CN102017938A - Greenhouse suspended self-propelled target-oriented sprayer system and operation method thereof - Google Patents
Greenhouse suspended self-propelled target-oriented sprayer system and operation method thereof Download PDFInfo
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Abstract
The invention relates to a greenhouse suspended self-propelled target-oriented sprayer system and an operation method thereof. The greenhouse suspended self-propelled target-oriented sprayer system is characterized by comprising a guide way, a self-propelled mobile platform, a hall sensor, a spraying manipulator device, a binocular vision system and a PLC (Programmable Logic Controller), wherein a plurality of magnetic positioning marks are preinstalled on the guide way; the self-propelled mobile platform is arranged on the guide way through a walking mechanism and provided with the hall sensor; the spraying manipulator device comprises a Z direction cross-shear hanger which is arranged on a rack; a spray rod is horizontally arranged below the hanger through a rotary positioning mechanism; a spray pipe is fixedly arranged on the spray rod; a plurality of spray heads are arranged on the spray pipe at intervals and independently controlled by electromagnetic valves; the hanger has the functions of extension and retraction; the binocular vision system comprises two CCD (Charge-Coupled Device) video cameras; the two CCD video cameras are fixedly installed on both ends of the spray rod respectively and connected with an upper computer in which control software is prearranged; and the PLC is electrically connected with the upper computer, the hall sensor, a frequency converter, a drive controller, the electromagnetic valves and the CCD video cameras respectively.
Description
Technical field
The present invention relates to a kind of agricultural spraying machine system and method for operating thereof, particularly walk target spraying machine system and method for operating thereof certainly about a kind of suspension type that is used for the greenhouse.
Background technology
Along with developing rapidly of calculator and automatic control technology, agricultural machinery will march toward intelligent period.Particularly in the production process of industrialized agriculture, the use of intelligent agricultural equipment will become the important symbol of modern precision agriculture development.In the fruits and vegetables production operation, pesticide spraying labour intensity is big, and operating efficiency is lower.Present domestic fruits and vegetables dispenser operation is still manual basically to be finished, especially in the greenhouse, under the comparatively airtight working environment, health to operating personnel has very big harm, frequent excessive dispenser simultaneously not only causes the waste of goods and materials, go back contaminated environment simultaneously, agricultural product quality is descended, thereby finally influence social benefit, the market price and economic benefit.
Summary of the invention
At the problems referred to above, the purpose of this invention is to provide a kind of intellectuality, can spray insecticide automatically, the greenhouse suspension type of high efficiency is from walking target spraying machine system and method for operating thereof.
For achieving the above object, the present invention takes following technical scheme: a kind of greenhouse suspension type is from walking target spraying machine system, and it is characterized in that: it comprises guide rail, self-propelled mobile platform, Hall element, spraying mechanical arm assembly, binocular vision system and PLC logic controller; Described guide rail is two that be arranged in parallel, and wherein one is provided with the plurality of magnetic telltale mark, and the two ends of another root are respectively arranged with a ridge magnetic mark and a ridge tail magnetic mark; Described self-propelled mobile platform comprises a frame, and described frame top is arranged on the guide rail by the first motor-driven running gear by one, and described frame is provided with the frequency converter of described first motor of a connection; Described Hall element comprises and is separately positioned on frame one side two ends and ridge Hall element and the ridge tail Hall element corresponding with a described ridge magnetic mark and ridge tail magnetic mark; The opposite side of described frame is provided with location, ridge Hall element; Described spraying mechanical arm assembly comprise one be arranged on the described frame, by the second motor-driven Z to handing over the scissors suspension bracket, the below of described suspension bracket connects a horizontally disposed spray boom by a rotary positioning mechanism; Be connected with a jet pipe that is used to connect the medicine source on the described spray boom, described jet pipe is provided with some shower nozzles, and each described shower nozzle is provided with a magnetic valve independently; Described frame is provided with the driving governor of described second motor of a connection; Described binocular vision system comprises that two are installed in the ccd video camera on the spray boom of described suspension bracket both sides respectively, and described two ccd video cameras connect one respectively and are arranged on the host computer that presets control software on the described frame and in it; Described PLC logic controller is arranged on the described frame, and described PLC logic controller is electrically connected described host computer, Hall element, frequency converter, driving governor, magnetic valve and ccd video camera respectively.
