CN116339292B - Testing platform and testing method for accurate variable spraying control system - Google Patents
Testing platform and testing method for accurate variable spraying control system Download PDFInfo
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- CN116339292B CN116339292B CN202310632006.XA CN202310632006A CN116339292B CN 116339292 B CN116339292 B CN 116339292B CN 202310632006 A CN202310632006 A CN 202310632006A CN 116339292 B CN116339292 B CN 116339292B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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Abstract
The invention relates to the technical field of plant protection machinery, and provides a testing platform and a testing method of an accurate variable spraying control system. The accurate variable spraying control system testing platform comprises a platform support, a flow detection device, a liquid storage tank, a hydraulic pump, a spraying assembly, a man-machine interaction unit and a controller, wherein the liquid storage tank, the hydraulic pump, the spraying assembly, the man-machine interaction unit and the controller are respectively arranged on the platform support, the spraying assembly comprises a spray head and an electromagnetic valve connected with the spray head, the liquid storage tank, the hydraulic pump and the spray head are sequentially connected through pipelines, a pressure regulating valve, a flow sensor and a pressure sensor are arranged on a connecting pipeline of the hydraulic pump and the spray head, and the pressure regulating valve, the electromagnetic valve, the flow sensor, the pressure sensor and the man-machine interaction unit are respectively in communication connection with the controller; the flow detection device is detachably connected with the spray head and is used for detecting the actual spraying amount of the spray head. The test platform has the advantages of simple structure and small occupied area, can realize multiple performance tests of the accurate variable spraying control system, has strong universality, does not need to adopt a spraying machine for testing, and reduces the test cost.
Description
Technical Field
The invention relates to the technical field of plant protection machinery, in particular to a testing platform and a testing method of an accurate variable spraying control system.
Background
The main method for preventing and controlling plant diseases and insect pests is a chemical prevention method at present, has the advantages of high prevention speed, high efficiency and good economy, can effectively prevent and control large-area diseases and insect pests of crops in time, and plays an important role in guaranteeing grain yield and safety.
The related pesticide spraying technology mainly adopts a large-area large-capacity leaching type continuous pesticide spraying mode, so that excessive pesticide spraying in partial pesticide spraying areas is easy to cause excessive pesticide residues, and the health of consumers is affected. The utilization rate of the pesticide in the open-end pesticide spraying mode is lower than 30%, and the rest of the pesticide drifts to a non-target area, so that the pesticide is wasted, the production cost is increased, the pest control effect is reduced, and the environmental pollution is increased.
Based on the method, the accurate variable spraying technology is implemented according to the dosage requirement of crops, and the method has important significance in reducing the pesticide dosage, reducing pesticide residues, ensuring food safety and reducing environmental pollution. At present, the application of the accurate variable spraying technology to the spraying field is still in the product research and development stage, and only a few of the accurate variable spraying technologies are in the test prototype stage. In order to realize the subsequent application of the accurate variable spray control system to the production of test prototypes, in the development process of the accurate variable spray control system, various performance tests are required to be carried out on the system, and the performance of the developed accurate spray control system is optimized based on test results.
At present, a test bed is temporarily built on the basis of a single test item to perform performance detection in the development test of an accurate variable spraying control system, so that the universality is low, the occupied space is large, related instruments are not easy to store after the test, and the test bed needs to be built again when similar tests are performed later. In order to facilitate the test, some researchers directly purchase the medicine spraying machine and test the medicine spraying machine, but not only the medicine spraying machine with larger space for storing large volume is needed, but also the service life of the medicine spraying machine is easily reduced to a great extent due to improper operation, and the cost of the medicine spraying machine is higher, so that the test cost is increased to a great extent.
Disclosure of Invention
The invention provides a testing platform and a testing method of an accurate variable spraying control system, which are used for solving the problems of poor universality, large occupied space and high experimental cost of the testing platform aiming at the accurate variable spraying control system in the prior art.
The invention provides a testing platform of an accurate variable spraying control system, which comprises the following components:
the system comprises a platform bracket, a flow detection device, a liquid storage tank, a hydraulic pump, a spraying assembly, a man-machine interaction unit and a controller, wherein the liquid storage tank, the hydraulic pump, the spraying assembly, the man-machine interaction unit and the controller are respectively arranged on the platform bracket; the spraying component comprises a spray head and an electromagnetic valve connected with the spray head;
The liquid storage tank, the hydraulic pump and the spray head are connected through pipelines in sequence, a pressure regulating valve, a flow sensor and a pressure sensor are arranged on the connecting pipelines of the hydraulic pump and the spray head, and the pressure regulating valve, the electromagnetic valve, the flow sensor, the pressure sensor and the man-machine interaction unit are respectively in communication connection with the controller; the flow detection device is detachably connected with the spray head and used for detecting the actual spraying amount of the spray head.
According to the invention, the method for testing the accurate variable spraying control system is applied to any one of the accurate variable spraying control system testing platforms, and comprises the following steps:
setting system pipeline pressure and electromagnetic valve frequency through the man-machine interaction unit, wherein the controller adjusts the pressure regulating valve according to the system pipeline pressure and opens the electromagnetic valve according to the electromagnetic valve frequency;
acquiring the actual spraying quantity of the spray head detected by the flow detection device according to a set time interval, and determining that the system pipeline pressure is in a stable state according to the actual spraying quantity;
the controller adjusts the duty ratio of the electromagnetic valve according to the duty ratio control instruction, and simultaneously detects the actual spraying quantity of the corresponding spray head through the flow detection device;
And the controller establishes a spray head flow control model according to the duty ratio and the corresponding actual spray amount of the spray head.
