CN111239850A - Device and method for detecting blockage of spray head - Google Patents
Device and method for detecting blockage of spray head Download PDFInfo
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- CN111239850A CN111239850A CN202010172038.2A CN202010172038A CN111239850A CN 111239850 A CN111239850 A CN 111239850A CN 202010172038 A CN202010172038 A CN 202010172038A CN 111239850 A CN111239850 A CN 111239850A
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Abstract
The embodiment of the invention provides a device and a method for detecting blockage of a spray head, wherein the device comprises: the system comprises a pesticide spraying pipeline, a plurality of spray heads, a pressure sensor, an ECU (electronic control unit), a plurality of microwave induction modules and a plurality of microwave frequency shift modules, wherein the pesticide spraying pipeline is connected with the spray heads, the pressure sensor is used for detecting the actual pressure in the pesticide spraying pipeline, any one of the microwave induction modules adopts microwaves to induce fog shape change, converts a microwave frequency shift signal into a pulse signal and sends the frequency value of the pulse signal to the ECU, and the ECU is a vehicle-mounted pesticide spraying controller and is used for judging whether each spray head is blocked or not according to the actual pressure and the. The man-machine interface is used for displaying all the nozzle blockage information and realizing the interactive functions of information transmission with the ECU, pesticide spraying parameter input and the like; the embodiment of the invention adopts microwave to detect the spray mist of the spray head, and detects the blockage state of the spray head by detecting the reflection waveform change of spray droplets, thereby realizing the judgment of the blockage state of a single spray head and the monitoring of the blockage states of all spray heads of the spraying machine.
Description
Technical Field
The invention relates to the technical field of agriculture, in particular to a device and a method for detecting blockage of a spray head.
Background
Chemical pesticide spraying is an important means for preventing and controlling plant diseases and insect pests, currently, in actual work of a rural field pesticide spraying machine or an orchard pesticide spraying machine in China, more water for spraying is used for taking materials nearby, more impurities are in the water, and a spray head for spraying pesticide is often blocked by the impurities doped in the liquid; in addition, the pesticide spraying machine is lack of maintenance, the spray head or the pipeline pipe is not cleaned for a long time, pesticide remained in the spray head forms solid-state magazines after water is diffused, the spray head is easy to block, and poor spraying quality is caused.
The spraying machine has more spraying nozzles, the actual work is difficult to approach to the overall observation, the nozzle blockage is difficult to find, the nozzle blockage causes spray leakage and uneven fog drops, and the operation prevention effect is seriously influenced.
At present, China does not have a detection device for independently spraying the blockage of the spray nozzle, a few research units perform some related researches, a pressure flow sensing model is mainly adopted, the blockage condition of the whole spray nozzle is reflected through pipeline flow data, and the single spray nozzle is not used.
Jilin university has studied a medicine machine operating condition monitoring system that spouts, and this monitoring system judges the shower nozzle jam state through multi-parameter fusion through installing shower nozzle jam monitoring sensor and pipeline pressure sensor on the branch pipeline of spouting the medicine to and install level sensor, spout medicine machine water pump, water pump motor, the motor speed sensor on the medical kit, judges the position that spouts medicine machine jam shower nozzle, provides the foundation for in time getting rid of effectively and spouting medicine machine trouble.
Some foreign research units adopt cameras and analyze the blockage condition of the spray head by using a visual processing method.
For a field pesticide sprayer, the spraying width is 10 meters and 30 meters, the number of spray heads is 20-60, and the traditional monitoring system can only reflect the whole spraying state, but cannot monitor the blocking state of a single spray head and objectively reflect all the spraying blocking states.
Therefore, a device and a method for detecting the blockage of the nozzle are needed.
Disclosure of Invention
In order to solve the above problems, embodiments of the present invention provide a device and a method for detecting nozzle clogging.
