CN104133496A - Monitoring system and method for working condition of spraying machine - Google Patents
Monitoring system and method for working condition of spraying machine Download PDFInfo
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Abstract
一种喷药机工作状态实时监测系统和方法属农业机械技术领域，本发明的喷药机工作状态实时监测系统包括电源、电源模块、主控制系统、报警系统、安装在喷药分支管路上的喷头堵塞监测传感器和管路压力传感器、安装在药箱上的液位传感器、喷药机水泵、水泵电机、电机转速传感器；主控制系统安装在拖拉机的驾驶室内，通过屏蔽线分别与喷头堵塞监测传感器、管路压力传感器、药箱液位传感器、水泵转速传感器和电源模块连接；本发明还提供了喷药机工作状态实时监测的方法；本发明可实时监测喷药机当前的工作状态、精确判断喷药机的故障类型和堵塞喷头的部位，为及时有效地排除喷药机故障提供可靠依据和前提条件。
A real-time monitoring system and method for the working state of a spraying machine belongs to the technical field of agricultural machinery. The real-time monitoring system for the working state of a spraying machine of the present invention includes a power supply, a power supply module, a main control system, an alarm system, and The nozzle clogging monitoring sensor and pipeline pressure sensor, the liquid level sensor installed on the medicine tank, the water pump of the spraying machine, the water pump motor, and the motor speed sensor; the main control system is installed in the cab of the tractor, and is respectively connected with the nozzle clogging monitoring through shielded wires. The sensor, the pipeline pressure sensor, the liquid level sensor of the medicine tank, the water pump speed sensor and the power supply module are connected; the present invention also provides a method for real-time monitoring of the working state of the spraying machine; the present invention can monitor the current working state of the spraying machine in real time, accurately Judging the type of failure of the sprayer and the position of the clogged nozzle provides a reliable basis and prerequisite for timely and effective troubleshooting of the sprayer.
Description
技术领域technical field
本发明属于农业机械技术领域，涉及一种对喷药机的工作状态进行实时监控的系统和方法。The invention belongs to the technical field of agricultural machinery and relates to a system and method for real-time monitoring of the working state of a spraying machine.
背景技术Background technique
现有农用喷药机在田间作业时，由于作业环境复杂、药箱中可能混有杂质等原因，存在喷头堵塞、药箱液位过低等情况，从而导致漏喷。漏喷状况出现之后，如果不能及时发现会使得喷药作业区域产生大面积漏喷现象。由于药液的挥发性，漏喷状况被发现时，往往施药区域和未施药区域不容易区分，从而导致病、虫、草害的泛滥。若在未准确判断漏喷区域的情况下，用重复喷药方式避免漏喷，不仅浪费人力、物力，更造成环境的二次污染。目前，国内外对于喷药技术和喷药器械的研究较多，对喷药机漏喷的研究较少，对于喷药机工作状态实时监控，尤其是对喷药机故障部位的监测尚未见报道。When the existing agricultural spraying machine is working in the field, due to the complex working environment and the possibility of impurities in the medicine box, there are situations such as nozzle blockage and low liquid level in the medicine box, resulting in spraying leakage. After the leakage of spraying occurs, if it cannot be found in time, it will cause a large area of spraying leakage in the spraying operation area. Due to the volatility of the liquid medicine, when the leakage of spraying is found, it is often not easy to distinguish the sprayed area from the non-sprayed area, which leads to the flood of diseases, insects, and weeds. If the missed spray area is not accurately judged, repeated spraying is used to avoid missed spraying, which will not only waste manpower and material resources, but also cause secondary pollution of the environment. At present, there are many researches on spraying technology and spraying equipment at home and abroad, and less research on spraying leakage of spraying machines. There is no report on the real-time monitoring of the working status of spraying machines, especially the monitoring of faulty parts of spraying machines. .
喷药机工作状态的实时监测是实施精准农业作业的关键环节之一，因此，实时监测喷药机的工作状态可以及时有效的发现喷药机漏喷状况，及时补喷，有效防治病虫害，为现代农业的实施提供可靠的技术保障。The real-time monitoring of the working status of the spraying machine is one of the key links in the implementation of precision agricultural operations. Therefore, real-time monitoring of the working status of the spraying machine can timely and effectively find the spraying situation of the spraying machine, make up spraying in time, and effectively prevent pests and diseases. The implementation of modern agriculture provides reliable technical support.
发明内容Contents of the invention
针对现有技术存在的缺陷，本发明的目的在于提供一种能够对喷药机的工作状态进行实时监控，并能对喷药机漏喷故障部位进行智能化实时监控的系统和方法。In view of the defects existing in the prior art, the object of the present invention is to provide a system and method capable of real-time monitoring of the working state of the sprayer, and intelligent real-time monitoring of the spraying failure parts of the sprayer.
