CN114967770A - Full-automatic pesticide applying ship suitable for pond with uneven pond bottom and uniform pesticide applying method - Google Patents
Full-automatic pesticide applying ship suitable for pond with uneven pond bottom and uniform pesticide applying method Download PDFInfo
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- 239000000575 pesticide Substances 0.000 title claims abstract description 95
- 238000000034 method Methods 0.000 title claims abstract description 35
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 202
- 239000007788 liquid Substances 0.000 claims abstract description 109
- 238000005303 weighing Methods 0.000 claims abstract description 12
- 230000001105 regulatory effect Effects 0.000 claims abstract description 10
- 239000003814 drug Substances 0.000 claims description 119
- 238000005507 spraying Methods 0.000 claims description 44
- 239000007921 spray Substances 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 7
- 239000011550 stock solution Substances 0.000 claims description 4
- 238000007865 diluting Methods 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 claims description 2
- 238000012360 testing method Methods 0.000 claims description 2
- 238000009360 aquaculture Methods 0.000 description 8
- 244000144974 aquaculture Species 0.000 description 8
- 239000000243 solution Substances 0.000 description 5
- 229940079593 drug Drugs 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 241000195493 Cryptophyta Species 0.000 description 1
- 241000238557 Decapoda Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012377 drug delivery Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D7/00—Control of flow
- G05D7/06—Control of flow characterised by the use of electric means
- G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
- G05D7/0629—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means
- G05D7/0635—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on throttling means
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
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- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/04—Arrangements for treating water specially adapted to receptacles for live fish
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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Abstract
The invention discloses a full-automatic pesticide applying ship suitable for a pond with an uneven pond bottom and a uniform pesticide applying method, which are used for realizing uniform pesticide application by dynamically adjusting the speed of the ship in the pond with the uneven pond bottom. The full-automatic pesticide applying ship comprises a water pump, a Venturi tube, a pesticide liquid tank, a high-pressure rotary sprayer, a water pipe, a water pump speed regulating circuit, a weighing sensor, a ship body, a driving system, a ship body driving system speed regulating circuit, a GPS/Beidou receiver, a water level sensor, a controller and the like. The pesticide application boat is positioned by GPS/Beidou navigation, the controller calculates the concentration of the sprayed pesticide in real time according to the current water depth, adjusts the voltage of the water pump to control the flow of the sprayed pesticide, monitors the residual pesticide amount, and dynamically adjusts the boat speed by comparing the ratio of the residual pesticide amount to the volume of the residual water area, so as to realize uniform pesticide application in the whole pond. The invention can improve the pesticide application efficiency and the pesticide application quality according to local conditions, and provides guarantee for high-efficiency and high-quality operation of the pesticide application ship.
Description
Technical Field
The invention relates to the field of automatic navigation path control, in particular to an operation method of a full-automatic pesticide applying ship and an improvement way of operation quality and efficiency.
Technical Field
The history of Chinese aquaculture industry is long, wherein river crab culture becomes the most rapidly and most potential pillar industry in Chinese fishery production, however, a big problem of current river crab culture is that the manual operation efficiency is low, and the manual application is difficult to realize uniform application in ponds with uneven pond bottoms, the growth of aquatic plants or algae organisms and the like cannot be fully inhibited in places with low application concentration, and the dissolved oxygen amount is possibly reduced in places with high application concentration, so that the survival rate of the river crabs is reduced. Therefore, the invention improves the drug application level of aquaculture according to local conditions, aims to improve the intelligent level of drug application operation of aquaculture, can realize full-automatic uniform spraying in polygonal ponds with uneven pond bottoms, can greatly improve the operation efficiency and operation quality, liberate the labor force of farmers and promote the vigorous development of aquaculture industry.
Disclosure of Invention
The invention realizes operation track planning based on a GPS/Beidou navigation system, controls the ship speed and the liquid medicine flow in real time according to the depth of a water area, and realizes the uniform spraying of the whole pond.
