CN102669079A - Toward-target variable spray tester - Google Patents
Toward-target variable spray tester Download PDFInfo
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- CN102669079A CN102669079A CN2012101005982A CN201210100598A CN102669079A CN 102669079 A CN102669079 A CN 102669079A CN 2012101005982 A CN2012101005982 A CN 2012101005982A CN 201210100598 A CN201210100598 A CN 201210100598A CN 102669079 A CN102669079 A CN 102669079A
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Abstract
The invention discloses a toward-target variable spray tester. The toward-target variable spray tester comprises a medicine feeding device, a variable spray controller, a variable spray detector, a medicine applying device and a machine vision toward-target device. The toward-target variable spray is realized according to the existence of a medicine spraying target, the size of a target crop area, and the change of the running speed of a spraying vehicle, so that the precision spraying of the crop can be realized, the effectiveness of the medicine liquid can be improved, and the waster of the medicine liquid and the pollution of the environment can be reduced. According to the tester, the spraying can be automatically completed, the corresponding control and adjustment can be carried out according to the real-time data, the spray tester ensures a spraying scheme and transmits to the spraying scheme to a singlechip according to an image acquired in the field and a preset image processing algorithm, the singlechip controls an electric proportioning valve to control the flow, an electromagnetic valve to control the length of the turning-off/on time, the toward-target variable spray is carried out, and the toward-target variable spray tester is multifunctional and convenient to operate. Meanwhile, the variable spray can be manually and automatically changed, so that the toward-target variable spray tester is convenient to select and use in the spraying field.
Description
Technical field
The present invention relates to a kind of sprayer, especially relate to be applied to agricultural chemicals spray a kind of of operation to target variable rate spray experimental machine.
Background technology
At present, be applied to the plain edition sprayer of pesticide application operation, mainly be applicable to the even operation of gross area, its extermination of disease and insect pest effect is better.But in its operation process and since do not carry out to the dispenser target have or not, the analysis of target area size, caused that pesticide efficacy is low, in the agricultural product residue of pesticide exceed standard, problems such as environmental pollution, chemical injury of crops, operator's poisoning.In order to reduce applications of pesticide amount, to improve pesticide efficacy, target variable farm chemical applying technology is become research emphasis in recent years.
(Precision offset spray system for roadway shoulder weed control. Journal of Transportation Engineering such as Slaughter D.C; Vol. 125; No.4,1999) having proposed a gap that is applicable to the both sides of highway area sprays the spraying system of cutting weeds.This system mainly is made up of machine vision part and the gap executing agency that sprays, and this system can gather image in real time, and carries out spraying herbicide selectively according to having or not of weeds.(Development of a sensor-based precision herbicide application system. Computers and Electronics in Agriculture such as Lei Tian; 2002, Vol. 36:133-149) developed variable farm chemical applying system based on machine vision.This system realizes the target dispenser through accurately measuring weeds density, weeds branch hat size, and this system can the quick identification weeds, crop and soil region, thereby effectively carry out the target dispenser.
Li Lijun is (based on the variable spray medicine controller design of ARM microprocessor; Jilin University's academic dissertation; 2007) length that the on off state that has proposed the control magnetic valve is controlled the time of opening of common shower nozzle is controlled the method for the spray value of each shower nozzle, and the kernel control chip of this system is ARM7TDMI type processor S3C44B0X.Shen Chengjie (design of variable rate spray system and the experimental study of mist flow control characteristic, Jiangsu University's academic dissertation, 2009) has proposed to adopt PLC to control the method that electronic ratio adjusting valve is controlled system's mist flow.Yuan Weifeng (multifunctional variable sprayer spraying control system research, Shanghai Communications University's academic dissertation, 2010) has proposed the agricultural chemicals variable rate spray system schema that tachogenerator, flow sensor, system pressure sensor, electronic/magnetic valve combine.
