CN103027024B - Agricultural electrostatic sprayer measuring and control device and measuring and control method - Google Patents
Agricultural electrostatic sprayer measuring and control device and measuring and control method Download PDFInfo
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- CN103027024B CN103027024B CN201210521845.6A CN201210521845A CN103027024B CN 103027024 B CN103027024 B CN 103027024B CN 201210521845 A CN201210521845 A CN 201210521845A CN 103027024 B CN103027024 B CN 103027024B
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Abstract
The invention relates to an agricultural electrostatic sprayer measuring and control device and a measuring and control method, which belongs to the technical filed of agriculture. The agricultural electrostatic sprayer measuring and control device comprises an electrostatic generator which is installed on a spray head of a sprayer and a spraying target, wherein the spraying target consists of a plugging rod for installing a crop and a receiving plate which is arranged on the lower end of the plugging rod, the plugging rod and the receiving tray are respectively provided with a deposit rate sensor and a loss sensor, the deposit rate sensor and the loss sensor are respectively connected with an input end of a programmable controller through a transformation transmission circuit, the control output end of the programmable controller is connected with an electrostatic voltage adjusting control end of the electrostatic generator and used for outputting control voltage which is changed according to a preset rule until reaching a needed ideal control voltage value through the comparison judgment. Due to the adoption of the agricultural electrostatic sprayer measuring and control device and the measuring and control method, the distorting phenomenon in the prior art can be effectively avoided, and more precision in measure and control can be realized; and meanwhile, by adopting an intelligent control device, the sprayer can be rapidly and automatically adjusted and controlled to an optimum range, so that actual popularization and application value can be realized.
Description
Technical field
The present invention relates to a kind of electrostatic spray measure and control device, especially a kind of agricultural electrostatic sprayer measure and control device and investigating method, belong to agricultural technology field.
Background technology
In agricultural, electrostatic spray is to utilize high-pressure electrostatic to make pesticide droplet charged, and forms electrostatic field between shower nozzle and target, because Charged Droplet has guidance quality, therefore can improve agricultural chemicals result of use, alleviate environmental pollution.
Yet, because application in agricultural is difficult to arrange effective electrostatic defending region to avoid the danger of electrostatic high-pressure, and the aerial temperature and humidity of open environment is uncontrollable, therefore the field actual deposition effect of electrostatic spray is extremely unstable, even little with common spraying difference in situation very, so extremely need investigating method accurately, thereby make it can be in best job state.
Retrieval discovery, the United States Patent (USP) that the patent No. is US4168327 proposed a kind of investigating method electrostaticallying deposit onto on target object already, and the method, by producing wellatomized electrostatic charging spray, is monitored charged spray space charge density simultaneously; Provide a kind of simulation target as calibration target; The spray that applies different spaces charge density is put at alignment target, finds a space charge density value that obtains best Droplet deposition; On operation target, by control, be there is to flow process in mist droplet deposition, make space charge density maintain optimum value.
Above method has proposed to electrostatically deposit onto the investigating method on target object first, but owing to being subject to the restriction of various technological means, therefore has the defect that affects as follows practical application, thereby cause not being promoted enforcement:
1) the droplet optimal deposition amount on simulation target can not reflect actual optimal deposition amount on crop target.Because the material of target, shape, size determine that there is notable difference on its surface to the deposition properties of droplet.Above-mentioned patent simulation target used is ganoid prill, not approaches the desirable target of actual crop.
2) deposition on simulation target is not Droplet deposition but deposits to the charge deposition amount on simulation target.The droplet of having measured charge deposition amount might not all be trapped on simulation target, and can run off to ground by secondary, the not real effectively deposition that therefore above-mentioned patent records.
3) above-mentioned patent realizes the monitoring to best simulation deposition index by monitoring optimal spatial charge density.But according to technological means at that time, need to repeatedly test, cannot in dynamic process, realize rapidly the high electrostatic precipitation rate of crop target and automatically control.
In a word, there is the problem of dtmf distortion DTMF of authentic and valid deposition on crop target in above-mentioned patent, is difficult to reach rapidly the object of accurate observing and controlling.
Summary of the invention
The object of the invention is to: the shortcoming existing for above-mentioned prior art, proposes a kind ofly can record True Data, avoid distortion, and can automatically sprayer be regulated and controled to the agricultural electrostatic sprayer measure and control device to optimum state rapidly.Provide corresponding investigating method simultaneously, thereby it can be applied conscientiously.