The invention aims to solve the problems of low efficiency, uneven pesticide application and the like of the existing manual pesticide application operation mode and the problems of low operation efficiency and operation quality of an operation ship. The invention also provides a solution for optimizing the ship speed.
The full-automatic pesticide applying method designed by the invention is mainly used for uniformly applying the pesticide to the aquaculture pond and effectively improving the working efficiency of the aquaculture pond. In order to solve the problems, the invention adopts the technical scheme that the method comprises the following steps:
the first step is as follows: taking a rectangular pond as an example, longitude and latitude coordinates of four corners of the pond are measured through a GPS/Beidou positioning system, and operation path planning is carried out according to an internal spiral zigzag path. And determining the half-circle number N of the zigzag path according to the ratio (rounding) of the width of the narrow side of the pond to the width of the maximum liquid medicine covering area sprayed by the high-pressure rotary spray head.
And secondly, dividing the polygonal pond into m x N square areas (see figure 2) by taking the narrow side length/N of the pond as the side length, and calculating the water volume contained in each square area and the total water volume of the pond according to the water depth of each square area.
The third step: the controller controls the spraying amplitude of the water discharged from the high-pressure rotary nozzle by adjusting the voltage of the water pump according to the side length of the square area, so that the water outlet is matched with the water outlet. Under the condition of maintaining the voltage of the water pump unchanged, the current liquid medicine flow and the current spraying amplitude are basically constant. The total weight of the liquid medicine is a proper value by adopting a method of properly diluting the stock solution, so as to ensure that the spraying amplitude of the water discharged by the high-pressure rotary nozzle in the whole operation process can be kept basically constant.
The fourth step: the controller calculates the volume of the water body to be applied in real time in the operation process, and monitors the residual liquid medicine amount in the medicine box through the weighing sensor. And calculating the ship speed of the pesticide applying ship according to the unit time variation of the position of the pesticide applying ship measured by the GPS/Beidou positioning system.
The fifth step: according to the following steps: the average concentration of the liquid medicine per unit volume is the volume of the total liquid medicine/the volume of the total water
The current spraying area liquid medicine concentration is the current liquid medicine flow/(the current ship speed is the current spraying amplitude (stroke spacing) is the current average water depth)
Order: and determining the ship speed set value of the initial section when the concentration of the liquid medicine in the current spraying area is equal to the average concentration of the liquid medicine in unit volume. And adjusting the ship speed according to the errors of the ship speed set value and the actual value.
And a sixth step: the ship speed is dynamically adjusted by comparing the ratio of the residual liquid medicine amount to the total liquid medicine weight and the ratio of the water volume of the residual water area to the water volume of the whole pond, so that the uniform pesticide application of the whole pond is realized.
Further, the specific steps of the circle number planning in the first step are as follows:
step 1.1, planning the path by using a zigzag shape, starting to perform operation from the longer side of a rectangular operation area of the pond, assuming that the side length of a narrow rectangle is Y, the pesticide spraying width of a pesticide applying ship is X, namely the operation width, and according to a formula
The number of half-turns of the zigzag N can be determined (rounding up), and the planning operation can be completed by adjusting X to Y/N.
Further, in the second step, the concentration of the liquid medicine and the total water volume can be calculated according to the depth of the water area, and a calculation mode of the average water depth of the small square area is provided, and the specific steps are as follows:
step 2.1, average water depth H of small square areas in ith row and j columns ij Selecting a certain point of the fishpond as a datum point, and installing a water level sensor at the fixed point to measure the water depth H of the point Base of A water level sensor is arranged on the pesticide application ship, the water depth of each small square area is movably measured, and a relative value H between the water depth of each small square area and the water depth of the reference point is obtained ij radical . Current average water depth H of ij small square area ij Is the relative value H of the water depth of the small square area and the water depth of the reference point ij radical From the current water depth H of the reference point Base of And (c) the sum, i.e.:
H ij ＝H ij radical +H Base of
Step 2.2, calculating the total water volume, and dividing the rectangular fishpond into n × m square small square areas with the area of S, wherein the average water depth of the small square areas in the ith row and the jth column is H ij Then, the total water volume has a calculation formula:
further, the third step provides a control mode of the spraying amplitude of the water discharged from the high-pressure rotating nozzle and the flow rate of the liquid medicine, and provides a solution method when the total amount of the liquid medicine is less, and the concrete steps are as follows:
and 3.1, the spray amplitude of the water discharged from the high-pressure rotating nozzle is a monotonic function of the water pump voltage, and a relation curve of the spray amplitude of the water discharged from the high-pressure rotating nozzle, which is the water pump voltage, can be obtained through tests. And the water pump voltage is adjusted to obtain the proper water outlet spray amplitude of the high-pressure rotary spray head.
