CN112241845B - Intelligent variable spray rod spraying operation quality evaluation system and method thereof - Google Patents

Intelligent variable spray rod spraying operation quality evaluation system and method thereof Download PDF

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CN112241845B
CN112241845B CN202011136150.7A CN202011136150A CN112241845B CN 112241845 B CN112241845 B CN 112241845B CN 202011136150 A CN202011136150 A CN 202011136150A CN 112241845 B CN112241845 B CN 112241845B
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陈彬
刘燕
陈小兵
于庆旭
张井超
谭本垠
裴亮
冯耀宁
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Nanjing Research Institute for Agricultural Mechanization Ministry of Agriculture
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Abstract

The invention discloses an intelligent variable spray rod spraying operation quality evaluation system and a method thereof.A positioning speed measurement module and a spraying pipeline flow pressure monitoring module are fixed on a tested spray rod spraying machine and used for acquiring speed, flow and pressure information of the tested spray rod spraying machine in real time and transmitting the information to a main processor; the main processor is connected with the ground monitoring equipment through the wireless data transmission module and is used for receiving a control command sent by the ground monitoring equipment and uploading speed, flow and pressure information of the detected boom sprayer; the ground monitoring equipment is used for setting a control instruction and generating theoretical spray amount corresponding to the control instruction, the ground monitoring equipment carries out accumulative calculation according to the received speed, flow and pressure information of the detected boom sprayer to obtain actual spray amount, and the actual spray amount is compared with the theoretical spray amount to obtain spray amount deviation. The invention can monitor the accuracy, stability and response characteristic of the variable sprayer along with the spraying flow rate in real time.

Description

Intelligent variable spray rod spraying operation quality evaluation system and method thereof
Technical Field
The invention relates to the field of flow regulation and testing of a spraying machine, in particular to an intelligent variable spray rod spraying operation quality evaluation system and method.
Background
The variable spraying system has obvious effects of reducing the using amount of pesticides and improving the spraying uniformity of crops. The boom sprayer is one of the main products of the current plant protection machinery in China, the intelligent variable control part is a key part for realizing accurate pesticide application, and a plurality of boom sprayers in the market are all provided with the part and are declared to be good tools for realizing 'zero growth of pesticide'. But the quality of the intelligent variable control unit is not uniform and some are not variable at all. China and even the world lack testing means and judgment standards for variable control parts. The intelligent variable control technology is an advanced technology in the plant protection machinery industry, and production enterprises, farmers and agricultural machinery management departments have a great call for bringing the intelligent variable spray control system into agricultural machinery subsidies, so that variable spray test equipment and methods need to be researched as soon as possible, quality evaluation technical specifications need to be formulated, and scientific bases are provided for technical popularization of the intelligent variable spray system and formulation of agricultural machinery subsidy policies.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide an intelligent variable spray rod spraying operation quality evaluation system and method aiming at the defects of the prior art, which can monitor the accuracy, stability and response characteristics of the variable spraying machine along with the speed spraying flow in real time, solve the problems of complexity and inaccuracy of the previous test method and meet the actual use requirements.
The technical scheme is as follows: the invention relates to an intelligent variable spray rod spraying operation quality evaluation system which comprises a main processing module, a positioning speed measuring module, a wireless data transmission module, a spraying pipeline flow pressure monitoring module and ground monitoring equipment; the positioning speed measuring module and the spraying pipeline flow pressure monitoring module are fixed on the detected boom sprayer and used for acquiring speed, flow and pressure information of the detected boom sprayer in real time and transmitting the information to the main processor; the main processor is connected with the ground monitoring equipment through a wireless data transmission module and is used for receiving a control command sent by the ground monitoring equipment and transmitting speed, flow and pressure information of the detected boom sprayer to the ground monitoring equipment; the ground monitoring equipment is used for setting a control instruction for controlling the boom sprayer to carry out spraying operation and generating theoretical spraying quantity corresponding to the control instruction, the ground monitoring equipment carries out accumulation calculation according to the received speed, flow and pressure information of the detected boom sprayer to obtain actual spraying quantity, and the actual spraying quantity is compared with the theoretical spraying quantity to obtain application quantity deviation.
Further, the positioning speed measurement module is a network RTK or a base station RTK.
Further, the positioning and speed measuring module comprises a GNSS receiver, a 4G antenna or a mobile base station; the GNSS receiver adopts a multi-satellite multi-frequency antenna and can simultaneously receive three-satellite seven-frequency-band signals of Beidou, GPS and GLONASS; and the 4G antenna adopts a GPRS 4G module antenna to receive CORS station differential data in real time.
Furthermore, the wireless data transmission module is one or more of a radio station, WIFI and Bluetooth and comprises a data sending end and a data receiving end, the data sending end is connected with the main processing unit, and the data receiving end is connected with the ground monitoring equipment.
