CN110514431A - A kind of boom sprayer spray boom height self-adjusting system device for detecting performance and method - Google Patents
A kind of boom sprayer spray boom height self-adjusting system device for detecting performance and method Download PDFInfo
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- CN110514431A CN110514431A CN201910948756.1A CN201910948756A CN110514431A CN 110514431 A CN110514431 A CN 110514431A CN 201910948756 A CN201910948756 A CN 201910948756A CN 110514431 A CN110514431 A CN 110514431A
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- 239000007921 spray Substances 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000012360 testing method Methods 0.000 claims abstract description 37
- 238000001514 detection method Methods 0.000 claims description 36
- 238000012545 processing Methods 0.000 claims description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 12
- 238000005507 spraying Methods 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims 1
- 238000011156 evaluation Methods 0.000 abstract description 5
- 238000007405 data analysis Methods 0.000 abstract 1
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 241001310793 Podium Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000003595 mist Substances 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
Abstract
The present invention relates to a kind of boom sprayer spray boom height self-adjusting system device for detecting performance, including left side target platform, left side height sensor, right side target platform, right side height sensor and terminal control system；The left side height sensor and right side height sensor are separately positioned on the left and right ends of boom sprayer spray boom, the left side target platform is equipped with left side target, right side target platform is equipped with right side target, the left side target and right side target lower in the vertical direction can move, and the left side height sensor and right side height sensor are connected with terminal control system.The present invention also provides a kind of boom sprayer spray boom height self-adjusting system method for testing performance.Technical solution of the present invention, parameters can be set by terminal control system, carrying out data analysis according to the data detected can be realized the performance evaluation of boom sprayer height self-adjusting system, is suitable for different types of boom sprayer, has very high use value.
Description
Technical field
The present invention relates to detection technique fields more particularly to a kind of boom sprayer spray boom height self-adjusting system performance to examine
Survey device and method.
Background technique
The operating efficiency of boom sprayer is high, and pesticide supplying effect is good, and the disease pest and weed for being currently widely used for field crop is anti-
It controls.During boom sprayer application due to caused by the not gentle Crop spatial difference in height in ground between spray boom and crop canopies
Distance easily change and be unable to satisfy that the height between spray boom and crop canopies maintains requirement height and to reduce droplet heavy
Integrate the uniformity of cloth.In order to solve the above problem, more and more enterprises have developed one after another in R & D of complex in recent years
Spray boom height self-adjusting system with ensure in operation process the height of spray boom and crop canopies can according to road conditions and crop growing state into
Row is adjusted in real time, but faces numerous products, how on the knees of the gods to the progress effective evaluation of its regulation performance, is extremely lacked mating
Evaluation method and device.
Summary of the invention
To solve existing technical problem, the present invention provides a kind of boom sprayer spray boom height self-adjusting system performances
Detection device and method.
Particular content of the invention is as follows:
A kind of boom sprayer spray boom height self-adjusting system device for detecting performance, including left side target platform, left side height
Spend sensor, right side target platform, right side height sensor and terminal control system；The left side height sensor and right side are high
Degree sensor is separately positioned on the left and right ends of boom sprayer spray boom, and the left side target platform is equipped with left side moving target mark,
Right side target platform is equipped with right side moving target mark, the left side moving target mark and right side moving target mark can in the vertical direction under
Mobile, the left side height sensor and right side height sensor are connected with terminal control system.
Further, the left side target platform further includes left side step actuator, left side stepper motor and is vertically arranged
Left side sliding track mechanism, the left side sliding track mechanism, left side step actuator driving left motor makes left side moving target mark
Linear guides coasting mechanism along left side target platform moves up and down；The right side target platform further includes right side stepper drive
Device, right side stepper motor and right side sliding track mechanism, the right side step actuator driving right motor make right side moving target mark edge
The linear guides coasting mechanism of right side target platform moves up and down.
The left side target mesa base is equipped with Left-side support pedestal, left side stepper motor and the setting of left side step actuator
On Left-side support pedestal；The right side target mesa base is equipped with Right side support pedestal, right side stepper motor and right side stepping
Driver is arranged on Right side support pedestal.