Described rotary positioning mechanism comprises the some hinge connectors that are arranged on described suspension bracket bottom, each described hinge connector connects a hinge that is arranged on the described spray boom, be provided with a positioning rod between described suspension bracket and the described spray boom, described backstay one end is rotatably connected on the bottom of described suspension bracket by bolt, the other end is fastened in the groove that is provided with on the described spray boom, described groove is two, an injection direction that is used for spacing spray boom upper nozzle is parallel to the ground, and another injection direction that is used for spacing spray boom upper nozzle is perpendicular to the ground.
Described suspension bracket is provided with steel wire rope, and the other end of described steel wire rope connects the output of described second motor.
A kind of greenhouse suspension type of said apparatus is from the method for operating of walking target spraying machine system, it may further comprise the steps: 1) self-propelled mobile platform is arranged on the guide rail, adjust the shower nozzle in the spraying mechanical arm assembly, make the collection direction of shower nozzle injection direction and ccd video camera parallel to the ground, start the PLC logic controller; 2) the PLC logic controller starts frequency converter, and frequency converter rotates by trapezoidal acceleration and deceleration driven by program first motor pre-loaded in it, and first motor drives the running gear walking by belt, and running gear drives self-propelled mobile platform walking; When 3) ridge on frame location Hall element detects magnetic mark on the guide rail, send signal to the PLC logic controller, the PLC logic controller sends cutoff command to frequency converter, and Frequency Converter Control first motor stops operating, and self-propelled mobile platform is out of service; 4) the PLC logic controller sends instruction to driving governor, and driving governor is controlled second motor and rotated, and second motor makes the suspension bracket in the spraying mechanical arm assembly launch to move downward; 5) host computer starts ccd video camera collection plant and disease image, and imports the image that collects into host computer, and host computer is handled in real time and result is returned to the PLC logic controller; 6) control of PLC logic controller has the magnetic valve of disease position correspondence to open, and nozzle begins the operation of spraying, and drops to effective travel until suspension bracket; 7) the PLC logic controller sends instruction to driving governor, and second motor makes suspension bracket begin upwards retracted for clearance, closes ccd video camera and magnetic valve simultaneously; 8) after suspension bracket resetted, the PLC logic controller restarted self-propelled mobile platform and advances, up to running into next magnetic mark; If 1. this magnetic mark is not a ridge tail magnetic mark, then returns step 3) and repeat above-mentioned steps; If 2. this magnetic mark is a ridge tail magnetic mark, ridge tail Hall element sends signal to the PLC logic controller, the PLC logic controller sends to frequency converter and retreats instruction, self-propelled mobile platform retreats, detect a ridge magnetic mark of pasting on the guide rail until a ridge Hall element, whole workflow is finished in self-propelled mobile platform playback.
A kind of greenhouse suspension type of said apparatus is from the method for operating of walking target spraying machine system, it may further comprise the steps: 1) self-propelled mobile platform is arranged on the guide rail, adjust the shower nozzle in the spraying mechanical arm assembly, make shower nozzle injection direction and ccd video camera collection direction perpendicular to the ground, start the PLC logic controller; 2) the PLC logic controller sends instruction to driving governor, and driving governor is controlled second motor and rotated, and suspension bracket is launched downwards, makes jet pipe reach assigned address; 3) the PLC logic controller starts frequency converter, and frequency converter rotates by trapezoidal acceleration and deceleration driven by program first motor pre-loaded in it, and first motor drives the running gear walking by belt, and running gear drives self-propelled mobile platform operation; 4) host computer starts ccd video camera and gathers plant and disease image, and the image of gathering imports host computer into, and host computer is handled in real time and result is returned to the PLC logic controller; 5) control of PLC logic controller has the magnetic valve of disease position correspondence to open, and nozzle begins the operation of spraying; 6) self-propelled mobile platform constantly advances, and detects ridge tail magnetic mark on the guide rail up to ridge tail Hall element; 7) PLC logic controller control magnetic valve and ccd video camera are closed the suspension bracket retracted for clearance; 8) the PLC logic controller sends to frequency converter and retreats instruction, and the self-propelled mobile platform of first motor-driven retreats, and a Hall element detects a ridge magnetic mark of pasting on the guide rail up to the ridge, and whole workflow is finished in self-propelled mobile platform playback.
