CN111279868A - Real-time accurate spraying method for rice - Google Patents
Real-time accurate spraying method for rice Download PDFInfo
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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
- A01C23/047—Spraying of liquid fertilisers
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C21/00—Methods of fertilising, sowing or planting
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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
- A01C23/007—Metering or regulating systems
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Abstract
The invention relates to a real-time accurate spraying method of rice, which is used for a paddy field high-clearance sprayer and adopts a pressure regulating valve to stabilize the pressure of a spraying pipeline and comprises the following steps: a. detecting rice growth information through a sensor and deciding the spraying amount in unit area; b. matching the determined spraying amount per unit area with the speed information to obtain a speed matching spraying amount; c. compensating the speed matching spraying amount through a spray head-control valve spraying model and a spraying pressure error, and then making a decision to obtain an accurate spraying control valve control amount; d. and adjusting the spraying amount of the spray head in real time according to the control amount of the accurate spraying control valve. According to the invention, the rice growth vigor is obtained by sensing the rice canopy spectrum information in real time, the fertilizer amount required by rice growth is obtained, and the fertilizer is accurately sprayed to the corresponding rice leaf surfaces by controlling the spray head, so that a method is provided for accurately spraying a rice liquid fertilizer, the fertilizer waste is reduced, the fertilizer utilization rate is improved, and the method belongs to the field of intelligent agricultural machinery.
Description
Technical Field
The invention relates to the field of intelligent agricultural machinery, in particular to a real-time accurate spraying method for rice.
Background
The variable operation is based on crop yield data, field nutrient difference, diseases, pests, weeds and other information to establish a crop growth model or a prescription chart, and corresponding fertilizers/pesticides are sprayed according to needs, so that the utilization rate of the fertilizers/pesticides is improved, and yield maximization is realized on the premise of reducing the application of the fertilizers/pesticides. At present, a variable fertilization method mainly adopts solid fertilizers, and CN107771487A discloses a control system of a winter wheat variable fertilization machine, wherein a motor drives a grooved wheel to discharge fertilizer according to wheat nutrient demand information acquired by a near-earth spectrum sensor Green Seeker. CN104699010A discloses a GPRS-based variable rate fertilizer applicator control system, which controls grooved wheels to discharge fertilizer according to vehicle speed and GIS decision information. CN103814664A discloses a nitrogen-phosphorus-potassium fertilizer applicator and a method for determining an operation formula for generating nitrogen-phosphorus-potassium fertilizer application amount according to soil nutrients. The variable rate fertilizer applicator, the fertilizer application system and the operation prescription determination method all adopt solid fertilizers.
The variable spraying system is adjusted when spraying is carried out by adjusting the flow according to a prescription chart or the operation speed of the spraying machine. Liquid rice fertilizer, nutrient solution and the like are applied to rice production, but the spraying technology of the liquid rice fertilizer and the nutrient solution is lacked, and a real-time accurate spraying method based on rice growth perception and decision-making when fertilizer is needed is not available, and although some unmanned aerial vehicles can carry out variable pesticide spraying, the accurate spraying of the liquid fertilizer is difficult to realize under the influence of load and the like. Therefore, a paddy rice real-time accurate spraying method matched with a paddy field high-clearance sprayer is needed.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: provides a real-time and accurate spraying method for rice, which adopts liquid fertilizer to carry out accurate variable operation.
In order to achieve the purpose, the invention adopts the following technical scheme:
a real-time accurate spraying method of rice is used for a paddy field high-clearance sprayer, adopts a pressure regulating valve to stabilize the pressure of a spraying pipeline, and comprises the following steps: a. detecting rice growth information through a sensor and deciding the spraying amount in unit area; b. matching the determined spraying amount per unit area with the speed information to obtain a speed matching spraying amount; c. compensating the speed matching spraying amount through a spray head-control valve spraying model and a spraying pressure error, and then making a decision to obtain an accurate spraying control valve control amount; d. and adjusting the spraying amount of the spray head in real time according to the control amount of the accurate spraying control valve.
Preferably, in the step a, a spectrum sensor is adopted to detect sufficient indexes of nitrogen in the rice canopy in front of the spraying machine to represent rice growth information.
