CN105103760B - A kind of soil pesticide speed change injection flow servo regulating system and method - Google Patents
A kind of soil pesticide speed change injection flow servo regulating system and method Download PDFInfo
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Abstract
The present invention relates to agricultural machinery technological field, and in particular to a kind of soil pesticide speed change injection flow servo regulating system and method.The soil pesticide speed change injection flow servo regulating system includes dispenser reset mechanism, controller, pulsewidth magnetic valve, flow sensor and syringe pump；The dispenser reset mechanism is connected with controller, and the dispenser reset mechanism presets formulation rate according to the demand of soil pesticide speed change operation；The controller produces pulse signal according to default formulation rate, and the pulse signal is sent to the pulsewidth magnetic valve；The pulsewidth magnetic valve is connected with syringe pump, for controlling the syringe pump output and the default formulation rate identical decoction of institute；The syringe pump be connected with for by medical liquid spraying in the injection high-voltage tube of deep subsoil；The flow sensor is arranged on injection high-voltage tube, for gathering medicinal liquid flow in real time and feeding back to the controller.
Description
Technical field
The present invention relates to agricultural machinery, more particularly to a kind of soil pesticide speed change injection flow servo regulating system and side
Method.
Background technology
At present, soil pesticide causes soil due to soil hardening resistance, machinery turning deceleration and the problems such as refueling uneven
Liquid medicine injection system needs frequently speed change injection, to ensure to eliminate external interference, realizes the uniform dispenser in plot and variable farm chemical applying
Purpose.But, it can't well be realized in currently available technology and progress side is actually needed according to soil pesticide speed change operation
Just, rapidly speed change injection.
The content of the invention
(1) technical problem to be solved
The technical problem to be solved in the present invention is actually needed progress side how to realize according to soil pesticide speed change operation
Just, rapidly speed change injection.
(2) technical scheme
In order to solve the above-mentioned technical problem, the present invention provides a kind of soil pesticide speed change injection flow servo regulating system,
It includes：Dispenser reset mechanism, controller, pulsewidth magnetic valve, flow sensor and syringe pump；The dispenser reset mechanism and control
Device connection processed, the dispenser reset mechanism presets formulation rate according to the demand of soil pesticide speed change operation；The controller according to
Default formulation rate produces pulse signal, and the pulse signal is sent to the pulsewidth magnetic valve；The pulsewidth magnetic valve
It is connected with syringe pump, for controlling the syringe pump output and the default formulation rate identical decoction of institute；The syringe pump is connected with
For by medical liquid spraying in the injection high-voltage tube of deep subsoil；The flow sensor is arranged on injection high-voltage tube, for reality
When collection medicinal liquid flow and feed back to the controller.
Wherein, the dispenser reset mechanism includes：Curve tablet；The curve tablet is connected with controller, is used for
Input servo adjustment curve simultaneously feeds back to the controller, and the servo adjustment curve is correspondingly arranged with default formulation rate.
Wherein, the controller is connected with touch-screen, the touch-screen provided with memory module, monitoring module and alarm mould
Block, the memory module is used for the service data of controller described in record storage, and the monitoring module is used to monitor the data
Operation conditions, and feed back in operation troubles the alarm module.
Wherein, the alarm module includes picture alarm submodule and audible alarm submodule, the picture alarm submodule
Block is used to warning picture being shown in the touch-screen, and the audible alarm submodule is used to touch warning sound from described
The loudspeaker of screen is sent.
Wherein, the abscissa of the servo adjustment curve is expressed as spraying time, and ordinate is expressed as medicine liquid volume.
Wherein, the dispenser reset mechanism includes：Leaf area index scanner, the leaf area index scanner connects with controller
Connect, for gathering the blade health index of crop and feeding back to controller.
Wherein, the dispenser reset mechanism includes：Ground velocity radar, the ground velocity radar is connected with controller,
For detecting gait of march during dispenser and feeding back in the controller.
Wherein, the controller passes sequentially through pulsewidth relay, pulsewidth magnetic valve and is connected with syringe pump.
The soil pesticide speed change injection flow servo regulating system that the present invention also provides described in a kind of basis carries out dispenser change
The method of velocity modulation section, it comprises the following steps：
S1, dispenser reset mechanism presets formulation rate according to the demand of soil pesticide speed change operation, and controller is according to presetting
Formulation rate produce pulse signal, and the pulse signal is sent to pulsewidth magnetic valve；
S2, pulsewidth magnetic valve drives syringe pump to act, and syringe pump is obtained the current signal through ovennodulation, and control output
With preset formulation rate identical decoction；
Quantitative liquid medicine after pressurization is delivered in injection high-voltage tube by S3, syringe pump, injects high-voltage tube by the medical liquid spraying
In the deep layer of soil；
S4, the flow of injection decoction is gathered by flow sensor in real time, and feeds back to controller progress servo regulation.