Furthermore, the spraying pipeline flow pressure monitoring module comprises a flow sensor and a pressure sensor, the flow sensor and the pressure sensor are connected with the detected boom sprayer through a high-pressure water pipe and a quick connector, and the straight pipe sections of a water inlet and a water outlet of the flow sensor are 10D and 5D.
The method for evaluating the quality of the boom sprayer by adopting the intelligent variable boom spraying operation quality evaluation system comprises the following steps:
s1: installing a main processor, a positioning speed measuring module, a spraying pipeline flow pressure monitoring module, a wireless data transmission module and ground monitoring equipment at corresponding positions;
s2: setting the pesticide application amount and spray amplitude parameters on a controller panel of the detected boom sprayer, and setting the same pesticide application amount and spray amplitude parameters by ground monitoring equipment;
s3: the positioning speed measuring module and the spraying pipeline flow pressure monitoring module acquire speed, flow and pressure information in real time and transmit the data to the main processor in real time;
s4: the main processor transmits data to the ground monitoring equipment in real time through the wireless data transmission module, and the ground monitoring equipment displays related data in real time;
s5: the ground monitoring equipment calculates the operation area according to the track and the spray amplitude of the detected boom sprayer, obtains theoretical spraying amount according to the operation area and the set application amount, and calculates the application amount deviation by combining the accumulated flow value of the spray pipeline flow pressure monitoring module, wherein the application amount deviation calculation formula is as follows:
M1＝Q×L×S÷10000
Figure BDA0002736722820000021
M1the theoretical spray amount, Q the set application amount, L the spray amplitude, S the running distance, M2Epsilon is the applied dose deviation for the actual spray dose.
Further, according to the speed and flow curve, obtaining the response characteristic of flow adjusted along with the speed; the flow rate regulation response characteristic comprises a hysteresis characteristic and a regulation characteristic; defining the mean value of the initial velocity plateau as v0The average value of the target speed stable section is v1The difference value of the two is delta v; the average value of the initial flow stabilization segment is q0The average value of the target flow stabilization segment is q1The difference value of the two is delta q; the hysteresis characteristic is a start-up hysteresis time tz1And a lag time t is reachedz2The regulation characteristic is the difference between the speed regulation time and the flow regulation time.
Further, the start-up lag time is a time between 10% Δ v to 10% Δ q, the arrival lag time is a time between 90% Δ v to 90% Δ q, the speed adjustment time is a time between 10% Δ v to 90% Δ v, and the flow rate adjustment time is a time between 10% Δ q to 90% Δ q.
Has the advantages that: compared with the prior art, the invention has the advantages that: the method comprises the steps of obtaining the advancing speed of the boom sprayer through a network RTK technology (Real-time kinematic) and a radar; monitoring the flow and pressure change of a pipeline of the boom sprayer by adopting a high-precision flow sensor and a pressure sensor; the transmission of flow, pressure and speed data is completed through a CAN bus; the ground monitoring equipment sets a control instruction for controlling the boom sprayer to carry out spraying operation and calculates theoretical spraying amount, meanwhile, accumulation calculation is carried out according to received speed, flow and pressure information of the detected boom sprayer to obtain actual spraying amount, the actual spraying amount is compared with the theoretical spraying amount to obtain application amount deviation, and according to a speed and flow curve, accuracy, stability and response characteristics of flow changing along with speed are obtained.
Drawings
FIG. 1 is a schematic diagram of the components of the system for evaluating the working quality of the intelligent variable boom sprayer;
FIG. 2 is a block diagram of the main processor of the evaluation system for the work quality of the intelligent variable boom sprayer;
fig. 3 is a schematic flow chart of the method for evaluating the operation quality of the intelligent variable boom sprayer in embodiment 1 of the invention;
fig. 4 is a schematic analysis diagram of the flow speed-dependent control response characteristic of the intelligent variable boom sprayer in embodiment 1 of the invention;
fig. 5 is a flowchart of an internal program of a processor for implementing an evaluation function of the intelligent variable boom sprayer operation quality evaluation system in embodiment 1 of the present invention.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
Example 1: the intelligent variable spray rod spraying operation quality evaluation system shown in fig. 1 comprises a main processor, a positioning speed measuring module, a spraying pipeline flow pressure monitoring module, a wireless data transmission module and ground monitoring equipment.
The positioning speed measuring module is connected with the main processor and is used for measuring parameters such as real-time advancing speed of the machine tool, operation area and the like; the method is one of network RTK or base station RTK, and comprises a GNSS receiver, a 4G antenna or a mobile base station; the GNSS receiver adopts a multi-satellite multi-frequency antenna and simultaneously receives three-satellite seven-frequency-band signals of Beidou, GPS and GLONASS; the 4G antenna adopts a GPRS 4G module antenna to receive CORS station differential data in real time; the speed measuring module can also be one or more of a radar, an angle encoder and a Hall sensor; and communicating with the main processor through a CAN bus.
