CN107631756B - Vehicle-mounted information system of self-propelled boom sprayer and operation quality visualization method - Google Patents
Vehicle-mounted information system of self-propelled boom sprayer and operation quality visualization method Download PDFInfo
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Abstract
The invention discloses a vehicle-mounted information system of a self-propelled boom sprayer and a working quality visualization method. The system comprises an input display module, an information acquisition module, a GPS positioning module, a data storage module and a power supply module; the information acquisition module comprises an environment information acquisition module, a working tool information acquisition module and a spraying system information acquisition module. The system is arranged on a self-propelled boom sprayer; when the machine tool works, the sensor of the information acquisition module and the GPS positioning module work; the core processing module coordinates and processes the data acquired by the information acquisition module with the position information acquired by the GPS positioning module through an operation area visualization method to obtain operation quality information; the display screen displays the processing result in real time; the data storage module stores job data. The system can collect field operation information of the self-propelled boom sprayer, visualize the field operation information and provide basis for operation quality evaluation.
Description
Technical Field
The invention relates to the field of plant protection machinery information acquisition, in particular to a field operation information acquisition system suitable for a self-propelled boom sprayer.
Background
Along with the proposal of the numbers of saving resources, protecting ecological environment and the like, the prevention and treatment of plant diseases and insects are developed from the overall single uniform application to the directional selective application, which means that plant protection machinery needs to be developed towards automation, intellectualization and modernization. At present, researches on self-propelled boom sprayers mainly focus on the design of boom suspensions and variable spraying, but pay little attention to the working environment, the working state of working tools and the working area, and particularly lack of evaluation basis for working quality. Therefore, providing a basis for operation quality evaluation for the self-propelled boom sprayer is a current urgent problem to be solved.
Disclosure of Invention
Aiming at the problems, the invention provides the vehicle-mounted information system suitable for the self-propelled boom sprayer, which can monitor the environment information, the operation tool information and the spraying system information in real time, provide the environment information, the operation tool information and the spraying system information for operators as references, visually display the operation condition through an operation quality visual method, realize the operation information visualization, provide basis for operation quality evaluation, provide references for operation scheme improvement and have better popularization and application values.
The invention adopts the following specific scheme:
the self-propelled boom sprayer vehicle-mounted information system is arranged on the self-propelled boom sprayer and comprises a control box, wherein one surface of the control box is provided with a capacitive touch liquid crystal display screen, the upper left corner of the control box is connected with an antenna, the back of the control box is provided with a battery slot, and the side of the control box is provided with an SD card slot, and a core processor is arranged in the control box; the core processor is connected with the environment information acquisition module; the core processor is connected with the operation tool information acquisition module; the core processor is connected with the spraying system information acquisition module; the core processor is connected with the data storage module; the core processor is connected with the GPS positioning module; the core processor is connected with the display module; the control box is also internally provided with a power supply module.
The core processor is respectively connected with the environment information acquisition module, the operation tool information acquisition module and the spraying system information acquisition module through the IIC bus.
The power supply module comprises a solar panel, a 9V rechargeable lithium battery, a power supply voltage stabilizing module, an A/D conversion module and an MCU1, wherein the solar panel and the rechargeable lithium battery are respectively connected with the A/D conversion module and the power supply voltage stabilizing module; the A/D conversion module is connected with the MCU1; the voltage signal of the solar panel is converted into a digital signal through an A/D conversion module and is transmitted to the MCU1, when the voltage value provided by the solar panel is stable in a set interval, the MCU1 selects the solar panel to supply power, otherwise, the battery is selected to supply power; the power supply voltage stabilizing module stabilizes the power supply voltage at a set value and supplies the power supply voltage to the system.
The data storage module comprises an SD card and an SD card read-write module, wherein the SD card read-write module is connected with the core processor; the SD card is connected with the SD card read-write module; and storing the working environment data, the working tool data, the spraying system data and the working tool position data which are acquired by the information acquisition module.
The operation environment information acquisition module comprises a temperature sensor, a temperature signal processing module, a humidity sensor, a humidity signal processing module and an MCU2, wherein the temperature sensor is connected with the temperature signal processing module, and the temperature signal processing module is connected with the MCU2; the humidity sensor is connected with the humidity signal processing module; the humidity signal processing module is connected with the MCU2; the temperature sensor and the humidity sensor respectively acquire temperature information and humidity information, and the temperature information and the humidity information are processed by the signal processing module and then are sent to the IIC bus through the MCU2 to be received by the core processor.