一种喷药机工作状态实时监测系统，由主控制系统A、电源模块a、显示模块b、报警系统c、药箱系统B、药液喷洒前部系统C、药液喷洒后部系统D、回水管1、三通管Ⅰ2、供水管3组成，其中显示模块b、报警系统c、药箱系统B的液位传感器5、药液喷洒前部系统C的水泵电机13、水泵转速传感器21、管路压力传感器15、药液喷洒后部系统D的喷头堵塞监测传感器Ⅵ22、喷头堵塞监测传感器Ⅴ23、喷头堵塞监测传感器Ⅳ24、喷头堵塞监测传感器Ⅲ25、喷头堵塞监测传感器Ⅱ26、喷头堵塞监测传感器Ⅰ27均由主控制系统A控制；A real-time monitoring system for the working state of a spraying machine, which consists of a main control system A, a power supply module a, a display module b, an alarm system c, a medicine box system B, a medicine liquid spraying front system C, a medicine liquid spraying rear system D, The return pipe 1, the three-way pipe I2, and the water supply pipe 3 are composed of the display module b, the alarm system c, the liquid level sensor 5 of the medicine tank system B, the water pump motor 13 of the medicine liquid spraying front system C, the water pump speed sensor 21, Pipeline pressure sensor 15, nozzle clogging monitoring sensor Ⅵ22, nozzle clogging monitoring sensor Ⅴ24, nozzle clogging monitoring sensor Ⅲ25, nozzle clogging monitoring sensor Ⅱ26, nozzle clogging monitoring sensor Ⅰ27 of liquid spraying rear system D Controlled by the main control system A;
主控制系统A、显示模块b、报警系统c、药箱系统B的液位传感器5、药液喷洒前部系统C的管路压力传感器15、水泵转速传感器21、药液喷洒后部系统D的喷头堵塞监测传感器Ⅵ22、喷头堵塞监测传感器Ⅴ23、喷头堵塞监测传感器Ⅳ24、喷头堵塞监测传感器Ⅲ25、喷头堵塞监测传感器Ⅱ26、喷头堵塞监测传感器Ⅰ27均由电源模块a供电；Main control system A, display module b, alarm system c, liquid level sensor 5 of medicine tank system B, pipeline pressure sensor 15 of liquid spraying front system C, water pump speed sensor 21, liquid level sensor of liquid spraying rear system D The nozzle clogging monitoring sensor Ⅵ22, the nozzle clogging monitoring sensor V23, the nozzle clogging monitoring sensor IV24, the nozzle clogging monitoring sensor III25, the nozzle clogging monitoring sensor II26, and the nozzle clogging monitoring sensor I27 are all powered by the power module a;
药液喷洒前部系统C的三通总管Ⅱ16出口经回水管1与药箱系统B的药箱回水口8连接；The outlet of the three-way main pipe II16 of the liquid spraying front system C is connected to the medicine tank return port 8 of the medicine tank system B through the return pipe 1;
药液喷洒前部系统C的水泵入口11经供水管3与药箱系统B的药箱出水口9连接；The water pump inlet 11 of the liquid spraying front system C is connected to the medicine box outlet 9 of the medicine box system B through the water supply pipe 3;
药液喷洒前部系统C的三通支管Ⅱ18经三通管Ⅰ2的支管Ⅰ35与药液喷洒后部系统D的喷头堵塞监测传感器Ⅰ27连接；The three-way branch pipe II18 of the system C at the front of the liquid medicine spraying is connected to the nozzle clogging monitoring sensor I27 of the system D at the back of the liquid medicine spraying through the branch pipe I35 of the three-way pipe I2;
经三通管Ⅰ2的支管Ⅱ36与药液喷洒后部系统D的喷头堵塞监测传感器Ⅱ26连接；The branch pipe II36 of the three-way pipe I2 is connected to the nozzle clogging monitoring sensor II26 of the liquid spraying rear system D;
经三通管Ⅰ2的支管Ⅲ37与药液喷洒后部系统D的喷头堵塞监测传感器Ⅲ25连接；The branch pipe III37 of the three-way pipe I2 is connected to the nozzle blockage monitoring sensor III25 of the liquid spraying rear system D;
经三通管Ⅰ2的支管Ⅳ38与药液喷洒后部系统D的喷头堵塞监测传感器Ⅳ24连接；The branch pipe IV38 of the three-way pipe I2 is connected with the nozzle clogging monitoring sensor IV24 of the liquid spraying rear system D;
经三通管Ⅰ2的支管Ⅴ39与药液喷洒后部系统D的喷头堵塞监测传感器Ⅴ23连接；The branch pipe V39 of the three-way pipe I2 is connected to the nozzle blockage monitoring sensor V23 of the liquid spraying rear system D;
经三通管Ⅰ2的支管Ⅵ40与药液喷洒后部系统D的喷头堵塞监测传感器Ⅵ22连接。The branch pipe VI40 of the three-way pipe I2 is connected with the nozzle clogging monitoring sensor VI22 of the liquid medicine spraying rear system D.