In a first aspect, an embodiment of the present invention provides a device for detecting nozzle clogging, including:
the system comprises a plurality of microwave induction modules, a pressure sensor and an ECU (electronic control unit), wherein the ECU represents a vehicle-mounted pesticide spraying controller, a pesticide spraying pipeline is connected with a plurality of spray heads, and water flows into each spray head from the pesticide spraying pipeline;
the pressure sensor is used for detecting the actual pressure in the pesticide spraying pipeline;
each microwave induction module corresponds to one spray head, for any microwave induction module, any microwave induction module is used for emitting microwaves and receiving the microwaves reflected by fogdrops, microwave frequency shift signals are obtained according to the reflected microwaves and are processed by an operational amplifier circuit to be converted into pulse signals, a single chip microcomputer in any microwave induction module reads the frequency value of the pulse signals and stores the current frequency value in a register, and the fogdrops are sprayed out by the spray heads corresponding to any microwave induction module;
the ECU actively sends a query command, and any one microwave induction module sends the current frequency value to the ECU;
and the ECU is used for actively polling the current frequency values of all the microwave induction modules and judging whether each spray head is blocked or not according to the actual pressure and the current frequency value obtained by each microwave induction module.
Preferably, any one of the microwave sensing modules comprises a microwave sensing antenna, a microwave sensing processing circuit, a microcontroller and a CAN interface transceiver circuit, the microcontroller is a single chip microcomputer, wherein:
the microwave induction processing circuit is used for generating microwaves, transmitting the generated microwaves out through the microwave induction antenna, receiving the transmitted microwaves by the microwave induction antenna after the transmitted microwaves are reflected by the fog drops, and filtering and amplifying the received microwaves to obtain the microwave frequency shift signals; the microwave frequency shift signal is converted into a pulse signal through an operational amplifier circuit;
the microcontroller is used for acquiring the frequency value of the pulse signal and sending the target frequency value to the ECU when the ECU requests for inquiry;
the CAN interface transceiver circuit is used for connecting the singlechip and the CAN bus, so that the singlechip receives data from the CAN bus and simultaneously sends data to the CAN bus.
Preferably, the microwave induction processing circuit comprises a microwave generator, a microwave receiver and an operational amplification circuit, wherein:
the microwave generator is used for generating microwaves;
the microwave receiver is used for receiving the microwave reflected by the fogdrops;
the operational amplification circuit amplifies and filters the reflected microwaves and outputs the microwave frequency shift signals, and the microwave frequency shift signals are converted into pulse signals.
Preferably, the determining whether each nozzle is blocked according to the actual pressure and the current frequency value obtained by each microwave induction module specifically includes:
for any sprayer, if the actual pressure is between a first preset pressure threshold value and a second preset pressure threshold value, and the pressure valve value is set to ensure that the spraying pressure is at a normal level, judging the current frequency value, and if the frequency of the target microwave signal is judged to be larger than a first preset frequency threshold value, judging that any sprayer is normally sprayed and is not blocked;
if the current frequency is judged to be lower than a second preset frequency threshold value, judging that any one spray head is blocked;
and if the current frequency is judged to be located between the first preset frequency threshold and the second preset frequency threshold, judging that any spray head is in a semi-blocked state.
Preferably, the method further comprises the following steps: and the human-computer interaction interface is used for displaying the blocking state of each spray head, the first preset pressure threshold value and the second preset pressure threshold value.
Preferably, the operational amplifier circuit includes a filter amplifier circuit, a hysteresis comparator circuit, and a power supply circuit, wherein:
the filtering and amplifying circuit is used for filtering and amplifying the reflected frequency shift signal to obtain an amplified pulse signal;
the hysteresis comparison circuit is used for shaping the amplified pulse signal, removing burrs in the signal and improving the anti-interference capability of the circuit;
the power supply circuit is used for supplying power to the filtering amplification circuit and the hysteresis comparison circuit.
Preferably, the microwave generator includes a microwave oscillator that emits microwaves of a frequency of 2.4GHz through a microwave triode.
In a second aspect, an embodiment of the present invention provides a method for detecting blockage of a nozzle, including:
detecting the actual pressure in the pesticide spraying pipeline through the pressure sensor, and acquiring pipeline pressure data through A/D conversion by the ECU;
each microwave induction module corresponds to one spray head respectively, for any microwave induction module, microwaves are transmitted through any microwave induction module, the microwaves reflected by fogdrops are received, microwave frequency shift signals are obtained according to the reflected microwaves and are converted into pulse signals, a single chip microcomputer in the induction module reads the frequency values of the pulse signals, when an inquiry command of an ECU is received, the frequency is transmitted to the ECU through a CAN bus, and the fogdrops are sprayed out by the spray heads corresponding to the microwave induction modules;
and judging whether each spray head is blocked or not by the ECU according to the actual pressure and the current frequency value obtained by each microwave induction module.