According to the testing platform and the testing method of the accurate variable spraying control system, provided by the invention, the liquid storage tank, the hydraulic pump, the spraying assembly, the man-machine interaction unit and the controller are arranged on the platform support, the pressure regulating valve, the flow sensor and the pressure sensor are arranged on the connecting pipeline of the hydraulic pump and the spraying head, the testing device is formed, the testing device is combined with the flow detection device, the voltage stabilizing performance test, the flow calibration of the spraying head and the actual spraying quantity monitoring of the spraying head can be realized, and on the basis, the testing device can also realize the spraying effect test and the spraying delay time test of the spraying head. The testing platform of the accurate variable medicine spraying control system provided by the embodiment of the invention has the advantages of simple structure, small volume and small occupied area, can realize multiple performance tests of the accurate variable medicine spraying control system, has strong universality, does not need to test on a medicine spraying machine, and greatly reduces the test cost.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a diagram showing the connection relationship between a testing device and a flow detection device in a testing platform of an accurate variable spraying control system provided by the invention;
FIG. 2 is a schematic structural diagram of a testing device in a testing platform of the accurate variable spraying control system provided by the invention;
FIG. 3 is a schematic diagram of the test apparatus of FIG. 2 in another view;
FIG. 4 is a schematic diagram of a part of the structure of a testing device in a testing platform of the accurate variable spraying control system provided by the invention;
FIG. 5 is a grid division area comparison diagram of a test device and a simulation tree in a test platform of the accurate variable spraying control system provided by the invention;
FIG. 6 is a schematic diagram of an orchard simulation test performed by using the test platform of the accurate variable spraying control system provided by the invention;
FIG. 7 is a schematic flow chart of a testing method of the accurate variable spray control system provided by the invention;
reference numerals:
1. a testing device; 10. a platform bracket; 11. a liquid storage tank; 121. a hydraulic pump; 122. a motor; 123. a frequency converter; 13. a spray assembly; 131. a spray head; 132. a spray bar; 14. a man-machine interaction unit; 15. a controller; 16. a pressure regulating valve; 17. a flow sensor; 18. a pressure sensor; 19. a blower; 101. a flow blocking structure; 1011. a vertical section; 1012. an arc section; 102. a liquid collecting structure; 1021. a deflector; 1022. a return pipe; 103. a housing; 104. a power button; 105. an emergency brake button; 2. a flow rate detection device; 21. a measuring cylinder; 22. a flow rate reading unit; 3. a simulation tree; 4. a laser radar; 5. a guide rail; 6. a trolley; 7. a notebook computer.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In describing embodiments of the present invention, it should be noted that the terms "first" and "second" are used for clarity in describing the numbering of the product components and do not represent any substantial distinction unless explicitly stated or defined otherwise. Plural means two or more. Unless specifically stated or limited otherwise, the terms "mounted," "connected," "coupled" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The following describes the test platform and test method of the precision variable spray control system of the present invention with reference to fig. 1 to 7.
As shown in fig. 1 and fig. 2, the testing platform of the precise variable spraying control system provided by the embodiment of the invention comprises a platform bracket 10, a flow detection device 2, and a liquid storage tank 11, a hydraulic pump 121, a spraying component 13, a man-machine interaction unit 14 and a controller 15 which are respectively arranged on the platform bracket 10. The spray assembly 13 includes a spray head 131 and a solenoid valve connected to the spray head 131. The liquid storage tank 11, the hydraulic pump 121 and the spray head 131 are sequentially connected through pipelines, and a pressure regulating valve 16, a flow sensor 17 and a pressure sensor 18 are arranged on a connecting pipeline of the hydraulic pump 121 and the spray head 131. The pressure regulating valve 16, the electromagnetic valve, the flow sensor 17, the pressure sensor 18 and the man-machine interaction unit 14 are respectively in communication connection with the controller 15. The flow detection device 2 is detachably connected with the spray head 131 and is used for detecting the actual spray amount of the spray head 131.
Wherein, liquid storage tank 11, hydraulic pump 121, spray subassembly 13, man-machine interaction unit 14 and controller 15 are installed in platform support 10, form testing arrangement 1. The hydraulic pump 121 may be a plunger pump. When the hydraulic pump 121 is started, water in the liquid storage tank 11 enters the hydraulic pump 121 through a water inlet pipe, is pressurized by the hydraulic pump 121, flows through the pressure regulating valve 16, the flow sensor 17 and the pressure sensor 18 through a water outlet pipe, and reaches the spray head 131. Wherein the water return port of the pressure regulating valve 16 is connected with the liquid storage tank 11 through a water return pipe. Optionally, the outlet of the hydraulic pump 121 is connected with the pressure regulating valve 16, the flow sensor 17, the pressure sensor 18 and the spray head 131 through the outlet pipe in turn. Optionally, a moving wheel is provided on the platform support 10, which facilitates flexible movement of the testing device 1.
The following uses of the testing platform of the accurate variable spraying control system provided by the embodiment of the invention specifically illustrate the working principle of the testing platform.
The flow sensor 17 and the pressure sensor 18 feed back the detected flow data and pressure data to the controller 15. The controller 15 compares the received flow data and pressure data with the set flow parameters and pressure parameters, and monitors the flow and pressure of the water outlet pipe.
When the spray heads 131 are connected with the flow detection device 2 for use, the actual spraying amount of each spray head 131 can be detected, and the controller 15 judges the voltage stabilizing performance of the variable spraying control system according to the variation condition of the actual spraying amount, so as to realize the voltage stabilizing performance test.
Specifically, when the voltage stabilizing performance test is performed, the man-machine interaction unit 14 is used for setting the system pipeline pressure, the solenoid valve frequency and the solenoid valve duty ratio, one spray nozzle 131 is connected with the flow detection device 2, the solenoid valve corresponding to the spray nozzle 131 is opened, the actual spraying amount detected by the flow detection device 2 is read for multiple times at the same time interval, and if the actual spraying amount is equal difference change or the difference value is within the set range, the system is determined to be in a voltage stabilizing state.
As shown in fig. 1, the test device 1 includes a motor 122 and a frequency converter 123, a power input end of the hydraulic pump 121 is connected with the motor 122, the motor 122 is connected with the frequency converter 123, and the frequency converter 123 is in communication connection with the controller 15. The controller 15 adjusts the frequency converter 123 according to the set system pipeline pressure, so that the motor drives the hydraulic pump 121 to achieve a certain working pressure. In the test process, the opening of the pressure regulating valve 16 is regulated by the controller 15, so that the system pipeline pressure is accurately controlled or maintained.
Optionally, as shown in fig. 3, the platform support 10 is provided with a housing 103, and the motor 122, the frequency converter 123 and the controller 15 are all disposed in the housing 103. The housing 103 is provided with control buttons, such as a power button 104 and an emergency brake button 105, electrically connected to the controller 15.
And under the condition that the system pipeline pressure is set and the system is in a pressure stabilizing state, acquiring pressure data detected by the pressure sensor 18, obtaining a pressure fluctuation range of the water outlet pipe, and taking the pressure fluctuation range as a system reference pressure range. In the actual test process, the controller 15 judges that the pressure data detected by the pressure sensor 18 is in the reference pressure range, so that the system pipeline pressure does not need to be regulated; otherwise, the pressure regulating valve 16 is adjusted to maintain the system in a pressure-stabilized state.