所述的药箱系统B由药箱4、液位传感器5、屏蔽线6、药箱盖7、药箱回水口8、药箱出水口9和液位计10组成，其中药箱盖7固接于药箱4顶部中央，液位传感器5与液位计10顶端固接，液位计10下部插于药箱4中，液位传感器5上设有屏蔽线6，药箱回水口8位于药箱盖7一边，药箱出水口9位于药箱4右侧下部。The medicine box system B is composed of a medicine box 4, a liquid level sensor 5, a shielding wire 6, a medicine box cover 7, a medicine box return port 8, a medicine box water outlet 9 and a liquid level gauge 10, wherein the medicine box cover 7 is fixed Connected to the center of the top of the medicine box 4, the liquid level sensor 5 is fixedly connected to the top of the liquid level gauge 10, the lower part of the liquid level gauge 10 is inserted into the medicine box 4, the liquid level sensor 5 is provided with a shielding wire 6, and the water return port 8 of the medicine box is located at On one side of the medicine box cover 7, the medicine box water outlet 9 is positioned at the bottom right side of the medicine box 4.
所述的药液喷洒前部系统C由水泵入口11、水泵12、电机13、水泵出口14、管路压力传感器15、三通总管Ⅱ16、溢流阀17、三通支管Ⅱ18、三通支管Ⅰ19、三通总管Ⅰ20、水泵转速传感器21组成，其中水泵电机13输出轴与水泵12输入轴固接且二者以相同角速度转动，水泵转速传感器21套在水泵12输入轴上与其同轴转动，水泵出口14经三通支管Ⅰ19与三通支管Ⅱ18连通，三通总管Ⅰ20与三通支管Ⅰ19连通，三通总管Ⅰ20出口处固接管路压力传感器15，三通总管Ⅱ16与三通支管Ⅱ18连通，溢流阀17串接于三通总管Ⅱ16中部。The liquid spraying front system C consists of a water pump inlet 11, a water pump 12, a motor 13, a water pump outlet 14, a pipeline pressure sensor 15, a three-way main pipe II16, an overflow valve 17, a three-way branch pipe II18, and a three-way branch pipe I19 , three-way main pipe I 20, and water pump speed sensor 21, wherein the output shaft of water pump motor 13 is fixedly connected to the input shaft of water pump 12 and both rotate at the same angular velocity, and the water pump speed sensor 21 is set on the input shaft of water pump 12 and rotates coaxially with it. Outlet 14 is connected to tee branch pipe II18 through tee branch pipe I19, tee branch pipe I20 is connected to tee branch pipe I19, the outlet of tee main pipe I20 is fixedly connected to pipeline pressure sensor 15, tee main pipe II16 is connected to tee branch pipe II18, and overflow The flow valve 17 is connected in series to the middle part of the three-way main pipe II16.
所述的药液喷洒后部系统D由喷头堵塞监测传感器Ⅵ22、喷头堵塞监测传感器Ⅴ23、喷头堵塞监测传感器Ⅳ24、喷头堵塞监测传感器Ⅲ25、喷头堵塞监测传感器Ⅱ26、喷头堵塞监测传感器Ⅰ27、喷头Ⅰ28、喷头Ⅱ29、喷头Ⅲ30、喷头Ⅳ31、喷头Ⅴ32、喷头Ⅵ33、三通管Ⅰ总管34、支管Ⅰ35、支管Ⅱ36、支管Ⅲ37、支管Ⅳ38支管Ⅴ39、支管Ⅵ40组成，其中The liquid spraying rear system D is composed of nozzle clogging monitoring sensor VI22, nozzle clogging monitoring sensor V23, nozzle clogging monitoring sensor IV24, nozzle clogging monitoring sensor III25, nozzle clogging monitoring sensor II26, nozzle clogging monitoring sensor I27, nozzle I28, Nozzle Ⅱ29, Nozzle Ⅲ30, Nozzle Ⅳ31, Nozzle Ⅴ32, Nozzle Ⅵ33, Tee pipe Ⅰ main pipe 34, branch pipe Ⅰ35, branch pipe Ⅱ36, branch pipe Ⅲ37, branch pipe Ⅳ38, branch pipe Ⅴ39, branch pipe Ⅵ40, of which
喷头Ⅰ28经喷头堵塞监测传感器Ⅰ27与三通管Ⅰ2的支管Ⅰ35连接；The nozzle I28 is connected to the branch pipe I35 of the tee pipe I2 through the nozzle blockage monitoring sensor I27;
喷头Ⅱ29经喷头堵塞监测传感器Ⅱ26与三通管Ⅰ2的支管Ⅱ36连接；The nozzle II29 is connected to the branch pipe II36 of the three-way pipe I2 through the nozzle clogging monitoring sensor II26;
喷头Ⅲ30经喷头堵塞监测传感器Ⅲ25与三通管Ⅰ2的支管Ⅲ37连接；The nozzle III30 is connected to the branch pipe III37 of the three-way pipe I2 through the nozzle clogging monitoring sensor III25;
喷头Ⅳ31经喷头堵塞监测传感器Ⅳ24与三通管Ⅰ2的支管Ⅳ38连接；Nozzle IV31 is connected to branch pipe IV38 of tee pipe I2 through nozzle clogging monitoring sensor IV24;
喷头Ⅴ32经喷头堵塞监测传感器Ⅴ23与三通管Ⅰ2的支管Ⅴ39连接；The nozzle V32 is connected to the branch pipe V39 of the three-way pipe I2 through the nozzle clogging monitoring sensor V23;
喷头Ⅵ33经喷头堵塞监测传感器Ⅵ22与三通管Ⅰ2的支管Ⅵ40连接。The nozzle VI33 is connected to the branch pipe VI40 of the tee pipe I2 through the nozzle clogging monitoring sensor VI22.