Further, the terminal control system includes controller, the input terminal and left side highly sensing of the controller
Device, right side height sensor are connected, and the output end and left side step actuator of controller, left side stepper motor, right side stepping are driven
Dynamic device is connected with right side stepper motor.
Further, the controller is connected with power module, and controller includes data processing module, height acquisition module
With moving target mark motion-control module, wherein data processing module processing data content includes height relative deviation, allowable error
Percentage and left and right high level of homogeneity in range.
The invention also discloses a kind of boom sprayer spray boom height self-adjusting system method for testing performance, using above-mentioned spray
Bar spraying machine spray lance height self-adjusting system device for detecting performance, includes the following steps:
S1: being separately fixed at the marginal position at left and right sides of boom sprayer spray boom for two height sensors before detection,
The position height of height sensor and the range sensor of boom sprayer are identical, and left side target and right side target are located at spray
The range sensor of bar two sides and the lower section of height sensor；
S2: by the manual/auto input parameter of terminal control system, stepper motor band is driven using stepper motor driver
Linear guide rail coasting mechanism movement, realizes the control of left side moving target mark and right side moving target mark position；
S3: height sensor detect at left and right sides of boom sprayer between spray boom and corresponding target platform it is vertical away from
From, and be compared with spray height set by boom sprayer height self-adjusting system；
S4: by the height relative deviation of the left and right sides of boom sprayer collected by analysis and detection device spray boom, permit
Perhaps percentage and left and right high level of homogeneity evaluate the performance of boom sprayer height self-adjusting system in error range.
Further, the parameter that terminal control system inputs in S2 includes speed, acceleration, direction, displacement and period.
Further, in S4 height relative deviation calculation formula are as follows:
Wherein, SD is height relative deviation, hiFor detection process in i-th of test point detection system height sensor institute
The spray boom instantaneous height of survey, hsFor the setting value of spray boom spray height, n is the test point number set in detection process.
Further, acceptable error range is set in S4 as 0-10cm；For a certain test point, when detection system
The difference that height sensor surveys height and boom sprayer setting spray height is considered as spraying machine spray lance at this when being less than 10cm
Test point is adjusted to effectively adjust, and the height sensor of detection system surveys height and sets spray height with boom sprayer
Test point of the difference greater than 10cm be considered as spraying machine spray lance and be adjusted to adjust in vain in the test point；By PLC controller
The percentage P for the total test point of test point Zhan that data processing module statistics is effectively adjustedf10, with Pf10Size evaluate spray to be measured
The performance of the highly automated regulating system of bar spraying machine spray lance；Pf10It is bigger, illustrate the height self-adjusting system of boom sprayer spray boom
Performance is more excellent.
Further, the left highly sensing that left and right high level of homogeneity passes through detection device on each monitoring point of calculating in S4
Device, right height sensor height absolute value of the difference, and it is left and right according to the height absolute value of the difference calculating spray boom on all test points
The relative deviation of height on both sides difference.
Beneficial effects of the present invention: parameters can be set by terminal control system, is carried out according to the data detected
Data analyze the performance evaluation that can all realize boom sprayer height self-adjusting system, and it is spraying to be suitable for different types of spray boom
Machine has very high use value.
Detailed description of the invention
A specific embodiment of the invention is furtherd elucidate with reference to the accompanying drawing.
Fig. 1 is the schematic diagram of boom sprayer spray boom height self-adjusting system device for detecting performance of the invention；
Fig. 2 is PLC control system hardware connection diagram of the invention.
Specific embodiment
Embodiment 1
As depicted in figs. 1 and 2, present embodiment discloses a kind of boom sprayer spray boom height self-adjusting system performance detections
Device, detection device are used to detect the height of 1 left and right sides of spray boom and analyze data.
The structure of detection device mainly includes the target platform of the movement of two vertical height adjustables, two highly sensings
Device and terminal control system 14, wherein ultrasonic sensor or infrared sensor etc. can be used in height sensor, in the present embodiment
Using ultrasonic sensor, target platform is the canopy height for imitating crop, by detection height sensor with respect to target platform
Height replaces spray boom 1 relative to the height of crop canopies, and relevant height data have 14 real-time display of terminal control system to go forward side by side
Row storage.For the accuracy for guaranteeing detection, device need to be placed on planar bottom surface and carry out dependence test operation.
