.

Microprocessor 12 is obtained and target canopy range information and echo information, echo information by ultrasonic sensor 11 Sampling period is T, and wherein T is 100ms；The echo that ultrasonic sensor 1 obtains within sampling duration T0 (0s~0.1s) time Energy datum generates array E1={ E1₁；E1₂；E1₃；······E1_N, wherein 0.5 < E1_N< 0.8, it will by processor Array E1 corrects to obtain effective array E1 '={ E1 '₁；E1′₂；E1′₃；······E1′_M, and by the microprocessor 12 calculate the average value of array E1 ':VarianceAnd ultrasonic sensor 1 measure with Target distance is denoted as S1；Similarly, the average value of effective array of ultrasonic sensor 2 and ultrasonic sensor 3 is obtained VarianceWith target distance S2, S3；WhenOrWhen, it takesWhenOrWhen, it takesWhenOr When, it takesThen pass through wireless data transfer module 2 for numerical valueIt is sent to CPU module 7, it is spraying as this The backward energy numerical value e of operation；It takesDistance values S as this spraying operation；

Central processing unit 15 by velocity sensor 5 obtain spraying machine driving speed information, in conjunction with target canopy distance The canopy leaf area index that information and echo information obtain obtains variable rate spray foundation value L information, method particularly includes: as 0 < V When < 2, variable rate spray is according to the practical L of value L=canopy₁, spraying according to value L=2 × practical L of canopy as 2 < < V₁, spraying machine Travel speed is V, unit m/s.To the duty ratio D according to needed for L worth PWM control valve out, carried out on demand to control spray head Variable rate spray.Its duty ratio D circular are as follows: D=L × 25%, wherein D is the duty ratio numerical value of variable rate spray, and L is Spraying foundation value, as D > 4, D 100%.Meanwhile each spray head is equipped with a ultrasonic sensor mould group 1, realizes whole strain The on-demand application of fruit tree.

Fruit tree canopy consistency-leaf area index testing principle: ultrasonic sensor is encountered after issuing ultrasound emission wave Barrier has ultrasonic echo and generates and return, and the characteristics such as barrier shape size will affect the intensity of ultrasonic echo, fruit tree hat Layer is denser, and the ultrasonic echo of generation is stronger, otherwise crown canopy is more sparse, and the ultrasonic echo of generation is weaker.Pass through time domain energy Echo waveform information is converted energy values information by calculation method, and show that leaf area refers to together with influence factor range information Several information quantifies fruit tree canopy density degree, provides foundation for the spray amount of spraying operation.

Above implementation is only that preferred embodiments of the present invention will be described, is not limited the scope of the invention Fixed, not departing from the present invention relates under the premise of spirit, this field ordinary engineering and technical personnel does technical solution of the present invention Various modifications and transformation out, should fall within the scope of protection determined by the claims of the present invention.