The present invention is owing to take above technical scheme, it has the following advantages: 1, the present invention is provided with guide rail at the greenhouse ceiling, the spraying mechanical arm assembly is arranged on the self-propelled mobile platform, self-propelled mobile platform is arranged on the guide rail by running gear, and by PLC logic controller control running gear on guide rail walking and stop, and by Hall element detection magnetic orientation mark, whenever detect the magnetic orientation mark spraying operation of all stopping, therefore, can under greenhouse, spray insecticide automatically, avoid the actual bodily harm that in the process of spraying insecticide operating personnel caused, raise labour efficiency.2, the present invention is provided with binocular vision system, adopts this system effectively to obtain, discerns, locatees the spraying object, and finally control spraying mechanical arm action and nozzle target spraying.3, the present invention can be by control software and the PLC logic controller that presets in the host computer, Hall element, driving governor, frequency converter, high-speed electromagnetic valve and ccd video camera are controlled, realize the location of pesticide spraying position and the automatic sprinkling of agricultural chemicals, after finishing, the spraying operation returns automatically, therefore, operating personnel need not to enter the greenhouse, can realize the operation of intelligent spray medicine.Structural design of the present invention is ingenious, and is easy to operate, can be widely used in the pesticide spraying process.
Description of drawings
Fig. 1 is a structural perspective of the present invention
Fig. 2 is a structural front view of the present invention
Fig. 3 is a structure left view of the present invention
Fig. 4 is a structure vertical view of the present invention
Fig. 5 is the front view of spray boom structure of the present invention vertically downward the time
Fig. 6 is the left view of spray boom structure of the present invention vertically downward the time
Fig. 7 is vegetative period, initial bloom stage and the maturing stage example flow diagram that the present invention is used for hedge frame type plant
Fig. 8 is that the present invention is used for plant seedling stage or short plant example flow diagram
Embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
As shown in Figure 1, the present invention mainly comprises guide rail 1, self-propelled mobile platform 2, Hall element, spraying mechanical arm assembly, binocular vision system and PLC logic controller.
Self-propelled mobile platform 2 is support platforms of whole sprayer system, and it comprises a frame 21, and frame 21 tops are provided with a walking mechanism 22, and running gear 22 is arranged on the guide rail 1, and self-propelled mobile platform 2 can be walked along guide rail 1 by running gear 22.Running gear 22 comprises a drive sprocket axle 23, and drive sprocket axle 23 drives a follower shaft 24 and rotates.The input of drive sprocket axle 23 connects first motor, 25, the first motors 25 by belt and connects a frequency converter (not shown), presets trapezoidal acceleration and deceleration program in the frequency converter, and first motor 25 and frequency converter are arranged on the frame 21.
Hall element comprises a ridge Hall element 31, a ridge tail Hall element 32 and location, ridge Hall element 33.Along guide rail 1 direction of advance, a ridge Hall element 31 is arranged on the front end and the corresponding side of a ridge magnetic mark of frame 21; Ridge tail Hall element 32 is arranged on the rear end and the corresponding side of ridge tail magnetic mark of frame 21, and location, ridge Hall element 33 is arranged on the rear end and magnetic orientation mark 11 corresponding sides of frame 21.