The device and the method for detecting the blockage of the spray head provided by the embodiment of the invention have the advantages that the microwave is adopted to detect the mist of the spray head, the Doppler effect is generated by the reflection of the microwave through mist drops, the blockage state of the spray head is detected through the waveform change of the reflected microwave signal by detecting the reflected microwave signal, so that the judgment on the blockage state of a single spray head is realized, and the blockage states of all spray heads are monitored.
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 a device for detecting clogging of a nozzle according to an embodiment of the present invention;
FIG. 2 is a diagram of a pulse signal according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a target microwave signal in a fully-blocked state of a showerhead in an embodiment of the invention;
FIG. 4 is a schematic diagram of a target microwave signal in a semi-occluded state according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating operation of the microwave sensing module according to an embodiment of the present invention;
FIG. 6 is a circuit diagram of a CAN interface transceiver circuit according to an embodiment of the present invention;
FIG. 7 is a circuit diagram of a filter processing circuit according to an embodiment of the present invention;
FIG. 8 is a circuit diagram of a hysteresis comparator circuit according to an embodiment of the present invention;
FIG. 9 is a circuit diagram of a power circuit according to an embodiment of the present invention;
fig. 10 is a flowchart of a method for detecting nozzle clogging 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 working state monitoring system of the pesticide spraying machine researched in the prior art aims at adopting a water pump-motor spraying device, the driving of the spraying device adopts motor dragging, and the rotating speed is easy to control; in the market, a tractor-transmission shaft model is generally adopted, a tractor PTO is used as the power input of a pump, and the rotating speed is easy to change along with the change of an accelerator; the nozzle blockage sensor used by the monitoring system is essentially a flow sensor, the flow rate of the flow sensor is in direct proportion to the output pulse frequency, and the monitoring system is not universal for a specific pesticide spraying system.
In addition, the detection system detects the blockage of the spraying branch, but not a single spray nozzle, and when the single spray nozzle is blocked, the detection system cannot judge which spray nozzle is blocked or the whole pipeline is blocked, so that the distribution state of spraying operation cannot be visually displayed.
Some detection devices detect the spraying operation state through camera shooting, and the nozzles are detected by the camera to be blocked, and all the nozzles can be completely shot only by erecting a plurality of probes, so that the cost is high; spray nozzle numbers are difficult to distinguish in an algorithm due to spray nozzle fog overlapping; in addition, the outside of the lens needs to be protected to avoid pesticide corrosion; high illumination intensity, high temperature and high humidity and other complex outdoor environments put high requirements on the image processing speed.
Therefore, fig. 1 is a schematic structural diagram of a nozzle clogging detection apparatus according to an embodiment of the present invention, and as shown in fig. 1, the nozzle clogging detection apparatus according to the embodiment of the present invention includes: the system comprises a plurality of microwave induction modules, a pressure sensor and an ECU (electronic control unit), wherein the ECU represents a vehicle-mounted pesticide spraying controller, a pesticide spraying pipeline is connected with a plurality of spray heads, and water flows into each spray head from the pesticide spraying pipeline;
the pressure sensor is used for detecting the actual pressure in the pesticide spraying pipeline;
each microwave induction module corresponds to one spray head, for any microwave induction module, any microwave induction module is used for emitting microwaves and receiving the microwaves reflected by fogdrops, microwave frequency shift signals are obtained according to the reflected microwaves and are processed by an operational amplifier circuit to be converted into pulse signals, a single chip microcomputer in any microwave induction module reads the frequency value of the pulse signals and stores the current frequency value in a register, and the fogdrops are sprayed out by the spray heads corresponding to any microwave induction module;
the ECU actively sends a query command, and any one microwave induction module sends the current frequency value to the ECU;
and the ECU is used for actively polling the current frequency values of all the microwave induction modules and judging whether each spray head is blocked or not according to the actual pressure and the current frequency value obtained by each microwave induction module.
In the prior art, during normal spraying, the spraying presents a symmetrical sector or conical surface; when the spray head is blocked, the appearance of the spray head shows fog variation or no fog.
The microwave has the advantages of good detection directivity and low possibility of being interfered by other electromagnetic waves, and the embodiment of the invention adopts the microwave to detect the spraying sector and detects the blocking state of the spray head by utilizing the Doppler effect generated by the echo reflected by the fogdrop.