(patent No.: ZL03266753.1 2003.07.07) has proposed pressure type variable farm chemical applying sprayer to Shi Yan etc.Realize the independent variable spraying through the atomisation pressure of regulating each spraying part.(patent No.: ZL03266754.X 2003.07.07) has proposed the motor-driven sprayer of automatic target detection variable farm chemical applying to Fu Zetian etc.Through image monitoring device, be transferred to calculator to signal, computer control spraying, can be according to the dispenser target have or not the automatic target detection dispenser.Zheng Jia waits by force that (patent No.: 200710133009.X 2007.10.10) has proposed spraying system componentization of agricultural chemicals automatic target detection and modular design method.This method has been simplified the complexity of design, agricultural chemicals automatic target detection spraying system is divided into three main modular, i.e. information acquisition module, message processing module, smart spraying module.Ji high honour etc. (patent No.: 201010225374.5,2010.07.05) accurate intelligent target spraying machine has been proposed.Through the parameter of recognizer and the field data of collection, confirm that variable sprays scheme.
In sum, existing sprayer has three kinds of forms, and the one, variable rate spray combines GIS and GPS technology, and the 2nd, single target spraying, the 3rd, target identification method combines with variable rate spray, but does not combine single-chip microcomputer and electronic ratio adjusting valve.Therefore, it is extremely urgent to the method that target combines with machine vision to propose to control flow, solenoid control switching and open-interval length based on the electronic ratio adjusting valve of Single-chip Controlling.
Summary of the invention
The object of the present invention is to provide a kind of to target variable rate spray experimental machine; Promptly with machine vision target is combined based on the electronic ratio adjusting valve control of Single-chip Controlling flow, solenoid control switching and open-interval length; According to the having or not of spray pesticide target, the size of target crop area, the variation of spray truck travel speed; Enforcement sprays crops thereby solve the target variable rate spray more accurately.
The technical scheme that the present invention adopts is:
The present invention includes doser, variable rate spray control device, variable rate spray checkout gear, device for administration of drugs and machine vision target pair device; Wherein:
1) doser: comprise the medicine-chest, first filter, farm chemical spray pump, accumulator, air bleeding valve, first-hand brake control valve and second filter that are linked in sequence through main line, and the safety valve that the loop is provided with between farm chemical spray pump and the medicine-chest;
2) variable rate spray control device: comprise the electronic ratio adjusting valve that is linked in sequence through main line, and the second-hand brake control valve parallelly connected with electronic ratio adjusting valve;
3) variable rate spray checkout gear: comprise the piezoresistive pressure sensor, turbine flowmeter and first manometer that are linked in sequence through main line, and liquid level sensor and Hall element;
4) device for administration of drugs: comprise the 3rd filter that is linked in sequence through main line; And four dispenser branch roads of four parallel connections behind said the 3rd filter; First magnetic valve, second manometer and first nozzle of first dispenser branch road polyphone; Second magnetic valve, the 3rd manometer and second nozzle of second dispenser branch road polyphone; The 3rd magnetic valve, the 4th manometer and the 3rd nozzle of the 3rd dispenser branch road polyphone, the 4th magnetic valve, the 5th manometer and the 4th nozzle of the 4th dispenser branch road polyphone, said four dispenser branch roads are installed on the spray boom;
5) machine vision target pair device: comprise the CCD camera and the industrial computer that contain image pick-up card, the said CCD camera that contains image pick-up card is positioned at the place ahead of device for administration of drugs;
Single-chip microcomputer respectively with the variable rate spray control device in electronic ratio adjusting valve; Piezoresistive pressure sensor in the variable rate spray checkout gear, turbine flowmeter, liquid level sensor, Hall element; Four magnetic valves in the device for administration of drugs, the industrial computer in the machine vision target pair device connects.
Described single-chip microcomputer is the AT89S52 single-chip microcomputer.