And 3.2, controlling the current liquid medicine flow by the flow velocity of the fluid in the Venturi tube, wherein the flow velocity is a monotonic function of the water pump voltage, so that the current liquid medicine flow can be controlled by the water pump voltage. The current liquid medicine flow can be obtained by measuring the weight difference before and after the unit time period through the weighing sensor.
And 3.3, directly influencing the working efficiency of the pesticide application operation by the size of the spraying amplitude of the water discharged from the high-pressure rotating nozzle, and keeping the spraying amplitude of the water discharged from the high-pressure rotating nozzle obtained by calculation in the step 4.1 and the related liquid medicine flow rate if the high working efficiency needs to be maintained.
According to the following steps:
total length of working path (highest speed) and minimum time
The total liquid medicine amount is not less than the minimum liquid medicine amount, namely the liquid medicine flow rate, the minimum time, namely the liquid medicine flow rate, the whole length of the operation path/the highest boat speed
When the total amount of the liquid medicine is less, a strategy of adding water into the medicine chest can be adopted, the liquid medicine is properly diluted by adding water, the total amount of the diluted liquid medicine meets the formula, and the spraying amplitude of the water discharged from the high-pressure rotating nozzle is kept at a proper value, so that higher working efficiency is ensured.
Further, the fourth step provides a calculation mode of the volume of the water body to be applied with the medicine, and the specific steps are as follows:
and 4.1, calculating the volume of the water body to be applied, wherein the water body volume of each small square area with the area S is equal to the product of the application operation width, the length (same as the application operation width) of the square area through which the zigzag path passes and the current average water depth of the small square area because the application operation width is the same. Marking the current average water depth of each small square area sequentially passed by the square-shaped path as H i When the operation width is X, the volume V of the water body to be applied with the pesticide 2 There are the calculation formulas:
further, according to the total water volume and the water volume to be applied with the pesticide calculated in the second and fourth steps, the fifth step provides a method for calculating an initial value of the ship speed at the initial stage of the pesticide application operation, and the specific steps are as follows:
step 5.1, determining the initial value of the ship speed setting, assuming that the current liquid medicine flow is Q, the current ship speed is V, the current spraying amplitude is X, and the current average water depth is H i Total water volume V 1 Volume of total liquid medicine V 2 The following relationships exist:
the initial value V of the available ship speed is as follows:
in the front 1/2 area of the pesticide application operation, the controller adjusts the boat speed according to the error between the boat speed setting initial value and the actual value.
Further, the sixth step proposes a method for adjusting the ship speed when the amount of remaining drug solution in the rear 1/2 area after the drug application operation is too large or too small, based on the ship speed setting initial value calculated in the fifth step, and specifically includes the steps of:
step 6.1 Ship speed regulating algorithm, according to the ideal even pesticide application condition, supposing that the total weight of the pesticide is M 1 The weight of the residual liquid medicine is M 2 Total water volume V 1 Volume of water to be administered V 2 The following relationship should be applied:
if the real-time residual liquid medicine does not meet the relationship, namely the residual liquid medicine is more or less, the following real-time optimization measures are taken:
if the residual dosage is too much, the following relationship exists:
the boat speed is reduced by 5% in the next plot area.