Preferably, in the step a, the spraying amount per unit area is calculated by a rice growth fertilizer requirement model and rice growth information; the rice growth fertilizer requirement model establishes a correlation among the unit area spraying amount, the full index value of the nitrogen element of the spectrum sensor and the nitrogen content of rice plants in each growth period according to rice varieties; the method for calculating the spraying amount in unit area comprises the following steps: and (3) carrying out curve fitting on the spectrum sensor nitrogen sufficient index value x and the unit area spraying amount y data of the rice at the tillering stage and the heading stage to obtain a regression fitting equation y ═ f (x), wherein the unit area spraying amount at each stage is applied according to the y ═ f (x).
Preferably, the calculated spraying amount per unit area and the global satellite positioning coordinates corresponding to the rice area are subjected to position information marking.
Preferably, a pressure sensor is adopted to detect the pressure of the spraying pipeline; and the pressure regulating valve is adjusted according to the pressure difference between the real-time detected pressure and the set working pressure, so that the stable pressure of the spraying pipeline is ensured.
Preferably, in the step b, the speed matching spraying amount is matched by the determined spraying amount per unit area through the operating speed of the spraying machine, and the calculation method comprises the following steps:
wherein z is the spraying amount of a single spray head in unit time matched with the speed, y is the spraying amount in unit area, v is the operation speed, a is the spraying amplitude of the spray head, and b is the mixing proportion of the fertilizer and the water; the velocity information is provided by a global satellite positioning system.
Preferably, in the step c, the spray head-control valve spraying model is established by a correlation relation between the spray head spraying amount and the duty ratio of the input control valve and the pressure of the spraying pipeline; the spraying pressure error reduces the influence of the pressure change of the pipeline on the spraying amount by the pressure difference between the fertilizer liquid pressure of the spraying pipeline and the set pressure.
Preferably, in the step d, the control amount of the precise spraying control valve is acted on the spray head-control valve, so that the fertilizer sprayed by the spray head is the final decision spraying amount of the system.
Preferably, the spraying width of the plurality of spray heads covers the detection width of the sensor in the step a.
Preferably, the accurate spraying control valve is applied to each spray head-control valve in a wrong control amount, so that the situation that a plurality of control valves are opened and closed simultaneously to cause vibration of a spray rod for mounting the control valves and the spray heads is avoided.
The invention provides a real-time accurate spraying method for rice, which detects sufficient index data of nitrogen in a rice canopy in front of a spraying machine through a sensor and decides the spraying amount in unit area according to an established rice growth fertilizer demand model; detecting the pressure of a spraying pipeline by adopting a sensor and adjusting the stable spraying pressure by a pressure adjusting valve; and (3) obtaining the speed matching spraying amount by the decided spraying amount per unit area and speed information, and after the speed matching spraying amount is compensated by a spray head-control valve spraying model and a spraying pressure error, deciding to obtain an accurate spraying control valve control amount so as to adjust the spraying amount of the spray head in real time.
In summary, the present invention has the following advantages:
(1) according to the invention, the rice growth vigor is obtained by sensing the rice canopy spectrum information in real time, the fertilizer amount required by rice growth is obtained, and the fertilizer is accurately sprayed to the corresponding rice leaf surfaces by controlling the spray head, so that a method is provided for accurately spraying the rice liquid fertilizer, the fertilizer waste is reduced, and the fertilizer utilization rate is improved.
(2) The real-time accurate spraying method is suitable for a paddy field high-ground-clearance spraying machine, solves the problem of accurate spraying of the existing rice liquid fertilizer, and meets the requirement of rice topdressing.
(3) By the pressure stability adjusting method, the fertilizer liquid pressure change of a spraying pipeline caused by the walking power change of paddy field machinery in a paddy field is reduced, the spraying amount is further compensated by the pressure change of the spray head, and the spraying precision is improved.
(4) A plurality of shower nozzles spray width cover spectral sensor and detect the width, and control valve control volume is applyed on each shower nozzle control valve in the wrong time, avoids a plurality of ooff valves simultaneous switch to arouse spray lance vibration, has improved spraying stability.
Drawings
FIG. 1 is a flow chart of a real-time accurate spraying method for rice.