The operation tool information acquisition module comprises a Hall speed sensor, a speed signal processing module and an MCU3, wherein the Hall speed sensor is connected with the speed signal processing module; the speed signal processing module is connected with the MCU3; the Hall speed sensor collects speed signals, the speed signals are processed by the speed signal processing module and then sent to the IIC bus through the MCU3, and the speed signals are received by the core processor.
The spraying system information acquisition module comprises a spray nozzle pressure acquisition module, a spray boom height detection module, a medicine box liquid level detection module and an MCU4.
The spray head pressure acquisition module comprises a pressure sensor and a pressure signal processing module; the spray boom height detection module comprises an ultrasonic sensor and an ultrasonic signal processing module; the medicine box liquid level detection module comprises a medicine box liquid level sensor and a liquid level signal processing module; the pressure sensor is connected with the pressure signal processing module; the pressure signal processing module is connected with the MCU4; the ultrasonic sensor is connected with the ultrasonic signal processing module; the ultrasonic signal processing module is connected with the MCU4; the liquid level sensor is connected with the liquid level signal processing module; the liquid level signal processing module is connected with the MCU4; the pressure sensor, the ultrasonic sensor and the liquid level sensor respectively acquire pressure information, ultrasonic information and liquid level information, and the pressure information, the ultrasonic information and the liquid level information are processed by the signal processing module and then are sent to the IIC through the MCU4 to be received by the core processor.
The GPS positioning module comprises a GPS positioning chip, a GPS signal processing module, a radio frequency signal receiver and a receiving antenna, wherein the GPS positioning chip is connected with the GPS signal processing module; the GPS signal processing module is connected with the core processor; the input end of the GPS chip is connected with a radio frequency signal receiver; the radio frequency signal receiver is also provided with a receiving antenna; the working position of the working tool is positioned in real time.
The self-propelled boom sprayer operation information acquisition system and the operation area visualization method are characterized by comprising the following specific steps:
(1) A worker measures boundary key points of an operation land block through a handheld GPS device, and pre-measures the length of a spray boom and the spray width of a spray nozzle, and inputs the length and the spray width of the spray boom into the vehicle-mounted information system of the self-propelled spray boom spraying vehicle;
(2) The self-propelled boom spraying vehicle-mounted information acquisition system generates an operation task graph according to the recorded operation land block boundary key points;
(3) The self-propelled boom sprayer vehicle-mounted information system fuses the position information of the operating tool, the boom length and the spray nozzle spray width acquired by the GPS positioning module to generate a boom sprayer actual operation diagram, and the boom sprayer actual operation diagram comprises a normal spraying area, a tool slipping area, a re-spraying area and a missing spraying area;
(4) The self-propelled boom sprayer vehicle-mounted information system calculates the required operation area, the re-spraying area and the missing spraying area according to the operation task diagram and the boom sprayer actual operation diagram, and calculates the re-spraying rate and the missing spraying rate.
In the step (2), boundary key points to be input in the vehicle-mounted information system of the self-propelled boom spraying vehicle are divided into a straight boundary key point and a curve boundary key point; for the boundary of the straight line part, two key points need to be input into the system; for the boundary of the curve portion, three key points need to be entered in the system.
In the step (3), the self-propelled boom sprayer vehicle-mounted information system generates a boom sprayer operation track according to the collected operation tool position information; the self-propelled boom spraying vehicle-mounted information system generates a liquid medicine coverage area diagram according to the length of the boom and the spraying width of the nozzle; the point D in the liquid medicine coverage area diagram takes the operation track of the boom sprayer as the motion track, and the direction perpendicular to the operation track of the boom sprayer is the motion direction of the boom sprayer to generate the actual operation diagram of the boom sprayer; the overlapping area in the practical operation diagram of the boom sprayer is judged as a heavy spraying area; judging an uncovered area in an actual operation diagram of the boom sprayer as a missing spraying area; if the system detects that the wheel rotation speed is not 0 and the tool position information is unchanged, judging that the working tool is in a slipping area; the remaining area is determined as a normal area.
Compared with the prior art, the invention has the following advantages:
(1) Acquiring an operation state of the self-propelled boom sprayer in the operation process; (2) The operation data of the self-propelled boom sprayer is processed and visually displayed, so that a basis is provided for operation quality evaluation; (3) Provides reference for the improvement of the subsequent operation scheme of operators.
Drawings
Fig. 1 is a schematic diagram of a module structure of the present invention.