Under the condition that the system is in a voltage stabilizing state and the frequency of the electromagnetic valve is fixed, the controller 15 establishes a flow control model of each spray head based on the duty ratio and the actual spray amount by adjusting the duty ratio of the electromagnetic valve and detecting the actual spray amount corresponding to each duty ratio through the flow detection device 2, so that the calibration of the flow of the single spray head 131 is realized. In practical application, the accurate variable spraying control system determines the theoretical spraying amount of the spray head 131 according to the size of the plant canopy, and controls the duty ratio of the corresponding electromagnetic valve according to the calibration equation and the theoretical spraying amount to realize variable spraying.
In the actual operation of the spray control system, the actual spray amount of the spray head 131 differs from the actual calculated flow rate of the flow sensor 17. The embodiment of the invention can detect the actual total spraying amount of the spraying component 13 through the flow detection device 2 under the set system pipeline pressure, and calibrate the flow sensor 17 based on the actual total spraying amount and the actual calculated flow of the flow sensor 17. In this way, the controller 15 can directly obtain the actual total spraying amount of the spraying assembly 13 from the flow sensor 17, so as to realize the actual spraying amount monitoring of the spraying head. If the difference between the actual total spraying amount and the theoretical total required amount of the plants exceeds the set error interval, the man-machine interaction unit 14 can report errors to remind operators of maintenance.
When the spray head 131 is connected with the flow detection device 2, the controller 15 can calibrate and adjust the theoretical spray amount of the spray head 131 by controlling the corresponding electromagnetic valve according to the comparison result of the actual spray amount of the spray head 131 detected by the flow detection device 2 and the theoretical spray amount of the corresponding plant canopy.
The human-machine interaction unit 14 is used for an operator to input relevant control parameters such as system pipeline pressure, system reference pressure range, solenoid valve frequency, pulse width modulation duty cycle and the like to the controller 15. The actual spraying amount detected by the flow detection device 2 can be input into the controller 15 by an operator through the man-machine interaction unit 14; alternatively, the controller 15 is connected to the notebook computer 7, and the detected actual amount of the spray is transmitted to the controller 15 through the notebook computer 7.
Optionally, the man-machine interaction unit 14 includes an industrial tablet computer installed on the platform support 10, and the interface developed in c++ language displays the detection data, such as flow data and pressure data, obtained by the controller 15 in real time, and may also be used for an operator to input relevant control parameters. Optionally, the human-computer interaction unit 14 is provided with a memory for storing test data under different control parameters, for reference in subsequent related similar tests.
When the spray head 131 is not connected with the flow detection device 2, the testing device 1 can be used for simulating spraying of the orchard, and spray effect test is achieved. The controller 15 can also perform opening and closing adjustment on the solenoid valve to realize spray delay time test of the spray heads, namely, the spray delay time of each spray head 131 is determined by recording the time required for the spray heads 131 to be opened from the closed state to the full state and from the full state to the closed state.
According to the testing platform of the accurate variable spraying control system, provided by the invention, the liquid storage tank 11, the hydraulic pump 121, the spraying assembly 13, the man-machine interaction unit 14 and the controller 15 are arranged on the platform support 10, the pressure regulating valve 16, the flow sensor 17 and the pressure sensor 18 are arranged on the connecting pipeline of the hydraulic pump 121 and the spray head 131, the testing device 1 is formed, the testing device 1 is combined with the flow detection device 2, the pressure stabilizing performance test, the spray head flow calibration and the spray head actual spraying amount monitoring can be realized, and on the basis, the testing device 1 can also independently perform the spraying effect test and the spray head spraying delay time test. The testing platform of the accurate variable medicine spraying control system provided by the embodiment of the invention has the advantages of simple structure, small volume and small occupied area, can realize multiple performance tests of the accurate variable medicine spraying control system, has strong universality, does not need to test on a medicine spraying machine, and greatly reduces the test cost.
Further, the spray head 131 is detachably connected with the water outlet pipe, so that flow calibration of different spray heads 131 can be conveniently performed. Different system pipeline pressures can be set through the man-machine interaction unit 14, so that flow control models of different types of spray heads 131 under the different system pipeline pressures are established, spray head type tests are completed, and basis is provided for spray head type selection of an accurate variable spray control system.
In the embodiment of the invention, the flow detection device 2 comprises a measuring cylinder 21, the measuring cylinder 21 is communicated with a spray head 131 through a thin pipe, mist drops sprayed by the spray head 131 are introduced into the measuring cylinder 21 through the thin pipe, and the actual spraying amount of the spraying component 13 is obtained by reading the scale on the measuring cylinder 21.
Optionally, the flow detection device 2 further comprises a flow reading unit 22 for automatically reading the volume of liquid in the measuring cylinder 21. Specifically, the flow rate reading unit 22 includes an image pickup assembly for picking up the liquid level state in the measuring cylinder 21 of the flow rate detecting device 2. After a certain test time, the image data shot by the shooting assembly can be slowed down and played through corresponding video software, and the liquid volume in the measuring cylinder 21 is read, so that the actual spraying amount detected by the flow detection device 2 at a set time interval can be accurately obtained.
Further, the flow reading unit 22 also includes a display assembly communicatively coupled to the camera assembly. The display component is used for playing the image data shot by the camera component so as to enable an operator to directly read the volume data.
It should be noted that, the flow rate reading unit 22 is not limited to the image capturing assembly described in the above embodiment, for example, the flow rate reading unit 22 includes a liquid level sensor disposed in the measuring cylinder 21, and calculates the volume of the liquid in the measuring cylinder 21 according to the liquid level detected by the liquid level sensor in the measuring cylinder 21.
Wherein the spray assembly 13 is typically provided with a plurality of spray heads 131, and the corresponding measuring cylinder 21 may also be provided in plurality. When the flow of the spray heads is calibrated, each spray head 131 can be connected with one measuring cylinder 21, the actual spray quantity of the spray heads 131 is read in batches, and the testing efficiency is improved.
The test platform for the accurate variable spraying control system provided by some embodiments of the present invention further includes a camera device (not shown in the figure), where the camera device is disposed on one side of the spray head 131 and is used for shooting the on-off state of the spray head 131, and the camera device is connected with the controller 15 in a communication manner.
The imaging device may be provided on the platform support 10 as a part of the test device 1, or may be provided on one side of the platform support 10 as a separate component. The camera device can adopt a high-speed camera, and a light supplementing lamp can be correspondingly arranged, so that the camera device can clearly shoot the state of the spray head 131.