FIG. 2 is a schematic diagram of a real-time accurate spraying structure of rice.
Fig. 3 is a layout of experimental group A, B, C.
FIG. 4 is a graph showing the nitrogen abundance index of rice in the first fertilization test group A, B, C.
FIG. 5 is a graph showing the sufficient index of nitrogen in rice in the second fertilization test group A, B, C.
FIG. 6 is a graph showing the sufficient index of nitrogen in rice in the third fertilization test group A, B, C.
FIG. 7 is a graph of the rice nitrogen abundance index of the experimental group A, B, C after the third fertilization.
Wherein, 1 is a liquid fertilizer box, 2 is a water pump, 3 is a pressure regulating valve, 4 is a pressure sensor, 5.1-5.n is a control valve, 6.1-6.n is a spray head, 7 is a satellite positioning signal receiver, 8 is a controller, and 9 is a spectrum sensor.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments.
As shown in figure 1, a real-time accurate spraying method for rice detects rice growth information through a sensor and determines the spraying amount of liquid fertilizer in unit area; stabilizing the pressure of the spraying pipeline by adopting a pressure regulating valve; and matching the determined unit area liquid fertilizer spraying amount with the speed information to obtain a speed matching spraying amount, compensating the speed matching spraying amount through a spray head-control valve spraying model and a spraying pressure error, and then determining to obtain an accurate spraying control valve control amount so as to adjust the spray head spraying amount in real time.
As shown in fig. 2, a real-time accurate spraying structure for rice includes: liquid fertilizer box, water pump, pressure regulating valves, pressure sensor, satellite positioning signal receiver, spectrum sensor, controller, control valve and shower nozzle. Wherein a paddy field high-clearance sprayer (a high-clearance spray rod sprayer) is used as an operation carrier and a power driving device of the real-time accurate spraying method for the rice, a liquid fertilizer box and a water pump are provided by the sprayer, and the spraying pressure is 0-3 Mpa; the pressure regulating valve is used for stabilizing the pressure of the spraying pipeline; the pressure sensor is used for detecting the pressure of the spraying pipeline; the spectral sensor is used for detecting the rice growth information; the satellite positioning signal receiver is used for positioning the operation area and providing speed information; the controller can be used for receiving the information of the spectrum sensor, the information of the pressure sensor and the information of the satellite positioning signal receiver, setting the spraying pressure, adjusting the pressure regulating valve according to the pressure of the spraying pipeline detected in real time and the preset spraying pressure difference, and outputting a PWM signal to control the spray head-control valve to carry out spraying operation. The specific connection mode is as follows: the liquid fertilizer box, the water pump and the pressure regulating valve are sequentially connected through a pipeline, the pipeline behind the pressure regulating valve is divided into n paths by one path, the n paths of spray heads and control valve pipelines are mutually connected in parallel, and each path is provided with a control valve and a spray head; a pipeline behind the pressure regulating valve is provided with a pressure sensor, and the pressure sensor and the pressure regulating valve are both connected with the controller; the satellite positioning signal receiver and the spectrum sensor are both connected with the controller.
A real-time accurate spraying method for rice adopts a spectrum sensor to detect sufficient index of nitrogen in a rice canopy in front of a paddy field high-clearance sprayer to represent rice growth information. The spectral sensor nitrogen sufficiency index value S1 is calculated by the reflectivity of a spectrum band 808nm and the reflectivity of a spectrum band 735 nm:
wherein, R808 is the reflectivity of the near infrared light 808nm spectral band, and R735 is the reflectivity of the red light 735nm band.
The unit area liquid fertilizer spraying amount is calculated by a rice growth fertilizer requirement model and rice growth information. The rice growth fertilizer requirement model takes rice variety ivory occupation as a research object, cell experiments with different fertilizer application gradients are designed, base fertilizer, tillering fertilizer and spike fertilizer are applied according to a certain proportion, and the model is established by the correlation between the fertilizer application amount per unit area in each period and the nitrogen sufficient index value of the spectral sensor and the nitrogen content of rice plants.
