CN110741797A - Adaptive variable spraying control device and method - Google Patents

Adaptive variable spraying control device and method Download PDF

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Publication number
CN110741797A
CN110741797A CN201910870436.9A CN201910870436A CN110741797A CN 110741797 A CN110741797 A CN 110741797A CN 201910870436 A CN201910870436 A CN 201910870436A CN 110741797 A CN110741797 A CN 110741797A
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spray head
flow
real
spray
standard
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CN110741797B (en
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秦五昌
罗长海
郭树霞
张光强
孟志军
崔红军
丛岳
尹彦鑫
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Beijing Research Center of Intelligent Equipment for Agriculture
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Beijing Research Center of Intelligent Equipment for Agriculture
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
    • A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
    • A01C23/007—Metering or regulating systems
    • 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
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/085—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to flow or pressure of liquid or other fluent material to be discharged
    • B05B12/087—Flow or presssure regulators, i.e. non-electric unitary devices comprising a sensing element, e.g. a piston or a membrane, and a controlling element, e.g. a valve

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Environmental Sciences (AREA)
  • Water Supply & Treatment (AREA)
  • Soil Sciences (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Spray Control Apparatus (AREA)

Abstract

The invention provides a self-adaptive variable spraying control device and a self-adaptive variable spraying control method, wherein a flow sensor and a pressure sensor are arranged in a pipeline connected with a variable control valve and a spray head, a plurality of groups of spray head pressures and spray head flows which correspond to each other are firstly acquired in real time, the real-time flow of the spray head is judged and known to be in a stable state according to the plurality of groups of spray head pressures and spray head flows, then a spray head correction coefficient is acquired according to the plurality of groups of spray head pressures and spray head flows, a standard pressure range and a standard flow of the standard spray head which corresponds to the standard pressure range, and then the real-time flow of the spray. The invention can correct and adjust the real-time flow of the spray head under the conditions of blockage and abrasion of the spray head, different types of the spray head and dirty water caused by impurity deposition of a pipeline, so that the flow of the spray head can be adjusted in a self-adaptive manner, thereby accurately controlling the real-time flow of the spray head and enabling the real-time flow of the spray head to be close to the flow under the conditions of no blockage or abrasion or to be close to the flow of the spray head with a standard type.

Description

Adaptive variable spraying control device and method
Technical Field
The invention relates to the technical field of agricultural spraying, in particular to a self-adaptive variable spraying control device and a self-adaptive variable spraying control method.
Background
Because traditional liquid fertilizer sprays machinery with liquid medicine and because of shower nozzle jam and wearing and tearing in spraying the operation, perhaps the model of shower nozzle is different like the use of non-standard shower nozzle to and the water that the impurity deposition of pipeline brought is dirty scheduling problem, can lead to liquid fertilizer or liquid medicine to spray uneven problem. In order to solve the problem, multiple times of spraying are often needed to increase the application amount, so that the utilization rate of the liquid medicine is low, and the environmental pollution is easily caused.
At present, the flow rate of the spray head is mainly adjusted through two ways, the first way is to adjust the flow rate of the spray head by adjusting the pressure of the spray head, a commonly used variable spraying control system only has a pressure sensor, the flow rate of the spray head is adjusted by controlling and adjusting the pressure of the spray head, and the relation between the pressure and the flow rate of the spray head needs to be calibrated before operation; the second method is to utilize a flow sensor such as a turbine flowmeter to feed back the flow of the nozzle and then adjust the flow of the nozzle, but the method has a large error in calculating the instantaneous flow of the nozzle, the flow can be fed back only after the flow is smooth after a certain time is accumulated, the control period is long, and the error of the flow sensor under turbulent flow is very large, so that the flow of the nozzle cannot be fed back accurately, and the flow adjustment of the nozzle is not accurate enough.
Therefore, the current variable spraying control system only controls the flow of the spray head through the pressure sensor or the flow sensor, which is not accurate and cannot adapt to the blockage and abrasion of the spray head, or the use of non-standard spray heads and the dirty water caused by the impurity deposition of pipelines, thereby causing the uneven spraying of liquid fertilizer and liquid medicine.