When the spray delay time of the spray head is tested, the system pipeline pressure and the spray head 131 to be detected are set through the man-machine interaction unit 14, the pressure regulating valve 16 is controlled by the controller 15 to maintain the system pipeline pressure, the duty ratio of the electromagnetic valve corresponding to the spray head 131 to be detected is controlled to be 0% and 100%, the start-stop process of the spray head 131 is shot through the camera, and the time required for the spray head 131 to be closed to be fully opened and the time required for the spray head 131 to be fully opened to be closed are analyzed according to shot image data. According to the embodiment of the invention, by arranging the shooting device, accurate testing of the delay time of opening and closing the spray head 131 can be realized.
There is a difference in spray delay time of the spray heads 131 due to different system pressures and the different number of spray heads 131 being turned on. The testing platform can set different system pipeline pressures through the man-machine interaction unit 14, and tests the spray delay time under the condition that different numbers of spray heads 131 are opened and closed and the spray delay time of the same number of spray heads 131 under constant pressure, so that delay compensation is correspondingly added in a control system according to the actual operation speed, and the targeting precision of the accurate variable spray control system is improved.
Because the spraying crops are greatly influenced by seasons, the performance test of the variable spraying control system is not suitable for the outdoor with lower temperature, and the indoor spraying test is required. However, when the test bed in the related art is used for carrying out an indoor pesticide spraying test, potential safety hazards are easily caused for indoor electric equipment. Based on this, as shown in fig. 2 and 3, in some embodiments of the present invention, a flow blocking structure 101 is further disposed on the platform support 10, where the flow blocking structure 101 is surrounded by the nozzle 131, and mist droplets ejected by the nozzle 131 can be condensed on the flow blocking structure 101. It can be appreciated that the flow blocking structure 101 is disposed in the spraying direction of the spraying head 131, so as to block the mist droplets sprayed from the spraying head 131. When the spray delay time test is carried out, fog drops can be prevented from drifting to other indoor areas, and potential safety hazards caused by the test to electric equipment are reduced.
Further, the flow blocking structure 101 is a transparent plate, so that the flow blocking structure 101 can be close to the spray head 131, the image capturing device is arranged on one side of the flow blocking structure 101 away from the spray head 131, the device structure is compact, and the flow blocking structure 101 cannot block shooting of the image capturing device.
As a specific example, the flow blocking structure 101 includes a top plate and two side plates connected to two sides of the top plate, and forms a "U" shaped plate structure in cross section. The spray head 131 faces the inner side of the U-shaped plate-shaped structural member, and effective blocking of mist drops sprayed by the spray head 131 is formed. The baffle structure can be an integrated structure or formed by splicing a plurality of baffles.
In some embodiments of the present invention, the platform support 10 is further provided with a liquid collecting structure 102, the liquid collecting structure 102 is disposed below the flow blocking structure 101, and mist drops condensed on the flow blocking structure 101 can flow into the liquid collecting structure 102, and are collected by the liquid collecting structure 102, so that the liquid is prevented from flowing to other indoor positions.
Specifically, as shown in fig. 4, the liquid collecting structure includes a baffle 1021 and a return pipe 1022, one end of the baffle 1021 is connected to the flow blocking structure 101 and extends obliquely downward from the flow blocking structure 101 to the return pipe 1022, and the return pipe 1022 is in communication with the liquid tank 11.
The flow guiding plate 1021 may form a flow guiding groove with the platform bracket 10, or the flow guiding plate 1021 itself is configured with a flow guiding groove. The first end of the guiding gutter is connected with the bottom end of the flow blocking structure 101, and the second end of the guiding gutter is connected with the return pipe 1022. In the use state of the test device 1, the first end of the flow guiding groove is higher than the second end, and the projection of the flow blocking structure 101 in the vertical direction is located in the flow guiding groove, so as to ensure that the mist drops condensed in the flow blocking structure 101 can fall into the flow guiding groove and flow into the return pipe 1022 along the flow guiding groove.
The liquid collecting structure 102 may be a liquid collecting box disposed under the flow blocking structure 101, and the liquid collecting box may be cleaned or recycled after the spray delay time test is completed.
The spraying machine needs to spray the pesticide on each canopy of the plant in practical application. In this regard, referring to fig. 4 and 5, in the embodiment of the present invention, the spray assembly 13 further includes a spray bar 132, and the spray head 131 is connected to the hydraulic pump 121 through the spray bar 132. Wherein, the spray boom 132 is provided with a plurality of liquid outlets, and each liquid outlet is connected with one spray head 131 through an electromagnetic valve. Optionally, in the vertical direction, a plurality of spray heads 131 on spray boom 132 are arranged at intervals, thereby simulating spraying of medicine laterally to different canopy layers of plants.
In some alternative embodiments, the number of spray assemblies 13 is two, and the spray bars 132 of two spray assemblies 13 are disposed on opposite sides of the platform support 10. That is, the two spray bars 132 are respectively arranged at two opposite sides of the platform bracket 10, and simulate spraying medicines to different canopy layers of plants at two sides of the platform bracket 10.
Correspondingly, the two flow blocking structures 101 are arranged in one-to-one correspondence with the two spraying components 13, and are respectively used for blocking fog drops sprayed by the two spraying components 13. Alternatively, as shown in fig. 4, the flow blocking structure 101 is provided with a vertical section 1011 and an arc section 1012, the vertical sections 1011 of the two flow blocking structures 101 are oppositely arranged, and the arc sections 1012 of the two flow blocking structures 101 are connected to form a U-shaped flow blocking structure with a downward opening and surrounding the air outlet of the fan 19.
The flow blocking structure 101 on one side is hidden in fig. 4 for clarity of illustration of the structure of the spray assembly 13 on the test device 1. The flow blocking structure 101 is arranged along the arrangement direction of the spray heads 131 of the spray assembly 13, so that spraying of the spray heads 131 of the spray assembly 13 is blocked at the same time. It will be appreciated that the baffle structure 101 is disposed equidistant (e.g., 30 cm) from each of the sprayers 131 of the spray assembly 13.
In the embodiment with two spray assemblies 13, the liquid outlet of the hydraulic pump 121 is connected with two spray bars 132 through two water outlet pipes, and the pressure regulating valve 16, the flow sensor 17 and the pressure sensor 18 are arranged on the connection pipeline of the hydraulic pump 121 and each spray bar 132. The two pressure regulating valves 16 respectively and independently regulate and control the pipeline pressure of the two water outlet pipes, the two flow sensors 17 respectively and real-time monitor the pipeline flow of the two water outlet pipes, and the two pressure sensors 18 respectively and real-time monitor the pipeline pressure of the two water outlet pipes.