所述的水泵转速传感器21安装在水泵12上，用于监测水泵转速；液位传感器5安装在药箱4上；管路压力传感器15通过三通并联在供水管3上，用于监测主回路压力；喷头堵塞监测传感器组由喷头堵塞监测传感器Ⅵ22、喷头堵塞监测传感器Ⅴ23、喷头堵塞监测传感器Ⅳ24、喷头堵塞监测传感器Ⅲ25、喷头堵塞监测传感器Ⅱ26、喷头堵塞监测传感器Ⅰ27组成；其串联在各个分支回路中，用于监测各回路中的药液流量。报警系统c为声光报警，当接收到主控制系统A的报警信号时，会发出红光和警报声。The water pump speed sensor 21 is installed on the water pump 12 for monitoring the water pump speed; the liquid level sensor 5 is installed on the medicine tank 4; the pipeline pressure sensor 15 is connected in parallel with the water supply pipe 3 through a tee for monitoring the main circuit Pressure; nozzle blockage monitoring sensor group consists of nozzle blockage monitoring sensor Ⅵ22, nozzle blockage monitoring sensor Ⅴ23, nozzle blockage monitoring sensor Ⅳ24, nozzle blockage monitoring sensor Ⅲ25, nozzle blockage monitoring sensor Ⅱ26, and nozzle blockage monitoring sensor Ⅰ27; they are connected in series in each branch In the loop, it is used to monitor the liquid medicine flow in each loop. The alarm system c is an audible and visual alarm. When receiving the alarm signal from the main control system A, it will emit red light and an alarm sound.
一种喷药机工作状态实时监测方法，包括下列步骤：A method for real-time monitoring of the working state of a spraying machine, comprising the following steps:
1.安全工作状态的设置1. Setting of safe working state
1.1将药箱4装满水，稳压电源给水泵电机13供电，使其正常旋转，使喷水正常，此时水泵测速传感器21输出的脉冲信号为水泵正常转速所对应的信号，管路压力传感器15输出的电压信号为对应的管路安全压力Pmax1信号、喷头堵塞监测传感器组输出的脉冲信号为对应喷头堵塞监测传感器的安全流量Nmax1的信号，喷头堵塞监测传感器组由喷头堵塞监测传感器Ⅵ22、喷头堵塞监测传感器Ⅴ23、喷头堵塞监测传感器Ⅳ24、喷头堵塞监测传感器Ⅲ25、喷头堵塞监测传感器Ⅱ26、喷头堵塞监测传感器Ⅰ27组成；1.1 Fill the medicine box 4 with water, and the regulated power supply supplies power to the water pump motor 13 to make it rotate normally and spray water normally. At this time, the pulse signal output by the water pump speed sensor 21 is the signal corresponding to the normal speed of the water pump, and the pipeline pressure The voltage signal output by the sensor 15 is the corresponding pipeline safety pressure P max1 signal, and the pulse signal output by the nozzle clogging monitoring sensor group is the signal corresponding to the safe flow rate N max1 of the nozzle clogging monitoring sensor, and the nozzle clogging monitoring sensor group is composed of the nozzle clogging monitoring sensor Ⅵ22, nozzle clogging monitoring sensor V23, nozzle clogging monitoring sensor IV24, nozzle clogging monitoring sensor III25, nozzle clogging monitoring sensor II26, nozzle clogging monitoring sensor I27;
1.2通过调节稳压电源使水泵12转速降低，当喷水量小于正常喷水量、喷头喷出药液不能雾化喷洒时，分别记录此时水泵测速传感器21、管路压力传感器15、喷头堵塞监测传感器组对应的信号，此时水泵测速传感器21输出的信号为安全转速M对应的信号，管路压力传感器15和喷头堵塞监测传感器组输出的分别为临界安全压力Pmin1和临界安全流量Nmin1信号；待药箱液位降低，即将导致水泵12不能正常抽水时，此时液位传感器5、管路压力传感器15、喷头堵塞监测传感器组会有对应的信号输出，此时的信号为对应的药箱液位的最低临界安全液位Lmin信号、管路压力的临界安全压力Pmin2信号和喷头的临界安全流量Nmin2信号；1.2 Reduce the rotation speed of the water pump 12 by adjusting the stabilized power supply. When the water spray volume is less than the normal water spray volume and the liquid sprayed by the nozzle cannot be atomized and sprayed, record the speed sensor 21 of the water pump, the pipeline pressure sensor 15, and the blockage of the nozzle at this time. Monitor the signals corresponding to the sensor group. At this time, the signal output by the water pump speed sensor 21 is the signal corresponding to the safe speed M, and the output of the pipeline pressure sensor 15 and the nozzle clogging monitoring sensor group are respectively the critical safety pressure P min1 and the critical safety flow rate N min1 Signal; when the liquid level of the medicine tank is lowered, which will cause the water pump 12 to fail to pump water normally, the liquid level sensor 5, the pipeline pressure sensor 15, and the nozzle clogging monitoring sensor group will have corresponding signal output, and the signal at this time is the corresponding The minimum critical safe liquid level L min signal of the liquid level of the medicine tank, the critical safe pressure P min2 signal of the pipeline pressure and the critical safe flow N min2 signal of the nozzle;