The beneficial effect that the present invention has is:
The present invention is through doser, variable rate spray control device, variable rate spray checkout gear, device for administration of drugs, machine vision target pair device; Implement the target variable rate spray according to the size of the having or not of spray pesticide target, target crop area, the variation of spray truck travel speed; Realized precisely spraying to crops; Improve the validity of soup, reduced the waste and the environmental pollution of soup.Use this spraying experimental machine, can spray fully automatically, can also carry out the control corresponding adjustment according to real time data; The image processing algorithm that the spraying experimental machine is passed through the image of collection in worksite and formulated in advance carries out control decision to variable rate spray control device and device for administration of drugs, and is transferred to single-chip microcomputer to the spraying scheme; The electronic ratio adjusting valve control of Single-chip Controlling flow, solenoid control open and close and open-interval length; Carry out the target variable rate spray, powerful, easy and simple to handle.Simultaneously, variable rate spray can be manually, conversion automatically, is convenient to use in the on-the-spot selection of spraying.
Description of drawings
Fig. 1 is the overall structure figure to target variable rate spray experimental machine.
Fig. 2 is the hydraulic circuit diagram to target variable rate spray experimental machine.
Fig. 3 is the control structure block diagram to target variable rate spray experimental machine.
Among the figure: 1, medicine-chest, 2, three filters, 3, farm chemical spray pump, 4, safety valve; 5, accumulator, 6, air bleeding valve, 7, two hand control valves; 8, electronic ratio adjusting valve, 9, piezoresistive pressure sensor, 10, turbine flowmeter; 11, five manometers, 12, four magnetic valves, 13, four nozzles.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is made further explanation.
Like Fig. 1, shown in Figure 2, the present invention includes doser, variable rate spray control device, variable rate spray checkout gear, device for administration of drugs and machine vision target pair device; Wherein:
1) doser: comprise the medicine-chest that is linked in sequence through main line 1, first filter 2, farm chemical spray pump 3, accumulator 5, air bleeding valve 6, first-hand brake control valve 7 and second filter 2, and the safety valve 4 that the loop is provided with between farm chemical spray pump 3 and the medicine-chest 1.Medicine-chest 1 is used to hold soup, before spraying experimental machine work, need stir soup, mixing.First filter 2 is used for the impurity of filtering liquid medicine, protection farm chemical spray pump 3 and main line.Farm chemical spray pump 3 drives through gasoline engine, makes soup pass through pipeline.The effect of safety valve 4 is that when main line pressure surpassed setting, refluxing was expelled back into soup in the medicine-chest 1, reduces the pressure of main line.The effect of accumulator 5 is to stablize the pressure of main line, the protection main line.The effect of air bleeding valve 6 is when main line begins dispenser, to get rid of the air in the pipeline.First-hand brake control valve 7 is master switchs of spraying experimental machine, and during the work of spraying experimental machine, first-hand brake control valve 7 must be opened, and when the spraying experimental machine quit work, first-hand brake control valve 7 must cut out.Second filter 2 is used for the impurity of filtering liquid medicine, electronic ratio adjusting valve 8 and main line in the protection variable rate spray control device.
2) variable rate spray control device: comprise the electronic ratio adjusting valve 8 that is linked in sequence through main line, and the second-hand brake control valve 7 parallelly connected with electronic ratio adjusting valve 8.Single-chip microcomputer is connected with electronic ratio adjusting valve 8, controls the openings of sizes of electronic ratio adjusting valve 8, and then the control flow.Electronic ratio adjusting valve 8 must use respectively with second-hand's brake control valve 7, can not open simultaneously or close, and the spraying experimental machine can be manually or automatic control flow.
3) variable rate spray checkout gear: comprise the piezoresistive pressure sensor 9, turbine flowmeter 10 and first manometer 11 that are linked in sequence through main line, and liquid level sensor and Hall element.Single-chip microcomputer is connected with Hall element with piezoresistive pressure sensor 9, turbine flowmeter 10, liquid level sensor respectively; The pressure and the flow of piezoresistive pressure sensor 9 and turbine flowmeter 10 detection main lines; Liquid level sensor detects the height of medicine-chest herb liquid; Hall element detects the speed that spray truck goes, and feeds back to single-chip microcomputer to detected real time data, and single-chip microcomputer carries out the control corresponding adjustment according to real time data.First manometer 11 can the field observation main line pressure condition, be convenient to experiment.