As shown in fig. 5 and fig. 6, the test platform of the precise variable spraying control system provided by the embodiment of the invention further comprises a simulation tree 3, a laser radar 4 and an adjusting mechanism. The laser radar 4 is located at one side of the platform bracket 10 and is used for scanning canopy information of the simulation tree 3, and the laser radar 4 is in communication connection with the controller 15. The spray head 131 is connected with the platform bracket 10 through an adjusting mechanism, and the adjusting mechanism is used for adjusting the angle of the spray head 131 relative to the horizontal plane.
In the actual operation process, the type of the spray head and the spray angle have relevance influence on the movement characteristics of the fog drops, and the spray head installation angle is an important influence factor of the spray angle. The accurate variable of this embodiment spouts medicine control system test platform can simulate spouting the medicine to the plant, carries out the spray angle test.
Scanning simulated tree canopy information through a laser radar 4, and meshing plant canopy according to the canopy information so as to adapt to plants with different heights; and then calculating the included angle between each spray nozzle 131 and the horizontal plane according to the following spray nozzle angle calculation formula (1), adjusting the included angle between each spray nozzle 131 and the horizontal plane to a calculated angle through an adjusting mechanism, enabling the spray nozzles 131 at different positions to correspond to the grid division areas, and then performing spray angle test.
（1）
Wherein, the liquid crystal display device comprises a liquid crystal display device,the included angle between the spray head and the horizontal plane is formed; n is the number of the spray heads on one side of the platform bracket 10, and is increased from low to high, and is ++>Detecting the height for the laser radar initial detection; />The height of the spray head from the ground; d is the distance from the spray head to the plant row;the height is divided for the grid.
In the embodiment with two spray bars 132, if the two spray bars 132 are symmetrically distributed on both sides of the platform support 10 Wherein->For the distance of the platform support 10 from the row of plants, < > j->Spacing between two spray heads at the same level on two sides of the platform bracket 10.
When the spray angle test is carried out, sampling points are arranged at a position, which is a certain height from the ground, of the simulation tree 3, the water-sensitive test paper is fixed at the sampling points, and mist drops are collected by the water-sensitive test paper. And judging whether the calculated spraying angle is proper or not and optimizing the spraying angle by analyzing the particle size and the uniformity of the mist drops on the water-sensitive test paper. If the spray angle is not suitable, the spray angle test is completed after the spray head 131 is adjusted to form an included angle with the horizontal plane by the adjusting mechanism, and then the test is performed again until the particle size of the mist and the uniformity of the mist reach the requirements.
Wherein, adjustment mechanism can be manual adjustment mechanism, carries out manual regulation by operating personnel, optimizes shower nozzle installation angle. The adjusting mechanism can also be an electric adjusting mechanism and is in communication connection with the controller 15, and an operator can control and adjust the installation angle of the spray head 131 through the man-machine interaction unit 14, so that the test operation is more convenient.
For spray angle test, different types of simulation trees 3 can be selected to simulate different crop types, and the distances between the center line of the simulation tree 3 and the center line of the platform bracket 10 are changed to simulate the spraying of the pesticide in actual different types of planting modes. Because there may be differences in spray angles at different system pipeline pressures, different system pipeline pressures may be set by the human-machine interaction unit 14, and the spray angles may be tested for the different system pipeline pressures. When the spray angle test is performed, data such as the height of the spray head 131 from the ground, the distance from the spray head to the plant rows, grid division height and the like are recorded, so that data analysis is conveniently performed in the later period, accurate spraying of the target variable is realized, and positive effects on improving the pesticide application effect, reducing the pesticide consumption and protecting the ecological environment are achieved.
In some embodiments of the present invention, the plurality of spray heads 131 on the spray assembly 13 are detachably connected to the plurality of measuring cylinders of the flow detection device 2 in a one-to-one correspondence. The precision variable spray control system test platform can be used for testing the spray amount of each spray head 131 on the spray assembly 13. In the test, a plurality of measuring cylinders of the flow rate detection device 2 are connected with a plurality of spray heads 131 of the spray assembly 13 in a one-to-one correspondence. The controller 15 calculates the theoretical spraying amount of the spraying heads 131 corresponding to each canopy according to the canopy information scanned by the laser radar 4, controls the electromagnetic valves corresponding to each spraying head 131 based on the spraying head flow control model, reads the actual spraying amount of each spraying head 131 respectively, and calibrates the theoretical spraying amount of each spraying head 131 by adjusting the corresponding electromagnetic valve according to the comparison result of the actual spraying amount of each spraying head and the corresponding theoretical spraying amount.
Alternatively, when the flow calibration function of the man-machine interaction unit 14 is set and the deviation relationship between the actual spraying amount and the theoretical required amount of each spraying head 131 is obtained through the flow detection device 2, the flow calibration operation can be performed through the man-machine interaction unit 14.
As shown in fig. 2 and 4, in the embodiment of the present invention, the testing device 1 further includes a fan 19, the fan 19 is disposed on the platform bracket 10, and the nozzle 131 is disposed on the air outlet side of the fan 19. During the spray angle test described above, wind power is provided by the fan 19. Under the condition that the wind speed of the fan 19 is certain, the spray head installation angles of all positions in different orchards, different planting crops and different canopy sizes are tested and recorded, and the proper spray head installation angles can be directly selected according to actual conditions during application. When the spray head installation angle test is finished, each data can be recorded through the man-machine interaction unit 14, so that the data can be conveniently used as a reference when other tests are carried out later.
The flow blocking structure 101 is connected to an air outlet of the fan 19 and surrounds one side of the nozzle 131 away from the air outlet. In this way, the flow blocking structure 101 can effectively block the mist droplets blown off by the fan 19, and prevent the mist droplets from sputtering outside the flow blocking structure 101.
Further, the flow blocking structure 101 is detachably connected with the air outlet of the fan 19, so that when the nozzle 131 needs to be connected with the flow detection device 2, the flow blocking structure 101 can be detached from the fan 19, and the connection between the nozzle 131 and the flow detection device 2 is realized by detaching the arc-shaped section 1012 of the flow blocking structure 101 in fig. 1.
Further, an air speed detector is arranged at an air outlet of the fan 19, and the fan 19 and the air speed detector are respectively in communication connection with the controller 15. The deposition effect of the mist droplets inside and outside the plant canopy is greatly dependent on three factors of wind power, including wind speed, wind direction and wind quantity. The wind speed detector is used for measuring the wind speed of the air outlet of the fan 19, the air quantity can be calculated according to the wind speed and the area of the air outlet of the fan 19, and the wind direction is mainly determined by the installation angle of the spray head.