Wherein, dispenser reset mechanism described in step S1 uses time graph method, including following step in default formulation rate
Suddenly：
S1-1, draws servo adjustment curve on curve tablet, wherein, the abscissa of servo adjustment curve is expressed as applying
The medicine time, ordinate is expressed as medicine liquid volume；
S1-2, controller reads the corresponding coordinate points of servo adjustment curve, and sets up relative coordinate system matrix and carry out computing,
So as to compile out executable code automatically；
S1-3, controller sends pulse signal to pulsewidth magnetic valve according to operation result.
Wherein, dispenser reset mechanism described in step S1 also uses unit area dose sizing technique in default formulation rate,
Comprise the following steps：
S1-1 ', dispenser reset mechanism reads unit area setting dose；
S1-2 ', the diffusion wide cut according to decoction in Different Soil calculates default formulation rate；
S1-3 ', ground velocity radar detection dispenser gait of march simultaneously feeds back to the controller progress computing.
Wherein, dispenser reset mechanism described in step S1 also uses leaf area index criterion in default formulation rate, including
Following steps：
S1-1 ", leaf area index scanner gathers the blade health index of crop；
S1-2 ", leaf area index scanner sends the blade health index of collection to controller；
S1-3 ", controller calculates default formulation rate and produces corresponding pulse signal.
(3) beneficial effect
The above-mentioned technical proposal of the present invention has the advantages that：
The present invention provides a kind of soil pesticide speed change injection flow servo regulating system, dispenser reset mechanism therein according to
The demand of soil pesticide speed change operation presets formulation rate, while additionally providing a variety of servo shaping modes：Leaf area index criterion,
Time graph method and unit area dose sizing technique, are realized according to soil pesticide speed change operation by these servo shaping modes
Progress easily and quickly speed change injection is actually needed, beneficial to popularization and application.
Brief description of the drawings
Fig. 1 is the structural representation of soil pesticide speed change injection flow servo regulating system of the embodiment of the present invention；
Fig. 2 is the theory diagram of soil pesticide speed change injection flow servo adjusting method of the embodiment of the present invention；
Fig. 3 is the drafting figure of servo adjustment curve of the embodiment of the present invention.
Wherein, 1：Touch-screen；2：Communication cable；3：Controller；4：Transmission cable；5：Ground velocity radar；6：Control electricity
Cable；7：Pulsewidth relay；8：Cable；9：Syringe pump； 10：Inject high-voltage tube；11：Flow sensor；12：Curve tablet.
Embodiment
Embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples.Following examples are used for
Illustrate the present invention, but can not be used for limiting the scope of the present invention.
In the description of the invention, it is necessary to explanation, unless otherwise indicated, " multiple " be meant that two or two with
On；The orientation of the instruction such as term " on ", " under ", "left", "right", " interior ", " outer ", " front end ", " rear end ", " head ", " afterbody "
Or position relationship is, based on orientation shown in the drawings or position relationship, to be for only for ease of the description present invention and simplify description, and
It is not instruction or implies that signified device or element there must be specific orientation, with specific azimuth configuration and operation, therefore
It is not considered as limiting the invention.In addition, term " first ", " second ", " the 3rd " etc. are only used for describing purpose, and can not
It is interpreted as indicating or implying relative importance.
In the description of the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " installation ",
" connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or integratedly be connected
Connect；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary.It is right
For one of ordinary skill in the art, visual concrete condition understands the concrete meaning of above-mentioned term in the present invention.
Embodiment one
As shown in figure 1, the present embodiment provides a kind of soil pesticide speed change injection flow servo regulating system, it includes：Apply
Medicine reset mechanism, controller 3, pulsewidth magnetic valve, flow sensor 11 and syringe pump 9；Wherein, dispenser reset mechanism and control
Device 3 is connected, and dispenser reset mechanism presets formulation rate according to the demand of soil pesticide speed change operation；Controller 3 is according to default
Formulation rate produces pulse signal, and the pulse signal is sent to pulsewidth magnetic valve；
Meanwhile, pulsewidth magnetic valve is connected with syringe pump 9, for controlling the output of syringe pump 9 and the default formulation rate identical of institute
Decoction, can make syringe pump obtain the current signal through ovennodulation, and the pressure and flow that are set according to controller 3 are operated；
Moreover, the syringe pump 9 is also associated with for by medical liquid spraying, in the injection high-voltage tube 10 of deep subsoil, the injection high-voltage tube 10 can
Quantitative liquid medicine after pressurization is sprayed into the deep layer of soil.Meanwhile, flow sensor 11 is arranged on injection high-voltage tube 10, for reality
When collection medicinal liquid flow and feed back to controller 3 so that the servo for can be carried out according to actual conditions PID is adjusted.
