CN104686481A - Device and method for automatically controlling vehicle speed of pesticide-spraying machine capable of variably spraying pesticides - Google Patents
Device and method for automatically controlling vehicle speed of pesticide-spraying machine capable of variably spraying pesticides Download PDFInfo
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- CN104686481A CN104686481A CN201510057055.0A CN201510057055A CN104686481A CN 104686481 A CN104686481 A CN 104686481A CN 201510057055 A CN201510057055 A CN 201510057055A CN 104686481 A CN104686481 A CN 104686481A
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Abstract
The invention provides a device for automatically controlling vehicle speed of a pesticide-spraying machine capable of variably spraying pesticides. The device comprises a vehicle speed controller, a vehicle speed detection sensor, a pesticide flow sensor, a direct-current motor, a transmission mechanism and an accelerator operating handle of the pesticide-spraying machine, wherein the output ends of the vehicle speed detection sensor and the pesticide flow sensor are connected to the input end of the vehicle speed controller; the output end of the vehicle speed controller is connected to the input end of the direct-current motor; the direct-current motor is connected to the accelerator operating handle of the pesticide-spraying machine through the transmission mechanism. The invention further provides a control method applied to the device for automatically controlling vehicle speed of a pesticide-spraying machine capable of variably spraying pesticides. The device and the method are suitable for quickly-variable pesticide-spraying dragged by a roller tractor; the device and the method are accurate in control, uniform in spraying of pesticides, and simple and convenient to operate.
Description
Technical field
The present invention relates to variable spray medicine automatic control technology field, specifically a kind of sprayer machine speed of a motor vehicle automaton for variable spray medicine and method.
Background technology
In agricultural production, spray insecticide and be plant protection and obtain the necessary means of high yield.In agricultural production more and more to scale future development and under labour's background that shortage increases with cost of labor gradually, increasing to the demand of agricultural machinery.General economic class crop-planting is suitable for automation spray medicine operation, particularly organic agricultural chemicals and mostly generally is liquid, relies on pressure atomization to spray, and requires that atomizing effect is good, sprays evenly, appropriate.But unit are spray value is not for different crops, same origin different age, season, all the changing to some extent on an equal basis of damage by disease and insect occurrence degree and medicament categories.By the restriction that agriculture production benefit is not high, can not to purchase again a lot of Agricultural Machinery Equipment for subsequent use for plantation dealer, and preferably machinery just can complete the job task of all different demands.
According to the feature that liquid pesticide sprays, the solution realizing variable spray medicine is at present all based on controlling the method for fluid flow.The first is according to fluid flow and the principle of pressure about (being proportional relation under normal condition), spray value is controlled by regulating pressure, but, the effect of spray medicine prevention and elimination of disease and pests will be got well, just need to ensure that liquid has certain pressure to reach best atomizing effect, so, regulate pressure no doubt can reach the object regulating spray value, but because the change of pressure differ ensure that the atomizing effect reaching the best is with prevention and elimination of disease and pests effectively surely.It two is install pulse width modulation solenoid valve additional in atomizer front end, control spray value by the opening/closing time of electromagnetic valve for adjusting, just not saying the frequent opening and closing of magnetic valve easily damages, concentrate the talk of magnetic valve between opening and closing, spray medicine stream interrupts discontinuous, in the continuous driving process of sprayer machine, certainly lead to the phenomenon of spray medicine inequality, even to ensure spray medicine as far as possible, just need magnetic valve opening and closing frequency high, but experiment shows, when pressure is higher, the scope of Flow-rate adjustment is very limited.Say again, by above-mentioned two kinds of method regulable control spray values, also require the accurate cooperation in sprayer machine travel speed, rely on travel speed that manual operation precisely controls sprayer machine be do not allow facile.
Summary of the invention
The object of the present invention is to provide a kind of sprayer machine speed of a motor vehicle automaton for variable spray medicine and method, by precisely controlling the travel speed of sprayer machine, realizing fast variable spray medicine, controlling precisely, spray medicine is even, labour intensity is low.
Technical scheme of the present invention is:
A kind of sprayer machine speed of a motor vehicle automaton for variable spray medicine, this device comprises speed controller, Bus-Speed Monitoring sensor, medicinal liquid flow sensor, direct current generator, transmission mechanism and sprayer machine power control handle, described Bus-Speed Monitoring sensor is connected with the input of speed controller with the output of medicinal liquid flow sensor, the output of described speed controller is connected with the input of direct current generator, and described direct current generator is connected with sprayer machine power control handle by transmission mechanism.