Disclosure of Invention
The embodiment of the invention provides a self-adaptive variable spraying control device and a self-adaptive variable spraying control method, aiming at solving the problems that the current variable spraying control system only controls the flow of a spray head through a pressure sensor or a flow sensor, so that the flow control system is inaccurate and cannot adapt to the blockage and abrasion of the spray head, or the spray head is different in model, such as the use of non-standard spray heads, and the condition of dirty water caused by impurity deposition of pipelines, so that the liquid fertilizer and liquid medicine are sprayed unevenly.
In a first aspect, an embodiment of the present invention provides an adaptive variable spray control apparatus, including: the device comprises a spray head, a controller, a variable control valve, a flow sensor and a pressure sensor, wherein the variable control valve, the flow sensor and the pressure sensor are respectively connected with the controller; the flow sensor is used for measuring the real-time flow of the spray head, and the pressure sensor is used for measuring the real-time pressure of the spray head; the controller is used for acquiring a spray head correction coefficient according to the pressure of a plurality of groups of spray heads, the flow of the spray heads, a standard pressure range and the standard flow of the standard spray heads corresponding to the standard pressure range under the condition that the real-time flow of the spray heads is in a stable state, and correcting and adjusting the real-time flow of the spray heads by using the variable control valve according to the spray head correction coefficient; the pressure of the spray head is the real-time pressure of the spray head in a standard pressure range, and the flow of the spray head is the real-time flow of the spray head corresponding to the real-time pressure.
In a second aspect, an embodiment of the present invention provides an adaptive variable spray control method, including: s1, collecting a plurality of groups of spray head pressures and spray head flows in real time, wherein the spray head pressure is the real-time pressure of the spray head in a standard pressure range, and the spray head flow is the real-time flow of the spray head corresponding to the real-time pressure; judging and knowing that the real-time flow of the spray head is in a stable state according to the flow of the plurality of spray heads; and S2, acquiring a spray head correction coefficient according to the pressure and the flow rate of the plurality of groups of spray heads, the standard pressure range and the standard flow rate corresponding to the standard pressure range of the standard spray heads, and correcting and adjusting the real-time flow rate of the spray heads according to the spray head correction coefficient.
Preferably, in step S2, the obtaining of the nozzle correction coefficient according to the multiple sets of nozzle pressures and nozzle flows, the standard pressure range, and the standard flow corresponding to the standard pressure range includes: respectively acquiring a plurality of initial spray head correction coefficients according to the relationship between the standard pressure range and the standard flow and the relationship between the spray head pressure and the spray head flow which correspond to each other in each group; and acquiring the spray head correction coefficients according to the plurality of initial spray head correction coefficients.
Preferably, the acquiring a nozzle correction coefficient according to a plurality of initial nozzle correction coefficients specifically includes: and taking the algebraic average value of the plurality of initial nozzle correction coefficients as the nozzle correction coefficient.
Preferably, in step S1, the determining and learning that the real-time flow of the nozzle is in a stable state according to the flow of the plurality of nozzles specifically includes: calculating the average value of difference integrals of the flow rates of the plurality of spray heads which are collected in sequence, and judging that the real-time flow rate of the spray head is in a stable state if the average value of the difference integrals is not greater than a preset threshold value.
Preferably, between step S1 and step S2, the method further comprises: and smoothing the acquired pressure and flow of each spray head respectively to obtain a plurality of groups of smoothed pressure and flow of the spray heads.
Preferably, the nozzle correction factor is:
Figure BDA0002202647930000031
wherein, KiFor nozzle correction factor, PiFor nozzle pressure, FiIs the flow rate of the nozzle, PaIs a standard pressure range, FaIs a standard pressure range PaCorresponding standard flow.
Preferably, the average value of the difference integrals of the flow rates of the plurality of nozzles collected in sequence is:
Figure BDA0002202647930000032
wherein, FKThe flow rate of the plurality of nozzles is acquired sequentially, n is the number of the flow rates of the plurality of nozzles, n is a natural number greater than 2, and i is a natural number between 2 and n.
Preferably, the smoothing method includes an averaging method and a median method.