When the microwave is emitted to detect the sprayed surface, a part of the microwave is reflected. The frequency of the reflected microwaves changes due to the relative motion between the droplets and the microwaves. When the spray head is blocked, the spray fog shape changes, the particle size and the number of fog drops change, the relative speed of the fog drops also changes, and the microwave generates Doppler effect, so that the induction module outputs induction signals to change.
On the basis of the principle, the embodiment of the invention provides a spray head detection device, which comprises a plurality of microwave induction modules, a pressure sensor and a control module, wherein the connection relationship between the spray head and a spray rod is as follows: one spray bar is simultaneously connected with a plurality of spray heads together, and water flows into the spray bar and is sprayed out of the spray heads.
On the basis of the structure, the sprayer detection device provided by the embodiment of the invention comprises a plurality of microwave induction modules, a pressure sensor and an ECU (electronic control unit), wherein one microwave induction module is arranged near each sprayer and used for detecting whether the sprayer is blocked or not. And a pressure sensor is arranged on the spray rod and used for detecting the pressure in the spray rod so as to avoid misjudgment of the blockage state of the spray head caused by the pressure problem.
By taking the example that one microwave induction module detects the blockage state of one spray head as an example, the microwave induction module emits microwaves, the emitted microwaves are reflected by the fog drops emitted by the spray head to form reflected microwaves, and according to the reflected microwaves, because of the Doppler effect, the frequency and amplitude of the microwave receiving antenna are changed compared with those of the transmitted microwave, and after the reflected microwave is received, because the intensity of the signal is weak, a series of processing needs to be carried out on the reflected microwave to obtain a microwave frequency shift signal, and finally the microwave frequency shift signal is converted into a pulse signal which can be identified by a singlechip, fig. 2 is a schematic diagram of a pulse signal in an embodiment of the present invention, as shown in fig. 2, a single chip reads a frequency value of the pulse signal, the frequency value is the current frequency value, and when the ECU sends out an inquiry command, the frequency value of the pulse signal is sent to the ECU through the CAN bus.
The ECU judges the blockage state of the spray head according to the actual pressure detected by the pressure sensor and the current frequency value detected by the microwave sensing module, specifically, whether the pressure in the spray rod is normal or not is judged according to the actual pressure, if the pressure in the spray rod is abnormal, for example, the pressure is low, no fog drops are sprayed out of the spray head, and the result detected according to the microwaves is that the spray head is blocked, so that misjudgment is caused.
It should be noted that the ECU represents a vehicle-mounted pesticide spraying controller, which can be regarded as a control module for controlling the whole detection device.
Fig. 3 is a schematic diagram of a target microwave signal in a fully-blocked state of a spray head in an embodiment of the present invention, and fig. 4 is a schematic diagram of a target microwave signal in a semi-blocked state in an embodiment of the present invention, and it can be known from fig. 3 and 4 that when an actual pressure in a spray rod is normal, whether the spray head is blocked is determined by detecting a frequency of the target microwave signal.
Fig. 5 is a flowchart of a working process of a microwave sensing module in an embodiment of the present invention, as shown in fig. 5, on the basis of the above embodiment, preferably, any one of the microwave sensing modules includes a microwave sensing antenna, a microwave sensing processing circuit, a microcontroller and a CAN interface transceiver circuit, the microcontroller is a single chip, wherein:
the microwave induction processing circuit is used for generating microwaves, transmitting the generated microwaves out through the microwave induction antenna, receiving the transmitted microwaves by the microwave induction antenna after the transmitted microwaves are reflected by the fog drops, and filtering and amplifying the received microwaves to obtain the microwave frequency shift signals; the microwave frequency shift signal is converted into a pulse signal through an operational amplifier circuit;
the microcontroller is used for acquiring the frequency value of the pulse signal and sending the target frequency value to the ECU when the ECU requests for inquiry;
the CAN interface transceiver circuit is used for connecting the singlechip and the CAN bus, so that the singlechip receives data from the CAN bus and simultaneously sends data to the CAN bus.
The microwave induction module is provided with a CAN bus interface which CAN be used as an independent CAN node, thereby facilitating networking; in addition, the module generates microwave and transmits microwave, receives reflected echo and processes echo signals.
Specifically, the microwave sensing module further comprises a microwave sensing antenna, a microwave sensing processing circuit, a microcontroller and a CAN interface transceiver circuit.