As Fig. 2, Fig. 3, shown in Figure 4, the spraying mechanical arm assembly comprises that the Z that is arranged on frame 21 1 ends is to handing over scissors suspension bracket 41, Z has been horizontally disposed with a spray boom 42 to the below of handing over scissors suspension bracket 41 by a rotary positioning mechanism, spray boom 42 is vertical with the bearing of trend of guide rail 1, be set with the jet pipe 43 in a connection medicine source on the spray boom 42, be arranged at intervals with some shower nozzles 44 on the jet pipe 43, each shower nozzle 44 is provided with a high-speed electromagnetic valve 45 independently.By rotary positioning mechanism the injection direction of shower nozzle 44 is in perpendicular to ground and the wherein a kind of state that is parallel to ground.Z is to handing over scissors suspension bracket 41 to be provided with steel wire rope, the other end of steel wire rope connects the output of the second motor (not shown), second motor is arranged on Z to handing over scissors suspension bracket 41 tops, the input of second motor connects a driving governor (not shown), can make steel wire rope rolling or relieving by the driving governor and second motor, and then can make Z to handing over scissors suspension bracket 41 corresponding contractions or expansion, finally realize the lifting action of spray boom 42.
In the foregoing description, rotary positioning mechanism comprises and is arranged on Z to some hinge connectors 46 of handing over scissors suspension bracket 41 bottoms, and each hinge connector 46 connects a hinge 47, and hinge 47 is arranged on the spray boom 42, the folding of hinge 47 can make spray boom 42 rotate 90 ° (as Fig. 5, shown in Figure 6).Z is provided with a positioning rod 48 to handing between scissors suspension bracket 41 and the spray boom 42.Backstay 48 1 ends are rotatably connected on Z on the base plate of handing over scissors suspension bracket 41 by bolt.The other end can be fastened in the groove 49 of spray boom 42 middle parts setting.Spray boom 42 middle parts are respectively arranged with two grooves, and one of them groove is parallel limited impression, and when backstay 48 other ends were fastened in the parallel limited impression, injection direction that can spacing shower nozzle 44 was parallel to ground; Another groove is vertical limited impression, and when the other end of backstay 48 was fastened in the vertical limited impression, injection direction that can spacing shower nozzle 44 was perpendicular to ground.
As shown in Figure 1 and Figure 2, binocular vision system comprises two high-resolution colourful CCD video cameras 51, two ccd video cameras 51 are fixedly mounted on spray boom 42 two ends respectively, its camera direction is consistent with the injection direction of shower nozzle 44, two ccd video cameras 51 connect a host computer (not shown) that presets control software in it by USB plug respectively, host computer can adopt notebook computer, but is not limited thereto.Host computer is arranged on the self-propelled mobile platform 2, can take off under the situation of not operation of sprayer system.
The PLC logic controller is arranged in the control appliance rack 61, and control appliance rack 61 is set to one with the frame 21 of self-propelled mobile platform.The input of PLC logic controller connects the output of three Hall elements and host computer, and the output of PLC logic controller connects the input of host computer, frequency converter, high-speed electromagnetic valve 45, ccd video camera 51 and driving governor.
In the foregoing description, guide rail 1 is 3m apart from the height of bottom surface, guide rail 1 wide 1m; Z is 2.8m to the effective travel of handing over scissors suspension bracket 41, and after operation was finished in the plantation ridge, Z can rise to spray boom 42 height of about 2.5m to handing over scissors suspension bracket 41 retracted for clearance.
In the foregoing description, jet pipe 43 long 2m, 0.2m arranges a shower nozzle at interval, arranges 10 variable sprayers 44 altogether.The folding of hinge 47 can realize that 90 ° of variations take place the direction of shower nozzle 44 and ccd video camera 51.The collection direction of shower nozzle 44 injection directions and ccd video camera 51 is applicable to plant seedling stage or short plant during perpendicular to ground, and ccd video camera obtains influences of plant crown information.When the collection direction of shower nozzle 44 injection directions and ccd video camera 51 is parallel to ground, be applicable to the dispenser operation in vegetative period, initial bloom stage and the maturing stage of hedge frame type crop.