The embodiment of the invention provides a self-adaptive variable spraying control device and a self-adaptive variable spraying control method, wherein a flow sensor and a pressure sensor are arranged in a pipeline connected with a variable control valve and a spray head, a plurality of groups of spray head pressures and spray head flows which correspond to each other are firstly acquired in real time, the real-time flow of the spray head is judged and known to be in a stable state according to the plurality of groups of spray head pressures and spray head flows, then a spray head correction coefficient is obtained according to the acquired groups of spray head pressures and spray head flows and a standard pressure range and a standard flow of the standard spray head which corresponds to the standard pressure range, and the real-time flow of the spray head is corrected. The embodiment of the invention can effectively solve the problem that the variable spraying control system needs to be calibrated before spraying operation, and can also be used for calibrating before spraying operation to solve the problem of complicated calibration; the real-time flow of the spray head can be corrected and adjusted under the conditions that the spray head is blocked and abraded, or the types of the spray head are different, such as a non-standard spray head is used, and water is not clean due to impurity deposition of a pipeline, so that the flow of the spray head can be adjusted in a self-adaptive manner, the real-time flow of the spray head is accurately controlled, and the real-time flow of the spray head is close to the flow of the spray head in the situation of no blocking or abrasion, or the flow of the spray head in the standard.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an adaptive variable spray control apparatus according to an embodiment of the present invention;
fig. 2 is a flow chart of an adaptive variable spray control method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The national standard (GB/T18676-2009) of standard spray heads defines the flow and pressure relationship of spray heads of different models, for example, at a pressure of 0.3MPa, the flow rate per minute is the spray head model multiplied by 0.4L. In other pressure conditions, the flow rate of the head increases and decreases linearly in approximately direct proportion to the square root of the pressure under the same medium conditions, and based on this, the flow rate at a certain pressure of any head can be calculated.
Specifically, assume a standard pressure range of PaStandard nozzle and standard pressure range PaCorresponding standard flow rate of FaIn the standard pressure range P of the spray headaReal-time pressure at PiTime, spray head and real-time pressure PiCorresponding real-time flow FiTheoretically should be:
however, the real-time flow rate of the spray head is often actually different from the theoretical value due to clogging and abrasion of the spray head, or the use of different types of spray heads such as non-standard spray heads, and the dirty water caused by impurity deposition in the pipeline. For example, if the sprinkler is clogged, the actual value of the real-time flow rate of the sprinkler should be smaller than the theoretical value; however, if the nozzle is worn, the actual value of the real-time flow rate of the nozzle should be larger than the theoretical value, and the current variable spraying control system cannot correct and adjust the situation that the actual value of the real-time flow rate of the nozzle is different from the theoretical value, so that the actual value of the real-time flow rate cannot be as close to the theoretical value as possible.
Fig. 1 is a schematic structural diagram of an adaptive variable spray control device according to an embodiment of the present invention, and as shown in fig. 1, an adaptive variable spray control device according to an embodiment of the present invention includes: the device comprises a spray head 5, a controller 3, a variable control valve 4, a flow sensor 1 and a pressure sensor 2 which are respectively connected with the controller 3, wherein the flow sensor 1 and the pressure sensor 2 are arranged in a pipeline connected with the variable control valve 4 and the spray head 5; the flow sensor 1 is used for measuring the real-time flow of the spray head 5, and the pressure sensor 2 is used for measuring the real-time pressure of the spray head 5; the controller 3 is used for acquiring a spray head correction coefficient according to a plurality of groups of spray head pressures and spray head flows, a standard pressure range and a standard flow corresponding to the standard spray head and the standard pressure range when the real-time flow of the spray head 5 is in a stable state, and correcting and adjusting the real-time flow of the spray head by using the variable control valve according to the spray head correction coefficient; the pressure of the spray head is the real-time pressure of the spray head in a standard pressure range, and the flow of the spray head is the real-time flow of the spray head corresponding to the real-time pressure.
It should be noted that the real-time pressure of the showerhead within the standard pressure range is the real-time pressure that the showerhead reacts when the standard pressure range is applied to the showerhead.
Specifically, the flow sensor 1 and the pressure sensor 2 are both arranged in a pipeline where the variable control valve 4 and the spray head 5 are connected, the flow sensor 1 is used for measuring the real-time flow of the spray head 5 in the pipeline, the pressure sensor 2 is used for measuring the real-time pressure of the spray head 5 in the pipeline, if the real-time flow of the spray head 5 is in a stable state, the controller is used for obtaining a spray head correction coefficient according to the spray head pressure and the spray head flow, the standard pressure range and the standard flow in a plurality of groups of mutually corresponding standard pressure ranges, and adjusting the variable control valve according to the spray head correction coefficient, namely correcting and adjusting the real-time flow of the spray head by expanding or reducing a valve port of the variable control valve, so that the real-time flow of the spray head is.