The described sprayer machine speed of a motor vehicle automaton for variable spray medicine, this device also comprises the first limit switch and the second limit switch, described first limit switch and the second limit switch are separately positioned on two extreme positions that sprayer machine power control handle motion arrives, and described first limit switch is connected with the input of speed controller with the output of the second limit switch.
The described sprayer machine speed of a motor vehicle automaton for variable spray medicine, this device also comprises liquid pressure sensor, and the described output of liquid pressure sensor is connected with the input of speed controller.
The described sprayer machine speed of a motor vehicle automaton for variable spray medicine, described speed controller comprises main control module and control panel, described control panel is provided with function key and LCDs, the output of described function key is connected with the input of main control module, and the output of described main control module is connected with the input of LCDs.
The described sprayer machine speed of a motor vehicle automaton for variable spray medicine, described transmission mechanism comprises drive screw and transmission nut, and described transmission nut is set on drive screw; The rotating shaft of described direct current generator is connected with drive screw, and described sprayer machine power control handle is connected with transmission nut.
The described sprayer machine speed of a motor vehicle automaton for variable spray medicine, described function key comprises power switch key, optimum configurations key, numeral 0 ~ 9 and decimal key, parameters input acknowledgement key, return key, arrange end key, the speed of a motor vehicle controls start key and the speed of a motor vehicle controls end key automatically automatically.
The described sprayer machine speed of a motor vehicle automaton for variable spray medicine, one end of described drive screw is erected on the first bearing, and the other end is connected with the rotating shaft of direct current generator through the second bearing, and described direct current generator is arranged on three abutments.
The control method of described a kind of sprayer machine speed of a motor vehicle automaton for variable spray medicine, the method comprises the following steps:
(1) speed controller sprays the spray value of medicine working width and unit are demand according to the sprayer machine preset and is arranged on the spray medicine speed of the atomizer on sprayer machine, the quantity of atomizer, calculates the initial travel speed of sprayer machine;
(2) in spray medicine operation process, speed controller sprays the spray value of medicine working width and unit are demand and the real-time spray medicine flow of atomizer, the quantity of atomizer of medicinal liquid flow sensor acquisition according to the sprayer machine preset, and calculates the target travel speed of sprayer machine;
(3) the real time running speed of sprayer machine that Bus-Speed Monitoring sensor obtains by speed controller compares with the target travel speed calculated, the instruction strengthening or reduce throttle is sent to direct current generator, the rotating shaft of direct current generator drives sprayer machine power control handle to move together by transmission mechanism, regulates the real time running speed of sprayer machine.
The control method of the described sprayer machine speed of a motor vehicle automaton for variable spray medicine, in described step (1), speed controller adopts the initial travel speed of following formula to sprayer machine to calculate:
v=666.67qn/Qw
Wherein, v represents the initial travel speed of sprayer machine, unit: m/min; Q represents the spray medicine speed of atomizer, unit: L/min; N represents the quantity of atomizer; The spray value of Q representation unit area requirements, unit: L/ mu; W represents sprayer machine spray medicine working width, unit: m.
The control method of the described sprayer machine speed of a motor vehicle automaton for variable spray medicine, the method also comprises: the real-time spray medicine flow of atomizer and spray medicine pressure compare with the normal range value preset by speed controller, if exceed normal range value, then provide prompting and report to the police.
Beneficial effect of the present invention is:
(1) the present invention is by automatically controlling the travel speed of sprayer machine to adapt to the change of the spray value of unit are demand, the travel speed of sprayer machine is determined by the spray value of unit are demand, spray medicine flow and spray medicine working width, under the condition that spray medicine flow (being determined by shower nozzle frame for movement and liquid pressure) and spray medicine working width are determined, the travel speed of sprayer machine is uniquely determined by the spray value of unit are demand, the travel speed adjustable range of sprayer machine is wide, and the spray value excursion of the unit are demand therefore adapted to is large.
(2) the present invention controls the travel speed of sprayer machine automatically, avoids the inaccurate of manual control and fluctuation, but also can adjust the travel speed of sprayer machine in real time according to spray medicine flow, has the uniform advantage of spray medicine.
(3) the present invention has spray medicine flow, spray medicine automatic monitor of pressure and abnormal alarm function, brings conveniently, alleviate labour intensity to operating personnel.