After the spray angle test under the specific wind speed condition is completed, the influence of wind speed and wind quantity on the fog drop deposition density of sampling points on the simulation tree 3 can be tested under different wind speed conditions by adjusting the rotation speed of the fan 19.
As shown in fig. 6, the test platform of the accurate variable spraying control system provided by the embodiment of the invention further comprises a guide rail 5 and a trolley 6, wherein the trolley 6 is movably arranged on the guide rail 5. The simulation tree 3 is fixed on a trolley 6, and the laser radar 4 and a platform bracket 10 are positioned on one side of the guide rail 5. The trolley 6 is in communication with a controller 15.
The test platform of the accurate variable spraying control system can be used for simulating target variable spraying tests in orchard tests. The lidar 4 and the platform bracket 10 are located on the same side of the rail 5, and the lidar 4 is located between the trolley 6 and the platform bracket 10 in the length direction of the rail 5. According to the spraying range of each spray head 131 of the spraying assembly 13, the canopy of the simulation tree 3 is meshed, and the spray heads 131 at different positions are in one-to-one correspondence with a plurality of meshed areas. After the spray angle test of each spray head 131 is completed, the simulation tree 3 is fixed on the trolley 6, so that the trolley 6 moves relatively to the platform support 10 and the laser radar 4 on the guide rail 5, an encoder on the trolley 6 feeds back the speed and the position of the trolley 6 to the controller 15 in real time, targets are detected through the laser radar 4, target information in different positions is transmitted to the controller 15 in real time, and the controller 15 determines the spray heads 131 which need to be opened and closed correspondingly. At the same time, the laser radar 4 detects plant canopy information, and the controller 15 calculates theoretical spraying amount of the spray heads 131 corresponding to each canopy and theoretical total spraying amount of the spraying component 13 according to the canopy information, and starts each spray head 131 to spray according to theoretical required amount. Because the connection part of the leaf base of the simulation tree 3 is hard, the detection of the laser radar is not easy to be interfered due to wind in the moving process of the tree.
In the above-mentioned target variable spraying test process, the plurality of spray heads 131 of the spraying assembly 13 are connected to the plurality of measuring cylinders 21 of the flow detection device 2 in a one-to-one correspondence manner, so that the opening and closing states of the spray heads 131 and the actual spraying amounts of the spray heads 131 can be monitored in real time.
For a variable spraying control system in the related art, before actual spraying operation, the operation pressure, the spraying delay time and the operation speed of the spraying control system need to be continuously adjusted so as to continuously optimize the actual spraying amount and targeting accuracy of the control system. The testing platform of the accurate variable spraying control system provided by the embodiment of the invention not only can realize voltage stabilizing performance test, spray head flow control model establishment and spray head actual spraying amount monitoring, but also can realize accurate spray head spraying delay time, spraying angle, wind power supply and other performance tests by arranging the shooting device, the simulation tree 3, the laser radar 4, the adjusting mechanism, the guide rail 5, the trolley 6 and the fan 19, can accurately determine the theoretical spraying amount of each spray head 131 according to plant canopy information through field test analog variable spraying, can calibrate the theoretical spraying amount according to the detected actual spraying amount to optimize the control system, and can also combine the actual running speed of a spraying machine to perform time compensation on spraying, thereby realizing accurate spraying of target variable. The man-machine interaction unit 14 can visually display various detection data received by the controller 15, such as spraying position, spraying pressure, real-time flow, and information of the required dosage.
The embodiment of the invention also provides a testing method of the accurate variable spraying control system, which is applied to the testing platform of the accurate variable spraying control system in any embodiment, and the testing method of the accurate variable spraying control system provided by the invention is described below, and the testing method of the accurate variable spraying control system described below and the testing platform of the accurate variable spraying control system described above can be correspondingly referred to each other.
As shown in fig. 7, the method for testing the accurate variable spraying control system provided by the embodiment of the invention comprises the following steps:
s100, setting system pipeline pressure and electromagnetic valve frequency through the man-machine interaction unit 14, regulating the pressure regulating valve 16 according to the system pipeline pressure by the controller 15, and opening the electromagnetic valve according to the electromagnetic valve frequency.
S200, acquiring actual spraying quantity detected by the flow detection device 2 according to a set time interval, and determining that the system pipeline pressure is in a stable state according to the actual spraying quantity.
S300, a duty ratio control instruction is sent to the controller 15 through the man-machine interaction unit 14, the controller 15 adjusts the duty ratio of the electromagnetic valve according to the duty ratio control instruction, and meanwhile the flow detection device 2 detects the actual spraying amount of the corresponding spraying nozzle 131.
S400, the controller 15 establishes a spray head flow control model according to the duty ratio of the electromagnetic valve and the corresponding actual spray amount of the spray head.
Specifically, after the system pipeline pressure and the electromagnetic valve frequency are set through the man-machine interaction unit 14, a nozzle 131 is connected with the flow detection device 2, the controller 15 opens the electromagnetic valve corresponding to the nozzle 131, reads the actual spraying amount detected by the flow detection device 2 according to a set time interval, and if the actual spraying amount read for multiple times is in an arithmetic change or a difference value is in a set range, the system pipeline pressure is determined to be in a stable state, so that the system voltage stabilizing performance test is completed.
Alternatively, when the actual amount of the spray of the corresponding spray head 131 is detected by the flow rate detecting device 2 as described in step S300, the volume of the liquid in the measuring cylinder 21 at the set time interval may be determined by the flow rate reading unit 22. For example, the image data captured by the image capturing assembly may be played slowly by the corresponding video software, and the liquid volume in the measuring cylinder 21 may be read at set time intervals, so as to obtain the actual amount of spray detected by the flow rate detecting device 2 at the set time intervals. The embodiment can avoid the problem that the flow rate change is too fast or too slow, so that a large error occurs in the observation of human eyes.
After the system voltage stabilizing performance test is completed, the flow calibration is performed on each nozzle 131. Specifically, the duty control instruction of the solenoid valve is sent to the controller 15 through the man-machine interaction unit 14. The actual spraying amount of the spray head 131 under different duty ratio control instruction conditions is obtained by adjusting the duty ratio and utilizing the flow detection device 2, and a linear regression equation of the actual spraying amount of the spray head 131 relative to the duty ratio of the corresponding electromagnetic valve is established, so that a flow control model of the spray head 131 is obtained, and the flow calibration of the spray head is completed.
In the method for testing the accurate variable spraying control system provided by the embodiment of the invention, after determining that the system pipeline pressure is in a stable state in step S200, the method further comprises:
s510, sending a nozzle opening and closing control instruction to the controller 15 through the man-machine interaction unit 14.