According to the self-adaptive variable spraying control device provided by the embodiment of the invention, the flow sensor and the pressure sensor are arranged in the pipeline connected with the variable control valve and the spray head, the spray head correction coefficient is obtained according to the spray head pressure and the spray head flow in a plurality of groups of mutually corresponding standard pressure ranges, the standard pressure ranges and the standard flow, and the real-time flow of the spray head is corrected and adjusted by using the variable control valve according to the spray head correction coefficient.
Fig. 2 is a schematic flow chart of an adaptive variable spray control method according to an embodiment of the present invention, and as shown in fig. 2, an embodiment of the present invention provides an adaptive variable spray control method, including:
s1, collecting a plurality of groups of spray head pressures and spray head flows in real time, wherein the spray head pressure is the real-time pressure of the spray head in a standard pressure range, and the spray head flow is the real-time flow of the spray head corresponding to the real-time pressure; and judging to acquire that the real-time flow of the spray head is in a stable state according to the flow of the plurality of spray heads.
Specifically, when the real-time pressure of the nozzle is greater than the preset pressure threshold, a plurality of groups of mutually corresponding nozzle pressures and nozzle flows are collected, and the plurality of groups of mutually corresponding nozzle pressures and nozzle flows can be expressed as follows by using a matrix A:
wherein the pressure P of the nozzle1And the flow rate F of the nozzle1Corresponding to the pressure P of the nozzle2And the flow rate F of the nozzle2Corresponding to … … spray head pressure PnAnd the flow rate F of the nozzlenAnd (7) corresponding.
According to a plurality of spray head flows F therein1、F2、…FnThe real-time flow of the spray head is determined to be basically kept at a stable value, namely the real-time flow of the spray head is in a stable state.
And S2, acquiring a spray head correction coefficient according to the pressure and the flow rate of the plurality of groups of spray heads, the standard pressure range and the standard flow rate corresponding to the standard pressure range of the standard spray heads, and correcting and adjusting the real-time flow rate of the spray heads according to the spray head correction coefficient.
Specifically, a nozzle correction coefficient is introduced based on the relationship between the standard pressure range and the standard flow rate and the relationship between the nozzle pressure and the nozzle flow rate, and the relationship between the nozzle pressure and the nozzle flow rate is corrected by using the relationship between the standard pressure range and the standard flow rate, thereby correcting and adjusting the real-time flow rate of the nozzle.
The adaptive variable spraying control method provided by the embodiment of the invention comprises the steps of firstly acquiring a plurality of groups of mutually corresponding nozzle pressures and nozzle flows in real time, judging and knowing that the real-time flow of a nozzle is in a stable state according to the plurality of nozzle flows, then acquiring a nozzle correction coefficient according to the acquired plurality of groups of nozzle pressures and nozzle flows and a standard pressure range and a standard flow corresponding to the standard pressure range of a standard nozzle, and correcting and adjusting the real-time flow of the nozzle according to the nozzle correction coefficient.
Further, in step S2, obtaining a nozzle calibration coefficient according to the multiple groups of nozzle pressures and nozzle flows, the standard pressure range, and the standard flow corresponding to the standard pressure range of the standard nozzle specifically includes: respectively acquiring a plurality of initial spray head correction coefficients according to the relationship between the standard pressure range and the standard flow and the relationship between the spray head pressure and the spray head flow which correspond to each other in each group; and acquiring the spray head correction coefficients according to the plurality of initial spray head correction coefficients.
In addition, according toKnown nozzle correction coefficient KiComprises the following steps:
Figure BDA0002202647930000072
wherein, KiFor nozzle correction factor, PiFor nozzle pressure, FiIs the flow rate of the nozzle, PaIs a standard pressure range, FaIs a labelQuasi pressure range PaCorresponding standard flow.