FIG. 2 is a schematic diagram of a liquid medicine coverage area in the working quality visualization method of the present invention
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in the figure, the scheme of the invention comprises the following steps: a vehicle-mounted information system suitable for a self-propelled boom sprayer comprises a control box which is arranged on the self-propelled boom sprayer; a display screen is arranged on one surface outside the control box; the control is internally provided with a core process; the core processor is respectively connected with the environment information acquisition module, the machine tool information acquisition module, the spraying system information acquisition module and the GPS positioning module; the core processor utilizes an operation area visualization method to fuse the data acquired by the information acquisition module and display the data to an operator through a display screen; the core processor is also connected with a data storage module, and the data storage module stores data; and a power supply module is further arranged in the main control box and used for supplying power to each module.
The core processor adopts a processing chip with the model of STM32F407, and the periphery of the core processor is connected with a display module, a GPS positioning module, a data storage module, an operation environment information acquisition module, an operation tool information acquisition module and a spraying system information acquisition module; the operation environment information acquisition module, the operation tool information acquisition module and the spraying system information acquisition module are communicated with the core processor through an IIC bus; the core processor is responsible for core processing work of the whole system: the whole system control program is burnt into the core processor through a program burning circuit, the core processor requests data to the corresponding module according to the requirement of an operator, the module receiving the data request instruction sends the acquired data to the core processor through an IIC bus, and the core processor fuses the received data according to a set algorithm; and the display screen displays the result obtained by processing the core processor to an operator in real time, so that the visualization of the operation data is realized.
The power supply module comprises a 9V solar panel, a 9V rechargeable lithium battery, a power supply voltage stabilizing module, an A/D conversion module and an MCU1; the output end of the 9V solar cell panel is led out of two wires A and B, the end A is connected with the A/D conversion module, the end B is connected with the MCU, meanwhile, the output end of the 9V rechargeable lithium battery is led out of two wires A and B, the end A is connected with the A/D conversion module, the end B is connected with the MCU, and the A/D conversion module is connected with the MCU; the voltage of the solar panel and the voltage of the lithium battery are converted into digital signals through an A/D conversion module and are output to the MCU; when the voltage value output by the solar panel is stable in a set interval, the MCU selects the solar panel to supply power for the system, otherwise, selects the lithium battery to supply power for the system, and finally outputs the power to the system through the power supply voltage stabilizing module; when the voltage of the solar panel and the voltage of the lithium battery are not in the set interval, the MCU1 sends an alarm signal to the core processor, and the alarm signal is displayed on the display screen.
The operation environment information acquisition module comprises a temperature sensor, a temperature signal processing module, a humidity sensor, a humidity signal processing module and an MCU2; the temperature sensor adopts a DS18B20 temperature sensor, and has small volume, high precision and strong anti-interference capability; the temperature sensor collects temperature signals, the temperature signals are transmitted to the MCU2 after being processed by the temperature processing module, and the temperature signals are transmitted to the core processor through the IIC bus according to the requirements of the core processor; the DHT11 humidity sensor is adopted as the humidity sensor, so that the volume is small, and the power consumption is low; the humidity signal acquired by the humidity sensor is processed by the humidity processing module, transmitted to the MCU2 and transmitted to the core processor through the IIC bus according to the requirements of the core processor; and the core processor processes the environment information and drives the display screen to display.
The machine tool information acquisition module comprises a speed sensor, a speed signal processing module and an MCU3; the speed sensor adopts a Hall speed sensor; the Hall sensor has small volume, firm structure, small power consumption and vibration resistance, and is suitable for a relatively severe environment; the Hall sensor is arranged on a wheel, acquires wheel rotation speed information, the MCU3 processes the wheel rotation speed information to obtain the running speed of the working machine, and sends the running speed to the core processor through the IIC bus, and the core processor drives the display screen to display.
The spraying system information acquisition module comprises a pressure sensor, a pressure signal processing module, an ultrasonic sensor, an ultrasonic signal processing module, a liquid level sensor, a liquid level signal processing module and an MCU4; the pressure sensor is a pipeline pressure sensor, is high in accuracy, high in reliability, simple in structure and intelligent, acquires pressure signals, processes the pressure signals by the pressure signal processing module, transmits the pressure signals to the MCU4, and transmits the pressure signals to the core processor through the IIC bus according to the requirements of the core processor; the ultrasonic sensor is arranged on the spray boom and used for measuring the height of the spray boom, the ultrasonic sensor acquires ultrasonic signals, the ultrasonic signals are processed by the ultrasonic signal processing module and then transmitted to the MCU4, and the ultrasonic signals are transmitted to the core processor through the IIC bus according to the requirements of the core processor; the liquid level sensor adopts a floating ball type sensor, the floating ball type liquid level sensor is placed in the medicine chest, the liquid level sensor collects liquid level signals, the liquid level signals are transmitted to the MCU4 after being processed by the liquid level signal processing module, the liquid level signals are transmitted to the core processor through the IIC bus according to the requirements of the core processor, and the core processor processes spraying system information and drives the display screen to display.