In order to reach above object, agricultural electrostatic sprayer measure and control device of the present invention comprises electrostatic generator and the spraying target that is placed in sprayer nozzle place, described spraying target consists of with the dish that connects that is positioned at inserted link lower end the inserted link of plug-in mounting crop, described inserted link and connect dish deposition sensor and number of dropouts sensor are housed respectively, described deposition sensor is connected with the input communication of Programmable Logic Controller by conversion and transmission circuit respectively with number of dropouts sensor, the electrostatic pressure that the control output end of described Programmable Logic Controller connects described electrostatic generator regulates control end, the control voltage changing by predetermined rule in order to output, until through relatively judging the ideal control magnitude of voltage that reaches required.
During use, sampling crop on inserted link and connect dish and can reflect respectively actual effectively deposition and number of dropouts, thereby as according to regulation and control electrostatic pressure, make deposition and the ratio of number of dropouts reach maximum, the distortion phenomenon that can effectively avoid prior art to exist, makes observing and controlling more accurate, owing to having adopted Based Intelligent Control device, therefore no matter how the various influence factors such as environment, crop change, and can automatically sprayer be regulated and controled to optimum state rapidly, thereby make it have practical application value.On this basis, can be by the test different cultivars of gained, the crop of different growing stages, in different temperatures, humidity, and best electrostatic spray during different mist flow controls data and is input in the database of measure and control device, thus the actual electrostatic spray operation pointedly in guiding agricultural production.
In the course of work, Programmable Logic Controller can be realized rapidly automatically: start the initial control voltage U to be scheduled to
0for initial value is controlled spraying, then with the voltage increment Δ U being scheduled to, change the initial Control of Voltage spraying of controlling, the heavy stream ratio that relatively twice spraying in front and back records again, if heavy stream is than increasing, continue to change in the same way initial control voltage with voltage increment Δ U, otherwise oppositely change the initial voltage of controlling, the heavy stream ratio that before and after continuation relatively, twice spraying records, until find the variation flex point of heavy stream ratio; Obtain the control voltage of corresponding maximum heavy stream ratio, for the electrostatic spray operation of guiding agricultural production targetedly, and store data.
Compare with above-mentioned prior art, the present invention has following outstanding progressive:
1) directly gather crop target Droplet deposition, observing and controlling result is truer and pointed;
2) observing and controlling process implementation automation, the drawing rapidly and there is enough precision of observing and controlling result;
3) be convenient to set up the crops in various kinds, vegetative period, the best electrostatic spray in different temp. and humidity environment is controlled database, thereby conscientiously instructs the agricultural production of various specific environments;
4) database can constantly update, abundant, thereby the database for setting up with self-learning capability is laid a good foundation.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further illustrated.
Fig. 1 is the structural representation of one embodiment of the invention.
Fig. 2 is the auto-control circuit block diagram of Fig. 1 embodiment.
Fig. 3 is the circuit diagram of signal converting transmission part in corresponding diagram 2.
Fig. 4 is the circuit diagram of reception of wireless signals part in corresponding diagram 2.
Fig. 5 is the circuit diagram of signal processing in corresponding diagram 2.
Fig. 6 is the circuit diagram of pulsewidth modulation isolating amplifier circuit part.
Fig. 7 is the circuit diagram of electrostatic generator part in corresponding diagram 2.
Fig. 8 is the control logic block diagram of Fig. 2 auto-control circuit.
Embodiment
Embodiment mono-
The agricultural electrostatic sprayer measure and control device of the present embodiment as shown in Figure 1, comprises the electrostatic generator and the spraying target that are placed in sprayer nozzle place.Spraying target is gathered crop inserted link by plug-in mounting forms with the dish that connects that is positioned at inserted link lower end.Inserted link and connect dish deposition sensor V and number of dropouts sensor W are housed respectively.
The basic comprising of its auto-control circuit is as shown in Figure 2: the conversion and transmission circuit that deposition sensor V and number of dropouts sensor W consist of amplifying circuit, analog to digital conversion circuit and wireless transceiver circuit respectively connects the input of Programmable Logic Controller, the electrostatic pressure that the control output end of this Programmable Logic Controller connects electrostatic generator regulates control end, the control voltage changing by predetermined rule in order to output, until through relatively judging the ideal control magnitude of voltage that reaches required.