Specifically, detection device includes, left side moving target mark 4, left side ultrasonic sensor 3, right side moving target mark 10, right side
Ultrasonic sensor 8 and terminal control system 14；Left side ultrasonic sensor 3 and right side ultrasonic sensor 8 are separately positioned on spray boom spray
The left and right ends of the spray boom 1 of mist machine, left side moving target mark 4 and right side moving target mark 10 lower in the vertical direction can move, left
Side ultrasonic sensor 3 and right side ultrasonic sensor 8 are connected with terminal control system 14.
The present embodiment is preferred, further includes left side target platform 2, left side step actuator 5, left side stepper motor 6, right side
Moving target mark 10, right side step actuator 12 and right side stepper motor 11, left side target platform 2 and right side target platform are equipped with
Vertical linear guides coasting mechanism 9, left side step actuator 5 drive left motor to make left side moving target mark 4 along left side target
The linear guides coasting mechanism 9 of platform 2 moves up and down, and right side step actuator 12 drives right motor to make right side moving target mark 10
Linear guides coasting mechanism 9 along right side target platform moves up and down.Left side target platform 2 and right side target platform contain vertically
Adjustable height moving target mark.
The present embodiment is preferred, and target platform 2 bottom in left side is equipped with Left-side support pedestal 7, left side stepper motor 6 and left side
Step actuator 5 is arranged on Left-side support pedestal 7；Right side target mesa base is equipped with Right side support pedestal 13, right side stepping
Motor 11 and right side step actuator 12 are arranged on Right side support pedestal 13.
The effect of terminal control system 14 is that the data completed between each sensor and PLC controller are transmitted, Xiang Keyi moving-target
The related executing agency of mark platform sends order to accurately control the test position of target platform, completes the man-machine friendship of relevant parameter
The mutually real-time monitoring and storage of setting and data.
Specifically, terminal control system 14 includes PLC controller and the HIM being connected with PLC controller by serial communication
The input terminal of touch screen, PLC controller is connected with left side ultrasonic distance sensor, right side ultrasonic distance sensor, PLC controller
Output end and left side step actuator 5, the super stepper motor 6 in left side, 11 phase of right side step actuator 12 and right side stepper motor
Even.
User carries out the parameter setting and spray boom-moving target mark height difference data of target podium level by HIM touch screen
Display, PLC controller according to input results control detection device carry out target movement and altitude information detection, ultrasound pass
Sensor acquires the vertical distance between the spray boom 1 of boom sprayer to be measured and target mobile platform, two ultrasonic sensor inspections in real time
The altitude information of survey, which is transferred in PLC controller, to be handled, and PLC controller completes podium level, ultrasonic sensor-running target
Subject distance, examining system range sensor-moving target mark distance real-time monitoring are simultaneously handled data, according to processing result
Evaluate the performance of boom sprayer height self-adjusting system.
Further, PLC controller is connected with power module, and PLC controller includes data processing module, data processing mould
Block processing data content includes height relative deviation, percentage and left and right high level of homogeneity within the scope of allowable error.Power module
For the power supply of PLC controller and HIM touch screen, data processing module is according to 1 left and right sides of spray boom detected and corresponding target
Target altitude information carries out relevant treatment, and the performance of boom sprayer height self-adjusting system is evaluated according to processing result.
Embodiment 2
Present embodiment discloses a kind of method for testing performance of boom sprayer spray boom height self-adjusting system, using implementation
The detection device of example 1, key step are as follows:
S1: being separately fixed at the marginal position at left and right sides of boom sprayer spray boom for two height sensors before detection,
The position height of range sensor and the range sensor of boom sprayer are identical, left side moving target mark and right side moving target mark point
It Wei Yu not the range sensor of spray boom two sides and the lower section of range sensor；
S2: by the manual/auto input parameter of terminal control system, stepper motor band is driven using stepper motor driver
Linear guide rail coasting mechanism movement, realizes the control of left side moving target mark and right side moving target mark position；
S3: range sensor detect at left and right sides of boom sprayer between spray boom and corresponding moving target mark it is vertical away from
From, and be compared with spray height set by boom sprayer height self-adjusting system；
S4: by the height relative deviation of the left and right sides of boom sprayer collected by analysis and detection device spray boom, permit
Perhaps percentage and left and right high level of homogeneity evaluate the performance of boom sprayer height self-adjusting system in error range.It can be achieved
The evaluation of the anti-seismic performance of self-tuning performance and left and right sides spray boom.
