CN108902088A - A kind of branch's wind based on canopy consistency send parameter adaptive regulating system and method - Google Patents
A kind of branch's wind based on canopy consistency send parameter adaptive regulating system and method Download PDFInfo
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- CN108902088A CN108902088A CN201810410808.5A CN201810410808A CN108902088A CN 108902088 A CN108902088 A CN 108902088A CN 201810410808 A CN201810410808 A CN 201810410808A CN 108902088 A CN108902088 A CN 108902088A
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- branch
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of branch's wind based on canopy consistency to send parameter adaptive regulating system and method; it is related to field of plant protection machine, including traveling chassis, spray boom, spray head, blower, windbag, pneumatic hose, ventilating duct, branch's device, hydraulic system and electric-control system in hat；Blower provides power by hydraulic motor, hydraulic motor is connected with servo flow valve, branch's wind send controller according to the front crop consistency information of canopy consistency detection sensor detection output, adaptive adjustment wind send parameter, air-flow sprays inside Cotton Canopy backward through windbag, pneumatic hose and ventilating duct, sweeps along the droplet that spray head sprays in being preced with, it is penetrated inside diffusion and Cotton Canopy around in the distracted back space of branch's device, to realize the adaptive wind spraying aid type application of branch.The weak or effective deposition of too strong caused spraying droplet is low, and the non-uniform problem of Pcnten-1 yne-4, present invention can apply on spray bar type spraying machine mainly for solution gas flows through for the system and method.
Description
Technical field
The present invention relates to a kind of branch's wind based on canopy consistency to send parameter adaptive regulating system and method, belongs to plant
Protect machinery field.
Background technique
The application of branch's wind spraying aid type can enhance penetration of droplets power and canopy disturbance, improve diffusion model of the droplet in dense canopy
It encloses and deposition distribution uniformity.But the selection of flow parameter is very big on its practical function and effect influence, if air-flow is on the weak side, mist
Drop can not penetrate canopy, deep canopy can not medicine, there is " beating impermeable " phenomenon；If air-flow is partially strong, part droplet can be worn
Saturating canopy goes directly ground, and can cause blade surface deposited the poly- of droplet and and drippage, cause " overshooting ", having on crop
Effect deposition can be reduced instead.Therefore, a kind of flow parameter self-adaption regulation system is researched and developed to have important practical significance.
Number of patent application 201710499802.5, discloses a kind of trellis type orchard target precision device for administration of drugs, when operation,
For the difference of canopy consistency and required formulation rate, manual adjustment air quantity and operation spray head quantity.But this method is directed to fruit tree
Canopy, and artificial detection canopy consistency and adjusting air quantity, field adaptive ability be not strong.
In order to improve the effective deposition and deposition distribution uniformity of pesticide droplet, the present invention provides one kind to be based on canopy
Branch's wind of consistency send parameter adaptive regulating system and method, it can be achieved that branch's wind send the automatic adjusument of parameter.
Summary of the invention
The purpose of the present invention is to provide a kind of branch's wind based on canopy consistency send parameter adaptive regulating system and
Method send parameter to carry out branch's wind adaptive to realize in the spraying machine farm work stage according to field canopy consistency information
Dynamic regulation is answered, to improve effective deposition and deposition distribution uniformity of the droplet in dense canopy.
In order to solve the above technical problems, the specific technical solution that the present invention uses is as follows：
A kind of branch's wind based on canopy consistency send parameter adaptive regulating system, including traveling chassis, spray boom, in hat
Spray head, blower, windbag, pneumatic hose, ventilating duct, branch's device, hydraulic system and electric-control system；The blower is provided by hydraulic motor
Power, hydraulic motor are connected with servo flow valve, and servo flow valve is connected to data outputting module；The blower is connected with volume
Code device, the encoder are used for the revolving speed of detection blower fan；Traveling is equipped with unit forward speed sensor on chassis, for detecting
Spraying machine forward speed；Traveling is equipped with canopy consistency detection sensor at the top of chassis, for line direction crop hat before detecting
The consistency information of layer；The encoder, unit forward speed sensor and canopy consistency detection sensor are connected to data
Acquisition module；The data acquisition module and data outputting module are connected to branch's wind and send controller.
Further, the encoder is incremental encoder.