For example, according to matrix A, P1And F1、P2And F2……PnAnd FnRespectively substituting into the formula of the spray nozzle correction coefficient to obtain a plurality of initial spray nozzle correction coefficients K1、K2...Kn。
Further, acquiring a nozzle correction coefficient according to the plurality of initial nozzle correction coefficients, specifically comprising: and taking the algebraic average value of the plurality of initial nozzle correction coefficients as the nozzle correction coefficient.
For example, the initial nozzle is corrected by a factor K1、K2...KnThe algebraic mean value of the nozzle is used as a nozzle correction coefficient, and then the nozzle correction coefficient is
Figure BDA0002202647930000073
Based on the above embodiment, in step S1, according to the flows of the plurality of nozzles, determining that the real-time flow of the nozzle is in a stable state includes: calculating the average value of difference integrals of the flow rates of the plurality of spray heads which are collected in sequence, and judging that the real-time flow rate of the spray head is in a stable state if the average value of the difference integrals is not greater than a preset threshold value.
Specifically, the average value of the difference integrals of the flow rates of the plurality of sequentially collected nozzles is:
Figure BDA0002202647930000074
wherein, FKThe flow rate of the plurality of nozzles is acquired sequentially, n is the number of the flow rates of the plurality of nozzles, n is a natural number greater than 2, and i is a natural number between 2 and n.
For example, n is 4, and the average value of the difference integrals of the flow rates of the plurality of sequentially collected nozzles is:
if FKAnd if the flow rate is not greater than the preset threshold value, judging that the real-time flow rate of the spray head is in a stable state.
Based on the above embodiment, between step S1 and step S2, the method further includes: and smoothing the acquired pressure and flow of each spray head respectively to obtain a plurality of groups of smoothed pressure and flow of the spray heads.
Note that the smoothing method includes an averaging method and a median method.
For example, each element in the matrix a is smoothed to obtain a smoothed matrixComprises the following steps:
Figure BDA0002202647930000082
if a plurality of initial smooth spray head correction coefficients are respectively obtained according to the relation between the standard pressure range and the standard flow and the relation between the spray head pressure and the spray head flow which are corresponding to each other in each group after smoothing; and obtaining the correction coefficient of the smooth spray head according to the plurality of initial correction coefficients of the smooth spray head.
Therefore, the nozzle correction coefficient is smoothed
Figure BDA0002202647930000083
Comprises the following steps:obtaining a plurality of initial smooth nozzle correction factors of
Figure BDA0002202647930000085
The smooth nozzle correction factor is
Figure BDA0002202647930000086
It should be noted that the spray head is in a certain working pressure range, and the correction coefficient is applicable in a certain working pressure range of the spray head, but after the spray head is beyond the certain working pressure range and is in another working pressure range, the correction coefficient needs to be re-determined so as to be re-corrected.
Three specific embodiments are given below to illustrate the application of the adaptive variable spray control method in detail.
It should be noted that the spraying devices of the three embodiments adopt a middle-connection 3WP-600HB type self-propelled boom sprayer, which includes 22 nozzles of VP110 type (working pressure 0.3-0.5Mpa, spraying width 11.5 m, working pressure 0.3-1Mpa), and the variable spraying control device adopts an AMC-3001 type precise spraying control system. The spraying control system is connected in series in a pipeline system of the self-propelled spraying machine, and the adaptive variable spraying control method is embedded into the spraying control system.
Experiment one
The method is characterized in that 22 nozzles of the self-propelled boom sprayer are replaced by 11 No. 3 nozzles and 11 No. 2 nozzles (the spraying amount of the No. 3 nozzle is larger than that of the No. 2 nozzle under the same pressure), the model of the nozzle is set to be No. 2, and the effectiveness of the adaptive variable spraying control method is verified under the condition that the nozzles are worn.
1) The manual working mode is adopted, the rotating speed of the engine of the spraying machine is adjusted to 2000r/min, the opening of the proportional valve is adjusted, the pressure is adjusted to 0.3Mpa, the pressure is stabilized for a period of time, and after the real-time flow is observed to be stable, 4 pairs of (n is 4) of spray head pressure which corresponds to each other and the data of the smooth flow of the spray head which are output by the system are recorded.