Accompanying drawing explanation
fig. 1 is apparatus structure schematic diagram of the present invention;
Fig. 2 is speed controller operating board structure schematic diagram of the present invention;
Fig. 3 is device Signal transmissions relation schematic block diagram of the present invention;
Embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
As shown in FIG. 1 to 3, for a sprayer machine speed of a motor vehicle automaton for variable spray medicine, comprise sprayer machine power control handle 1, transmission nut 2, drive screw 3, direct current generator 4, first limit switch 5, second limit switch 6, speed controller 7, Bus-Speed Monitoring sensor 8, medicinal liquid flow sensor 9, liquid pressure sensor 10, first bearing 11, second bearing 12 and three abutments 13.Transmission nut 2 and drive screw 3 form transmission mechanism.First limit switch 5 and the second limit switch 6 are separately positioned on the front and back extreme position that the motion of sprayer machine power control handle 1 arrives.Speed controller 7 comprises main control module 71 and the function key 72 that is arranged on guidance panel 70 and LCDs 73, wherein, function key 72 comprises power switch key 721, optimum configurations key 722, numeral 0 ~ 9 and decimal key 723, parameters input acknowledgement key 724, return key 725, arranges end key 726, the speed of a motor vehicle and automatically control start key 727 and the speed of a motor vehicle controls end key 727 automatically.
The output of Bus-Speed Monitoring sensor 8 is connected with the input of main control module 71; The output of medicinal liquid flow sensor 9 is connected with the input of main control module 71; The output of liquid pressure sensor 10 is connected with the input of main control module 71; The output of function key 72 is connected with the input of main control module 71; The output of main control module 71 is connected with the input of LCDs 73; The output of the first limit switch 5 is connected with the input of main control module 71; The output of the second limit switch 6 is connected with the input of main control module 71; The output of main control module 71 is connected with the input of direct current generator 4.Direct current generator 4 is arranged on appropriate location in sprayer machine (as tractor) driver's cabin and is fixed on three abutments 13; Sprayer machine power control handle 1 is connected with transmission nut 2; Transmission nut 2 is set on drive screw 3, and its internal thread is meshed with the external screw thread of drive screw 3; One end of drive screw 3 is erected on the first bearing 11, and the other end is connected with the rotating shaft of direct current generator 4 through the second bearing 12; First limit switch 5 is arranged on the first bearing 11, and the second limit switch 6 is arranged on the second bearing 12.
For a control method for the sprayer machine speed of a motor vehicle automaton of variable spray medicine, comprise the following steps:
The main control module 71 of S1, speed controller 7 sprays the spray value of medicine working width and unit are demand according to the sprayer machine preset and is arranged on the spray medicine speed of the atomizer on sprayer machine, the quantity of atomizer, calculates the initial travel speed of sprayer machine;
S2, in spray medicine operation process, main control module 71 sprays the spray value of medicine working width and unit are demand and the real-time spray medicine flow of atomizer, the quantity of atomizer of medicinal liquid flow sensor 9 acquisition according to the sprayer machine preset, and calculates the target travel speed of sprayer machine;
The real time running speed of the sprayer machine that Bus-Speed Monitoring sensor 8 obtains by S3, main control module 71 compares with the target travel speed calculated, the instruction strengthening or reduce throttle is sent to direct current generator 4, the rotating shaft of direct current generator 4 is driven together with sprayer machine power control handle 1 by drive screw 3 and transmission nut 2 and moves, and regulates the real time running speed of sprayer machine.
Operation principle of the present invention is:
When direct current generator 4 is energized work under control signal effect, the rotating shaft of direct current generator 4 drives drive screw 3 to rotate together, the rotation of drive screw 3 makes transmission nut 2 move along the direction of screw thread and drive the sprayer machine power control handle 1 linked together with it to move, thus can regulate and control the travel speed of sprayer machine.When sprayer machine power control handle 1 moves to extreme position, the first limit switch 5 or the second limit switch 6 send signal to the main control module 71 of speed controller 7, and main control module 71 stops the work of direct current generator 4 immediately, to protect direct current generator 4.