It can be seen from fig. 1 that the microwave induction antenna is located near the nozzle, the micro PCB printed loop antenna is integrated inside the microwave induction antenna, the loop antenna is used as both the transmitting antenna and the receiving antenna, the induction antenna is sealed by the electronic potting adhesive, the waterproof grade of IP67 is achieved, and the fog drop interference and chemical corrosion are avoided.
The microwave induction processing circuit can generate microwaves, the generated microwaves are emitted through the microwave induction antenna, the emitted microwaves are reflected by the fog drops and received by the microwave induction antenna, the received microwaves are filtered and amplified to obtain target microwave signals, and the target microwave signals are sent to the microcontroller.
And after receiving the target microwave signal, the microcontroller sends the target microwave signal to the control module.
Each microwave induction module (detection node) is developed based on a microcontroller (a single-chip microcomputer AT90CAN128), and has the main functions of acquiring pulse signals, receiving and responding CAN inquiry instructions of an upper computer and uploading the frequency of the pulse signals to a bus network through a CAN interface.
The single chip microcomputer captures an external pulse by adopting an input capture unit of the timer 1, an external pulse trigger signal is input by a pin ICP1, the single chip microcomputer gives a time mark to the pulse at the falling edge of the pulse to indicate the occurrence moment of the time, when the next pulse arrives, a capture Interrupt (ICP) accurately carries out the time mark, and the starting time and the duration between two adjacent pulses are calculated, so that the frequency is calculated. Setting overtime time 1S between two pulses, when one pulse arrives and starts timing, the accumulated timing exceeds 1S and the next pulse does not arrive, and if the frequency is considered to be too low, terminating the calculation; the next frequency calculation is restarted.
The single chip microcomputer receives the query command from the CAN bus in real time through interruption, and if the query command to the node is received, the current numerical value is sent out immediately.
The controller adopts a mega128 singlechip manufactured by Atmel company, the ATmega128 is a high-performance CMOS microcontroller designed based on AVR RISC structure, a simplified instruction set is adopted, most of the program operation is executed by adopting single clock period instructions, and the operation speed is greatly improved; except a basic interface module with a common AVR processor, the microcontroller is also integrated with a CAN controller, the CAN controller is completely compatible with a CAN standard frame 2.0A and an extension frame 2.0B, the transmission rate reaches 1Mbps, and convenience is provided for building a system based on CAN communication. The AT90CAN128 is used as a control core of the induction module, is a module controller and a CAN controller of a bus node, adopts a 16MHz clock, is responsible for upper layer application and system control, executes a complete CAN protocol bus, and realizes the sending and receiving communication of bus data.
The microcontroller and the control module communicate through a CAN interface transceiver circuit, the interface transceiver circuit adopts PCA82C251 as a CAN driving chip, is an interface device between a CAN protocol controller and a physical bus, and provides differential transmitting capability for the bus and differential receiving capability for a CAN controller (single chip microcomputer). Fig. 6 is a circuit diagram of a CAN interface transceiver circuit in the embodiment of the present invention, and as shown in fig. 6, chips TX and RX are respectively connected to TXCAN and RXCAN pins of an ATCAN128 single chip microcomputer, so as to implement a bus transceiver function of a CAN node.
On the basis of the above embodiment, preferably, the microwave induction processing circuit includes a microwave generator, a microwave receiver, and an operational amplifier circuit, wherein:
the microwave generator is used for generating microwaves;
the microwave receiver is used for receiving the microwave reflected by the fogdrops;
the operational amplification circuit amplifies and filters the reflected microwaves, then outputs the microwave frequency shift signals, and finally converts the frequency shift signals into pulse signals which can be identified by a single chip microcomputer.
The induction processing circuit mainly integrates a microwave generator, a microwave receiver and an operational amplifier circuit.
The core element in the microwave generator is a microwave oscillator, and the microwave oscillator adopts a microwave triode to form microwave output with the frequency of 2.4 GHz.
The module generates pulse type microwave in the direction of the axis of the antenna, when the spray droplets pass through the microwave emitting surface, the droplets can reflect part of the microwave, the reflected echo waves interfere with the original microwave field emitted by the device node to change, and weak frequency shift signals (namely Doppler signals generated by detection movement) are detected by beating after the semiconductor PN junction of the internal microwave triode is subjected to frequency mixing.
The doppler signal is weak and requires filtering and amplification.
When the induction processing circuit works, the signal variation is detected, amplified, shaped, multiple compared and delayed by the operational amplification circuit, and then a microwave frequency shift signal is output.