In the foregoing description, binocular vision system is used to realize that the perception of disease information, feature are judged, space orientation.Enumerate below under the concrete image information acquisition and processing method:
1) appropriate change green cucumber pattern, cucumber distance between the ridges 1m, crop single file cultivation in the ridge, spacing in the rows 0.4m is convenient to spraying mechanical arm assembly decline operation;
2) the control software that presets in the host computer detects the state of PLC logic controller in real time, when detecting the decline of spraying mechanical arm assembly, host computer starts ccd video camera 51 and enters the sequence drainage pattern, gathers cucumber plant and disease information, and imports image into host computer;
3) the real-time image data processing of the treatment system of writing based on C++ in the host computer is finished image recognition and coordinate computation, shows the result, obtains cucumber plant and blade characteristics information, and the disease positional information is sent to the PLC logic controller;
4) host computer is monitored the mode bit data of the spraying mechanical arm assembly under the control of PLC logic controller in real time, and the spraying mechanical arm assembly is sent movement instruction, and shower nozzle 44 is realized a series of disease variable rate spray actions according to the result opening and closing.
System of the present invention comprises following two kinds of methods of operating:
As Fig. 1, shown in Figure 7, at vegetative period, initial bloom stage and the maturing stage of hedge frame type plant.
1) self-propelled mobile platform 2 is arranged on the guide rail 1, adjusts the shower nozzle 44 in the spraying mechanical arm assembly, make the collection direction of the injection direction of shower nozzle 44 and ccd video camera 51 parallel to the ground, start the PLC logic controller.
2) the PLC logic controller starts frequency converter, and frequency converter drives running gear 22 walkings by trapezoidal acceleration and deceleration driven by program first motor 25, the first motors 25 pre-loaded in it by belt, realizes advancing of self-propelled mobile platform 2.
3) when location, the ridge on the frame 21 Hall element 33 detects the magnetic orientation mark 11 that is preset on the guide rail 1, send signal to the PLC logic controller, the PLC logic controller sends cutoff command to frequency converter, Frequency Converter Control first motor 25 stops operating, and self-propelled mobile platform 2 is out of service.
4) the PLC logic controller sends instruction to driving governor, and driving governor starts second motor, by second motor Z in the spraying mechanical arm assembly is moved downward to friendship scissors suspension bracket 41.
5) when upper computer detection descends to the spraying mechanical arm assembly, start ccd video camera 51 and gather plant and disease image, the spread of spray of 5 nozzles of the corresponding corresponding side of the acquisition range of each ccd video camera 51, the image that ccd video camera 51 collects imports host computer into, result is handled and returned to host computer in real time, transmits result and give the PLC logic controller.
6) control of PLC logic controller has the high-speed electromagnetic valve 45 of disease position correspondence to open, and the nozzle 44 of high-speed electromagnetic valve 45 correspondences begins the operation of spraying, and the Z in the spraying mechanical arm assembly is to handing over scissors suspension bracket 41 to drop to effective travel.
7) the PLC logic controller sends instruction to driving governor, and first motor 25 drives Z to handing over scissors suspension bracket 41 to begin upwards retracted for clearance, closes ccd video camera 51 and high-speed electromagnetic valve 45 simultaneously.
8) Z is after handing over scissors suspension bracket 41 to reset, and the PLC logic controller restarts self-propelled mobile platform 2 and advances, up to running into next magnetic orientation mark;
If 1. this magnetic orientation mark is not a ridge tail magnetic mark, then returns step 3) and repeat above-mentioned flow process.
If 2. this magnetic mark is a ridge tail magnetic mark, then ridge tail Hall element 32 sends signal to the PLC logic controller, the PLC logic controller sends to frequency converter and retreats instruction, self-propelled mobile platform 2 retreats, detect a ridge magnetic mark that presets on the guide rail 1 until a ridge Hall element 31, self-propelled mobile platform 2 is finished playback, and the greenhouse suspension type is finished whole workflow from walking target spraying machine system.
As Fig. 5, shown in Figure 8, at plant seedling stage or short plant.
1) self-propelled mobile platform 2 is placed on the guide rail 1, and with spray boom 42 half-twists, the shooting direction that makes the injection direction of shower nozzle 44 and ccd video camera 51 starts the PLC logic controller perpendicular to ground.