The core processor analyzes and processes the received pressure information of each spray head, judges whether the spray heads are blocked according to a preset interval, and indicates that the spray heads work normally if the received value is in the preset interval, and the corresponding spray head state on the display screen is displayed as a green light state; if the received value is not in the set interval, the spray head is indicated to be blocked, the core processor generates an alarm signal, and the state of the corresponding spray head on the display screen is displayed as a red light state.
The GPS positioning module comprises a GPS positioning chip, a GPS signal processing module and an antenna, wherein the GPS positioning chip adopts a positioning chip with the model of NEO-7M, the GPS positioning chip is connected with the GPS signal processing module, the GPS signal processing module is connected with a core processor, the input end of the GPS chip is connected with a radio frequency signal receiver, the radio frequency signal receiver is also provided with a receiving antenna, and the receiving antenna is required to be arranged at the geometrical midpoint position of a spray boom on the whole spray boom sprayer.
The core processor fuses the operation tool information, the spraying system information and the GPS positioning information to generate a normal area, a re-spraying area, a missing spraying area and a slipping area, and calculates the re-spraying rate and the missing spraying rate; and displaying the information to staff in real time through a display screen.
The data storage module comprises an SD memory card and an SD card read-write module; the SD card read-write module is connected with the core processor; the SD card is connected with the SD card read-write module; the data acquired by the information acquisition module and the data acquired by the GPS positioning module are stored in the SD card, so that a basis is provided for later operation quality analysis and operation scheme improvement.
The self-propelled boom sprayer operation information acquisition system and the operation area visualization method are characterized by comprising the following specific steps:
(1) A worker measures boundary key points of an operation land block through a handheld GPS device, and pre-measures the length of a spray boom and the spray width of a spray nozzle, and inputs the length and the spray width of the spray boom into the vehicle-mounted information system of the self-propelled spray boom spraying vehicle;
(2) The self-propelled boom spraying vehicle-mounted information system generates an operation task graph according to the recorded operation land block boundary key points;
(3) The self-propelled boom sprayer vehicle-mounted information system fuses the position information of the operating machine, the length of the boom and the spraying width of the spray head acquired by the GPS positioning module to generate an actual operation diagram of the boom sprayer, and the operation diagram of the boom sprayer comprises a normal spraying area, a machine slipping area, a re-spraying area and a spraying leakage area;
(4) The self-propelled boom sprayer vehicle-mounted information system calculates the required operation area, the re-spraying area and the missing spraying area according to the operation task diagram and the boom sprayer actual operation diagram, and calculates the re-spraying rate and the missing spraying rate.
In the step (1), the self-propelled boom spraying vehicle-mounted information system needs key points of the boundary of the operation land, the boom length of the operation tool and the spray head spraying width, and staff needs to analyze the boundary of the topography of the required operation to divide the boundary of the operation topography into two types: a straight line boundary and a curved line boundary; a worker acquires two GPS signals at two endpoints of a straight line boundary through a handheld GPS device, acquires three GPS signals at two endpoints and one point on a curve at the curve boundary, and inputs the acquired three GPS signals into a system; and measuring the length of a boom of the working machine and the spray width of a spray head, and inputting the length and the spray width into the system.
In the step (2), the key points to be input in the vehicle-mounted information system of the self-propelled boom spraying vehicle are divided into a straight boundary key point and a curve boundary key point; inputting the acquired straight boundary key points and the curve boundary key points into the system; the system generates a job task graph according to the key points, and operators can see the whole area needing to be worked in the working process.
In the step (3), when the boom sprayer works, the GPS positioning module acquires position information of the working tool in real time, and the self-propelled boom sprayer on-board information system generates a working track of the boom sprayer according to the position information of the working tool acquired by the GPS positioning module in real time.