1.3由于作业环境复杂，如药箱内落入杂质，可能会将喷头堵塞造成管路压力信号增大，严重时会导致喷头堵塞监测传感器组后端管路爆裂，从而使流量信号骤然增大，故将管路安全压力Pmax1信号、安全流量Nmax1信号分别提高10％作为最高临界安全压力Pmax和最大临界安全流量Nmax信号；并比较Pmin1和Pmin2、Nmin1和Nmin2，取数值大者分别作为最低临界安全压力Pmin和最小临界安全流量Nmin；主控制系统A根据上述获得的各个信号值分别作为后期作业时判断药箱液位、水泵转速、管路压力、喷头是否堵塞的基准；1.3 Due to the complex working environment, if impurities fall into the medicine box, the nozzle may be blocked and the pressure signal of the pipeline will increase. In severe cases, the pipeline at the rear end of the nozzle clogging monitoring sensor group will burst, resulting in a sudden increase in the flow signal. Therefore, the pipeline safety pressure P max1 signal and the safety flow N max1 signal are respectively increased by 10% as the highest critical safety pressure P max and the maximum critical safety flow N max signal; and comparing P min1 and P min2 , N min1 and N min2 , take The larger value is used as the minimum critical safety pressure P min and the minimum critical safety flow rate N min respectively; the main control system A uses the signal values obtained above as the judgment of the liquid level of the medicine tank, the speed of the water pump, the pressure of the pipeline, and whether the nozzle is in the post-operation. the benchmark of blockage;
2.漏喷状况的监测与判定2. Monitoring and judgment of spray leakage
2.1主控制系统A根据液位传感器5、水泵测速传感器21、管路压力传感器15和喷头堵塞监测传感器组所提供的监测信息判定是否发生漏喷：2.1 The main control system A judges whether there is a leakage of spray according to the monitoring information provided by the liquid level sensor 5, the water pump speed sensor 21, the pipeline pressure sensor 15 and the nozzle clogging monitoring sensor group:
2.1.1液位传感器5监测液位值低于临界安全液位Lmin时，表示药箱液位低于安全液位，将引起漏喷，即通过报警系统c发出报警信号；2.1.1 When the liquid level value monitored by the liquid level sensor 5 is lower than the critical safety liquid level L min , it means that the liquid level of the medicine tank is lower than the safe liquid level, which will cause spray leakage, that is, an alarm signal is sent through the alarm system c;
2.1.2管路压力传感器15监测压力值低于最低临界安全压力Pmin时，表示水泵水压不足造成管路压力偏低、将引起漏喷，即通过报警系统c发出报警信号；管路压力传感器15监测压力值高于最高临界安全压力Pmax时，表示喷头可能发生堵塞造成管路压力偏高、将引起漏喷，即通过报警系统c发出报警信号；2.1.2 When the monitoring pressure value of the pipeline pressure sensor 15 is lower than the minimum critical safety pressure P min , it means that the water pressure of the water pump is insufficient and the pipeline pressure is low, which will cause spray leakage, that is, an alarm signal is sent through the alarm system c; the pipeline pressure When the pressure value monitored by the sensor 15 is higher than the maximum critical safety pressure P max , it indicates that the nozzle may be clogged and the pipeline pressure is too high, which will cause spray leakage, that is, an alarm signal is sent through the alarm system c;
2.1.3喷头堵塞监测传感器组监测喷头流量小于最小临界安全流量Nmin时，表示管路流量偏小、将引起漏喷，即通过报警系统c发出报警信号；喷头堵塞监测传感器组监测喷头流量大于最大临界安全流量Nmax且管路压力信号骤然降低时，表示管路可能爆裂、将引起漏喷，即通过报警系统c发出报警信号；2.1.3 When the flow rate of nozzle clogging monitoring sensor group is less than the minimum critical safety flow N min , it means that the pipeline flow rate is too small, which will cause spray leakage, that is, an alarm signal will be sent through the alarm system c; the flow rate of nozzle clogging monitoring sensor group monitoring nozzle is greater than When the maximum critical safe flow rate N max and the pipeline pressure signal drops suddenly, it means that the pipeline may burst and cause spray leakage, that is, an alarm signal is sent through the alarm system c;