The spraying pipeline flow pressure monitoring module comprises a terminal processor, a flow sensor and a pressure transmitter, the flow sensor and the pressure transmitter are connected and communicated with a liquid spraying pipeline of the boom sprayer through a high-pressure water pipe and a quick connector, and the straight pipe sections of a water inlet and a water outlet of the flow sensor are 10D and 5D; the terminal processor is responsible for collecting flow pressure information and transmitting the flow pressure information to the main processor through the CAN bus;
the data transmission module is in a wireless data transmission mode and comprises a data sending end and a data receiving end; can be one or more of a radio station, WIFI, Bluetooth and the like.
As shown in fig. 2, the main processor includes a central processing unit, various modules (a voltage stabilizing and reducing module, a 4G module, and an RTK module), an antenna interface, and a data communication interface; used for collecting information and communicating with ground monitoring equipment in real time through a wireless data transmission module,
as shown in fig. 3-5, the evaluation function of the intelligent variable boom sprayer operation quality evaluation system is realized, and the evaluation method comprises the following steps:
step 1, installing a main processor, a positioning speed measuring module, a spraying pipeline flow pressure monitoring module, a data transmission module and ground monitoring equipment at corresponding positions;
step 2, inputting the same parameters of the application rate, the spraying amplitude and the like into a controller panel of the machine to be tested and ground monitoring software of an evaluation system;
step 3, the positioning speed measuring module, the flow sensor and the pressure transmitter acquire information such as speed, flow and pressure in real time, and transmit data to the main processor in real time through the communication circuit;
step 4, the main processor transmits the data to the ground monitoring equipment in real time through the wireless data transmission module, and the ground monitoring equipment displays the related data in real time through a display screen;
step 5, the ground monitoring equipment calculates the operation area according to the track of the machine tool and the spray amplitude, obtains the theoretical spraying amount according to the operation area and the set application amount, and obtains the application amount deviation by combining the calculation of the accumulated flow value of the flow sensor; and meanwhile, according to the speed and flow curve, the flow speed-dependent regulation response characteristic is obtained.
And 5, evaluating the operation quality of the intelligent variable boom sprayer according to the step 5, wherein the evaluation comprises two parts of application quantity deviation and flow speed-dependent regulation response characteristics. The application amount deviation calculation formula is shown as follows, M1Theoretical spray amount, Q set spray amount, L spray amplitude, S driving distance, M2Epsilon is the applied dose deviation for the actual spray dose. For example, a tool that sets a drug delivery rate of 150L/hm2The spraying amplitude is 10m, and the distance traveled in the test process is 100m, so that the theoretical spraying amount can be calculated to be 15L; when the actual spray amount was 14L by the flow meter, the spray amount deviation was calculated to be 6.7%.
M1＝Q×L×S÷10000
Figure BDA0002736722820000051
The flow speed-dependent regulation response characteristic comprises a hysteresis characteristic and a regulation characteristic. Defining the mean value of the initial velocity plateau as v0The average value of the target speed stable section is v1The difference value of the two is delta v; the average value of the initial flow stabilization segment is q0The average value of the target flow stabilization segment is q1The difference between the two is Δ q. The lag time between 10% Δ v and 10% Δ q is tz1The lag time between 90% Δ v and 90% Δ q is tz2(ii) a The hysteresis characteristic is the average value t of the twoz. The speed regulation time between 10% Δ v and 90% Δ v is tsThe flow regulation time between 10% Δ q and 90% Δ q is tqSaid regulation characteristic εtIs defined as tqAnd tsThe difference of (a).
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (7)

1. The utility model provides an intelligence variable spray lance spraying operation quality evaluation system which characterized in that: the system comprises a main processor, a positioning speed measuring module, a wireless data transmission module, a spraying pipeline flow pressure monitoring module and ground monitoring equipment;
the positioning speed measuring module and the spraying pipeline flow pressure monitoring module are fixed on the detected boom sprayer and used for acquiring speed, flow and pressure information of the detected boom sprayer in real time and transmitting the information to the main processor;
the main processor is connected with the ground monitoring equipment through a wireless data transmission module and is used for receiving a control command sent by the ground monitoring equipment and transmitting speed, flow and pressure information of the detected boom sprayer to the ground monitoring equipment;
the ground monitoring equipment is used for setting a control instruction for controlling the boom sprayer to carry out spraying operation and generating theoretical spraying quantity corresponding to the control instruction, the ground monitoring equipment carries out accumulative calculation according to the received speed, flow and pressure information of the detected boom sprayer to obtain actual spraying quantity, and the actual spraying quantity is compared with the theoretical spraying quantity to obtain application quantity deviation;
the ground monitoring equipment obtains the flow rate response characteristic adjusted along with the speed according to the speed and the flow rate, and the flow rate response characteristic is used for evaluating the hysteresis characteristic and the adjustment characteristic; defining the mean value of the initial velocity plateau as v0The average value of the target speed stable section is v1The difference value of the two is delta v; the average value of the initial flow stabilization segment is q0The average value of the target flow stability segment is q1The difference value of the two is delta q; the hysteresis characteristic is a start-up hysteresis time tz1And a lag time t is reachedz2The regulation characteristic is the difference between the speed regulation time and the flow regulation time; the start-up lag time is a time between 10% Δ v and 10% Δ q, the arrival lag time is a time between 90% Δ v and 90% Δ q, the speed adjustment time is a time between 10% Δ v and 90% Δ v, and the flow adjustment time is a time between 10% Δ q and 90% Δ q.