And S520, the controller 15 determines the delay time of the start spraying of the spray head and the delay time of the closing spraying of the spray head according to the time point of receiving the control instruction of opening and closing the spray head and the image data shot by the camera device.
The on-off control instruction sent by the man-machine interaction unit 14 to the controller 15 may be a duty ratio control instruction of the solenoid valve corresponding to the nozzle 131 to be tested, that is, the on-nozzle control instruction is a 100% duty ratio control instruction, and the off-nozzle control instruction is a 0% duty ratio control instruction. The controller 15 is provided with a clock module, and the clock module records a time point T1 when the controller 15 receives a nozzle control command and a time point T2 when the controller receives a nozzle control command. From the image data captured by the image capturing device, it is possible to determine the time point T1 'at which the head 131 is actually turned off to be fully turned on and the time point T2' from turned on to be fully turned off. Then the delay time for the spray head 131 to start spraying may be calculated as T1 '-T1 and the delay time for the spray head 131 to shut off spraying may be calculated as T2' -T2.
In the method for testing the accurate variable spraying control system provided by the embodiment of the invention, after determining that the system pipeline pressure is in a stable state in step S200, the method further comprises:
and S610, arranging water sensitive test paper at a sampling point on the simulation tree, and controlling the opening of a spray head 131 corresponding to the sampling point by the controller 15.
S620, determining a spraying quality parameter according to the water-sensitive test paper, and adjusting the included angle between the corresponding spray head and the horizontal plane until the spraying quality parameter reaches a target value; wherein the spray quality parameters include droplet size and droplet uniformity.
The embodiment is used for testing the spraying angle of the spraying control system. In order to more accurately test the spray angle of the variable spray control system in actual operation, step S610 is performed after determining that the system line pressure is in a steady state. According to the spraying range of each spray head 131 of the spraying assembly 13, the canopy of the simulation tree 3 is meshed, and the spray heads 131 at different positions are in one-to-one correspondence with a plurality of meshed areas. The controller 15 controls the spray heads 131 corresponding to the grid areas where the sampling points are located to be turned on. The theoretical spraying amount of the corresponding spray nozzle 131 can be determined according to the size of the canopy where the sampling point is located, and the duty ratio of the corresponding electromagnetic valve is controlled according to the theoretical spraying amount and the flow control model of the spray nozzle 131, so that the spray nozzle 131 is opened. After the medicine spraying is simulated, judging whether the spraying angle is proper or not according to the determined spraying quality parameters. If the spray quality parameter does not reach the target value, the spray angle between the spray head 131 and the horizontal plane can be adjusted by the adjusting mechanism, so that the spray angle of the spray head 131 is optimized.
Because the spray angles will be different under different system pipeline pressures, the embodiment of the invention further includes setting different system pipeline pressures through the man-machine interaction unit 14, performing a spray angle test after finishing the system voltage stabilizing performance test under different pipeline pressure conditions, and recording the spray angles corresponding to the spray heads 131 under different pipeline pressures.
Further, in step S620, after adjusting the corresponding included angle between the nozzle and the horizontal plane until the spray quality parameter reaches the target value, the method further includes:
s630, a wind speed control instruction is sent to the controller 15 through the man-machine interaction unit 14.
And S640, the controller 15 adjusts the rotating speed of the fan according to the wind speed control instruction and records the spray quality parameters under different wind speeds.
The embodiment is used for carrying out the air-assisted spraying performance test of the accurate variable spraying control system. After the spray angle test under the specific wind speed condition is completed, namely, after the wind direction is determined, an operator can set different wind speeds through the man-machine interaction unit 14, so that the wind speed and the wind quantity supply are changed, the spray quality parameters under the different wind speeds are determined through the water-sensitive test paper, and the relationship between different wind power supplies and the spray quality parameters of sampling points on the simulation tree 3 is obtained. In the actual application of the control system, the spray head installation angle and the fan rotating speed can be directly determined according to the actual crop planting height and the planting mode.
In the method for testing the accurate variable spraying control system provided by the embodiment of the invention, after the spray head flow control model is established in step S400, the method further comprises the following steps:
s710, the trolley 6 is controlled to move along the guide rail 5 towards the platform bracket 10, and the canopy information of the simulation tree 3 is scanned by the laser radar 4.
S720, the controller 15 calculates the theoretical spraying amount of the spraying nozzle 131 according to the canopy information, opens the electromagnetic valve corresponding to the spraying nozzle 131 according to the theoretical spraying amount, and detects the actual spraying amount of the spraying nozzle 131 through the flow detection device 2.
S730, the controller 15 calibrates the theoretical spray rate according to the comparison result of the actual spray rate and the theoretical spray rate of the spray head 131.
The embodiment is used for simulating an orchard pesticide spraying test, and the movement of a pesticide spraying machine towards plants during actual operation is simulated by controlling the trolley 6 to move towards the platform bracket 10. In the moving process, an encoder on the trolley 6 feeds back the speed and the position of the trolley 6 to the controller 15 in real time, the laser radar 4 transmits target information of the trolley at different positions to the controller 15 in real time, and the controller 15 determines a spray head 131 to be opened and closed according to the target information. If no target information is detected in the grid area corresponding to the spray head 131, the spray head 131 is closed, otherwise, the spray head is opened. Meanwhile, the laser radar 4 also scans the canopy information, and the controller 15 calculates the theoretical spraying amount of the spray heads 131 corresponding to each canopy of the plant according to the canopy information, and starts each spray head 131 to spray according to the theoretical spraying amount of each spray head 131. In the process of spraying the medicine, the actual spraying amount of each spray head 131 is detected by the flow detection device 2, the controller 15 calibrates the theoretical spraying amount according to the difference between the actual spraying amount and the theoretical spraying amount, and then adjusts the duty ratio of the electromagnetic valve according to the calibrated theoretical spraying amount, so that the error between the actual spraying amount of the spray heads 131 and the actual required amount of the corresponding canopy is minimized.