The method for calculating the spraying amount of the liquid fertilizer in unit area comprises the following steps: and (3) carrying out curve fitting on the data of the full index value (x) of the nitrogen of the spectrum sensor of the rice at the tillering stage and the heading stage and the data of the spraying amount (y) of the liquid fertilizer in unit area to obtain a regression fitting equation (y) ═ f (x), wherein the spraying amount of the liquid fertilizer in unit area in each stage is applied according to the data (y) ═ f (x).
And marking the position information of the calculated liquid fertilizer spraying amount in unit area and the global satellite positioning coordinates corresponding to the rice area. And detecting the spraying pressure of the spraying pipeline by adopting a pressure sensor. And the pressure regulating valve is adjusted according to the pressure difference between the real-time detected pressure and the set working pressure, so that the stable pressure of the spraying pipeline is ensured.
The speed information is provided by a global satellite positioning system, the speed matching fertilizing amount is matched by the determined unit area liquid fertilizer spraying amount through the operation speed of the spraying machine, and the calculation method comprises the following steps:
wherein z is the spraying amount of a single spray head in unit time matched with the speed, y is the spraying amount of the liquid fertilizer in unit area, v is the operation speed, a is the spraying amplitude of the spray head, and b is the mixing proportion of the fertilizer and the water.
The spray head-control valve spraying model is established by the correlation relation between the spray head spraying amount, the duty ratio of the input control valve and the pressure of a spraying pipeline. Simulating liquid fertilizer by water, fixing the frequency of 30Hz, setting the spraying pressure to be 1 kg, 1.2 kg, 2.5 kg, 3.8 kg and 4 kg respectively, the duty ratio to be 100%, 94.9%, 60%, 25.1% and 20% respectively in sequence, counting the time for 30s, counting the spraying amount of 10 nozzles and control valves by 3 times of repeated tests, and obtaining a relation model of the spraying amount of each nozzle and the pressure and the duty ratio of a spraying pipeline by adopting a binary quadratic regression orthogonal method:
y1＝1.1898c+0.0166d+4.047
y2＝1.1573c+0.0169d+3.693
y3＝1.29c-0.006d+4.764
y4＝1.0474c+0.012d+4.0544
y5＝1.064c+0.02d+5.5567
y6＝0.34c2-0.6528c+0.019d+7.715
y7＝1.07c+0.0115d+5.731
y8＝0.995c+0.016d+5.387
y9＝0.88c+0.0172d+5.518
y10＝0.945c+0.0174d+5.247
wherein y1-y10 is the spraying amount corresponding to 10 spray heads-control valves, c is the spraying pipeline pressure, and d is the PWM duty ratio.
The spraying pressure error is the influence of the pressure change of the pipeline on the spraying amount reduced by the pressure difference between the fertilizer liquid pressure of the spraying pipeline and the set pressure.
The control quantity of the accurate spraying control valve acts on the spray head-control valve, and the fertilizer quantity sprayed by the spray head is the final decision spraying quantity of the system.
The spraying breadth formed by a plurality of spray heads covers the detection width of the spectrum sensor.
The control quantity of the control valves is applied to each spray head control valve in a wrong time, so that the spray rod vibration caused by simultaneous opening and closing of a plurality of switching valves is avoided.
In order to verify the fertilization effect of the real-time accurate fertilization method for the rice, a field test is carried out, 19.6 kg/mu of nitrogen fertilizer (urea) is fertilized by a base fertilizer of an experimental group A, 9.8 kg/mu of nitrogen fertilizer (urea) is fertilized by a base fertilizer of an experimental group B, 0 kg/mu of urea is fertilized by a base fertilizer of an experimental group C, liquid fertilizer is sprayed for three times on the rice in the heading stage of an experimental area, as shown in figures 3-7, a full index diagram of A, B, C three groups of nitrogen elements is shown, and the maximum deviation of the full index of nitrogen elements and the standard deviation of the full index of nitrogen elements after the liquid fertilizer is sprayed for three times are shown in the following table:
after the liquid fertilizer is sprayed for three times, the maximum deviation of the sufficient index of the nitrogen is reduced from 4.564 to 1.517, and the standard deviation is reduced from 2.14 to 1.04, which shows that the growth difference of the rice is reduced by variable spraying fertilizer according to the requirement.