The concrete formation of auto-control circuit is as shown in Fig. 3,4,5,6,7.In Fig. 3, after the amplifying circuit that deposition sensor V and number of dropouts sensor W consist of operational amplifier respectively, connect the analog to digital conversion circuit that A/D modular converter (MAX11102) forms, connect afterwards wireless telecommunications transmitter module (CC1100) for the radio transmitter of core devices, and by the wireless telecommunications receiver module with meeting Programmable Logic Controller (MSP430F149 in Fig. 5)---the CC1100 communication in Fig. 4 is connected.The respective signal input of the MSP430F149 single-chip microcomputer Programmable Logic Controller shown in upper right corner input arrow in CC1100 module 1,2,20 pin map interlinkings 5 in Fig. 4.Pwm signal lead-in wire shown in the You Tu5 lower right corner, the control output end output arrow of this Programmable Logic Controller regulates control end by the electrostatic pressure of electrostatic generator shown in the pulsewidth modulation isolating amplifier circuit map interlinking 7 shown in Fig. 6.
The P1 pin of the Programmable Logic Controller that in Fig. 5, MSP430F149 single-chip microcomputer forms connects keyboard; P6.5-6.7 pin, by after buffer circuit, connects display by the transmission means of I2C; P6.3-6.4 connects clock chip, and P4, P5 pin are introduced the 3-5V change-over circuit being comprised of LVC4245, and P2.7, P3.0, P3.1 are according to the transmission mode access CC1100 communication module of SPI; The isolating amplifier circuit of P1.1 output pwm pulse ripple map interlinking 6.
In Fig. 6, after the Amplification and insulation circuit that the pulse of MSP430F149 output consists of HCPL0601 and 78L08, introduce the grid of FET IRF540 as switching signal, the drain electrode of FET and source electrode are introduced the HV generator of Fig. 7 as signal output part.The mu balanced circuit that the voltage swing of output signal can be comprised of LM2567 regulates.
In Fig. 7, the low voltage pulse signal of output is introduced voltage doubling rectifing circuit after by transformer supercharging, finally realizes high-pressure electrostatic output.
In fact, the control output end of Programmable Logic Controller connects the grid of FET by isolating amplifier circuit, and the drain electrode of FET and source electrode regulate control end to be of coupled connections by the electrostatic pressure of transformer and electrostatic generator.
During work, deposition and number of dropouts LOAD CELLS V, the analog signal of W output accesses A/D modular converter after amplifying by operational amplifier voltage stabilizing, convert data signal to, by wireless transport module, send data to Programmable Logic Controller, Programmable Logic Controller carries out calculation process according to the signal receiving, draw the control voltage changing by predetermined rule, control the volt value number of voltage by pwm pulse signal is carried out to frequency-selecting, the pulse signal of selecting corresponding this volt value of generation to count the pulse voltage of frequency and exporting accesses in HV generator after processing is amplified in light-coupled isolation, the required high-pressure electrostatic voltage of final formation.As required, this Programmable Logic Controller can be equipped with the human-computer interaction modules such as display, keyboard, and the various control ports of controlling the ancillary equipment work such as electrostatic generator.