4) device for administration of drugs: comprise the 3rd filter 2 that is linked in sequence through main line; And four dispenser branch roads of said the 3rd filter 2 back four parallel connections; First magnetic valve 12, second manometer 11 and first nozzle 13 of first dispenser branch road polyphone; Second magnetic valve 12, the 3rd manometer 11 and second nozzle 13 of second dispenser branch road polyphone; The 4th magnetic valve 12, the 5th manometer 11 and the 4th nozzle 13 of the 3rd magnetic valve 12, the 4th manometer 11 and the 3rd nozzle 13, the four dispenser branch roads polyphone of the 3rd dispenser branch road polyphone, said four dispenser branch roads are installed on the spray boom.The effect of the 3rd filter 2 is the impurity in the filtering liquid medicine, prevents that residue of pesticide impurity from blocking each dispenser branch road, protects four magnetic valves 12.Single-chip microcomputer is connected with four magnetic valves 12, controls the switching and the open-interval length of four magnetic valves 12 respectively.Four manometers 11 can four branch roads of field observation pressure condition, be convenient to experiment.
5) machine vision target pair device: comprise the CCD camera and the industrial computer that contain image pick-up card, the said CCD camera that contains image pick-up card is positioned at the place ahead of device for administration of drugs.Single-chip microcomputer is connected with an end of industrial computer, and the other end of industrial computer is connected with the CCD camera that contains image pick-up card.The CCD camera that contains image pick-up card is transferred to the image of collection in worksite on the industrial computer through data wire; Industrial computer is according to the image information of collection in worksite with the image processing algorithm of formulating in advance; Select suitable spraying scheme, be transferred to single-chip microcomputer to concrete carrying into execution a plan in real time.
Described single-chip microcomputer is the AT89S52 single-chip microcomputer.
As shown in Figure 3, the control structure of target variable rate spray experimental machine is comprised CCD camera, industrial computer, AT89S52 single-chip microcomputer, turbine flowmeter, piezoresistive pressure sensor, Hall element, liquid level sensor, electronic ratio adjusting valve, magnetic valve and the nozzle that contains image pick-up card.To target variable rate spray experimental machine through containing the CCD camera collection site image of image pick-up card; And being transferred to industrial computer, industrial computer is handled image according to formulating good algorithm in advance; Select suitable spraying scheme; Be transferred to the AT89S52 single-chip microcomputer to concrete carrying into execution a plan, the electronic ratio adjusting valve control of AT89S52 Single-chip Controlling flow, four magnetic valves are controlled respectively and are opened and closed and open-interval length, carry out the target variable rate spray.Turbine flowmeter, piezoresistive pressure sensor, Hall element detect the speed that flow, pressure and the spray truck of main line go respectively, and feed back to the AT89S52 single-chip microcomputer to data, and the AT89S52 single-chip microcomputer carries out the control corresponding adjustment according to real time data.Liquid level sensor detects the height of medicine-chest herb liquid, when the medicine-chest herb liquid does not almost have, and the indication of reporting to the police, and the electronic ratio adjusting valve of positive closing and four magnetic valves.
Above-mentioned doser, variable rate spray control device, variable rate spray checkout gear, device for administration of drugs and machine vision target pair device can utilize the external power supply power supply.