Further, the unit forward speed sensor is Hall sensor.
Further, the canopy consistency detection sensor is laser radar sensor.
Further, it is programmable logic controller (PLC) that branch's wind, which send controller,.
Further, branch's wind send controller for according to canopy consistency detection sensor detection export front
Crop consistency information, canopy consistency detection position and the spacing of blower regulating and controlling effect position, spraying machine forward speed and each
Component actuation delay calculates servo flow valve regulated quantity and delay control time.
Based on a kind of method that branch's wind based on canopy consistency send parameter adaptive regulating system, including following step
Suddenly：
Step 1, in branch's blast-type spray lance spraying machine practical farm work stage, incremental encoder detection blower fan turns
Speed, unit forward speed sensor detect spraying machine forward speed, line direction crop before canopy consistency detection sensor detects
The consistency information of canopy；
Step 2, branch's wind send controller according to front crop consistency information, calculate its corresponding optimum wind and send parameter, really
Determine servo flow valve regulated quantity；Advance according to the spacing of canopy consistency detection position and blower regulating and controlling effect position, spraying machine
Speed and the delay of each component actuation calculate the servo flow valve delay control time；
Step 3, the servo flow valve regulated quantity calculated according to step 2 and delay control time, control time to be delayed
It reaches, issues control command to servo flow valve, adjust current wind and send parameter；
Step 4, branch's wind send controller according to the detected current rotation speed of fan of incremental encoder, to current wind
It send parameter to carry out closed loop feedback regulation, guarantees that current wind send the smart degree of regulation of parameter.
Compared with prior art, the invention has the advantages that：
The present invention in branch's blast-type spray lance spraying machine actual job stage, by the top of traveling chassis installation canopy it is thick
Density detection sensor, crop consistency information in front of real-time detection, for branch's wind send parameter adaptive dynamic regulation provide according to
According to the effective deposition and deposition distribution uniformity of droplet, improve the effective rate of utilization of pesticide inside raising canopy, reduce environment
Pollution.
Detailed description of the invention
Fig. 1 is that branch's wind send control structure schematic diagram.
Fig. 2 is branch's blast-type spray lance spraying machine farm work schematic diagram in Fig. 1.
Appended drawing reference：
1. incremental encoder；2. unit forward speed sensor；3. canopy consistency detection sensor；4. data acquire
Module；5. branch's wind send controller；6. data outputting module；7. servo flow valve；8. hydraulic motor；9. blower.
Specific embodiment
Further details of the technical solution of the present invention in the following with reference to the drawings and specific embodiments.
A kind of branch's wind based on canopy consistency provided by the invention send parameter adaptive regulating system, including traveling bottom
Disk, spray boom, spray head, blower 9, windbag, pneumatic hose, ventilating duct, branch's device, hydraulic system and electric-control system in hat；In conjunction with Fig. 1 and
Shown in 2, blower 9 provides power by hydraulic motor 8, and hydraulic motor 8 is connected with servo flow valve 7, and servo flow valve 7 is connected to
Data outputting module 6；Blower 9 is connected with incremental encoder 1, is used for detection blower fan revolving speed；Traveling is equipped with unit on chassis
Forward speed sensor 2, for detecting spraying machine forward speed；Traveling is equipped with canopy consistency detection sensor at the top of chassis
3, the consistency information for line direction crop canopies before detecting；Incremental encoder 1, unit forward speed sensor 2 and hat
Layer consistency detection sensor 3 is connected to data acquisition module 4；Data acquisition module 4 and data outputting module 6 are connected to branch
Wind send controller 5.Branch's wind send controller 5 for according to canopy consistency detection sensor 3 detection export front crop it is thick
Spacing, spraying machine forward speed and each component of density information, canopy consistency detection position and blower regulating and controlling effect position are dynamic
It is delayed, calculates 7 regulated quantity of servo flow valve and delay control time.