After the establishment of the spray head flow control model, the spray head spray delay time test, the spray head spray angle test and the spray head flow calibration described in the above embodiments are completed, the connection between the flow detection device 2 and the spray head 131 is removed, and the simulation tree 3, the laser radar 4, the guide rail 5 and the trolley 6 are combined to simulate an orchard spray test, so as to perform a target spray precision test. According to the method, rhodamine solution is used as a coloring agent, a certain amount of water-sensitive test paper and filter paper are arranged at different sampling points of a simulation tree under the same test condition, fog drop collection is carried out, so that spray effect tests including spray deposition density, spray coverage rate, spray deposition amount test and the like are carried out, various working conditions of an orchard spray test are simulated to a great extent through field tests, and the performance of an accurate variable spray control system is improved continuously through test data, so that the performance of the system is optimized before actual application, and various problems in the actual application process of the orchard are reduced as much as possible. After the field test of the accurate variable spray control system testing device 1 is free from problems, the spray control system is loaded on a spray machine for field test. And marking the test result as a control test of the speed change and system variable pressure test of the follow-up study trolley 6.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The utility model provides a accurate variable spouts medicine control system test method, is applied to accurate variable spouts medicine control system test platform, its characterized in that, accurate variable spouts medicine control system test platform includes: the system comprises a platform bracket, a flow detection device, a simulation tree, a laser radar, a guide rail, a trolley, a liquid storage tank, a hydraulic pump, a spraying assembly, a man-machine interaction unit and a controller, wherein the liquid storage tank, the hydraulic pump, the spraying assembly, the man-machine interaction unit and the controller are respectively arranged on the platform bracket;
the spraying component comprises a spray head and an electromagnetic valve connected with the spray head; the liquid storage tank, the hydraulic pump and the spray head are connected through pipelines in sequence, a pressure regulating valve, a flow sensor and a pressure sensor are arranged on the connecting pipelines of the hydraulic pump and the spray head, and the pressure regulating valve, the electromagnetic valve, the flow sensor, the pressure sensor and the man-machine interaction unit are respectively in communication connection with the controller;
The flow detection device comprises a plurality of measuring cylinders and is used for detecting the actual spraying amount of the corresponding spray heads, and the spray heads on the spraying assembly are detachably connected with the measuring cylinders in a one-to-one correspondence manner; the spray heads on the spray assembly are used for spraying medicines to different crowns of the simulation tree in the vertical direction;
the trolley is movably arranged on the guide rail, the simulation tree is fixed on the trolley, the laser radar is positioned on one side of the platform support and used for scanning canopy information of the simulation tree, the laser radar and the platform support are positioned on one side of the guide rail, and the trolley and the laser radar are respectively in communication connection with the controller;
the testing method of the accurate variable spraying control system comprises the following steps:
setting system pipeline pressure and electromagnetic valve frequency through the man-machine interaction unit, wherein the controller adjusts the pressure regulating valve according to the system pipeline pressure and opens the electromagnetic valve according to the electromagnetic valve frequency;
connecting one spray head with the measuring cylinder, acquiring a first actual spraying amount of the spray head detected by the measuring cylinder according to a set time interval, and determining that the pressure of a system pipeline is in a stable state according to the first actual spraying amount;
The controller adjusts the duty ratio of the electromagnetic valve according to the duty ratio control instruction, and simultaneously detects the second actual spraying amount of the corresponding spray head through the measuring cylinder; the controller establishes a spray head flow control model according to the duty ratio and the corresponding second actual spray amount of the spray head;
detecting the actual total spraying amount of the spraying component through the flow detection device, calibrating the flow sensor based on the actual total spraying amount and the actual calculated flow of the flow sensor, and enabling the controller to directly obtain the actual total spraying amount of the spraying component from the flow sensor;
correspondingly connecting a plurality of measuring cylinders with a plurality of spray heads of the spraying assembly one by one; controlling the trolley to move towards the platform bracket along the guide rail, and scanning canopy information of the simulation tree through the laser radar; the controller calculates theoretical spraying amount of the spray heads corresponding to all the crowns according to the information of the crowns, adjusts the duty ratio of the corresponding electromagnetic valve according to the theoretical spraying amount and the spray head flow control model, and detects the third actual spraying amount of the corresponding spray heads through the measuring cylinder; the controller calibrates the theoretical spraying amount according to the difference value between the third actual spraying amount and the theoretical spraying amount; if the difference value between the actual total spraying amount and the theoretical total spraying amount exceeds a set error interval, reporting errors by the man-machine interaction unit, wherein the theoretical total spraying amount is the sum of the theoretical spraying amounts of a plurality of spray heads of the spraying assembly;
And removing the connection between the measuring cylinder and the spray head, and adjusting the duty ratio of the corresponding electromagnetic valve according to the calibrated theoretical spraying amount to simulate a target spraying test of an orchard.
2. The method of claim 1, further comprising, after said determining that the system line pressure is at steady state:
sending a control instruction for opening and closing the spray nozzle to the controller through the man-machine interaction unit;
and the controller determines the delay time of the start spraying of the spray head and the delay time of the close spraying of the spray head according to the time point of receiving the control instruction of the start and stop spraying of the spray head and the image data shot by the camera device.
3. The method of claim 1, further comprising, after said determining that the system line pressure is at steady state:
arranging water-sensitive test paper at a sampling point on a simulation tree, wherein the controller controls the spray head corresponding to the sampling point to be opened;
determining a spraying quality parameter according to the water-sensitive test paper, and adjusting the corresponding included angle between the spray head and the horizontal plane until the spraying quality parameter reaches a target value; wherein the spray quality parameters include droplet size and droplet uniformity.
4. The method for testing an accurate variable spray control system according to claim 3, further comprising, after said adjusting the corresponding spray head to horizontal angle until said spray quality parameter reaches a target value:
sending a wind speed control instruction to the controller through the man-machine interaction unit;
and the controller adjusts the rotating speed of the fan according to the wind speed control instruction and records the spraying quality parameters under different wind speeds.
5. The method of claim 1, wherein the precision variable spray control system test platform further comprises:
the camera device is arranged on one side of the spray head and used for shooting the opening and closing state of the spray head, and the camera device is in communication connection with the controller.
6. The method of claim 1, wherein the precision variable spray control system test platform further comprises:
the spray head is connected with the platform support through the adjusting mechanism, and the adjusting mechanism is used for adjusting the angle of the spray head relative to the horizontal plane.
7. The method of claim 1, wherein the precision variable spray control system test platform further comprises:
the fan, the fan set up in the platform support, the shower nozzle set up in the air-out side of fan, the air outlet department of fan is equipped with wind speed detector, the fan with wind speed detector respectively with controller communication connection.
8. The method of claim 1, wherein the spray assembly further comprises a spray bar, the spray head is connected to the hydraulic pump by the spray bar, the spray bar is provided with a plurality of liquid outlets, and each liquid outlet is connected to one spray head by the electromagnetic valve; and in the vertical direction, a plurality of spray heads on the spray rod are arranged at intervals.
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