2) the PLC logic controller sends instruction to driving governor, and driving governor starts second motor, and the second motor-driven Z makes jet pipe 43 reach assigned address to handing over scissors suspension bracket 41 to launch downwards.
3) the PLC logic controller starts frequency converter, and frequency converter drives running gear 22 walkings by trapezoidal acceleration and deceleration driven by program first motor 25, the first motors 25 pre-loaded in it by belt, realizes the operation of self-propelled mobile platform 2.
4) host computer starts ccd video camera 51 collection cucumber plant and disease images, the spread of spray of the nozzle 44 of the corresponding corresponding side of the acquisition range of each ccd video camera 51, the image that ccd video camera 51 is gathered imports host computer into, result is handled and returned to host computer in real time, transmits result and give the PLC logic controller.
5) control of PLC logic controller has the high-speed electromagnetic valve 45 of disease position correspondence to open, and nozzle 44 begins the operation of spraying.
6) self-propelled mobile platform 2 constantly advances, and detects the ridge tail magnetic mark that presets on the guide rail 1 up to ridge tail Hall element 32, and at this moment, self-propelled mobile platform 2 moves to the ridge tail.
7) PLC logic controller control high-speed electromagnetic valve 45 and ccd video camera 51 are closed, and Z is to handing over scissors suspension bracket 41 retracted for clearance.
8) the PLC logic controller sends to frequency converter and retreats instruction, first motor 25 drives self-propelled mobile platform 2 and retreats, detect a ridge magnetic mark that presets on the guide rail 1 up to a ridge Hall element 31, self-propelled mobile platform 2 is finished playback, and the greenhouse suspension type is finished whole workflow from walking target spraying machine system.
The various embodiments described above only are used to illustrate the present invention, and wherein the structure of each parts, connected mode etc. all can change to some extent, and every equivalents of carrying out on the basis of technical solution of the present invention and improvement all should not got rid of outside protection scope of the present invention.
Claims (5)
1. a greenhouse suspension type is from walking target spraying machine system, and it is characterized in that: it comprises guide rail, self-propelled mobile platform, Hall element, spraying mechanical arm assembly, binocular vision system and PLC logic controller;
Described guide rail is two that be arranged in parallel, and wherein one is provided with the plurality of magnetic telltale mark, and the two ends of another root are respectively arranged with a ridge magnetic mark and a ridge tail magnetic mark;
Described self-propelled mobile platform comprises a frame, and described frame top is arranged on the guide rail by the first motor-driven running gear by one, and described frame is provided with the frequency converter of described first motor of a connection;
Described Hall element comprises and is separately positioned on frame one side two ends and ridge Hall element and the ridge tail Hall element corresponding with a described ridge magnetic mark and ridge tail magnetic mark; The opposite side of described frame is provided with location, ridge Hall element;
Described spraying mechanical arm assembly comprise one be arranged on the described frame, by the second motor-driven Z to handing over the scissors suspension bracket, the below of described suspension bracket connects a horizontally disposed spray boom by a rotary positioning mechanism; Be connected with a jet pipe that is used to connect the medicine source on the described spray boom, described jet pipe is provided with some shower nozzles, and each described shower nozzle is provided with a magnetic valve independently; Described frame is provided with the driving governor of described second motor of a connection;
Described binocular vision system comprises that two are installed in the ccd video camera on the spray boom of described suspension bracket both sides respectively, and described two ccd video cameras connect one respectively and are arranged on the host computer that presets control software on the described frame and in it;
Described PLC logic controller is arranged on the described frame, and described PLC logic controller is electrically connected described host computer, Hall element, frequency converter, driving governor, magnetic valve and ccd video camera respectively.
2. a kind of greenhouse as claimed in claim 1 suspension type is from walking target spraying machine system, it is characterized in that: described rotary positioning mechanism comprises the some hinge connectors that are arranged on described suspension bracket bottom, each described hinge connector connects a hinge that is arranged on the described spray boom, be provided with a positioning rod between described suspension bracket and the described spray boom, described backstay one end is rotatably connected on the bottom of described suspension bracket by bolt, the other end is fastened in the groove that is provided with on the described spray boom, described groove is two, an injection direction that is used for spacing spray boom upper nozzle is parallel to the ground, and another injection direction that is used for spacing spray boom upper nozzle is perpendicular to the ground.