On the basis of the above embodiment, preferably, the operational amplifier circuit includes a filter amplifier circuit, a hysteresis comparator circuit, and a power supply circuit, wherein:
the filtering and amplifying circuit is used for filtering and amplifying the reflected weak frequency shift signal to obtain an amplified pulse signal;
the hysteresis comparison circuit is used for shaping the amplified pulse signal, removing burrs in the signal and improving the anti-interference capability of the circuit;
the power supply circuit is used for supplying power to the filtering amplification circuit and the hysteresis comparison circuit.
Fig. 7 is a circuit diagram of a filtering processing circuit according to an embodiment of the present invention, as shown in fig. 7, which removes high frequency and very low frequency interference by a low frequency band pass filter. Firstly, removing low-frequency clutter signals from the signals through an RC filter circuit; the signal then enters an operational amplifier feedback circuit consisting of an LM258 operational amplifier and a resistor capacitor. R7 and R8 form a voltage division circuit and provide reference voltage of the non-inverting terminal of the amplifier; the operational amplifier plays the role of waveform amplification and waveform modulation and outputs an induction signal at an output end.
Fig. 8 is a circuit diagram of the hysteresis comparison circuit in the embodiment of the present invention, and as shown in fig. 8, the sensing signal at the output end enters the hysteresis comparison circuit, so as to eliminate the interference signal with weak amplitude, and only convert the detection frequency shift signal with certain intensity into the equal pulse signal with different widths.
Fig. 9 is a circuit diagram of a power circuit in an embodiment of the invention, as shown in fig. 9, a 7805 chip is used to generate a +5V power supply to supply power to a single chip; the WAR1212CS module is adopted to generate a 12V power supply to provide positive and negative power supplies for the operational amplifier chip LM 258A.
On the basis of the foregoing embodiment, preferably, the determining whether each nozzle is blocked according to the actual pressure and the current frequency value obtained by each microwave sensing module specifically includes:
for any sprayer, if the actual pressure is between a first preset pressure threshold value and a second preset pressure threshold value, and the pressure valve value is set to ensure that the spraying pressure is at a normal level, judging the current frequency value, and if the frequency of the target microwave signal is judged to be larger than a first preset frequency threshold value, judging that any sprayer is normally sprayed and is not blocked;
if the current frequency is judged to be lower than a second preset frequency threshold value, judging that any one spray head is blocked;
and if the current frequency is judged to be located between the first preset frequency threshold and the second preset frequency threshold, judging that any spray head is in a semi-blocked state.
If the actual pressure of the spray rod is between the first preset pressure threshold value and the second preset pressure threshold value, the pressure condition of the spray rod is normal, and the target microwave signal of the spray head can be detected. For any one of the nozzles, if the frequency of the target microwave signal corresponding to the nozzle exceeds the first preset frequency threshold, the state of the nozzle is considered to be normal. If the frequency of the target microwave signal is lower than the second preset frequency threshold, it is determined that the status of the spray head is blocked, specifically, the value of the second preset frequency threshold in the embodiment of the present invention is 120HZ, which may be specifically adjusted according to actual conditions, and when the frequency of the target microwave signal is lower than the blocking threshold 120HZ, it is determined that the spray head is blocked.
The semi-occluded state is considered to be present when the frequency of the target microwave signal is between a first preset frequency threshold and a second frequency threshold, i.e. between 120HZ and 1000 HZ.
On the basis of the above embodiment, it is preferable to further include: and the human-computer interaction interface is used for displaying the blocking state of each spray head, the first preset pressure threshold value and the second preset pressure threshold value.
After the state of each spray head is collected, the state is sent to a human-computer interaction interface to be displayed, an alarm is sent to the blocked spray head, the human-computer interaction interface is further used for displaying a first preset pressure threshold value and a second preset pressure threshold value, and other spraying parameters can also be displayed.
In conclusion, the ECU monitors all the spray heads on line in an active polling mode.
The ECU collects the pressure value in the pesticide spraying pipeline in real time, if the pressure value is normal, the control module circularly inquires all nodes and sends a node inquiry command every 50 MS; and waiting for the information returned by the receiving node after sending.
Setting overtime time, and if the node information is not received within the set time, considering that the node is in fault or power off; the control module will send the query command for the next node.
Spray plugging is to be eliminated if the pressure is low or no pressure, which can also cause changes in the spray pattern.