2.1.4水泵测速传感器21监测水泵12低于安全转速M时，表示水泵转速过低，从而引起管路压力偏低、管路流量偏小，进而导致漏喷；并同时判断其压力是否满足喷药要求，当压力不满足喷药要求时，即通过报警系统c发出报警信号；2.1.4 When the water pump speed measuring sensor 21 monitors that the water pump 12 is lower than the safe speed M, it indicates that the water pump speed is too low, which causes the pipeline pressure to be low and the pipeline flow to be too small, resulting in spray leakage; When the pressure does not meet the spraying requirements, an alarm signal will be sent through the alarm system c;
2.2在发生漏喷时，主控制系统A在指令报警系统c进行声光报警的同时，显示模块b能够显示出现状况的传感器对应的编号，从而能够快速发现状况；主控制系统A根据提供漏喷信息的传感器所在支路编号和传感器安装位置，确定和存储发生漏喷的支路编号和故障类型、存储发生漏喷的时间，所述漏喷类型为药箱液位低、喷头堵塞、管路爆裂和水泵压力低四种状况中的一种或多种；2.2 When a leak occurs, the main control system A instructs the alarm system c to give an audible and visual alarm, and at the same time, the display module b can display the number corresponding to the sensor where the situation occurs, so that the situation can be quickly discovered; the main control system A provides the leaked spray The branch number of the information sensor and the installation position of the sensor, determine and store the branch number and fault type of the leaked spray, and store the time of the missed spray. One or more of the four conditions of burst and low pump pressure;
3.针对报警系统c发出报警信号的类型和主控制系统A的各类提示，采取相应措施予以补救；3. Take corresponding measures to remedy the types of alarm signals issued by alarm system C and various prompts from main control system A;
3.1当药箱液位低时，显示模块b会显示药箱液位过低同时报警系统c会发出报警信号，及时提醒操作人员停车加药水；3.1 When the liquid level of the medicine box is low, the display module b will display that the liquid level of the medicine box is too low and the alarm system c will send out an alarm signal to remind the operator to stop and add medicine in time;
3.2当水泵压力过低时能够，显示模块b会显示水泵压力过低同时报警系统c会发出报警信号，及时提醒操作人员调节水泵电机13的电压，进而调节水泵12的转速；3.2 When the water pump pressure is too low, the display module b will display that the water pump pressure is too low and the alarm system c will send out an alarm signal to remind the operator in time to adjust the voltage of the water pump motor 13, and then adjust the speed of the water pump 12;
3.3当喷头堵塞或管路爆裂时，显示模块b会显示相应状况同时报警系统c会发出报警信号，主控制系统A在指令报警系统c进行声光报警的同时存储发生漏喷的支路编号和故障类型、时间等信息，便于后续操作人员补喷药液。3.3 When the nozzle is blocked or the pipeline bursts, the display module b will display the corresponding situation and the alarm system c will send out an alarm signal. The main control system A will store the branch number and Fault type, time and other information are convenient for subsequent operators to re-spray chemical solution.
本发明能达到的有益效果是：主控制系统可以根据液位传感器、水泵转速传感器、管路压力传感器、喷头堵塞监测传感器组的输出信号实时监测喷药机当前的工作状态；当主控系统监测到上述任意一个参数超出预先所设定的值时，会启动报警系统，显示模块能够显示出现状况的传感器对应的编号，从而能够快速发现状况。此时就可以根据传感器的位置分别精确判断喷药机的故障类型和故障管路的分支位置，从而为快速、便捷的排除故障提供前提。The beneficial effects that the present invention can achieve are: the main control system can monitor the current working state of the sprayer in real time according to the output signals of the liquid level sensor, the water pump speed sensor, the pipeline pressure sensor, and the nozzle clogging monitoring sensor group; when the main control system monitors When any of the above parameters exceeds the preset value, the alarm system will be activated, and the display module can display the corresponding number of the sensor where the situation occurs, so that the situation can be quickly discovered. At this time, the fault type of the sprayer and the branch position of the fault pipeline can be accurately judged according to the position of the sensor, thereby providing a prerequisite for fast and convenient troubleshooting.