In the step (3), when the working implement enters the working task area, the boom spraying vehicle-mounted information acquisition system generates a liquid medicine coverage area diagram according to the input boom length L and the nozzle spraying width D, namely, the liquid medicine coverage area diagram is an area with the length of l=l+d/2+d/2 and the width of w=d, the two ends of the area are semicircular graphics, and the point D is the geometric center of the liquid medicine coverage diagram, as shown in fig. 2; and a point D in the liquid medicine coverage area diagram takes the operation track of the spray rod sprayer as a movement track thereof, and the direction perpendicular to the operation track of the spray rod sprayer is taken as the movement direction thereof to generate an actual operation diagram of the spray rod sprayer.
In the step (3), the vehicle-mounted information system of the self-propelled boom sprayer judges the overlapping area in the actual operation diagram of the boom sprayer as a heavy spraying area and displays the heavy spraying area as dark blue; the vehicle-mounted information system of the self-propelled boom sprayer judges an uncovered area in an actual operation diagram of the boom sprayer as a missing spraying area and displays the missing spraying area as white; when the vehicle-mounted information system of the self-propelled boom sprayer detects that the wheel rotation speed is not 0 and the equipment is unchanged in information, the area where the equipment is located is judged to be a slipping area, and the area is displayed in red; the area is judged as a normal spraying area and is displayed in blue.
In the step (4), the system calculates the areas of the re-spraying area and the missing spraying area, and calculates the re-spraying rate by using the ratio of the area of the re-spraying area to the total area; and calculating the skip rate by using the ratio of the skip area to the total area.
Claims (7)
1. The vehicle-mounted information system of the self-propelled boom sprayer is arranged on the self-propelled boom sprayer and is characterized in that: the vehicle-mounted information system comprises a control box, wherein the control box comprises a core processor and a power supply module, and the core processor is respectively connected with the environment information acquisition module, the operation tool information acquisition module, the spraying system information acquisition module, the data storage module, the GPS positioning module and the display module;
the operation environment information acquisition module comprises a temperature sensor, a temperature signal processing module, a humidity sensor, a humidity signal processing module and an MCU2, wherein the temperature sensor is connected with the temperature signal processing module, and the temperature signal processing module is connected with the MCU2; the humidity sensor is connected with the humidity signal processing module; the humidity signal processing module is connected with the MCU2; the temperature sensor and the humidity sensor respectively acquire temperature information and humidity information, and the temperature information and the humidity information are processed by the signal processing module and then are sent to the IIC bus through the MCU2 to be received by the core processor;
the operation tool information acquisition module comprises a Hall speed sensor, a speed signal processing module and an MCU3, wherein the Hall speed sensor is connected with the speed signal processing module; the speed signal processing module is connected with the MCU3; the Hall speed sensor acquires a speed signal, and the speed signal is processed by the speed signal processing module and then is sent to the IIC bus through the MCU3 to be received by the core processor;
the spraying system information acquisition module comprises a spray nozzle pressure acquisition module, a spray boom height detection module, a medicine box liquid level detection module and an MCU4;
the spray head pressure acquisition module comprises a pressure sensor and a pressure signal processing module; the spray boom height detection module comprises an ultrasonic sensor and an ultrasonic signal processing module; the medicine box liquid level detection module comprises a medicine box liquid level sensor and a liquid level signal processing module; the pressure sensor is connected with the pressure signal processing module; the pressure signal processing module is connected with the MCU4; the ultrasonic sensor is connected with the ultrasonic signal processing module; the ultrasonic signal processing module is connected with the MCU4; the liquid level sensor is connected with the liquid level signal processing module; the liquid level signal processing module is connected with the MCU4; the pressure sensor, the ultrasonic sensor and the liquid level sensor respectively acquire pressure information, ultrasonic information and liquid level information, and the pressure information, the ultrasonic information and the liquid level information are processed by the signal processing module and then are sent to the IIC through the MCU4 to be received by the core processor;
the core processor is responsible for the core processing work of the whole system: the whole system control program is burnt into the core processor through a program burning circuit, the core processor requests data to the corresponding module according to the requirement of an operator, the module receiving the data request instruction sends the acquired data to the core processor through an IIC bus, and the core processor fuses the received data according to a set algorithm;
the GPS positioning module comprises a GPS positioning chip, a GPS signal processing module, a radio frequency signal receiver and a receiving antenna, wherein the GPS positioning chip is connected with the GPS signal processing module; the GPS signal processing module is connected with the core processor; the input end of the GPS chip is connected with a radio frequency signal receiver; the radio frequency signal receiver is also provided with a receiving antenna; the working position of the working machine is positioned in real time, and the receiving antenna is arranged at the geometric center position of a spray boom of the self-propelled boom sprayer;
the method for realizing the visual operation quality by utilizing the vehicle-mounted information system of the self-propelled boom sprayer comprises the following specific steps:
(1) A worker measures boundary key points of an operation land block through a handheld GPS device, and pre-measures the length of a spray boom and the spray width of a spray nozzle, and inputs the length and the spray width of the spray boom into the vehicle-mounted information system of the self-propelled spray boom spraying vehicle;
(2) The self-propelled boom spraying vehicle-mounted information system generates an operation task graph according to the recorded operation land block boundary key points;
(3) The self-propelled boom sprayer vehicle-mounted information system fuses the position information of the operating tool, the boom length and the spray nozzle spray width acquired by the GPS positioning module to generate a boom sprayer actual operation diagram, and the boom sprayer actual operation diagram comprises a normal spraying area, a tool slipping area, a re-spraying area and a missing spraying area;
(4) The self-propelled boom sprayer vehicle-mounted information system calculates the required operation area, the re-spraying area and the missing spraying area according to the operation task diagram and the boom sprayer actual operation diagram, and calculates the re-spraying rate and the missing spraying rate.