If the node information is received within the set time; judging whether the node responses correctly or not according to the CAN frame header information; and if the correct node is determined to send the information, extracting the data information in the CAN message.
The control module is combined with the induction nodes to send data and pressure values, judges whether each spray head is blocked or not, and reflects blocking information.
And under the condition of normal spraying pressure, calculating the frequency and then judging the threshold value. When the output frequency exceeds 1000HZ, the output frequency is considered to be normal; when below occlusion threshold 120HZ, an occlusion is considered; when the temperature is between 120HZ and 1000HZ, the state is considered to be in a semi-blocking state; after collection, the data is sent to a human-machine interface and an alarm is given to the blocked spray head.
In summary, the embodiment of the invention provides a spray head blockage detection technology based on microwave spray shape detection for the first time in China, the technology mainly adopts microwave as a non-contact sensing medium, and the blockage condition of the spray head is detected by sensing the change of the spray shape through the emitted microwave. The technology is essentially based on the microwave Doppler principle, spray mist shape variation is caused by nozzle blockage, the particle size of mist drops and the relative spray speed are changed, when microwaves pass through the spray mist drops, part of microwaves are reflected, and the relative movement of the mist drops causes the waveform of the reflected microwaves to be changed. The change of the fog drop shape causes the change of the amplitude and the frequency of the output waveform of the microwave induction circuit, and the frequency change is particularly obvious.
In addition, a set of spray head blockage detection device is formed, and the blockage state of each spray head can be detected in real time; the microwave induction module in the device is designed based on a single chip microcomputer integrated with a CAN chip, and CAN form an independent CAN detection node, thereby facilitating networking and expansion and greatly reducing the cost.
This device need not to change the tradition and spouts the major structure of medicine machine, only needs to install shower nozzle response module additional on spouting the medicine machine, with module through CAN bus connection to control module or human-computer interface, just CAN realize the detection to spouting all shower nozzles jam situations of medicine shower nozzle, and then realizes that the operation shower nozzle of giving medicine to poor free of charge blocks up alarm management, not to specific spraying system, and the adaptability is wider.
The method for detecting the blockage state of the monitoring system replaces a method for detecting by adopting a flow sensor, so that the blockage state is detected more visually, and the cost of the whole monitoring system is greatly reduced.
Fig. 10 is a flowchart of a method for detecting nozzle clogging according to an embodiment of the present invention, and as shown in fig. 10, the method includes:
s1, detecting the pipeline spraying pressure in real time by the ECU through a pressure sensor;
s2, each microwave induction module corresponds to a spray head, for any microwave induction module, microwaves are emitted through any microwave induction module, the microwaves reflected by fog drops are received, microwave frequency shift signals are obtained according to the reflected microwaves, and then the frequency shift signals are converted into pulse signals which are identified by a single chip microcomputer through an operational amplifier and a hysteresis circuit; the singlechip reads the frequency of the pulse signal and stores the frequency into a register; when an inquiry command of the ECU is received, the frequency value is sent out through a CAN bus, and the fog drops are sprayed out by a spray head corresponding to any microwave induction module;
and S3, judging whether any spray head is blocked or not through the ECU according to the actual pressure and the target microwave signals acquired by each microwave induction module, and collecting all spray head blocking information by the ECU to send to a human-computer interface.
And S4, displaying all the nozzle blockage information by the human-computer interface, and giving out alarm information to the blocked nozzles to prompt operators.
The method embodiment provided in the embodiments of the present invention is for implementing the embodiments of the apparatuses described above, and for details of the process and the details, reference is made to the embodiments of the apparatuses described above, which are not described herein again.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
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 (8)
1. A nozzle clogging detection device, comprising: the system comprises a plurality of microwave induction modules, a pressure sensor and an ECU (electronic control unit), wherein the ECU represents a vehicle-mounted pesticide spraying controller, a pesticide spraying pipeline is connected with a plurality of spray heads, and water flows into each spray head from the pesticide spraying pipeline;
the pressure sensor is used for detecting the actual pressure in the pesticide spraying pipeline;
each microwave induction module corresponds to one spray head, for any microwave induction module, any microwave induction module is used for emitting microwaves and receiving the microwaves reflected by fogdrops, microwave frequency shift signals are obtained according to the reflected microwaves and are processed by an operational amplifier circuit to be converted into pulse signals, a single chip microcomputer in any microwave induction module reads the frequency value of the pulse signals and stores the current frequency value in a register, and the fogdrops are sprayed out by the spray heads corresponding to any microwave induction module;
the ECU actively sends a query command, and any one microwave induction module sends the current frequency value to the ECU;
and the ECU is used for actively polling the current frequency values of all the microwave induction modules and judging whether each spray head is blocked or not according to the actual pressure and the current frequency value obtained by each microwave induction module.