If the residual medicine amount is less, the following relationship exists:
the boat speed is increased by 5% in the next plot area.
Finally, because the river crab culture pond has uncertainty of water depth difference, the method for finishing uniform pesticide application in the pond is provided, the problems of nonuniform pesticide application and low overall pesticide application efficiency caused by the fact that the water depth is unknown by manpower can be solved, rural labor force can be liberated, and production efficiency is improved.
The beneficial effects of the invention are as follows: calculating the water volume contained in each square area and the total pond water volume according to the water depth of each square area, and providing a calculation mode of the average water depth of the small square areas; regulating the voltage of a water pump to control the flow rate of the liquid medicine in the liquid medicine box and the spraying amplitude of the water discharged by the high-pressure rotating nozzle, and measuring the current flow rate of the liquid medicine through a weighing sensor; the control method of the spraying amplitude and the liquid medicine flow rate of the water discharged by the high-pressure rotating nozzle is provided, and a solution method when the total amount of the liquid medicine is less is provided; the gridding pond calculates the volume of the water body and the concentration of the liquid medicine in the current spraying area according to the water depth of each grid, and controls the ship speed and the flow of the sprayed liquid medicine according to the water depth of the area; the invention can improve the pesticide applying efficiency and the pesticide applying quality according to local conditions and provides guarantee for high-efficiency and high-quality operation of the pesticide applying ship.
Drawings
FIG. 1 is a schematic diagram of a rectangular operation plan
FIG. 2 schematic view of a drug delivery system
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings. The invention provides a full-automatic pesticide applying ship suitable for a pond with an uneven pond bottom and a uniform pesticide applying method.
The present embodiment is carried out on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
The pesticide application system mainly comprises a water pump, a Venturi tube, a pesticide liquid tank, a high-pressure rotary sprayer, a water pipe, a water pump speed regulating circuit, a weighing sensor, a ship body, a driving system, a ship body driving system speed regulating circuit, a GPS/Beidou receiver, a water level sensor and a controller.
The method comprises the following specific steps:
the first step is as follows: taking a rectangular pond as an example, longitude and latitude coordinates of four corners of the pond are measured through a GPS/Beidou positioning system, and operation path planning is carried out according to an internal spiral zigzag path. And determining the half-circle number N of the zigzag path according to the ratio (rounding) of the width of the narrow side of the pond to the width of the maximum liquid medicine covering area sprayed by the high-pressure rotary spray head.
The path planning is carried out in a shape like a Chinese character 'hui', the operation is started from the longer side of a rectangular operation area of the pond, the length of the narrow side of the rectangle is Y, the pesticide spraying width of the pesticide applying ship, namely the operation width is X, and the operation is carried out according to a formula
The number of half-turns of the zigzag N can be determined (rounding up), and the planning operation can be completed by adjusting X to Y/N.
And secondly, dividing the rectangular pond into m × N square areas (see figure 2) by taking the narrow side length/N of the pond as the side length, and calculating the water volume contained in each square area and the total water volume of the pond according to the water depth of each square area.
Firstly, the average water depth H of the small square area in the ith row and the j column ij Selecting a certain point of the fishpond as a datum point, and installing a water level sensor at the fixed point to measure the water depth H of the point Base of A water level sensor is arranged on the pesticide application ship, the water depth of each small square area is movably measured, and a relative value H between the water depth of each small square area and the water depth of the reference point is obtained ij radical . Current average water depth H of ij small square area ij Is the relative value H of the water depth of the small square area and the water depth of the reference point ij radical Current water depth H from reference point Base of And (c) the sum, i.e.:
H ij ＝H ij radical +H Base (C)
Secondly, calculating the total water volume, and dividing the rectangular fishpond into n × m square small square areas with the area of S, wherein the average water depth of the small square areas in the ith row and the jth column is H ij Then, the total water volume has a calculation formula:
the third step: the controller controls the spraying amplitude of the water discharged from the high-pressure rotating nozzle by adjusting the voltage of the water pump according to the side length of the square area, so that the water discharged from the high-pressure rotating nozzle is matched with the water discharged from the high-pressure rotating nozzle. Under the condition of maintaining the voltage of the water pump unchanged, the current liquid medicine flow and the current spraying amplitude are basically constant. The total weight of the liquid medicine is a proper value by adopting a method of properly diluting the stock solution, so as to ensure that the spraying amplitude of the water discharged by the high-pressure rotary nozzle in the whole operation process can be kept basically constant.