Particularly, Programmable Logic Controller is realized the control voltage (referring to Fig. 8) of auto-control output by following steps
The first step, read predetermined initial control voltage U o and conventionally select the similar operating environment of database with voltage increment Δ U(---as Uo, the Δ U under the close conditions such as crop varieties, crop growth period, temp. and humidity, mist flow), all cycle counters empty, and using and initially control voltage U o as last time controlling voltage, control electrostatic generator and carry out spray operation;
Second step, gather deposition sensor V and number of dropouts sensor W signal after the spraying scheduled time, try to achieve the last time ratio of deposition and number of dropouts, last time heavy stream compares Go;
The 3rd step, increase voltage increment Δ U last time controlling on voltage U o, obtain rear time and control voltage U
1, then control electrostatic generator and proceed spray operation;
The 4th step, again gather deposition sensor V and the number of dropouts sensor W signal after the spraying scheduled time, try to achieve the ratio of rear deposition and number of dropouts, after time heavy stream compare G
1;
The 5th step, relatively rear time heavy stream compare G
1whether be greater than last time heavy stream than Go, time controlled voltage U after in this way
1voltage U o was last time controlled in renewal, time heavy stream compares G later
1upgrade last time heavy stream than Go, and at the mid-number of the first cycle counter, carry out next step; As no, jump to the 7th step;
The 6th step, judge that whether the second cycle counter is empty, as otherwise carry out next step, jump in this way the 13 step;
The 7th step, judge that whether the first cycle counter is empty, carry out in this way next step, as otherwise forward the 12 step to;
The 8th step, reduce voltage increment Δ U last time controlling on voltage U o, obtain rear time and control voltage U
1, then control electrostatic generator and proceed spray operation;
The 9th step, again gather deposition sensor V and the number of dropouts sensor W signal after the spraying scheduled time, try to achieve the ratio of rear deposition and number of dropouts, after time heavy stream compare G
1;
The tenth step, relatively rear time heavy stream compare G
1whether be greater than last time heavy stream than Go, time controlled voltage U after in this way
1voltage U o was last time controlled in renewal, time heavy stream compares G later
1upgrade last time heavy stream and, than Go, carry out next step; As no, enter the 12 step;
The 11 step, judge that whether the second cycle counter is empty, as otherwise carry out next step, turn back in this way the 8th step;
The 12 step, voltage increment Δ U be updated to its 1/2nd, and at the mid-number of the second cycle counter, and the first cycle counter empties;
The 13 step, judge whether to receive command for stopping, carry out in this way next step, otherwise return to the 3rd step;
The 14 step, basis set in advance decision and whether preserve final control voltage and voltage increment, and carry out finishing after corresponding operating.
Under above logic control, the similar operating environment operating voltage that the agricultural electrostatic sprayer measure and control device of the present embodiment is chosen storage is initial value, by changing the variation size of the heavy stream of magnitude of voltage collection spraying ratio, realize the optimum operating voltage under current operating environment, and increase the database under new operating environment, enrich and improve database.
In the course of work, several collection points of each cloth specimen, will gather crop and insert in crop inserted link, start with the most similar U
0with Δ U be that initial value is sprayed to the first collection point, then toward increasing voltage direction, change voltage and spray in the second collection point, if heavy stream, than increasing, continues to increase voltage, if reduce searching in the opposite direction, until search out flex point.Having arrived the stride that changes Δ U after flex point is 0.5 Δ U, and progressively Shi Houci collection point numerical value is near optimum value, and write into Databasce.Like this, Uo and Δ U are a unceasing study, continuous perfect, the process enriched constantly.For different mist flow of Different Crop kind, crop different growing stages, different temperatures and humidity, selection etc., can set up the database of more rich and variedization, realize the electrostatic spray operation in guiding agricultural production targetedly.
Claims (5)
1. an agricultural electrostatic sprayer measure and control device, comprise the electrostatic generator and the spraying target that are placed in sprayer nozzle place, it is characterized in that: described spraying target consists of with the dish that connects that is positioned at inserted link lower end the inserted link of plug-in mounting crop, described inserted link and connect dish deposition sensor and number of dropouts sensor are housed respectively, described deposition sensor is connected with the input communication of Programmable Logic Controller by conversion and transmission circuit respectively with number of dropouts sensor, the electrostatic pressure that the control output end of described Programmable Logic Controller connects described electrostatic generator regulates control end, the control voltage changing by predetermined rule in order to output, until through relatively judging the ideal control magnitude of voltage that reaches required.
2. agricultural electrostatic sprayer measure and control device according to claim 1, is characterized in that: described conversion and transmission circuit consists of amplifying circuit, analog to digital conversion circuit and wireless transceiver circuit.
3. agricultural electrostatic sprayer measure and control device according to claim 2, it is characterized in that: the control output end of described Programmable Logic Controller connects the grid of FET by isolating amplifier circuit, the drain electrode of described FET and source electrode regulate control end to be of coupled connections by the electrostatic pressure of transformer and described electrostatic generator.