Power switch key 721 is for opening or closing speed controller 7, after speed controller 7 is opened, main control module 71 runs Detection & Controling program automatically, press optimum configurations key 722 and spray medicine job parameter is set, the parameter arranged is needed to point out successively on LCDs 73, be respectively the spray value of unit are demand, the spray medicine flow of single atomizer, the quantity of atomizer and spray medicine working width etc., by numeral 0 ~ 9 and decimal key 723 input parameter value, after pressing parameters input acknowledgement key 724, main control module 71 automatically upgrades and preserves this input parameter, and on LCDs 73, show the setting value inputted, if desired pre-set parameter is revised, available return key 725 returns amendment parameter, after all optimum configurations complete, press and end key 726 is set, now main control module 71 carries out calculating according to parameters and demonstrate result of calculation on LCDs 14, is that sprayer machine travel speed and the main shift gear of sprayer machine obtained according to sprayer machine travel speed and sprayer machine are from shift gear respectively.
Bus-Speed Monitoring sensor 8 for detecting the travel speed of sprayer machine in real time in spray medicine operation process, medicinal liquid flow sensor 9 for detecting the spray medicine flow of atomizer in real time in spray medicine operation process, and liquid pressure sensor 10 for detecting the spray medicine pressure of atomizer in real time in spray medicine operation process.The real-time speed of a motor vehicle that Bus-Speed Monitoring sensor 8 obtains and the control objectives speed of a motor vehicle compare and make decisions in speed controller 7, sent the instruction strengthening or reduce throttle by speed controller 7, the travel speed controlling sprayer machine tends to target travel speed gradually.
The target travel speed of sprayer machine is according to the spray value of unit are demand, spray medicine working width and spray medicine flow rate calculation out, medicinal liquid flow sensor 9 can obtain real-time spray medicine flow, for revising the travel speed of sprayer machine, even to ensure spray medicine, reach the spray value of the unit are demand of setting, this is because the impact that the spray medicine flow of atomizer is stressed, so atomizer parameter can only, as initial reference value, also need medicinal liquid flow sensor 9 to detect actual spray medicine flow.Medicinal liquid flow sensor 9 and liquid pressure sensor 10, also for monitoring spray medicine flow and spray medicine pressure whether exceed normal range value, if exceed normal range value, then provide prompting by speed controller 7 and report to the police, for the normal operation of sprayer machine provides safeguard.
Variable pesticide spray truck speed control principle of the present invention is:
If the spray medicine speed of atomizer (manufacturer can be given in the spraying flow velocity under certain pressure) is q(L/min), the atomizer quantity of sprayer machine is n(), sprayer machine spray medicine working width is w(m), the spray value of unit are demand is Q(L/ mu), the initial travel speed of sprayer machine is v(m/min), then the pass between them is:
v=666.67qn/Qw（m/min）………………（1）
Or
v=40qn/Qw（km/h）………………（2）
As can be seen here, after atomizer quantity n, the sprayer machine spray medicine working width w of the given spray medicine speed q of atomizer, sprayer machine and the spray value Q of unit are demand, just can be calculated the initial traveling speed v of sprayer machine by (1) formula or (2) formula.
In reality spray medicine operation process, spray medicine working width, the spray value of unit are demand and the spray medicine flow rate calculation of medicinal liquid flow sensor 9 detection according to the sprayer machine arranged and control the travel speed of sprayer machine.During calculating, above-mentioned (1) formula or (2) formula can be adopted, the spray medicine speed q of atomizer be replaced to the real-time spray medicine flow of the atomizer that medicinal liquid flow sensor 9 detects.The present invention is applicable to the fast variable spray medicine of wheel tractor traction, and control is accurate, spray medicine is even, easy and simple to handle.
The above embodiment is only be described the preferred embodiment of the present invention; not scope of the present invention is limited; under not departing from the present invention and designing the prerequisite of spirit; the various distortion that those of ordinary skill in the art make technical scheme of the present invention and improvement, all should fall in protection domain that claims of the present invention determine.
Claims (10)
1. the sprayer machine speed of a motor vehicle automaton for variable spray medicine, it is characterized in that: this device comprises speed controller, Bus-Speed Monitoring sensor, medicinal liquid flow sensor, direct current generator, transmission mechanism and sprayer machine power control handle, described Bus-Speed Monitoring sensor is connected with the input of speed controller with the output of medicinal liquid flow sensor, the output of described speed controller is connected with the input of direct current generator, and described direct current generator is connected with sprayer machine power control handle by transmission mechanism.