What deserves to be explained is, the quantity of syringe pump 9 is not limited to, and can flexibly be set according to actual needs, for example：Syringe pump
9 quantity is multiple, and the interval of multiple syringe pumps 9 is arranged side by side.Certainly, the distance between adjacent injections pump 9 also can be by adjusting
Section mechanism is adjusted.
Further, the dispenser reset mechanism includes：Curve tablet 12；Curve tablet 12 is used to input servo tune
Pitch curve, and the servo adjustment curve is converted into electric signal feeds back to controller 3.Certainly, the curve tablet 12 is also equipped with
There is felt pen, for drawing curve.
Specifically, as shown in figure 3, the servo adjustment curve is correspondingly arranged with default formulation rate, it may include six curves of A-F
And any combination.It is understood that the input of six curves of A-F and automatic compiling represent different servo adjustment curves respectively
Combination.Wherein, the abscissa of the servo adjustment curve is expressed as spraying time (t), and ordinate is expressed as medicine liquid volume (v).It is real
When border is operated, finally ejected decoction can be certain several combination or one kind therein between this six kinds of curves, real
The online variable function of incumbent meaning decoction is quickly compounded.
These curves can be using directly drafting, it would however also be possible to employ starting point and the mode of the additional function expression of terminal, from
And complete extremely complex servo regulation.
In addition, controller 3 is also associated with touch-screen 1, touch-screen 1 is connected by communication cable 2 with controller 3.Touch-screen 1
It is interior to be provided with memory module, monitoring module and alarm module, the service data that memory module is used in record storage controller 3, prison
The data run situation being used for depending on module in supervisory control device 3, and feed back to alarm module when data run breaks down.
Wherein, alarm module includes picture alarm submodule and audible alarm submodule, and picture alarm submodule is used for will
Warning picture is shown on touch-screen 1, and audible alarm submodule is used to send the loudspeaker for warning sound from touch-screen 1.When
So, the two submodules possess one and equally fall within protection scope of the present invention.
Embodiment two
The present embodiment two and the identical technology contents not repeated description of embodiment one, the disclosure of embodiment one are fallen within
The disclosure of the present embodiment two, the present embodiment two is with the difference of embodiment one：The dispenser reset mechanism also includes：Blade face refers to
Number scanner, leaf area index scanner is connected with controller 3, for gathering the blade health index of crop and feeding back to controller
3.Wherein, blade health index can be leaf area index, be an important indicator for reflecting plant population's upgrowth situation.Preset
Formulation rate it is corresponding with blade health index.
What deserves to be explained is, the leaf area index scanner that the present embodiment two is related to can be used alone, certainly also can be with implementation
Curve tablet 12, touch-screen 1 in example one are applied in combination.
Embodiment three
The present embodiment three and the identical technology contents not repeated description of embodiment two, the disclosure of embodiment two are fallen within
The disclosure of the present embodiment three, the present embodiment three is with the difference of embodiment two：Dispenser reset mechanism also includes：Test the speed on ground
Radar 5, ground velocity radar 5 is connected with controller 3, for detecting gait of march during dispenser and feeding back in controller 3.
Wherein, controller 3 passes sequentially through pulsewidth relay 7, pulsewidth magnetic valve and is connected with syringe pump 9.Wherein, controller 3
By controlling cable 6 to be connected between pulsewidth relay 7；Connected between pulsewidth magnetic valve and syringe pump 9 by cable 8；Ground
Connected between velocity radar 5 and controller 3 by transmission cable 4.
What deserves to be explained is, the ground velocity radar 5 that the present embodiment three is related to can be used alone, also can with embodiment one
Touch-screen 1, curve tablet 12 and embodiment two in leaf area index scanner be used in any combination.