Firstly, the spray amplitude of the water discharged from the high-pressure rotary nozzle is a monotonic function of the water pump voltage, and a relation curve of the spray amplitude of the water discharged from the high-pressure rotary nozzle and the water pump voltage can be obtained through experiments. And the water pump voltage is adjusted to obtain the proper water outlet spray amplitude of the high-pressure rotary spray head.
Secondly, the current liquid medicine flow is controlled by the flow velocity of the fluid in the venturi tube, which is a monotonic function of the water pump voltage, so the current liquid medicine flow can be controlled by the water pump voltage. The current liquid medicine flow can be obtained by measuring the weight difference before and after the unit time period through the weighing sensor.
Finally, the spraying amplitude of the water discharged from the high-pressure rotary nozzle directly influences the working efficiency of the pesticide application operation, and if the high working efficiency needs to be maintained, the spraying amplitude of the water discharged from the high-pressure rotary nozzle calculated in the step 4.1 and the flow rate of the liquid medicine related to the spraying amplitude need to be maintained.
According to the following steps:
total length of working path (maximum speed) minimum time
The total liquid medicine amount is not less than the minimum liquid medicine amount, namely the liquid medicine flow rate, the minimum time, namely the liquid medicine flow rate, the whole length of the operation path/the highest boat speed
When the total amount of the liquid medicine is less, a strategy of adding water into the medicine chest can be adopted, the liquid medicine is properly diluted by adding water, the total amount of the diluted liquid medicine meets the formula, and the spraying amplitude of the water discharged from the high-pressure rotating nozzle is kept at a proper value, so that higher working efficiency is ensured.
The fourth step: the controller calculates the volume of the water body to be applied in real time in the operation process, and monitors the residual liquid medicine amount in the medicine box through the weighing sensor. And calculating the ship speed of the pesticide applying ship according to the unit time variation of the position of the pesticide applying ship measured by the GPS/Beidou positioning system.
Wherein, the calculation of the water volume to be applied is that the water volume of each small square area with the area S is equal to the product of the application operation width, the length (same as the application operation width) of the square area penetrated by the zigzag path and the current average water depth of the square area because the application operation width is the same. Marking the current average water depth of each small square area sequentially passed by the square-shaped path as H i When the operation width is X, the volume V of the water body to be applied with the pesticide 2 There are the calculation formulas:
the fifth step: according to the following steps: the average concentration of the liquid medicine per unit volume is the volume of the total liquid medicine/the volume of the total water
The current spraying area liquid medicine concentration is the current liquid medicine flow/(the current ship speed is the current spraying amplitude (stroke spacing) is the current average water depth)
Order: and determining the ship speed set value of the initial section when the current spraying area liquid medicine concentration is equal to the average unit volume liquid medicine concentration. And adjusting the ship speed according to the errors of the ship speed set value and the actual value.
Wherein, the determination of the initial value of the ship speed is carried out by assuming that the current liquid medicine flow is Q, the current ship speed is V, the current spraying amplitude is X, and the current average water depth is H i Total water volume V 1 Volume of total liquid medicine V 2 The following relationships exist:
the initial value V of the available ship speed is as follows:
in the front 1/2 area of the pesticide application operation, the controller adjusts the boat speed according to the error between the boat speed setting initial value and the actual value.
