CN111084173A - Automatic spray head flow adjusting method for profiling variable pesticide applying system of spraying machine - Google Patents
Automatic spray head flow adjusting method for profiling variable pesticide applying system of spraying machine Download PDFInfo
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- CN111084173A CN111084173A CN202010022415.4A CN202010022415A CN111084173A CN 111084173 A CN111084173 A CN 111084173A CN 202010022415 A CN202010022415 A CN 202010022415A CN 111084173 A CN111084173 A CN 111084173A
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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
- A01M7/0089—Regulating or controlling systems
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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
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
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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
- A01M7/005—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
- A01M7/0071—Construction of the spray booms
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- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
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Abstract
The invention belongs to the field of agricultural plant protection machinery, and particularly relates to an automatic adjusting method for the flow of a spray head of a profiling variable pesticide application system of a sprayer. The invention aims to provide a method for automatically adjusting the flow of a spray head of a profiling variable pesticide applying system of a spraying machine. The invention adopts PWM control signals to adjust the flow of the spray nozzle and the air volume of the fan assisting the transportation of spray droplets, sets the flow of the spray nozzle and the air volume of the fan according to the crown shape of the tree crown, and can adjust the spray lance according to the growth of the tree crown to realize profile-modeling spraying, thereby effectively improving the utilization rate of pesticide, improving the deposition uniformity of liquid medicine on the crown layer, and reducing the environmental pollution and the personal injury to operators caused by pesticide drift in the pesticide application process. The method has the characteristics of good applicability, high working efficiency, quick response of a control system and accurate pesticide application, and is favorable for popularization of a pesticide saving technology.
Description
Technical Field
The invention belongs to the field of agricultural plant protection machinery, and particularly relates to an automatic adjusting method for the flow of a spray head of a profiling variable pesticide application system of a sprayer.
Background
Fruit tree spraying is an effective plant protection mode commonly adopted by nurseries and fruit trees. In China, the current automatic plant protection machinery and pesticide application technology applied to fruit tree spraying are relatively backward, the pesticide utilization rate is extremely low, and an orchard sprayer continuously sprays with constant amount in the whole pesticide application process, so that pesticide drift and loss are easily formed, serious pesticide waste and environmental pollution are caused, and pesticide residue of agricultural products exceeds the standard. Meanwhile, the crown layer density degree and the leaf area index of the fruit trees at different growth periods and different positions are different, and different crown layer structures need different spraying amounts and air volumes to improve fog drop penetration and pesticide deposition uniformity and reduce drift in order to ensure the pest control effect. The profiling variable pesticide application technology can improve the effective utilization rate of pesticide, improve the deposition uniformity of liquid medicine on the canopy, and reduce the environmental pollution and the personal injury to operators caused by pesticide drift in the pesticide application process.
The control modes of the variable pesticide application in China mainly comprise the following three modes: pressure regulating, concentration regulating, and Pulse Width Modulation (PWM) intermittent spray flow regulating. Among them, a spray flow rate control system based on PWM is preferred because of its short response time, fast response speed, large flow rate control range, and good spray characteristics obtained by using a conventional spray head. For example, in the Chinese patent application 'a liquid fertilizer variable application controller' (application number 201120227494.9), the amount of fertilizer to be used and the application amount per unit area are set in the controller in advance, and the fertilizing amount is adjusted by acquiring the running speed of a machine tool; the Chinese patent application with the application number of 201010225458.9 discloses an agricultural multifunctional variable controller, which realizes variable pressure type flow control; the Chinese patent application 'a direct injection type real-time variable-concentration online medicine mixing and spraying device and a control method thereof' (application number 201611020511.5) adopts a concentration type to regulate flow, but the methods all have the problem of medicine mixing delay.
At present, the PWM control technology is mostly applied to independent sprayer flow regulation, aiming at the situation that plant protection machinery and pesticide application technology in China fall behind and the attention on environmental protection, a novel flow regulation control method is necessarily designed to realize profile spraying, and the flow regulation control method is combined with variable air volume regulation, so that the spraying flow can be regulated to reduce the usage amount of pesticides, and the air volume can be regulated to reduce the environmental pollution caused by pesticide drift.
Disclosure of Invention
The invention aims to provide an automatic spray head flow regulating method of a copying variable pesticide application system of a sprayer, which adopts PWM control signals to regulate the spray head flow and the fan air volume, sets the spray head flow and the fan air volume according to a crown shape of a tree crown, realizes copying spraying based on target features, improves the fog drop deposition uniformity on a crown layer target, reduces pesticide waste caused in the pesticide application process, and reduces environmental pollution and personal injury to operators caused by pesticide drift in the pesticide application process.