2. The apparatus according to claim 1, wherein any one of the microwave sensing modules comprises a microwave sensing antenna, a microwave sensing processing circuit, a microcontroller and a CAN interface transceiver circuit, the microcontroller is a single chip, wherein:
the microwave induction processing circuit is used for generating microwaves, transmitting the generated microwaves out through the microwave induction antenna, receiving the transmitted microwaves by the microwave induction antenna after the transmitted microwaves are reflected by the fog drops, and filtering and amplifying the received microwaves to obtain the microwave frequency shift signals; the microwave frequency shift signal is converted into a pulse signal through an operational amplifier circuit;
the microcontroller is used for acquiring the frequency value of the pulse signal and sending the target frequency value to the ECU when the ECU requests for inquiry;
the CAN interface transceiver circuit is used for connecting the singlechip and the CAN bus, so that the singlechip receives data from the CAN bus and simultaneously sends data to the CAN bus.
3. The showerhead clogging detection apparatus according to claim 2, wherein said microwave induction processing circuit comprises a microwave generator, a microwave receiver and an operational amplification circuit, wherein:
the microwave generator is used for generating microwaves;
the microwave receiver is used for receiving the microwave reflected by the fogdrops;
the operational amplification circuit amplifies and filters the reflected microwaves and outputs the microwave frequency shift signals, and the microwave frequency shift signals are converted into pulse signals.
4. The apparatus according to claim 1, wherein the determining whether each showerhead is clogged according to the actual pressure and the current frequency value obtained by each microwave sensing module includes:
for any sprayer, if the actual pressure is between a first preset pressure threshold value and a second preset pressure threshold value, and the pressure valve value is set to ensure that the spraying pressure is at a normal level, judging the current frequency value, and if the frequency of the target microwave signal is judged to be larger than a first preset frequency threshold value, judging that any sprayer is normally sprayed and is not blocked;
if the current frequency is judged to be lower than a second preset frequency threshold value, judging that any one spray head is blocked;
and if the current frequency is judged to be located between the first preset frequency threshold and the second preset frequency threshold, judging that any spray head is in a semi-blocked state.
5. The nozzle tip blockage detection apparatus according to claim 1, further comprising: and the human-computer interaction interface is used for displaying the blocking state of each spray head, the first preset pressure threshold value and the second preset pressure threshold value.
6. The apparatus according to claim 3, wherein the operational amplifier circuit comprises a filter amplifier circuit, a hysteresis comparator circuit, and a power supply circuit, wherein:
the filtering and amplifying circuit is used for filtering and amplifying the reflected frequency shift signal to obtain an amplified pulse signal;
the hysteresis comparison circuit is used for shaping the amplified pulse signal, removing burrs in the signal and improving the anti-interference capability of the circuit;
the power supply circuit is used for supplying power to the filtering amplification circuit and the hysteresis comparison circuit.
7. The showerhead clogging detection apparatus of claim 3 wherein said microwave generator comprises a microwave oscillator which emits microwaves at a frequency of 2.4GHz through a microwave triode.
8. A head clogging detecting method based on the head clogging detecting apparatus according to any one of claims 1 to 7, comprising:
detecting the actual pressure in the pesticide spraying pipeline through the pressure sensor, and acquiring pipeline pressure data through A/D conversion by the ECU;
each microwave induction module corresponds to one spray head respectively, for any microwave induction module, microwaves are transmitted through any microwave induction module, the microwaves reflected by fogdrops are received, microwave frequency shift signals are obtained according to the reflected microwaves and are converted into pulse signals, a single chip microcomputer in the induction module reads the frequency values of the pulse signals, when an inquiry command of an ECU is received, the frequency is transmitted to the ECU through a CAN bus, and the fogdrops are sprayed out by the spray heads corresponding to the microwave induction modules;
and judging whether each spray head is blocked or not by the ECU according to the actual pressure and the current frequency value obtained by each microwave induction module.
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| CN202010172038.2A CN111239850A (en) | 2020-03-12 | 2020-03-12 | Device and method for detecting blockage of spray head |
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