The course of work and adjusting method of the invention is as follows：
Branch's blast-type spray lance spraying machine sessions, canopy consistency detection sensor 3 detect and export preceding line direction
The consistency information of crop canopies to branch's wind send controller 5, and branch's wind send controller 5 according to front crop consistency information meter
7 regulated quantity of servo flow valve is calculated, is advanced according to the spacing of canopy consistency detection position and blower regulating and controlling effect position, spraying machine
Speed and the delay of each component actuation calculate the delay control time of servo flow valve 7, and the control time to be delayed reaches, to servo flow
Valve 7 issues control command, and servo flow valve 7 drives hydraulic motor 8 to control 9 revolving speed of blower, adjusts current branch's wind and send parameter.It should
Process is constantly repeated in spraying machine sessions, and then realizes that branch's wind send the adaptive dynamic regulation of parameter.
A kind of branch's wind based on canopy consistency of the invention send parameter adaptive adjusting method, includes the following steps：
Step 1, in branch's air-assisted sprayer practical farm work stage, 1 detection blower fan revolving speed of incremental encoder, machine
Group forward speed sensor 2 detects spraying machine forward speed, line direction crop canopies before canopy consistency detection sensor 3 detects
Consistency information；
Step 2, branch's wind send controller 5 according to front crop consistency information, calculate its corresponding optimum wind and send parameter,
Determine 7 regulated quantity of servo flow valve；Before the spacing of canopy consistency detection position and blower regulating and controlling effect position, spraying machine
It is delayed into speed and each component actuation, calculates the delay control time of servo flow valve 7；
Step 3,7 regulated quantity of servo flow valve calculated according to step 2 and delay control time, control time to be delayed
It reaches, issues control command to servo flow valve 7, adjust current wind and send parameter；
Step 4, branch's wind send controller 5 according to the detected current rotation speed of fan of incremental encoder 1, to current
Wind send parameter to carry out closed loop feedback regulation, guarantees that current wind send the degree of regulation of parameter.
Finally it should be noted that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although ginseng
It is described the invention in detail according to preferred embodiment, those skilled in the art should understand that, it can be to the present invention
Technical solution modify or equivalent replacement should all cover without departing from the spirit and scope of the technical solution of the present invention
Within scope of the presently claimed invention.
The embodiment is a preferred embodiment of the present invention, but present invention is not limited to the embodiments described above, not
In the case where substantive content of the invention, any conspicuous improvement that those skilled in the art can make, replacement
Or modification all belongs to the scope of protection of the present invention.
Claims (7)
1. a kind of branch's wind based on canopy consistency send parameter adaptive regulating system, including traveling chassis, spray boom, spray in hat
Head, blower (9), windbag, pneumatic hose, ventilating duct, branch's device, hydraulic system and electric-control system；It is characterized in that, the blower
(9) power is provided by hydraulic motor (8), hydraulic motor (8) is connected with servo flow valve (7), and servo flow valve (7) is connected to
Data outputting module (6)；The blower (9) is connected with encoder (1), and the encoder (1) turns for detection blower fan (9)
Speed；Traveling is equipped with unit forward speed sensor (2) on chassis, for detecting spraying machine forward speed；It travels at the top of chassis
Canopy consistency detection sensor (3) is installed, the consistency information for line direction crop canopies before detecting；The encoder
(1), unit forward speed sensor (2) and canopy consistency detection sensor (3) are connected to data acquisition module (4)；It is described
Data acquisition module (4) and data outputting module (6) are connected to branch's wind and send controller (5).
2. a kind of branch's wind based on canopy consistency according to claim 1 send parameter adaptive regulating system, special
Sign is that the encoder (1) is incremental encoder.
3. a kind of branch's wind based on canopy consistency according to claim 1 send parameter adaptive regulating system, special
Sign is that the unit forward speed sensor (2) is Hall sensor.
4. a kind of branch's wind based on canopy consistency according to claim 1 send parameter adaptive regulating system, special
Sign is that the canopy consistency detection sensor (3) is laser radar sensor.
5. a kind of branch's wind based on canopy consistency according to claim 1 send parameter adaptive regulating system, special
Sign is that it is programmable logic controller (PLC) that branch's wind, which send controller (5),.
6. a kind of branch's wind based on canopy consistency according to claim 1 send parameter adaptive regulating system, special
Sign is, branch's wind send controller (5) for according to the front crop that exports of canopy consistency detection sensor (3) detection
Consistency information, canopy consistency detect spacing, spraying machine forward speed and each component of position and blower regulating and controlling effect position
Action delay calculates servo flow valve (7) regulated quantity and delay control time.