2. The intelligent variable boom spray operation quality evaluation system of claim 1 wherein: the positioning speed measurement module is a network RTK or a base station RTK.
3. The intelligent variable boom spray operation quality evaluation system of claim 2 wherein: the positioning speed measuring module comprises a GNSS receiver, a 4G antenna or a mobile base station; the GNSS receiver adopts a multi-satellite multi-frequency antenna and can simultaneously receive three-satellite seven-frequency-band signals of Beidou, GPS and GLONASS; and the 4G antenna adopts a GPRS 4G module antenna to receive CORS station differential data in real time.
4. The intelligent variable boom spray operation quality evaluation system of claim 1 wherein: the positioning speed measuring module is one or more of a radar, an angle encoder and a Hall sensor and is communicated with the main processor through a CAN bus.
5. The intelligent variable boom spray operation quality evaluation system of claim 1 wherein: the wireless data transmission module is one or more of a wireless radio station, WIFI and Bluetooth and comprises a data sending end and a data receiving end, the data sending end is connected with the main processor, and the data receiving end is connected with the ground monitoring equipment.
6. The intelligent variable boom spray operation quality evaluation system of claim 1 wherein: the spraying pipeline flow pressure monitoring module comprises a flow sensor and a pressure sensor, the flow sensor and the pressure sensor are connected with the detected spray rod spraying machine through a high-pressure water pipe and a quick connector, and the straight pipe sections of a water inlet and a water outlet of the flow sensor are 10D and 5D.
7. The utility model provides an intelligent variable spray lance spraying operation quality evaluation method which characterized in that: the method comprises the following steps:
s1: installing a main processor, a positioning speed measuring module, a spraying pipeline flow pressure monitoring module, a wireless data transmission module and ground monitoring equipment at corresponding positions;
s2: setting the pesticide application amount and spray amplitude parameters on a controller panel of the detected boom sprayer, and setting the same pesticide application amount and spray amplitude parameters by ground monitoring equipment;
s3: the positioning speed measuring module and the spraying pipeline flow pressure monitoring module acquire speed, flow and pressure information in real time and transmit the data to the main processor in real time;
s4: the main processor transmits data to the ground monitoring equipment in real time through the wireless data transmission module, and the ground monitoring equipment displays related data in real time;
s5: the ground monitoring equipment calculates the operation area according to the track and the spray amplitude of the detected boom sprayer, obtains the theoretical spraying amount according to the operation area and the set application amount, and obtains the application amount deviation by combining the calculation of the accumulated flow value of the spraying pipeline flow pressure monitoring module, wherein the application amount deviation calculation formula is as follows:
Figure DEST_PATH_IMAGE001
M1theoretical spray amount, Q set spray amount, L spray amplitude, S driving distance, M2Epsilon is the actual spray amount, and epsilon is the application amount deviation;
according to the speed and flow curve, obtaining the flow response characteristic along with speed regulation; the flow rate regulation response characteristic comprises a hysteresis characteristic and a regulation characteristic; defining the mean value of the initial velocity plateau as v0The average value of the target speed stable section is v1The difference value of the two is delta v; the average value of the initial flow stabilization segment is q0The average value of the target flow stabilization segment is q1The difference value of the two is delta q; the hysteresis characteristic is a start-up hysteresis time tz1And a lag time t is reachedz2The regulation characteristic is the difference between the speed regulation time and the flow regulation time; the start-up lag time is a time between 10% Δ v and 10% Δ q, the arrival lag time is a time between 90% Δ v and 90% Δ q, and the speed adjustment time is a time between 10% Δ v and 90% Δ vThe flow regulation time is a time between 10% Δ q and 90% Δ q.
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CN108605923A (en) * 2018-05-15 2018-10-02 河南科技大学 Pesticide dispenser monitors and accurate volume control device and method
CN110178824A (en) * 2019-07-05 2019-08-30 秦邵恩 A kind of variable rate spray system and control method
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