附图说明Description of drawings
图1为喷药机工作状态实时监控系统的结构示意图Figure 1 is a schematic diagram of the structure of the real-time monitoring system for the working status of the spraying machine
图2为药箱系统结构示意图Figure 2 is a schematic diagram of the medicine box system structure
图3为药液喷洒前部系统的结构示意图Figure 3 is a schematic structural diagram of the liquid spraying front system
图4为药液喷洒后部系统的结构示意图Figure 4 is a structural schematic diagram of the rear system of liquid medicine spraying
图5为三通管Ⅰ的结构示意图Figure 5 is a schematic diagram of the structure of the tee pipe I
其中：A.主控制系统 B.药箱系统 C.药液喷洒前部系统 D.药液喷洒后部系统 a.电源模块 b.显示模块 c.报警系统 1.回水管 2.三通管Ⅰ 3.供水管 4.药箱 5.液位传感器6.屏蔽线 7.药箱盖 8.药箱回水口 9.药箱出水口 10.液位计 11.水泵入口 12.水泵13.水泵电机 14.水泵出口 15.管路压力传感器 16.三通总管Ⅱ 17.溢流阀 18.三通支管Ⅱ 19.三通支管Ⅰ 20.三通总管Ⅰ 21.水泵转速传感器 22.喷头堵塞监测传感器Ⅵ23.喷头堵塞监测传感器Ⅴ 24.喷头堵塞监测传感器Ⅳ 25.喷头堵塞监测传感器Ⅲ 26.喷头堵塞监测传感器Ⅱ 27.喷头堵塞监测传感器Ⅰ 28.喷头Ⅰ 29.喷头Ⅱ 30.喷头Ⅲ 31.喷头Ⅳ 32.喷头Ⅴ 33.喷头Ⅵ 34.三通管Ⅰ总管 35.支管Ⅰ 36.支管Ⅱ 37.支管Ⅲ38.支管Ⅳ 39.支管Ⅴ 40.支管Ⅵ 41.变阻器Among them: A. Main control system B. Medicine box system C. Liquid spraying front system D. Chemical spraying rear system a. Power module b. Display module c. Alarm system 1. Return pipe 2. Tee pipe Ⅰ 3. Water supply pipe 4. Medicine box 5. Liquid level sensor 6. Shielding wire 7. Medicine box cover 8. Medicine box return port 9. Medicine box outlet 10. Liquid level gauge 11. Water pump inlet 12. Water pump 13. Water pump motor 14. Water pump outlet 15. Pipeline pressure sensor 16. Tee main pipe Ⅱ 17. Relief valve 18. Tee branch pipe Ⅱ 19. Tee branch pipe Ⅰ 20. Tee main pipe Ⅰ 21. Pump speed sensor 22. Nozzle blockage monitoring sensor Ⅵ23. Nozzle clogging monitoring sensor Ⅴ 24. Nozzle clogging monitoring sensor Ⅳ 25. Nozzle clogging monitoring sensor Ⅲ 26. Nozzle clogging monitoring sensor Ⅱ 27. Nozzle clogging monitoring sensor Ⅰ 28. Nozzle Ⅰ 29. Nozzle Ⅱ 30. Nozzle Ⅲ 31. Nozzle Ⅳ 32. Nozzle Ⅴ 33. Nozzle Ⅵ 34. Tee pipe Ⅰ main pipe 35. Branch pipe Ⅰ 36. Branch pipe Ⅱ 37. Branch pipe Ⅲ 38. Branch pipe Ⅳ 39. Branch pipe Ⅴ 40. Branch pipe Ⅵ 41. Varistor
具体实施方式Detailed ways
为了能够更加全面的理解本发明，下面将结合附图对本发明的系统和方法做进一步的解释和说明。In order to have a more comprehensive understanding of the present invention, the system and method of the present invention will be further explained and described below in conjunction with the accompanying drawings.