2. the sprayer machine speed of a motor vehicle automaton for variable spray medicine according to claim 1, it is characterized in that: this device also comprises the first limit switch and the second limit switch, described first limit switch and the second limit switch are separately positioned on two extreme positions that sprayer machine power control handle motion arrives, and described first limit switch is connected with the input of speed controller with the output of the second limit switch.
3. the sprayer machine speed of a motor vehicle automaton for variable spray medicine according to claim 1, it is characterized in that: this device also comprises liquid pressure sensor, the described output of liquid pressure sensor is connected with the input of speed controller.
4. the sprayer machine speed of a motor vehicle automaton for variable spray medicine according to claim 1, it is characterized in that: described speed controller comprises main control module and control panel, described control panel is provided with function key and LCDs, the output of described function key is connected with the input of main control module, and the output of described main control module is connected with the input of LCDs.
5. the sprayer machine speed of a motor vehicle automaton for variable spray medicine according to claim 1, it is characterized in that: described transmission mechanism comprises drive screw and transmission nut, described transmission nut is set on drive screw; The rotating shaft of described direct current generator is connected with drive screw, and described sprayer machine power control handle is connected with transmission nut.
6. the sprayer machine speed of a motor vehicle automaton for variable spray medicine according to claim 4, is characterized in that: described function key comprises power switch key, optimum configurations key, numeral 0 ~ 9 and decimal key, parameters input acknowledgement key, return key, arrange end key, the speed of a motor vehicle controls start key and the speed of a motor vehicle controls end key automatically automatically.
7. the sprayer machine speed of a motor vehicle automaton for variable spray medicine according to claim 5, it is characterized in that: one end of described drive screw is erected on the first bearing, the other end is connected with the rotating shaft of direct current generator through the second bearing, and described direct current generator is arranged on three abutments.
8. the control method of a kind of sprayer machine speed of a motor vehicle automaton for variable spray medicine according to claim 1, it is characterized in that, the method comprises the following steps:
(1) speed controller sprays the spray value of medicine working width and unit are demand according to the sprayer machine preset and is arranged on the spray medicine speed of the atomizer on sprayer machine, the quantity of atomizer, calculates the initial travel speed of sprayer machine;
(2) in spray medicine operation process, speed controller sprays the spray value of medicine working width and unit are demand and the real-time spray medicine flow of atomizer, the quantity of atomizer of medicinal liquid flow sensor acquisition according to the sprayer machine preset, and calculates the target travel speed of sprayer machine;
(3) the real time running speed of sprayer machine that Bus-Speed Monitoring sensor obtains by speed controller compares with the target travel speed calculated, the instruction strengthening or reduce throttle is sent to direct current generator, the rotating shaft of direct current generator drives sprayer machine power control handle to move together by transmission mechanism, regulates the real time running speed of sprayer machine.
9. the control method of the sprayer machine speed of a motor vehicle automaton for variable spray medicine according to claim 8, it is characterized in that, in described step (1), speed controller adopts the initial travel speed of following formula to sprayer machine to calculate:
v=666.67qn/Qw
Wherein, v represents the initial travel speed of sprayer machine, unit: m/min; Q represents the spray medicine speed of atomizer, unit: L/min; N represents the quantity of atomizer; The spray value of Q representation unit area requirements, unit: L/ mu; W represents sprayer machine spray medicine working width, unit: m.
10. the control method of the sprayer machine speed of a motor vehicle automaton for variable spray medicine according to claim 8, it is characterized in that, the method also comprises: the real-time spray medicine flow of atomizer and spray medicine pressure compare with the normal range value preset by speed controller, if exceed normal range value, then provide prompting and report to the police.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510057055.0A CN104686481A (en) | 2015-02-04 | 2015-02-04 | Device and method for automatically controlling vehicle speed of pesticide-spraying machine capable of variably spraying pesticides |
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| CN201510057055.0A CN104686481A (en) | 2015-02-04 | 2015-02-04 | Device and method for automatically controlling vehicle speed of pesticide-spraying machine capable of variably spraying pesticides |
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| CN108377999A (en) * | 2018-01-19 | 2018-08-10 | 上海肆鑫信息科技中心 | A kind of uniform spraying control system and method for fog machine |
| CN111513048A (en) * | 2020-05-13 | 2020-08-11 | 上海联适导航技术有限公司 | Pesticide spraying control method, device and equipment |
| CN112189645A (en) * | 2020-10-27 | 2021-01-08 | 江苏大学 | Double-online pesticide mixing sprayer suitable for intercropping and working method |
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Application publication date: 20150610 |