The purpose of the invention is realized by the following technical scheme:
a method for automatically adjusting the flow of a spray head of a copying variable pesticide application system of a spraying machine comprises the steps that the spraying machine copying variable pesticide application system comprises a variable pesticide application control system, a variable spraying device and an adjustable spray rod device; wherein the content of the first and second substances,
the variable pesticide application control system comprises a control switch 1, an embedded control platform 2 and a variable pesticide application main control unit 4;
the variable spraying device comprises an electromagnetic valve group 12, an atomizing unit 13, a fan 14 and a spray head 15;
the adjustable spray rod device comprises a transverse two-stage telescopic rod 24;
the generator 26 is connected with the electromagnetic valve group 12 and the fan 14 to provide power;
the method comprises the following steps:
1) the number of the atomizing units 13 is determined according to the operation requirement, the height and the direction of the atomizing units 13 and the width of the transverse two-stage telescopic rod 24 are adjusted according to the growth of the crown and the crown shape of the operation park, so that the atomizing units 13 are in preliminary profiling distribution;
2) starting the control switch 1, and carrying out PWM control signal initialization setting by the variable pesticide application main control unit 4;
3) setting the duty ratios of PWM control signals of the electromagnetic valve group 12 and the fan 14, and setting a larger value for the duty ratios of the PWM control signals of the electromagnetic valve group 12 and the fan 14 for areas with larger leaf density and volume and correspondingly larger flow and air volume at a corresponding height according to the principle that the flow and the air volume are adaptive to the density and the volume of the tree crown; otherwise, setting a low value;
4) the duty ratios of the variable pesticide application main control unit 4, the electromagnetic valve group 12 and the fan 14 are input through the embedded control platform 2, the variable pesticide application main control unit 4 outputs PWM control signals, and the electromagnetic valve group 12 and the fan 14 work according to respective corresponding instructions;
the system regulates the action of the solenoid valve by outputting a PWM signal;
the system adjusts the rotating speed of the fan 14 by outputting the PWM duty ratio, the duty ratio is larger, the rotating speed is faster, the wind speed is higher, and the relationship between the wind speed and the duty ratio of the air outlet of the atomizing unit is as follows:
V＝15.625*ln(r)+53.426
wherein V is the wind speed of the air outlet and the unit is m/s; r is the duty ratio of the fan, and the unit is%;
5) in the working process, the generator 26 supplies power to the fan 14 and the electromagnetic valve group 12, so that the working time is greatly prolonged;
6) in the working process, the embedded control platform is combined with the variable control system, so that the application dosage, the flow of each spray head and the air quantity of the fan can be known in real time, and the automatic operation performance is improved;
7) after the work is finished, the stop button is clicked, and the spray head 15 and the fan 14 stop working.
In step 2, the initial frequency of the PWM is set to 25Hz, and the initial duty ratio of the PWM control signal is set to 0%.
In step 3, the maximum value of the duty ratio of the PWM control signals of the electromagnetic valve group 12 and the fan 14 is 100%, and the minimum value is determined according to the situation.
Under the condition of 15Hz frequency, the relation between the flow and the duty ratio is as follows:
q＝1.16x+0.23
wherein q is the flow of the spray head, and the unit is L/min; and x is the duty ratio of the electromagnetic valve and has the unit of%.
The invention has the beneficial effects that:
1. the flow of the spray head is adjusted based on the target characteristics by adopting a PWM control technology, and the spray head and fan integrated atomization unit is designed, so that the spraying angle can be effectively controlled, and the profiling spraying is realized to improve the droplet deposition uniformity on the canopy target.
2. Good regulating function. The height and the angle of the atomizing unit are adjusted according to actual conditions, and preliminary profile modeling setting is realized according to the length of the canopy and the width of the adjustable spray rod.
3. The applicability is good. The designed copying variable pesticide application system can be applied to most orchard sprayers, the number of the assembled atomizing units is determined according to operation requirements, the spraying system is particularly suitable for modern spindle type orchards, the generator is adopted to supply power to the fan and the electromagnetic valve group, and the working time is greatly prolonged.
4. The electromechanical integration design combines an embedded control platform with a variable control system, can know the application dosage, the flow of each spray head and the air quantity of a fan in real time, and improves the automatic operation performance.