4. the investigating method of agricultural electrostatic sprayer measure and control device according to claim 1, is characterized in that: the initial control voltage U of Programmable Logic Controller to be scheduled to described in during beginning
0for initial value is controlled spraying, then with the voltage increment Δ U being scheduled to, change the initial Control of Voltage spraying of controlling, the heavy stream ratio that relatively twice spraying in front and back records again, if heavy stream is than increasing, continue to change in the same way initial control voltage with voltage increment Δ U, otherwise oppositely change the initial voltage of controlling, the heavy stream ratio that before and after continuation relatively, twice spraying records, until find the variation flex point of heavy stream ratio, obtain the control voltage of corresponding maximum heavy stream ratio.
5. according to the investigating method of the arbitrary described agricultural electrostatic sprayer measure and control device of claims 1 to 3, it is characterized in that described Programmable Logic Controller realizes the control voltage of auto-control output by following steps:
The first step, read predetermined initial control voltage U o and voltage increment Δ U, all cycle counters empty, and using and initially control voltage U o as last time controlling voltage, control electrostatic generator and carry out spray operation;
Second step, deposition sensor V and number of dropouts sensor W signal after the collection spraying scheduled time, try to achieve last time heavy stream and compare Go;
The 3rd step, increase voltage increment Δ U last time controlling on voltage U o, obtain rear time and control voltage U
1, then control electrostatic generator and proceed spray operation;
The 4th step, again gather deposition sensor V and the number of dropouts sensor W signal after the spraying scheduled time, try to achieve rear heavy stream and compare G
1;
The 5th step, relatively rear time heavy stream compare G
1whether be greater than last time heavy stream than Go, time controlled voltage U after in this way
1voltage U o was last time controlled in renewal, time heavy stream compares G later
1upgrade last time heavy stream than Go, and at the mid-number of the first cycle counter, carry out next step; As no, jump to the 7th step;
The 6th step, judge that whether the second cycle counter is empty, as otherwise carry out next step, jump in this way the 13 step;
The 7th step, judge that whether the first cycle counter is empty, carry out in this way next step, as otherwise forward the 12 step to;
The 8th step, reduce voltage increment Δ U last time controlling on voltage U o, obtain rear time and control voltage U
1, then control electrostatic generator and proceed spray operation;
The 9th step, again gather deposition sensor V and the number of dropouts sensor W signal after the spraying scheduled time, try to achieve the ratio of rear deposition and number of dropouts, after time heavy stream compare G
1;
The tenth step, relatively rear time heavy stream compare G
1whether be greater than last time heavy stream than Go, time controlled voltage U after in this way
1voltage U o was last time controlled in renewal, time heavy stream compares G later
1upgrade last time heavy stream and, than Go, carry out next step; As no, enter the 12 step;
The 11 step, judge that whether the second cycle counter is empty, as otherwise carry out next step, turn back in this way the 8th step;
The 12 step, voltage increment Δ U be updated to its 1/2nd, and at the mid-number of the second cycle counter, and the first cycle counter empties;
The 13 step, judge whether to receive command for stopping, carry out in this way next step, otherwise return to the 3rd step;
The 14 step, basis set in advance decision and whether preserve final control voltage and voltage increment, and carry out finishing after corresponding operating.
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| CN106670005A (en) * | 2016-12-19 | 2017-05-17 | 苏州唐氏机械制造有限公司 | Method for regulating and controlling deposition rate of electrostatic spraying droplets |
| EP3378306A1 (en) * | 2017-03-24 | 2018-09-26 | Bayer Aktiengesellschaft | Drift correction in the distribution of plant protection agents |
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Address after: 210014 No. 100 Liu Ying camp, Jiangsu, Nanjing Patentee after: NANJING Research Institute FOR AGRICULTURAL MECHANIZATION MINISTRY OF AGRICULTURE Address before: No. 100 Liuying, Nanjing, Jiangsu, 210014 Patentee before: NANJING Research Institute FOR AGRICULTURAL MECHANIZATION MINISTRY OF AGRICULTURE |
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Effective date of registration: 20230519 Address after: 210019 area a, 4 / F, building A8, 8 Bailongjiang East Street, Jianye District, Nanjing City, Jiangsu Province Patentee after: Nanji Agricultural Machinery Research Institute Co.,Ltd. Address before: No. 100 Liuying, Nanjing, Jiangsu, 210014 Patentee before: NANJING Research Institute FOR AGRICULTURAL MECHANIZATION MINISTRY OF AGRICULTURE |