And a sixth step: in the post 1/2 area of the pesticide application operation, the ship speed is dynamically adjusted by comparing the ratio of the residual pesticide liquid amount to the total pesticide liquid weight and the ratio of the residual water body volume to the whole pond water body volume, so as to realize the uniform pesticide application in the whole pond.
Wherein, the ship speed adjusting algorithm assumes the total weight of the liquid medicine to be M under the condition of ideal uniform medicine application 1 The weight of the residual liquid medicine is M 2 Total water volume V 1 Volume V of water to be administered 2 The following should be true:
if the real-time residual liquid medicine does not meet the relationship, namely the residual liquid medicine is more or less, the following real-time optimization measures are taken:
if the residual medicine amount is too much, the following relationship exists:
the boat speed is reduced by 5% in the next plot area.
If the residual medicine amount is less, the following relationship exists:
the boat speed is increased by 5% in the next plot area.
In summary, the invention provides a full-automatic pesticide applying ship suitable for a pond with an uneven pond bottom and a uniform pesticide applying method, which are used for realizing full-automatic uniform pesticide applying of the pond. The operation mode of the full-automatic pesticide applying ship starts to operate from the longer side of a rectangular operation area, the ship operates in a zigzag path in an operation pond, and the ship speed and the pesticide liquid flow are controlled in real time according to the depth of a water area, so that uniform spraying is realized. Finally, the invention has simple operation, can solve the problems of uneven artificial pesticide application and low artificial efficiency, is convenient for users to use, can obviously improve the aquaculture efficiency and promotes the development of the aquaculture industry.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. A full-automatic pesticide applying ship suitable for ponds with uneven pond bottoms is characterized by comprising a water pump, a Venturi tube, a pesticide liquid box, a high-pressure rotary sprayer, a water pipe, a water pump speed regulating circuit, a weighing sensor, a ship body, a driving system, a ship body driving system speed regulating circuit, a GPS/Beidou receiver, a water level sensor and a controller;
the water pump conveys water from the pond into the Venturi tube, the Venturi tube simultaneously sucks the liquid medicine from the liquid medicine box, and the mixed liquid medicine is sprayed out in a sector-like distribution through the high-pressure rotary spray head;
the controller is sequentially connected with the pressure regulating circuit and the water pump, the rotating speed of the water pump is changed by regulating the voltage of the water pump, so that the flow speed of water discharged by the water pump is changed, the flow of liquid medicine sucked from the liquid medicine box is changed through the Venturi tube, and the width of discharged water of the high-pressure rotary spray head can be changed;
the controller is connected with the weighing sensor, the weight of the liquid medicine taking box is measured through the weighing sensor, and the weight of the empty liquid medicine box is subtracted to obtain the weight of the residual stock solution in the liquid medicine box;
the controller is connected with the GPS/Beidou receiver, receives satellite positioning signals through the GPS/Beidou receiver, determines the current position of the full-automatic pesticide applying ship, and calculates the current ship speed through time difference; the controller adjusts the driving force of the ship driving system by changing the voltage of the speed adjusting circuit, so that the ship speed is adjusted.