The results of the measurements of the rice yield and its yield-constituting factors of the experimental group A, B, C are shown in the following table:
the test result shows that: compared with the three experimental groups, the difference of the effective spike number, the empty grain number, the solid grain number, the total grain number, the thousand grain weight, the seed setting rate, the actual yield and the theoretical yield of each hole is small.
However, the existing method for uniformly applying fertilizer in the whole field is difficult to apply according to the fertilizer requirement of rice, and the growth difference of rice is increased, so that the rice quality is uneven.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A real-time accurate spraying method of rice is used for a paddy field high-clearance sprayer, and is characterized in that: the method adopts a pressure regulating valve to stabilize the pressure of a spraying pipeline and comprises the following steps: a. detecting rice growth information through a sensor and deciding the spraying amount in unit area; b. matching the determined spraying amount per unit area with the speed information to obtain a speed matching spraying amount; c. compensating the speed matching spraying amount through a spray head-control valve spraying model and a spraying pressure error, and then making a decision to obtain an accurate spraying control valve control amount; d. and adjusting the spraying amount of the spray head in real time according to the control amount of the accurate spraying control valve.
2. The real-time accurate spraying method for rice according to claim 1, characterized in that: in the step a, a spectrum sensor is adopted to detect the sufficient index of rice canopy nitrogen in front of the spraying machine to represent the rice growth information.
3. The real-time accurate spraying method for rice according to claim 2, characterized in that: in the step a, the spraying amount per unit area is calculated by a rice growth fertilizer requirement model and rice growth information; the rice growth fertilizer requirement model establishes a correlation among the unit area spraying amount, the full index value of the nitrogen element of the spectrum sensor and the nitrogen content of rice plants in each growth period according to rice varieties; the method for calculating the spraying amount in unit area comprises the following steps: and (3) carrying out curve fitting on the spectrum sensor nitrogen sufficient index value x and the unit area spraying amount y data of the rice at the tillering stage and the heading stage to obtain a regression fitting equation y ═ f (x), wherein the unit area spraying amount at each stage is applied according to the y ═ f (x).
4. The real-time accurate spraying method for rice according to claim 2, characterized in that: and marking the position information by the calculated spraying amount per unit area and the global satellite positioning coordinates corresponding to the rice area.
5. The real-time accurate spraying method for rice according to claim 1, characterized in that: detecting the pressure of a spraying pipeline by using a pressure sensor; and the pressure regulating valve is adjusted according to the pressure difference between the real-time detected pressure and the set working pressure, so that the stable pressure of the spraying pipeline is ensured.
6. The real-time accurate spraying method for rice according to claim 1, characterized in that: in the step b, the speed matching spraying amount is matched according to the determined spraying amount per unit area through the operating speed of the spraying machine, and the calculation method comprises the following steps:
wherein z is the spraying amount of a single spray head in unit time matched with the speed, y is the spraying amount in unit area, v is the operation speed, a is the spraying amplitude of the spray head, and b is the mixing proportion of the fertilizer and the water; the velocity information is provided by a global satellite positioning system.
7. The real-time accurate spraying method for rice according to claim 1, characterized in that: in the step c, a spray nozzle-control valve spraying model is established by a correlation relation between the spray amount of the spray nozzle and the duty ratio of the input control valve and the pressure of a spraying pipeline; the spraying pressure error reduces the influence of the pressure change of the pipeline on the spraying amount by the pressure difference between the fertilizer liquid pressure of the spraying pipeline and the set pressure.
8. The real-time accurate spraying method for rice according to claim 1, characterized in that: in the step d, the control quantity of the accurate spraying control valve is acted on the spray head-control valve, and the fertilizer quantity sprayed by the spray head is the final decision spraying quantity of the system.
9. The real-time accurate spraying method for rice according to claim 8, characterized in that: and (c) covering the detection width of the sensor in the step (a) by the spraying breadth formed by the plurality of spray heads.
10. The real-time accurate spraying method for rice according to claim 8, characterized in that: the accurate control quantity of the spraying control valve is applied to each spray head-control valve in a staggered manner, so that the vibration of a spray rod for mounting the control valve and the spray heads caused by simultaneous opening and closing of a plurality of control valves is avoided.
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