7. sending parameter adaptive to adjust based on a kind of branch's wind based on canopy consistency as claimed in any one of claims 1 to 6
The method of system, which is characterized in that include the following steps：
Step 1, in branch's blast-type spray lance spraying machine practical farm work stage, incremental encoder (1) detection blower fan turns
Speed, unit forward speed sensor (2) detect spraying machine forward speed, and canopy consistency detection sensor (3) detection moves ahead square
To the consistency information of crop canopies；
Step 2, branch's wind send controller (5) according to front crop consistency information, calculate its corresponding optimum wind and send parameter, really
Determine servo flow valve (7) regulated quantity；Before the spacing of canopy consistency detection position and blower regulating and controlling effect position, spraying machine
It is delayed into speed and each component actuation, calculates servo flow valve (7) delay control time；
Step 3, servo flow valve (7) regulated quantity calculated according to step 2 and delay control time, control time to be delayed arrive
It reaches, issues control command to servo flow valve (7), adjust current wind and send parameter；
Step 4, branch's wind send controller (5) according to incremental encoder (1) detected current blower (9) revolving speed, to working as
Preceding wind send parameter to carry out closed loop feedback regulation, guarantees that current wind send the degree of regulation of parameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810410808.5A CN108902088A (en) | 2018-05-02 | 2018-05-02 | A kind of branch's wind based on canopy consistency send parameter adaptive regulating system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810410808.5A CN108902088A (en) | 2018-05-02 | 2018-05-02 | A kind of branch's wind based on canopy consistency send parameter adaptive regulating system and method |
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| Publication Number | Publication Date |
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| CN108902088A true CN108902088A (en) | 2018-11-30 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810410808.5A Pending CN108902088A (en) | 2018-05-02 | 2018-05-02 | A kind of branch's wind based on canopy consistency send parameter adaptive regulating system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111122777A (en) * | 2019-12-12 | 2020-05-08 | 北京农业智能装备技术研究中心 | Plant canopy biomass measurement system and method |
| US11266060B2 (en) | 2019-06-06 | 2022-03-08 | Cnh Industrial America Llc | System and method for controlling the operation of a seed-planting implement based on cover crop density |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101785450A (en) * | 2009-12-30 | 2010-07-28 | 南京农业大学 | Fruit tree imitating precision spraying locomotive |
| CN104904698A (en) * | 2015-06-03 | 2015-09-16 | 江苏大学 | Air-assisted flexible spraying device based on plant features and control method thereof |
| CN106259264A (en) * | 2016-08-15 | 2017-01-04 | 南京农业大学 | Multi-arm type orchard wind send variable farm chemical applying device |
| CN106561613A (en) * | 2016-10-17 | 2017-04-19 | 江苏大学 | Air quantity adaptive independent variable spraying system based on plant characteristics, and control method of the same |
-
2018
- 2018-05-02 CN CN201810410808.5A patent/CN108902088A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101785450A (en) * | 2009-12-30 | 2010-07-28 | 南京农业大学 | Fruit tree imitating precision spraying locomotive |
| CN104904698A (en) * | 2015-06-03 | 2015-09-16 | 江苏大学 | Air-assisted flexible spraying device based on plant features and control method thereof |
| CN106259264A (en) * | 2016-08-15 | 2017-01-04 | 南京农业大学 | Multi-arm type orchard wind send variable farm chemical applying device |
| CN106561613A (en) * | 2016-10-17 | 2017-04-19 | 江苏大学 | Air quantity adaptive independent variable spraying system based on plant characteristics, and control method of the same |
Non-Patent Citations (1)
| Title |
|---|
| 颜杰: ""温室遥控对靶喷雾机控制系统设计与试验研究"", 《中国优秀硕士学位论文全文数据库 农业科技辑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11266060B2 (en) | 2019-06-06 | 2022-03-08 | Cnh Industrial America Llc | System and method for controlling the operation of a seed-planting implement based on cover crop density |
| CN111122777A (en) * | 2019-12-12 | 2020-05-08 | 北京农业智能装备技术研究中心 | Plant canopy biomass measurement system and method |
| CN111122777B (en) * | 2019-12-12 | 2022-02-11 | 北京农业智能装备技术研究中心 | Plant canopy biomass measurement system and method |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181130 |
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| RJ01 | Rejection of invention patent application after publication |