Example IV
As shown in Fig. 2 the present embodiment four provides a kind of side for applying above-mentioned servo adjustment system to carry out dispenser gearshift adjustment
Method, comprises the following steps：
S1, sets total dose first, and dispenser reset mechanism presets formulation rate, control according to the demand of soil pesticide speed change operation
Device processed produces pulse signal according to default formulation rate, and the pulse signal is sent to pulsewidth magnetic valve；
S2, pulsewidth magnetic valve drives syringe pump to act, and syringe pump is obtained the current signal through ovennodulation, and control output
With preset formulation rate identical decoction；
Quantitative liquid medicine after pressurization is delivered in injection high-voltage tube by S3, syringe pump, injects high-voltage tube by the medical liquid spraying
In the deep layer of soil；
S4, the flow of injection decoction is gathered by flow sensor in real time, and feeds back to controller progress servo regulation.
As shown in figure 3, three patterns can be divided into after total dose is set, can arbitrarily it select according to actual needs, specifically
For：
Wherein, dispenser reset mechanism uses time graph method in default formulation rate in step S1, comprises the following steps：
S1-1, draws servo adjustment curve on curve tablet, wherein, the abscissa of servo adjustment curve is expressed as spraying time,
Ordinate is expressed as medicine liquid volume；S1-2, controller reads the corresponding coordinate points of servo adjustment curve, and sets up relative coordinate system
Matrix carries out computing, so as to compile out executable code automatically；S1-3, controller sends pulse signal according to operation result
To pulsewidth magnetic valve.
In addition, the dispenser reset mechanism also uses leaf area index criterion in default formulation rate, comprise the following steps：
S1-1 ", leaf area index scanner gathers the blade health index of crop；
S1-2 ", leaf area index scanner sends the blade health index of collection to controller；
S1-3 ", controller calculates default formulation rate according to blade health index and produces corresponding pulse signal.
Moreover, the dispenser reset mechanism also uses unit area dose sizing technique, including following step in default formulation rate
Suddenly：
S1-1 ', dispenser reset mechanism reads unit area setting dose；
S1-2 ', the diffusion wide cut according to decoction in Different Soil calculates default formulation rate；
S1-3 ', ground velocity radar detection dispenser gait of march simultaneously feeds back to controller progress computing, so as to realize servo
Regulation.
In summary, the present invention provides a kind of soil pesticide speed change injection flow servo regulating system, and dispenser therein is pre-
If mechanism presets formulation rate according to the demand of soil pesticide speed change operation, there is provided a variety of servo shaping modes：Leaf area index is sentenced
Determine method, time graph method and unit area dose sizing technique, realization is actually needed progress side according to soil pesticide speed change operation
Just, rapidly speed change injection, beneficial to popularization and application.
Embodiments of the invention are provided for the sake of example and description, and are not exhaustively or by this to send out
It is bright to be limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Choosing
Select and describe embodiment and be more preferably to illustrate the principle and practical application of the present invention, and make one of ordinary skill in the art
It will be appreciated that the present invention is so as to design the various embodiments with various modifications suitable for special-purpose.
Claims (10)
1. a kind of soil pesticide speed change injection flow servo regulating system, it is characterised in that including：Dispenser reset mechanism, control
Device, pulsewidth magnetic valve, flow sensor and syringe pump；
The dispenser reset mechanism is connected with controller, and the dispenser reset mechanism is pre- according to the demand of soil pesticide speed change operation
Facility dose；The controller produces pulse signal according to default formulation rate, and the pulse signal is sent to the arteries and veins
Wide magnetic valve；
The pulsewidth magnetic valve is connected with syringe pump, for controlling the syringe pump output and the default formulation rate identical medicine of institute
Liquid；The syringe pump be connected with for by medical liquid spraying in the injection high-voltage tube of deep subsoil；The flow sensor is arranged at
Inject on high-voltage tube, for gathering medicinal liquid flow in real time and feeding back to the controller；
The dispenser reset mechanism includes：Curve tablet；The curve tablet is connected with controller, is adjusted for inputting servo
Pitch curve simultaneously feeds back to the controller, and the servo adjustment curve is correspondingly arranged with the default formulation rate；The dispenser
Reset mechanism also includes：Leaf area index scanner, the leaf area index scanner is connected with controller, the leaf for gathering crop
Piece health index simultaneously feeds back to controller.
2. soil pesticide speed change injection flow servo regulating system according to claim 1, it is characterised in that the control
Device, which is connected with touch-screen, the touch-screen, is provided with memory module, monitoring module and alarm module, and the memory module is used to remember
The service data of controller described in address book stored, the monitoring module is used for the operation conditions for monitoring the data, and in operation event
The alarm module is fed back to during barrier.