2. The self-propelled boom spray vehicle information system of claim 1, wherein: one surface of the control box is provided with a capacitive touch liquid crystal display screen, the core processor fuses the data acquired by the information acquisition module according to a set algorithm, and the data are displayed to operators through the display screen; the upper left corner of the control box is connected with an antenna, the back of the control box is provided with a battery slot, and the side of the control box is provided with an SD card slot.
3. The self-propelled boom spray vehicle information system of claim 1, wherein: the power supply module comprises a solar panel, a 9V rechargeable lithium battery, a power supply voltage stabilizing module, an A/D conversion module and an MCU1, wherein the solar panel and the rechargeable lithium battery are respectively connected with the A/D conversion module and the power supply voltage stabilizing module; the A/D conversion module is connected with the MCU1; the voltage signal of the solar panel is converted into a digital signal through an A/D conversion module and is transmitted to the MCU1, when the voltage value provided by the solar panel is stable in a set interval, the MCU1 selects the solar panel to supply power, otherwise, the battery is selected to supply power; the power supply voltage stabilizing module stabilizes the power supply voltage at a set value and supplies the power supply voltage to the system.
4. The self-propelled boom spray vehicle information system of claim 1, wherein: the data storage module comprises an SD card and an SD card read-write module, wherein the SD card read-write module is connected with the core processor; the SD card is connected with the SD card read-write module; and storing the working environment data, the working tool data, the spraying system data and the working tool position data which are acquired by the information acquisition module.
5. The self-propelled boom spray vehicle information system of claim 1, wherein: the Hall speed sensor is arranged on a wheel of the self-propelled boom sprayer, and acquires wheel rotation speed information; the pressure sensor is arranged at the joint of the spray head and the spray pipe; the ultrasonic sensor is arranged on the spray rod; the liquid level sensor adopts a floating ball type sensor, and the floating ball type liquid level sensor is placed in a medicine box of the self-propelled boom sprayer.
6. The self-propelled boom spray vehicle information system of claim 1, wherein: in the step (2), boundary key points to be input in the vehicle-mounted information system of the self-propelled boom spraying vehicle are divided into a straight boundary key point and a curve boundary key point; for the boundary of the straight line part, two key points need to be input into the system; for the boundary of the curve portion, three key points need to be entered in the system.
7. The self-propelled boom spray vehicle information system of claim 1, wherein: in the step (3), the self-propelled boom sprayer vehicle-mounted information system generates a boom sprayer operation track according to the collected operation tool position information; the self-propelled boom spraying vehicle-mounted information system generates a liquid medicine coverage area diagram according to the length of the boom and the spraying width of the nozzle; the geometric center in the liquid medicine coverage area diagram takes the operation track of the boom sprayer as the motion track, and the direction perpendicular to the operation track of the boom sprayer is the motion direction of the boom sprayer to generate the actual operation diagram of the boom sprayer; the overlapping area in the practical operation diagram of the boom sprayer is judged as a heavy spraying area; judging an uncovered area in an actual operation diagram of the boom sprayer as a missing spraying area; if the system detects that the wheel rotation speed is not 0 and the tool position information is unchanged, judging that the working tool is in a slipping area; the remaining area is determined as a normal area.
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| CN108362744B (en) * | 2018-04-04 | 2023-06-30 | 农业部南京农业机械化研究所 | Indoor measuring device and method for dynamic spray deposition distribution characteristics of spray rod type sprayer |
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