The present embodiment is preferred, and the ultrasonic sensor for guaranteeing the detection device of the present embodiment and boom sprayer is needed to examine in S1
The range sensor for surveying height is not interfere with each other.
The present embodiment is preferred, in S2 terminal control system input parameter include speed, acceleration, direction, displacement and
Period.
The present embodiment is preferred, the calculation formula of height relative deviation in S4 are as follows:
Wherein, SD is height relative deviation, hiFor detection process in i-th of test point detection system height sensor institute
The spray boom instantaneous height of survey, hsFor the setting value of 1 spray height of spray boom, n is the test point number set in detection process.
The present embodiment is preferred, and acceptable error range is set in S4 as 0-10cm；For a certain test point, work as detection
The difference that the height sensor of system surveys height and boom sprayer setting spray height is considered as spraying machine spray when being less than 10cm
Bar is adjusted to effectively adjust the test point, and the height sensor of detection system is surveyed height and set with boom sprayer and sprays
Test point of the difference of mist height greater than 10cm is considered as spraying machine spray lance and is adjusted to adjust in vain in the test point；It is controlled by PLC
The percentage P for the total test point of test point Zhan that the data processing module statistics of device processed is effectively adjustedf10, with Pf10Size evaluate
The performance of the highly automated regulating system of boom sprayer spray boom to be measured；Pf10It is bigger, illustrate the height self-regulated of boom sprayer spray boom
It is more excellent to save system performance.
The present embodiment is preferred, the left height that left and right high level of homogeneity passes through detection device on each monitoring point of calculating in S4
Sensor, right height sensor height absolute value of the difference, and spray boom is calculated according to the height absolute value of the difference on all test points
The relative deviation of arranged on left and right sides difference in height.
Many details are elaborated in the above description to fully understand the present invention.But above description is only
Presently preferred embodiments of the present invention, the invention can be embodied in many other ways as described herein, therefore this
Invention is not limited by specific implementation disclosed above.Any those skilled in the art are not departing from the technology of the present invention simultaneously
In the case of aspects, all technical solution of the present invention is made using the methods and technical content of the disclosure above many possible
Changes and modifications or equivalent example modified to equivalent change.Anything that does not depart from the technical scheme of the invention, according to this
The technical spirit of invention any simple modifications, equivalents, and modifications made to the above embodiment, still fall within skill of the present invention
In the range of the protection of art scheme.
Claims (10)
1. a kind of boom sprayer spray boom height self-adjusting system device for detecting performance, it is characterised in that: flat including left side target
Platform, left side height sensor, right side target platform, right side height sensor and terminal control system；The left side highly sensing
Device and right side height sensor are separately positioned on the left and right ends of boom sprayer spray boom, and the left side target platform is equipped with left side
Moving target mark, right side target platform are equipped with right side moving target mark, and the left side moving target mark and right side moving target mark can be perpendicular
Histogram moves up and down, and the left side height sensor and right side height sensor are connected with terminal control system.
2. boom sprayer spray boom height self-adjusting system device for detecting performance according to claim 1, it is characterised in that:
The left side target platform further includes left side step actuator, left side stepper motor and the left side sliding track mechanism being vertically arranged, institute
Left side sliding track mechanism is stated, the left side step actuator driving left motor makes left side moving target mark along the line of left side target platform
Property guide rail coasting mechanism moves up and down；The right side target platform further includes right side step actuator, right side stepper motor and the right side
Sideslip rail mechanism, the right side step actuator driving right motor make right side moving target mark linearly leading along right side target platform
Rail coasting mechanism moves up and down.