Smoothing matrix
Figure BDA0002202647930000091
Comprises the following steps:
Figure BDA0002202647930000092
get PaWhen the pressure is 0.3MPa, FaWhen the initial smooth nozzle correction coefficient is 0.8L/min, the initial smooth nozzle correction coefficient is
Figure BDA0002202647930000093
Figure BDA0002202647930000094
The smooth nozzle correction factor is:
Figure BDA0002202647930000095
and closing the spraying machine, closing the adaptive variable spraying control method, and writing the obtained correction coefficient into a control system. And (4) wrapping and fixing all the spray heads by using a collection bag respectively to prepare for collecting the sprayed liquid.
The spray was turned on again, the pressure was adjusted to 0.3Mpa, the liquid was collected for 3 minutes, the spray was turned off, and the liquid volume in all the collection bags was weighed to give a volume of 51.9L.
2) The manual working mode is adopted, the rotating speed of the engine of the spraying machine is adjusted to 2000r/min, the opening of the proportional valve is adjusted, the pressure is adjusted to 0.5Mpa, the pressure is stabilized for a period of time, and after the real-time flow is observed to be stable, 4 pairs of (n is 4) of spray head pressure which corresponds to each other and the data of the smooth flow of the spray head which are output by the system are recorded.
Smoothing matrixComprises the following steps:
Figure BDA0002202647930000097
get PaWhen the pressure is 0.5MPa, Fa1.03L/min, the initial smooth nozzle correction factor is
Figure BDA0002202647930000098
Figure BDA0002202647930000099
The smooth nozzle correction factor is:
Figure BDA00022026479300000910
and closing the spraying machine, closing the adaptive variable spraying control method, and writing the obtained correction coefficient into a control system. And (4) wrapping and fixing all the spray heads by using a collection bag respectively to prepare for collecting the sprayed liquid.
The spray was turned on again, the pressure was adjusted to 0.5Mpa, the liquid was collected for 3 minutes, the spray was turned off, and the liquid volume in all the collection bags was weighed to give a volume of 68.2L.
3) The manual working mode is adopted, the rotating speed of the engine of the spraying machine is adjusted to 2000r/min, the opening of the proportional valve is adjusted, the pressure is adjusted to 0.8Mpa, the pressure is stabilized for a period of time, and after the real-time flow is observed to be stable, 4 pairs of (n is 4) of spray head pressure which corresponds to each other and the data of the smooth flow of the spray head which are output by the system are recorded.
Smoothing matrix
Figure BDA0002202647930000101
Comprises the following steps:
get PaWhen the pressure is 0.8MPa, Fa1.3L/min, the initial smooth nozzle correction factor is The smooth nozzle correction factor is:
Figure BDA0002202647930000105
and closing the spraying machine, closing the adaptive variable spraying control method, and writing the obtained correction coefficient into a control system. And (4) wrapping and fixing all the spray heads by using a collection bag respectively to prepare for collecting the sprayed liquid.
The spray was turned on again, the pressure was adjusted to 0.8Mpa, the liquid was collected for 3 minutes, the spray was turned off, and the liquid volume in all the collection bags was weighed to give a volume of 87.6L.
Data and errors obtained in experiment one are shown in table 1.
TABLE 1
Wherein, the error after the correction is the error between 11 shower nozzles and 11 shower nozzles actual spraying volume and 22 standard shower nozzles of 2 number after the correction and the uncorrected error is the error between 11 shower nozzles of 3 number and 11 shower nozzles of 2 number actual spraying volume and 22 standard shower nozzles of 2 number of uncorrected spraying volume. It can be seen that the nozzle correction coefficient is obtained from between the uncorrected data and the standard data, and then the uncorrected data is corrected by using the nozzle correction coefficient, thereby correcting the uncorrected data so that the uncorrected data is as close to the standard data as possible.
Experiment two
The control method is characterized in that 22 nozzles of the self-propelled boom sprayer are replaced by 11 nozzles 1.5 and 11 nozzles 2 (the spraying amount of the nozzle 1.5 is smaller than that of the nozzle 2 under the same pressure), the type of the nozzle is set to be 2, and the effectiveness of the control method is verified under the condition that the nozzles are worn.
1) The manual working mode is adopted, the rotating speed of the engine of the spraying machine is adjusted to 2000r/min, the opening of the proportional valve is adjusted, the pressure is adjusted to 0.3Mpa, the pressure is stabilized for a period of time, and after the real-time flow is observed to be stable, 4 pairs of (n is 4) of spray head pressure which corresponds to each other and the data of the smooth flow of the spray head which are output by the system are recorded.