3. a kind of greenhouse as claimed in claim 1 or 2 suspension type is from walking target spraying machine system, and it is characterized in that: described suspension bracket is provided with steel wire rope, and the other end of described steel wire rope connects the output of described second motor.
One kind as claim 1～3 the greenhouse suspension type is from the method for operating of walking target spraying machine system as described in each, it may further comprise the steps:
1) self-propelled mobile platform is arranged on the guide rail, adjusts the shower nozzle in the spraying mechanical arm assembly, make the collection direction of shower nozzle injection direction and ccd video camera parallel to the ground, start the PLC logic controller;
2) the PLC logic controller starts frequency converter, and frequency converter rotates by trapezoidal acceleration and deceleration driven by program first motor pre-loaded in it, and first motor drives the running gear walking by belt, and running gear drives self-propelled mobile platform walking;
When 3) ridge on frame location Hall element detects magnetic mark on the guide rail, send signal to the PLC logic controller, the PLC logic controller sends cutoff command to frequency converter, and Frequency Converter Control first motor stops operating, and self-propelled mobile platform is out of service;
4) the PLC logic controller sends instruction to driving governor, and driving governor is controlled second motor and rotated, and second motor makes the suspension bracket in the spraying mechanical arm assembly launch to move downward;
5) host computer starts ccd video camera collection plant and disease image, and imports the image that collects into host computer, and host computer is handled in real time and result is returned to the PLC logic controller;
6) control of PLC logic controller has the magnetic valve of disease position correspondence to open, and nozzle begins the operation of spraying, and drops to effective travel until suspension bracket;
7) the PLC logic controller sends instruction to driving governor, and second motor makes suspension bracket begin upwards retracted for clearance, closes ccd video camera and magnetic valve simultaneously;
8) after suspension bracket resetted, the PLC logic controller restarted self-propelled mobile platform and advances, up to running into next magnetic mark;
If 1. this magnetic mark is not a ridge tail magnetic mark, then returns step 3) and repeat above-mentioned steps;
If 2. this magnetic mark is a ridge tail magnetic mark, ridge tail Hall element sends signal to the PLC logic controller, the PLC logic controller sends to frequency converter and retreats instruction, self-propelled mobile platform retreats, detect a ridge magnetic mark of pasting on the guide rail until a ridge Hall element, whole workflow is finished in self-propelled mobile platform playback.
One kind as claim 1～3 the greenhouse suspension type is from the method for operating of walking target spraying machine system as described in each, it may further comprise the steps:
1) self-propelled mobile platform is arranged on the guide rail, adjusts the shower nozzle in the spraying mechanical arm assembly, make shower nozzle injection direction and ccd video camera collection direction perpendicular to the ground, start the PLC logic controller;
2) the PLC logic controller sends instruction to driving governor, and driving governor is controlled second motor and rotated, and suspension bracket is launched downwards, makes jet pipe reach assigned address;
3) the PLC logic controller starts frequency converter, and frequency converter rotates by trapezoidal acceleration and deceleration driven by program first motor pre-loaded in it, and first motor drives the running gear walking by belt, and running gear drives self-propelled mobile platform operation;
4) host computer starts ccd video camera and gathers plant and disease image, and the image of gathering imports host computer into, and host computer is handled in real time and result is returned to the PLC logic controller;
5) control of PLC logic controller has the magnetic valve of disease position correspondence to open, and nozzle begins the operation of spraying;
6) self-propelled mobile platform constantly advances, and detects ridge tail magnetic mark on the guide rail up to ridge tail Hall element;
7) PLC logic controller control magnetic valve and ccd video camera are closed the suspension bracket retracted for clearance;
8) the PLC logic controller sends to frequency converter and retreats instruction, and the self-propelled mobile platform of first motor-driven retreats, and a Hall element detects a ridge magnetic mark of pasting on the guide rail up to the ridge, and whole workflow is finished in self-propelled mobile platform playback.
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