3. boom sprayer spray boom height self-adjusting system device for detecting performance according to claim 2, it is characterised in that:
The left side target mesa base is equipped with Left-side support pedestal, and left side stepper motor and left side step actuator are arranged in left side branch
It supports on pedestal；The right side target mesa base is equipped with Right side support pedestal, and right side stepper motor and right side step actuator are set
It sets on Right side support pedestal.
4. boom sprayer spray boom height self-adjusting system device for detecting performance according to claim 2, it is characterised in that:
The terminal control system includes controller, the input terminal and left side height sensor, right side height sensor of the controller
It is connected, the output end and left side step actuator, left side stepper motor, right side step actuator and right side stepper motor of controller
It is connected.
5. boom sprayer spray boom height self-adjusting system device for detecting performance according to claim 1, it is characterised in that:
The controller is connected with power module, and controller includes data processing module, height acquisition module and moving target mark movement control
Molding block, wherein data processing module processing data content includes height relative deviation, percentage and a left side within the scope of allowable error
Right high level of homogeneity.
6. a kind of boom sprayer spray boom height self-adjusting system method for testing performance, it is characterised in that: using such as claim 1
To 5 any boom sprayer spray boom height self-adjusting system device for detecting performance, include the following steps:
S1: being separately fixed at the marginal position at left and right sides of boom sprayer spray boom for two height sensors before detection, height
The position height of sensor and the range sensor of boom sprayer are identical, and left side target and right side target are located at spray boom two
The range sensor of side and the lower section of height sensor；
S2: by the manual/auto input parameter of terminal control system, stepper motor is driven using stepper motor driver, is realized
The control of left side moving target mark and right side moving target mark position；
S3: height sensor detects the vertical distance at left and right sides of boom sprayer between spray boom and corresponding moving target mark, and
It is compared with spray height set by boom sprayer height self-adjusting system；
S4: by the height relative deviation of the left and right sides of boom sprayer collected by analysis and detection device spray boom, allow to miss
Percentage and left and right high level of homogeneity evaluate the performance of boom sprayer height self-adjusting system in poor range.
7. boom sprayer spray boom height self-adjusting system method for testing performance according to claim 6, it is characterised in that:
The parameter that terminal control system inputs in S2 includes speed, acceleration, direction, displacement and period.
8. boom sprayer spray boom height self-adjusting system method for testing performance according to claim 6, it is characterised in that:
The calculation formula of height relative deviation in S4 are as follows:
Wherein, SD is height relative deviation, hiIn i-th of test point, detection system height sensor is surveyed by detection process
Spray boom instantaneous height, hsFor the setting value of spray boom spray height, n is the test point number set in detection process.
9. boom sprayer spray boom height self-adjusting system method for testing performance according to claim 6, it is characterised in that:
Acceptable error range is set in S4 as 0-10cm；For a certain test point, when the surveyed height of the height sensor of detection system
It is considered as spraying machine spray lance when spending with the difference of boom sprayer setting spray height less than 10cm to be adjusted in the test point
Effect is adjusted, and the difference that the height sensor of detection system surveys height and boom sprayer setting spray height is greater than 10cm's
Test point is considered as spraying machine spray lance and is adjusted to adjust in vain in the test point；It is effective by the data processing module statistics of controller
The percentage P of the total test point of test point Zhan of adjustingf10, with Pf10Size it is highly automated to evaluate boom sprayer spray boom to be measured
The performance of regulating system；Pf10It is bigger, illustrate that the height self-adjusting system performance of boom sprayer spray boom is more excellent.
10. boom sprayer spray boom height self-adjusting system method for testing performance according to claim 6, feature exist
In: left and right high level of homogeneity is by calculating the left side height sensor of detection device on each monitoring point, right side height biography in S4
Sensor height absolute value of the difference, and spray boom arranged on left and right sides difference in height is calculated according to the height absolute value of the difference on all test points
Relative deviation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910948756.1A CN110514431A (en) | 2019-10-08 | 2019-10-08 | A kind of boom sprayer spray boom height self-adjusting system device for detecting performance and method |
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| CN201910948756.1A CN110514431A (en) | 2019-10-08 | 2019-10-08 | A kind of boom sprayer spray boom height self-adjusting system device for detecting performance and method |
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2019
- 2019-10-08 CN CN201910948756.1A patent/CN110514431A/en active Pending
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