The invention adopts PWM control signals to adjust the flow of the spray nozzle and the air volume of the fan assisting the transportation of spray droplets, sets the flow of the spray nozzle and the air volume of the fan according to the crown shape of the tree crown, and can adjust the spray lance according to the growth of the tree crown to realize profile-modeling spraying, thereby effectively improving the utilization rate of pesticide, improving the deposition uniformity of liquid medicine on the crown layer, and reducing the environmental pollution and the personal injury to operators caused by pesticide drift in the pesticide application process. The method has the characteristics of good applicability, high working efficiency, quick response of a control system and accurate pesticide application, and is favorable for popularization of a pesticide saving technology.
Drawings
FIG. 1 is a block diagram of a profiling variable pesticide application system of a sprayer;
FIG. 2 is a schematic diagram of the variable spray apparatus of the present invention;
FIG. 3 is a schematic view of the construction of the adjustable spray bar assembly of the present invention;
fig. 4 is an interface diagram of the embedded control platform according to the present invention.
Reference numerals:
1 control switch 2 embedded control platform
3 vehicle-mounted power supply 4-variable pesticide application main control unit
5 speed sensor 6 solenoid valve drive circuit
7 brushless fan drive circuit 8 medical kit
9 first-stage filter 10 diaphragm pump
11 pressure regulating valve 12 electromagnetic valve set
13 14 fans of atomizing unit
15 spray head 18 first-stage flow divider
19 pressure gauge 20 two-stage filter
21 stirrer 22 two-stage flow divider
23 hoop 24 horizontal two-stage telescopic rod
25 transverse primary fixing rod 26 generator
27 main bracket 28 main bracket fixing joint of spray rod
29 flange 30 traction chassis
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples.
As shown in fig. 1, the profiling variable pesticide application system of the sprayer comprises a variable pesticide application control system, a variable spraying device and an adjustable spray rod device. The sprayer profiling variable pesticide application system is a sprayer which is hung at the rear part of a tractor and is used for traction operation. The sprayer comprises a traction chassis 30, and the traction chassis 30 is used for being connected with a traction rod of a tractor.
The variable pesticide application control system comprises a control switch 1, an embedded control platform 2, a variable pesticide application main control unit 4, an electromagnetic valve driving circuit 6, a brushless fan driving circuit 7 and a speed sensor 5. The variable pesticide application main control unit 4 is packaged in the embedded control platform 2, and an operator can start and stop the sprayer profiling variable pesticide application system by controlling the control switch 1 on the embedded control platform 2 according to operation requirements. The speed sensor 5 is arranged on the spraying machine and connected with the variable pesticide application main control unit 4, collects the running speed of the spraying machine in real time and transmits the collected information to the variable pesticide application main control unit 4. The electromagnetic valve driving circuit 6 and the brushless fan driving circuit 7 are respectively connected with the variable pesticide application main control unit 4.
As shown in fig. 2 and 3, the variable spray apparatus includes a medicine tank 8, a diaphragm pump 10, a pressure-regulating flow divider, a primary flow divider 18, a secondary flow divider 22, a solenoid valve group 12, and an atomizer.
The medicine boxes 8 are mounted on the traction chassis 30. The top and the bottom of medical kit 8 are equipped with inlet and liquid outlet respectively, are equipped with the medical kit lid on the inlet, and the liquid outlet connects gradually diaphragm pump 10 and pressure regulating shunt through connecting tube. The diaphragm pump 10 is driven by a tractor auxiliary Power Take Off (PTO) to output the chemical solution from the chemical tank 8, generating a spray pressure in the pipeline system of the sprayer.
Preferably, a first-stage filter 9 is arranged on a connecting pipeline between the liquid outlet and the diaphragm pump 10. And a second-stage filtering device 20 is arranged on a connecting pipeline between the diaphragm pump 10 and the pressure regulating shunt.
The pressure regulating shunt comprises a pressure regulating valve 11 and two output pipelines; the pressure regulating valve 11 is used for regulating the output pressure of two output pipelines; the two output pipelines comprise a first output pipeline and a second output pipeline; the first output pipeline is connected with the liquid inlet end of the primary flow divider 18; the second output pipe is connected to a stirrer 21 provided at the bottom end inside the medicine box 8. An operator can set the pressure of the liquid medicine in the first output pipeline by adjusting the pressure regulating valve 11, the redundant liquid medicine is conveyed to the medicine box 8 through the second output pipeline, and the active ingredients of the liquid medicine are uniformly mixed through the stirrer 21.