Smoothing matrix
Figure BDA0002202647930000111
Comprises the following steps:
Figure BDA0002202647930000112
get PaWhen the pressure is 0.3MPa, FaWhen the initial smooth nozzle correction coefficient is 0.8L/min, the initial smooth nozzle correction coefficient is
Figure BDA0002202647930000113
Figure BDA0002202647930000114
The smooth nozzle correction factor is:
Figure BDA0002202647930000115
and closing the spraying machine, closing the adaptive variable spraying control method, and writing the obtained correction coefficient into a control system. And (4) wrapping and fixing all the spray heads by using a collection bag respectively to prepare for collecting the sprayed liquid.
The spray was turned on again, the pressure was adjusted to 0.3Mpa, the liquid was collected for 3 minutes, the spray was turned off, and the liquid volume in all the collection bags was weighed to give a volume of 53.3L.
2) The manual working mode is adopted, the rotating speed of the engine of the spraying machine is adjusted to 2000r/min, the opening of the proportional valve is adjusted, the pressure is adjusted to 0.5Mpa, the pressure is stabilized for a period of time, and after the real-time flow is observed to be stable, 4 pairs of (n is 4) of spray head pressure which corresponds to each other and the data of the smooth flow of the spray head which are output by the system are recorded.
Smoothing matrix
Figure BDA0002202647930000116
Comprises the following steps:
Figure BDA0002202647930000117
get PaWhen the pressure is 0.5MPa, Fa1.03L/min, the initial smooth nozzle correction factor is
Figure BDA0002202647930000118
The smooth nozzle correction factor is:
Figure BDA00022026479300001110
and closing the spraying machine, closing the adaptive variable spraying control method, and writing the obtained correction coefficient into a control system. And (4) wrapping and fixing all the spray heads by using a collection bag respectively to prepare for collecting the sprayed liquid.
The spray was turned on again, the pressure was adjusted to 0.5Mpa, the liquid was collected for 3 minutes, the spray was turned off, and the liquid volume in all the collection bags was weighed to give a volume of 68.7L.
3) The manual working mode is adopted, the rotating speed of the engine of the spraying machine is adjusted to 2000r/min, the opening of the proportional valve is adjusted, the pressure is adjusted to 0.8Mpa, the pressure is stabilized for a period of time, and after the real-time flow is observed to be stable, 4 pairs of (n is 4) of spray head pressure which corresponds to each other and the data of the smooth flow of the spray head which are output by the system are recorded.
Smoothing matrix
Figure BDA0002202647930000121
Comprises the following steps:
Figure BDA0002202647930000122
get PaWhen the pressure is 0.8MPa, Fa1.3L/min, the initial smooth nozzle correction factor is
Figure BDA0002202647930000123
Figure BDA0002202647930000124
The smooth nozzle correction factor is:
Figure BDA0002202647930000125
and closing the spraying machine, closing the adaptive variable spraying control method, and writing the obtained correction coefficient into a control system. And (4) wrapping and fixing all the spray heads by using a collection bag respectively to prepare for collecting the sprayed liquid.
The spray was turned on again, the pressure was adjusted to 0.8Mpa, the liquid was collected for 3 minutes, the spray was turned off, and the liquid volume in all the collection bags was weighed to give a volume of 87.4L.
The data and errors obtained in experiment two are shown in table 2.
TABLE 2
Figure BDA0002202647930000126
Wherein, the error after the correction is the error between 11 shower nozzles of number 1.5 after the correction and 11 shower nozzles of number 2 actually spray volume and 22 standard shower nozzles of number 2 and spray the volume, and the uncorrected error is the error between 11 shower nozzles of number 1.5 and 11 shower nozzles of number 2 actually spray the volume and 22 standard shower nozzles of number 2 that uncorrected. It can be seen that the nozzle correction coefficient is obtained from between the uncorrected data and the standard data, and then the uncorrected data is corrected by using the nozzle correction coefficient, thereby correcting the uncorrected data so that the uncorrected data is as close to the standard data as possible.