3. soil pesticide speed change injection flow servo regulating system according to claim 2, it is characterised in that the alarm
Module includes picture alarm submodule and audible alarm submodule, and the picture alarm submodule is used to warning picture being shown in
On the touch-screen, the audible alarm submodule is used to send the loudspeaker for warning sound from the touch-screen.
4. soil pesticide speed change injection flow servo regulating system according to claim 1, it is characterised in that the servo
The abscissa of adjustment curve is expressed as spraying time, and ordinate is expressed as medicine liquid volume.
5. soil pesticide speed change injection flow servo regulating system according to claim 1, it is characterised in that the dispenser
Reset mechanism includes：Ground velocity radar, the ground velocity radar is connected with controller, for detecting traveling speed during dispenser
Spend and feed back in the controller.
6. soil pesticide speed change injection flow servo regulating system according to claim 1, it is characterised in that the control
Device passes sequentially through pulsewidth relay, pulsewidth magnetic valve and is connected with syringe pump.
7. a kind of soil pesticide speed change injection flow servo regulating system according to any one of claim 1-6 is applied
The method of medicine gearshift adjustment, it is characterised in that comprise the following steps：
S1, dispenser reset mechanism presets formulation rate according to the demand of soil pesticide speed change operation, and controller is applied according to default
Dose produces pulse signal, and the pulse signal is sent to pulsewidth magnetic valve；
S2, pulsewidth magnetic valve drives syringe pump to act, and syringe pump is obtained the current signal through ovennodulation, and control output and institute
Default formulation rate identical decoction；
Quantitative liquid medicine after pressurization is delivered in injection high-voltage tube by S3, syringe pump, and injection high-voltage tube is by the medical liquid spraying in soil
The deep layer of earth；
S4, the flow of injection decoction is gathered by flow sensor in real time, and feeds back to controller progress servo regulation.
8. the method for dispenser gearshift adjustment according to claim 7, it is characterised in that machine is preset in dispenser described in step S1
Structure uses time graph method in default formulation rate, comprises the following steps：
S1-1, draws servo adjustment curve on curve tablet, wherein, when the abscissa of servo adjustment curve is expressed as dispenser
Between, ordinate is expressed as medicine liquid volume；
S1-2, controller reads the corresponding coordinate points of servo adjustment curve, and sets up the progress computing of relative coordinate system matrix, so that
Automatically executable code is compiled out；
S1-3, controller sends pulse signal to pulsewidth magnetic valve according to operation result.
9. the method for dispenser gearshift adjustment according to claim 8, it is characterised in that machine is preset in dispenser described in step S1
Structure also uses unit area dose sizing technique in default formulation rate, comprises the following steps：
S1-1 ', dispenser reset mechanism reads unit area setting dose；
S1-2 ', the diffusion wide cut according to decoction in Different Soil calculates default formulation rate；
S1-3 ', ground velocity radar detection dispenser gait of march simultaneously feeds back to the controller progress computing.
10. the method for dispenser gearshift adjustment according to claim 9, it is characterised in that dispenser described in step S1 is preset
Mechanism also uses leaf area index criterion in default formulation rate, comprises the following steps：
S1-1 ", leaf area index scanner gathers the blade health index of crop；
S1-2 ", leaf area index scanner sends the blade health index of collection to controller；
S1-3 ", controller calculates default formulation rate and produces corresponding pulse signal.
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| CN107885120A (en) * | 2017-11-10 | 2018-04-06 | 桂林电子科技大学 | A kind of quantitative control system based on Kalman filter |
| CN110161845B (en) * | 2019-06-26 | 2021-02-19 | 西南石油大学 | Exponential closed-loop control method |
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| US6314979B1 (en) * | 1999-03-16 | 2001-11-13 | Fertigator, Inc. | Liquid injection apparatus and method for horticultural watering systems |
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| US4337786A (en) * | 1980-06-23 | 1982-07-06 | Valmont Industries, Inc. | Variable rate fertilizer injection system |
| US4907516A (en) * | 1988-06-17 | 1990-03-13 | Rogers Ramon B | Pulsed injection into the ground of liquid fertilizer |
| US6748884B1 (en) * | 2003-06-03 | 2004-06-15 | Case, Llc | Automatic liquid fertilizer rate system |
| CN101587332A (en) * | 2009-04-15 | 2009-11-25 | 西北农林科技大学 | Control system and control method for vehicle mounted variable farm chemical applying machine |
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