Preferably, the pressure-regulating current divider further comprises a pressure gauge 19.
The liquid outlet end of the primary flow divider 18 comprises two primary flow dividing branches, and each primary flow dividing branch is connected with the liquid inlet end of one secondary flow divider 22; the outlet ends of the two secondary flow splitters 22 each comprise a plurality of secondary flow splitting branches.
The solenoid valve group 12 includes a left solenoid valve group and a right solenoid valve group respectively connected to one secondary shunt 22, and the left solenoid valve group and the right solenoid valve group each include a plurality of solenoid valves.
The atomizer comprises a plurality of atomizing units 13.
The atomizing unit 13 includes five nozzles 15 which are arc-shaped from top to bottom and face the crown of the fruit tree, and a fan 14 for generating high-speed airflow to assist the droplets sprayed from the nozzles 15 to reach the target.
The input ends of the electromagnetic valves of the left electromagnetic valve group and the right electromagnetic valve group are respectively connected with the secondary shunt branches of one secondary shunt 22 in a one-to-one correspondence manner, and the output ends of the electromagnetic valves are respectively connected with the spray heads 15 of the atomization units 13 in a one-to-one correspondence manner.
In the embodiment of the present invention, each secondary flow divider 22 has 20 secondary flow dividing branches, and each secondary flow dividing branch is connected to one solenoid valve in the solenoid valve group 12 in a one-to-one correspondence; the atomizers are divided into a left group and a right group, and the left group and the right group of atomizers respectively comprise four atomizing units 13; every five electromagnetic valves are correspondingly connected with the five spray heads 15 of one atomizing unit 13.
As shown in fig. 3, the adjustable spray bar device comprises a main spray bar bracket 27, a transverse primary fixing bar 25, a transverse secondary telescopic bar 24 and a hoop 23.
Two parallel spray rod main brackets 27 are fixedly connected with a flange 29 fixed at the rear end of a traction chassis 30 through a main bracket fixing joint 28 arranged at the bottom end of each bracket, and are vertically and fixedly connected with the traction chassis 30. A plurality of transverse primary fixing rods 25 are horizontally and height-adjustably fixed to two boom main brackets 27. The left end and the right end of each transverse one-level fixing rod 25 are respectively sleeved with a transverse two-level telescopic rod 24 capable of sliding along the length direction of the transverse one-level fixing rod 25, and the transverse two-level telescopic rods 24 are fastened on the transverse one-level fixing rod 25 through bolts. The end of each transverse two-stage telescopic rod 24 is provided with an atomizing unit 13 through a hoop 23. The operator can adjust the height of the transverse primary fixing rod 25 and the width of the transverse secondary telescopic rod 24 according to the spraying requirement.
The quantity of atomizing unit 13 can suitably increase and decrease according to the crop target height, and simultaneously, atomizing unit 13's orientation angle and horizontal second grade telescopic link 24's width can be adjusted according to the crown type, realize preliminary profile modeling setting.
The flow sensor is arranged in a pipeline between the spray heads 15 and the electromagnetic valve group 12 and is used for observing the flow of each spray head 15 in real time; the wind speed sensor is assembled at the air outlet of the atomizing unit 13 and used for measuring the wind speed of the air outlet.
The variable pesticide application main control unit 4 is used for generating PWM control signals, collecting data of the speed sensor 5, the flow sensor and the wind speed sensor, and transmitting the data back to the embedded control platform 2 through data lines. The variable pesticide application main control unit 4 is a control center of a pesticide application machine, the speed sensor collects spraying operation speed in real time and transmits information to the variable pesticide application main control unit 4, the variable pesticide application main control unit 4 adjusts a duty ratio signal of the electromagnetic valve in real time according to the speed and adjusts the flow rate of the electromagnetic valve to ensure that the pesticide application amount is consistent, and during the period, the flow sensor and the air speed sensor collect the flow rate of a spray head and the air speed of a fan in real time and display calculated values of the pesticide application amount and the air speed on the variable pesticide application main control unit 4, so that an operator can know the working state of the sprayer conveniently.
The variable pesticide application main control unit 4 transmits PWM signals to the electromagnetic valve driving circuit 6 and the brushless fan driving circuit 7, and the corresponding electromagnetic valves and fans receive the signals and then implement action adjustment to realize variable spraying.