Experiment three
In order to verify the effectiveness of a control algorithm in actual work, the spray heads of the self-propelled spray rod spraying machine are replaced by 12 No. 2 spray heads, 5 No. 1.5 spray heads and 5 No. 3 spray heads, the model of each spray head is set to be No. 2, and the adaptive variable spraying control method is started.
And (3) adopting an automatic working mode, changing the spraying amount per hectare each time, and recording the area and the accumulated flow in the accurate spraying control system each time and clearing the operation data by adopting the same operation speed. The data obtained are shown in table 3:
TABLE 3
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (9)

1. An adaptive variable spray control device, comprising: the device comprises a spray head, a controller, a variable control valve, a flow sensor and a pressure sensor, wherein the variable control valve, the flow sensor and the pressure sensor are respectively connected with the controller;
the flow sensor is used for measuring the real-time flow of the spray head, and the pressure sensor is used for measuring the real-time pressure of the spray head;
the controller is used for acquiring a spray head correction coefficient according to a plurality of groups of spray head pressures and spray head flows, a standard pressure range and a standard flow of a standard spray head corresponding to the standard pressure range when the real-time flow of the spray head is in a stable state, and correcting and adjusting the real-time flow of the spray head by using the variable control valve according to the spray head correction coefficient;
the pressure of the spray head is the real-time pressure of the spray head within a standard pressure range, and the flow rate of the spray head is the real-time flow rate of the spray head corresponding to the real-time pressure.
2. An adaptive variable spray control method, comprising:
s1, collecting multiple groups of spray head pressures and spray head flows in real time, wherein the spray head pressures are real-time pressures of the spray heads within a standard pressure range, and the spray head flows are real-time flows of the spray heads corresponding to the real-time pressures; judging and knowing that the real-time flow of the spray head is in a stable state according to the flow of the plurality of spray heads;
s2, acquiring a spray head correction coefficient according to the pressure and the flow of the plurality of groups of spray heads, the standard pressure range and the standard flow of the standard spray heads corresponding to the standard pressure range, and correcting and adjusting the real-time flow of the spray heads according to the spray head correction coefficient.
3. The adaptive variable spray control method according to claim 2, wherein in step S2, the obtaining of the nozzle calibration coefficient according to the plurality of sets of nozzle pressures and nozzle flows, the standard pressure range, and the standard flow of the standard nozzle corresponding to the standard pressure range specifically includes:
respectively acquiring a plurality of initial spray head correction coefficients according to the relationship between the standard pressure range and the standard flow and the relationship between the spray head pressure and the spray head flow which correspond to each other in each group;
and acquiring the spray head correction coefficient according to the plurality of initial spray head correction coefficients.
4. The adaptive variable spray control method of claim 3, wherein the obtaining the showerhead correction coefficients based on a plurality of initial showerhead correction coefficients specifically comprises:
and taking an algebraic average value of the plurality of initial nozzle correction coefficients as the nozzle correction coefficient.
5. The adaptive variable spray control method according to claim 2, wherein in step S1, the determining that the real-time flow rate of the spray head is in a steady state according to the flow rates of the plurality of spray heads specifically includes:
calculating the average value of difference integrals of a plurality of sequentially collected nozzle flows, and judging to know that the real-time flow of the nozzle is in a stable state if the average value of the difference integrals is not greater than a preset threshold value.
6. The adaptive variable spray control method of claim 2, further comprising, between steps S1 and S2:
and smoothing the acquired pressure and flow of each spray head respectively to obtain the smoothed pressures and flows of the multiple groups of spray heads.
7. The adaptive variable spray control method of claim 2, wherein the sprinkler correction factor is:
Figure FDA0002202647920000021
wherein, KiFor nozzle correction factor, PiFor nozzle pressure, FiIs the flow rate of the nozzle, PaIs a standard pressure range, FaIs a standard pressure range PaCorresponding standard flow.
8. The adaptive variable spray control method of claim 5, wherein the average of the difference integrals of the sequentially collected plurality of showerhead flows is:
Figure FDA0002202647920000022
wherein, FKThe flow rate of the plurality of nozzles is acquired sequentially, n is the number of the flow rates of the plurality of nozzles, n is a natural number greater than 2, and i is a natural number between 2 and n.
9. The adaptive variable spray control method of claim 6, wherein the smoothing method comprises an averaging method and a median method.
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