2. A method for uniformly applying pesticide to a full-automatic pesticide applying ship suitable for a pond with an uneven pond bottom is characterized by comprising the following steps:
the first step is as follows: taking a rectangular pond as an example, measuring longitude and latitude coordinates of four corners of the pond through a GPS/Beidou positioning system, planning an operation path according to an internal spiral zigzag path, and determining the number N of half circles of the zigzag path according to the ratio (rounding) of the width of the narrow edge of the pond to the width of the maximum liquid medicine covering area sprayed by a high-pressure rotary spray head;
secondly, dividing the polygonal pond into m × N square areas by taking the narrow side length/N of the pond as the side length; calculating the water volume contained in each square area and the total pond water volume according to the water depth of each square area;
the third step: the controller controls the spraying amplitude of the water discharged from the high-pressure rotary nozzle by adjusting the voltage of the water pump according to the side length of the square area, so that the spraying amplitude is matched with the water discharged from the high-pressure rotary nozzle, the current flow of the liquid medicine and the current spraying amplitude are basically constant under the condition of maintaining the voltage of the water pump unchanged, and the total weight of the liquid medicine is a more appropriate value by adopting a method of properly diluting the stock solution, so that the spraying amplitude of the water discharged from the high-pressure rotary nozzle in the whole operation process can be kept basically constant;
the fourth step: the controller calculates the volume of the water body to be sprayed in real time in the operation process, monitors the amount of the residual liquid medicine in the medicine box through the weighing sensor, and calculates the ship speed of the spraying ship according to the unit time variation of the position of the spraying ship measured through the GPS/Beidou positioning system;
the fifth step: a method for calculating an initial value of the ship speed at the initial stage of the pesticide application operation is provided, which comprises the following steps: the average concentration of the liquid medicine per unit volume is the volume of the total liquid medicine/the volume of the total water
The concentration of the liquid medicine in the current spraying area is equal to the current liquid medicine flow/(the current ship speed is equal to the current spraying amplitude (stroke spacing) is equal to the current average water depth);
order: determining a ship speed set value of an initial section when the concentration of the liquid medicine in the current spraying area is equal to the average concentration of the liquid medicine in unit volume, and adjusting the ship speed according to the error between the ship speed set value and an actual value;
and a sixth step: the ship speed is dynamically adjusted by comparing the ratio of the residual liquid medicine amount to the total liquid medicine weight and the ratio of the water volume of the residual water area to the water volume of the whole pond, so that the uniform pesticide application of the whole pond is realized.
3. The fully automatic pesticide application ship and the uniform pesticide application method suitable for the pond with the uneven pond bottom as claimed in claim 2, wherein in the first step, the specific steps of half circle number planning are as follows:
the path planning is implemented by using a Chinese character 'hui' shape, the operation is started from the longer side of a rectangular operation area of the pond, the length of the narrow side of the rectangle is Y, the pesticide spraying width of the pesticide application ship, namely the operation width is X, and the operation is implemented according to a formula
The number of half-turns of the zigzag N can be determined (rounding up), and the planning operation can be completed by adjusting X to Y/N.
4. The method for uniformly applying the pesticide to the full-automatic pesticide applying ship suitable for the pond with the uneven pond bottom as claimed in claim 2, wherein in the second step, the water volume contained in each square area and the total water volume of the pond are calculated according to the water depth of each square area, and a calculation mode of the average water depth of the small square area is provided, and the specific steps are as follows:
step 2.1, average water depth H of small square areas in ith row and j columns ij Selecting a certain point of the fishpond as a datum point, and installing a water level sensor at the fixed point to measure the water depth H of the point Base (C) A water level sensor is arranged on the pesticide application ship, the water depth of each small square area is movably measured, and a relative value H between the water depth of each small square area and the water depth of the reference point is obtained ij radical . Current average water depth H of ij small square area ij Is the relative value H of the water depth of the small square area and the water depth of the reference point ij radical Current water depth H from reference point Base of And (c) the sum, i.e.:
H ij ＝H ij radical +H Base of
Step 2.2, calculating the total water volume, and dividing the rectangular fishpond into n × m square small square areas with the area of S, wherein the average water depth of the small square areas in the ith row and the jth column is H ij Then, the total water volume has a calculation formula:
5. the method for uniformly applying the pesticide to the full-automatic pesticide applying ship suitable for the pond with the uneven bottom as claimed in claim 2, wherein the third specific step is as follows:
and 3.1, the spray amplitude of the water discharged from the high-pressure rotating nozzle is a monotonic function of the water pump voltage, and a relation curve of the spray amplitude of the water discharged from the high-pressure rotating nozzle, which is the water pump voltage, can be obtained through tests. The water pump voltage is adjusted to obtain the proper water outlet spray amplitude of the high-pressure rotary spray head;
and 3.2, controlling the current liquid medicine flow by the flow velocity of the fluid in the Venturi tube, wherein the flow velocity is a monotonic function of the water pump voltage, so that the current liquid medicine flow can be controlled by the water pump voltage. The current liquid medicine flow can be obtained by measuring the weight difference before and after a unit time period through a weighing sensor;
3.3, directly influencing the working efficiency of the pesticide application operation by the size of the spraying amplitude of the water discharged from the high-pressure rotating nozzle, and keeping the spraying amplitude of the water discharged from the high-pressure rotating nozzle and the flow rate of the liquid medicine related to the spraying amplitude if the high working efficiency needs to be maintained;
according to the following steps:
the total length of the operation path is the highest ship speed and the minimum time;
the total liquid medicine amount is more than or equal to the minimum liquid medicine amount, namely the liquid medicine flow rate, the minimum time, namely the liquid medicine flow rate, the total length of the operation path/the highest boat speed;
when the total amount of the liquid medicine is less, a strategy of adding water into the medicine chest can be adopted, the liquid medicine is properly diluted by adding water, the total amount of the diluted liquid medicine meets the formula, and the spraying amplitude of the water discharged from the high-pressure rotating nozzle is kept at a proper value, so that higher working efficiency is ensured.