The vehicle-mounted power supply 3 is connected with the variable dispensing control system, the flow sensor and the wind speed sensor to provide power, and the generator 26 is connected with the solenoid valve group 12 and the fan 14 to provide power.
As shown in fig. 4, the interface diagram of the embedded control platform of the present invention is that the embedded control platform uses an ARM as a core processing unit, can know the working conditions of each element in real time, and can quickly calculate on the basis of integrating information such as speed, line spacing, total flow of the nozzles, and the like, and the data such as flow, air volume, application dosage, and the like, which are represented by the square columns of different colors on the interface.
The automatic spray head flow regulating method for the profiling variable pesticide applying system of the sprayer comprises the following steps:
1. the number of the atomizing units 13 is determined according to the operation requirement, and the height and the direction of the atomizing units 13 and the width of the transverse two-stage telescopic rod 24 are adjusted according to the growth of the crown and the crown shape of the operation park, so that the atomizing units 13 are in preliminary profiling distribution.
2. And (3) starting the control switch 1, and carrying out PWM control signal initialization setting by the variable pesticide application main control unit 4, wherein the PWM initial frequency is set to be 25Hz, and the PWM control signal initial duty ratio is set to be 0%.
3. Setting the duty ratios of PWM control signals of the electromagnetic valve group 12 and the fan 14, and setting a larger value for the duty ratios of the PWM control signals of the electromagnetic valve group 12 and the fan 14 for areas with larger leaf density and volume and correspondingly larger flow and air volume at a corresponding height according to the principle that the flow and the air volume are adaptive to the density and the volume of the tree crown; otherwise, a low value is set.
The maximum value of the duty ratio of the PWM control signals of the electromagnetic valve set 12 and the fan 14 is 100%, and the minimum value is determined according to the situation.
4. The duty ratios of the variable pesticide application main control unit 4, the electromagnetic valve group 12 and the fan 14 are input through the embedded control platform 2, the variable pesticide application main control unit 4 outputs PWM control signals, and the electromagnetic valve group 12 and the fan 14 work according to respective corresponding instructions.
The system regulates the action of the solenoid valve by outputting a PWM signal;
preferably, under a certain frequency, the flow rate of the spray head has a certain relation with the duty ratio, and under the condition of 15Hz frequency, the relation between the flow rate and the duty ratio is as follows:
q＝1.16x+0.23
wherein q is the flow of the spray head, and the unit is L/min; and x is the duty ratio of the electromagnetic valve and has the unit of%.
The system adjusts the rotating speed of the fan 14 by outputting the PWM duty ratio, the duty ratio is larger, the rotating speed is faster, the wind speed is higher, and the relationship between the wind speed and the duty ratio of the air outlet of the atomizing unit is as follows:
V＝15.625*ln(r)+53.426
wherein V is the wind speed of the air outlet and the unit is m/s; r is the duty cycle of the fan in%.
5. During operation, the generator 26 supplies power to the fan 14 and the electromagnetic valve group 12, and the working time is greatly prolonged.
6. In the working process, the embedded control platform is combined with the variable control system, so that the application dosage, the flow of each spray head and the air quantity of the fan can be known in real time, and the automatic operation performance is improved.
7. After the work is finished, the stop button is clicked, and the spray head 15 and the fan 14 stop working.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and for example, the connection between the brushless fan and the spray bar may be made by a method other than the hoop. Any changes or substitutions that may be easily made by those skilled in the art within the technical scope of the present disclosure are intended to be included within the scope of the present disclosure. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. A method for automatically adjusting the flow of a spray head of a copying variable pesticide application system of a spraying machine comprises the steps that the spraying machine copying variable pesticide application system comprises a variable pesticide application control system, a variable spraying device and an adjustable spray rod device; wherein the content of the first and second substances,
the variable pesticide application control system comprises a control switch (1), an embedded control platform (2) and a variable pesticide application main control unit (4);
the variable spraying device comprises an electromagnetic valve group (12), an atomizing unit (13), a fan (14) and a spray head (15);
the adjustable spray rod device comprises a transverse two-stage telescopic rod (24);
the generator (26) is connected with the electromagnetic valve group (12) and the fan (14) to provide power;
the method is characterized in that: the method comprises the following steps:
1) the number of the atomizing units (13) is determined according to the operation requirement, the height and the direction of the atomizing units (13) and the width of the transverse two-stage telescopic rod (24) are adjusted according to the growth of the crown and the crown shape of the operation park, so that the atomizing units (13) are in preliminary profile distribution;
2) starting the control switch 1, and carrying out PWM control signal initialization setting by the variable pesticide application main control unit 4;
3) setting the duty ratios of PWM control signals of the electromagnetic valve group (12) and the fan (14), and setting larger values of the duty ratios of the PWM control signals of the electromagnetic valve group (12) and the fan (14) for areas with larger leaf density and volume and correspondingly larger flow and air volume at corresponding heights according to the principle that the flow and the air volume are adaptive to the density and the volume of the tree crown; otherwise, setting a low value;
4) the duty ratios of the variable pesticide application main control unit (4), the electromagnetic valve group (12) and the fan (14) are input through the embedded control platform (2), the variable pesticide application main control unit (4) outputs PWM control signals, and the electromagnetic valve group (12) and the fan (14) work according to respective corresponding instructions;
the system regulates the action of the solenoid valve by outputting a PWM signal;
the system adjusts the rotating speed of the fan (14) by outputting the PWM duty ratio, the duty ratio is larger, the rotating speed is faster, the wind speed is higher, and the relationship between the wind speed and the duty ratio of the air outlet of the atomizing unit is as follows:
V＝15.625*ln(r)+53.426
wherein V is the wind speed of the air outlet and the unit is m/s; r is the duty ratio of the fan, and the unit is%;
5) in the working process, the generator (26) supplies power to the fan (14) and the electromagnetic valve group (12), so that the working time is greatly prolonged;
6) in the working process, the embedded control platform is combined with the variable control system, so that the application dosage, the flow of each spray head and the air quantity of the fan can be known in real time, and the automatic operation performance is improved;
7) and after the work is finished, clicking a stop button, and stopping the work of the spray head (15) and the fan (14).
2. The method for automatically adjusting the flow of the spray head of the profiling variable pesticide application system of the sprayer according to claim 1, is characterized in that: in step 2, the initial frequency of the PWM is set to 25Hz, and the initial duty ratio of the PWM control signal is set to 0%.
3. The method for automatically adjusting the flow of the spray head of the profiling variable pesticide application system of the sprayer according to claim 1, is characterized in that: in the step 3, the maximum value of the duty ratio of the PWM control signals of the electromagnetic valve group (12) and the fan (14) is 100%, and the minimum value is determined according to the situation.
4. The method for automatically adjusting the flow of the spray head of the profiling variable pesticide application system of the sprayer according to claim 1, is characterized in that: under the condition of 15Hz frequency, the relation between the flow and the duty ratio is as follows:
q＝1.16x+0.23
wherein q is the flow of the spray head, and the unit is L/min; and x is the duty ratio of the electromagnetic valve and has the unit of%.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111642489A (en) * | 2020-06-21 | 2020-09-11 | 苏州绿兔智能科技有限公司 | Spraying device for adjusting liquid injection amount by driving of two-stroke power device |
| CN112189645A (en) * | 2020-10-27 | 2021-01-08 | 江苏大学 | Double-online pesticide mixing sprayer suitable for intercropping and working method |
| CN112806341A (en) * | 2021-02-25 | 2021-05-18 | 吉林大学 | Orchard target spraying control system and method based on laminar layer |
| CN113207861A (en) * | 2021-06-21 | 2021-08-06 | 华南农业大学 | Multi-pulse modulation variable air-assisted spray pesticide application control system and control method |
| CN113460308A (en) * | 2021-07-30 | 2021-10-01 | 中国农业大学 | Unmanned aerial vehicle variable pesticide application control system and method |
| US20220117212A1 (en) * | 2020-10-20 | 2022-04-21 | Rovic International (Pty) Ltd | Agricultural sprayer control system and method |
| CN116548412A (en) * | 2023-03-20 | 2023-08-08 | 南京林业大学 | Self-propelled orchard pneumatic conveying variable precise pesticide application device and method |
| CN117981737A (en) * | 2024-03-12 | 2024-05-07 | 北京市农林科学院智能装备技术研究中心 | Medicine spraying method and medicine spraying robot |
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| CN113460308A (en) * | 2021-07-30 | 2021-10-01 | 中国农业大学 | Unmanned aerial vehicle variable pesticide application control system and method |
| CN116548412A (en) * | 2023-03-20 | 2023-08-08 | 南京林业大学 | Self-propelled orchard pneumatic conveying variable precise pesticide application device and method |
| CN116548412B (en) * | 2023-03-20 | 2024-04-26 | 南京林业大学 | Self-propelled orchard pneumatic conveying variable precise pesticide application device and method |
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