Operation principle of the present invention:
When the spraying experimental machine was carried out operation in the field, the energising of spraying experimental machine each several part was started working, and opens first-hand brake control valve; Close second-hand's brake control valve, experimental machine is in the auto spraying state, contains the image information of the CCD camera collection site of image pick-up card; And being transferred to industrial computer, industrial computer is handled image according to the algorithm of formulating in advance; And definite spraying scheme that is fit to; Be transferred to the AT89S52 single-chip microcomputer to concrete carrying into execution a plan, the electronic ratio adjusting valve of AT89S52 Single-chip Controlling is regulated the flow that is fit to, four magnetic valves divide other switching and open-interval length, carries out the target variable rate spray.In spray process; Piezoresistive pressure sensor and turbine flowmeter detect the pressure and the flow of main line; Hall element detects the speed that spray truck goes, and liquid level sensor detects the height of medicine-chest herb liquid, and gives the AT89S52 single-chip microcomputer detected real-time Data Transmission; Carry out close-loop feedback control, the AT89S52 single-chip microcomputer carries out the control corresponding adjustment according to real time data.When the flow of main line has surpassed the predefined scope of spraying scheme, the indication of then reporting to the police, and make the electronic ratio adjusting valve of AT89S52 Single-chip Controlling regulate flow through feedback.When the pressure of main line, speed that spray truck goes had surpassed the predefined scope of spraying scheme, the indication of then reporting to the police, changed the speed of spray truck at the pressure of manual adjustments main line.When liquid level sensor detects the medicine-chest herb liquid and does not almost have, the indication of then reporting to the police, and the electronic ratio adjusting valve of positive closing and four magnetic valves.
Of the present invention to target variable rate spray experimental machine; Promptly with machine vision target is combined based on the electronic ratio adjusting valve control of Single-chip Controlling flow, solenoid control switching and open-interval length; According to the having or not of spray pesticide target, the size of target crop area, the variation of spray truck travel speed, implement the target variable rate spray, thereby solve crops are sprayed more accurately; Improve the validity of soup, reduced the waste and the environmental pollution of soup.
Claims (2)
1. one kind to target variable rate spray experimental machine, it is characterized in that: comprise doser, variable rate spray control device, variable rate spray checkout gear, device for administration of drugs and machine vision target pair device; Wherein:
1) doser: comprise the medicine-chest (1), first filter, farm chemical spray pump (3), accumulator (5), air bleeding valve (6), first-hand brake control valve and second filter that are linked in sequence through main line, and the safety valve (4) that the loop is provided with between farm chemical spray pump (3) and the medicine-chest (1);
2) variable rate spray control device: comprise the electronic ratio adjusting valve (8) that is linked in sequence through main line, and the second-hand brake control valve parallelly connected with electronic ratio adjusting valve (8);
3) variable rate spray checkout gear: comprise the piezoresistive pressure sensor (9), turbine flowmeter (10) and first manometer that are linked in sequence through main line, and liquid level sensor and Hall element;
4) device for administration of drugs: comprise the 3rd filter that is linked in sequence through main line; And four dispenser branch roads of four parallel connections behind said the 3rd filter; First magnetic valve, second manometer and first nozzle of first dispenser branch road polyphone; Second magnetic valve, the 3rd manometer and second nozzle of second dispenser branch road polyphone; The 3rd magnetic valve, the 4th manometer and the 3rd nozzle of the 3rd dispenser branch road polyphone, the 4th magnetic valve, the 5th manometer and the 4th nozzle of the 4th dispenser branch road polyphone, said four dispenser branch roads are installed on the spray boom;
5) machine vision target pair device: comprise the CCD camera and the industrial computer that contain image pick-up card, the said CCD camera that contains image pick-up card is positioned at the place ahead of device for administration of drugs;
Single-chip microcomputer respectively with the variable rate spray control device in electronic ratio adjusting valve (8); Piezoresistive pressure sensor in the variable rate spray checkout gear (9), turbine flowmeter (10), liquid level sensor, Hall element; Four magnetic valves in the device for administration of drugs, the industrial computer in the machine vision target pair device connects.
2. a kind of to target variable rate spray experimental machine according to described in the claim 1, it is characterized in that: described single-chip microcomputer is the AT89S52 single-chip microcomputer.
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Application publication date: 20120919 |