6. The method for uniformly applying the pesticide to the full-automatic pesticide applying ship suitable for the pond with the uneven pond bottom as claimed in claim 2, wherein in the fourth step, a calculation mode of the volume of the water body to be applied is provided, and the specific steps are as follows:
calculating the volume of the water body to be applied with the pesticide, wherein the water body volume of each small square area with the area S is equal to the product of the application operation width, the length (same as the application operation width) of the square area penetrated by the square-shaped path and the current average water depth of the square area, and the current average water depth of each small square area penetrated by the square-shaped path sequentially is marked as H i When the operation width is X, the volume V of the water body to be applied with the pesticide 2 There is a calculation formula:
7. the method for uniformly applying the pesticide to the full-automatic pesticide applying ship suitable for the pond with the uneven pond bottom as claimed in claim 2, wherein the fifth step comprises the following specific steps:
according to the total water volume and the water volume to be applied with the pesticide which are obtained by calculation in the second step and the fourth step; determining the initial value of the ship speed, and assuming that the current liquid medicine flow is Q, the current ship speedV, current jet width X, and current average water depth H i Total water volume V 1 Volume of total liquid medicine V 2 The following relationships exist:
the initial value V of the available ship speed is as follows:
in the front 1/2 area of the pesticide application operation, the controller adjusts the boat speed according to the error between the boat speed setting initial value and the actual value.
8. The method for uniformly applying the pesticide to the full-automatic pesticide applying ship suitable for the pond with the uneven bottom as claimed in claim 2, wherein in the sixth step, a ship speed adjusting method for slightly more or slightly less residual pesticide in the rear 1/2 area after the pesticide applying operation is provided, and the specific steps are as follows:
setting an initial value according to the ship speed obtained by the calculation in the fifth step, and adopting a ship speed adjusting algorithm according to the ideal uniform pesticide application condition, wherein the total weight of the pesticide liquid is assumed to be M 1 The weight of the residual liquid medicine is M 2 Total water volume V 1 Volume V of water to be administered 2 The following relationship should be applied:
if the real-time residual liquid medicine does not meet the relationship, namely the residual liquid medicine is more or less, the following real-time optimization measures are taken:
if the residual medicine amount is too much, the following relationship exists:
then the ship speed is reduced by 5% in the next small square area;
if the residual medicine amount is less, the following relationship exists:
the boat speed is increased by 5% in the next plot area.
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| CN115344054A (en) * | 2022-10-18 | 2022-11-15 | 常州慧而达智能装备有限公司 | Automatic bait casting boat bait casting method based on GPS/Beidou and auger corner feedback |
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| CN115344054A (en) * | 2022-10-18 | 2022-11-15 | 常州慧而达智能装备有限公司 | Automatic bait casting boat bait casting method based on GPS/Beidou and auger corner feedback |
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