如图1所示，一种喷药机工作状态实时监测系统，由主控制系统A、电源模块a、显示模块b、报警系统c、药箱系统B、药液喷洒前部系统C、药液喷洒后部系统D、回水管1、三通管Ⅰ2、供水管3组成，其特征在于As shown in Figure 1, a real-time monitoring system for the working status of a spraying machine consists of a main control system A, a power supply module a, a display module b, an alarm system c, a medicine box system B, a medicine liquid spraying front system C, a medicine liquid Spraying rear system D, return pipe 1, tee pipe Ⅰ 2, water supply pipe 3, characterized in that
显示模块b、报警系统c、药箱系统B的液位传感器5、药液喷洒前部系统C的水泵电机13、水泵转速传感器21、管路压力传感器15、药液喷洒后部系统D的喷头堵塞监测传感器Ⅵ22、喷头堵塞监测传感器Ⅴ23、喷头堵塞监测传感器Ⅳ24、喷头堵塞监测传感器Ⅲ25、喷头堵塞监测传感器Ⅱ26、喷头堵塞监测传感器Ⅰ27均由主控制系统A控制；Display module b, alarm system c, liquid level sensor 5 of medicine tank system B, water pump motor 13 of liquid medicine spraying front system C, water pump speed sensor 21, pipeline pressure sensor 15, nozzle of liquid medicine spraying rear system D The blockage monitoring sensor Ⅵ22, the nozzle blockage monitoring sensor Ⅴ23, the nozzle blockage monitoring sensor Ⅳ24, the nozzle blockage monitoring sensor Ⅲ25, the nozzle blockage monitoring sensor Ⅱ26, and the nozzle blockage monitoring sensor Ⅰ27 are all controlled by the main control system A;
主控制系统A、显示模块b、报警系统c、药箱系统B的液位传感器5、药液喷洒前部系统C的管路压力传感器15、水泵转速传感器21、药液喷洒后部系统D的喷头堵塞监测传感器Ⅵ22、喷头堵塞监测传感器Ⅴ23、喷头堵塞监测传感器Ⅳ24、喷头堵塞监测传感器Ⅲ25、喷头堵塞监测传感器Ⅱ26、喷头堵塞监测传感器Ⅰ27均由电源模块a供电。Main control system A, display module b, alarm system c, liquid level sensor 5 of medicine tank system B, pipeline pressure sensor 15 of liquid spraying front system C, water pump speed sensor 21, liquid level sensor of liquid spraying rear system D The nozzle clogging monitoring sensor VI22, the nozzle clogging monitoring sensor V23, the nozzle clogging monitoring sensor IV24, the nozzle clogging monitoring sensor III25, the nozzle clogging monitoring sensor II26, and the nozzle clogging monitoring sensor I27 are all powered by the power module a.
药液喷洒前部系统C的三通总管Ⅱ16出口经回水管1与药箱系统B的药箱回水口8连接；The outlet of the three-way main pipe II16 of the liquid spraying front system C is connected to the medicine tank return port 8 of the medicine tank system B through the return pipe 1;
药液喷洒前部系统C的水泵入口11经供水管3与药箱系统B的药箱出水口9连接；The water pump inlet 11 of the liquid spraying front system C is connected to the medicine box outlet 9 of the medicine box system B through the water supply pipe 3;
药液喷洒前部系统C的三通支管Ⅱ18经三通管Ⅰ2的支管Ⅰ35与药液喷洒后部系统D的喷头堵塞监测传感器Ⅰ27连接；The three-way branch pipe II18 of the system C at the front of the liquid medicine spraying is connected to the nozzle clogging monitoring sensor I27 of the system D at the back of the liquid medicine spraying through the branch pipe I35 of the three-way pipe I2;
经三通管Ⅰ2的支管Ⅱ36与药液喷洒后部系统D的喷头堵塞监测传感器Ⅱ26连接；The branch pipe II36 of the three-way pipe I2 is connected to the nozzle clogging monitoring sensor II26 of the liquid spraying rear system D;
经三通管Ⅰ2的支管Ⅲ37与药液喷洒后部系统D的喷头堵塞监测传感器Ⅲ25连接；The branch pipe III37 of the three-way pipe I2 is connected to the nozzle blockage monitoring sensor III25 of the liquid spraying rear system D;
经三通管Ⅰ2的支管Ⅳ38与药液喷洒后部系统D的喷头堵塞监测传感器Ⅳ24连接；The branch pipe IV38 of the three-way pipe I2 is connected with the nozzle clogging monitoring sensor IV24 of the liquid spraying rear system D;
经三通管Ⅰ2的支管Ⅴ39与药液喷洒后部系统D的喷头堵塞监测传感器Ⅴ23连接；The branch pipe V39 of the three-way pipe I2 is connected to the nozzle blockage monitoring sensor V23 of the liquid spraying rear system D;
经三通管Ⅰ2的支管Ⅵ40与药液喷洒后部系统D的喷头堵塞监测传感器Ⅵ22连接。The branch pipe VI40 of the three-way pipe I2 is connected with the nozzle clogging monitoring sensor VI22 of the liquid medicine spraying rear system D.
如图2所示，所述喷药机工作状态实时监测系统的药箱系统B由药箱4、液位传感器5、屏蔽线6、药箱盖7、药箱回水口8、药箱出水口9和液位计10组成，其中药箱盖7固接于药箱4顶部中央，液位传感器5与液位计10顶端固接，液位计10下部插于药箱4中，液位传感器5上设有屏蔽线6，药箱回水口8位于药箱盖7一边，药箱出水口9位于药箱4右侧下部。As shown in Figure 2, the medicine box system B of the real-time monitoring system for the working state of the spraying machine is composed of a medicine box 4, a liquid level sensor 5, a shielding wire 6, a medicine box cover 7, a medicine box return port 8, and a medicine box water outlet 9 and a liquid level gauge 10, wherein the medicine box cover 7 is fixedly connected to the center of the top of the medicine box 4, the liquid level sensor 5 is fixedly connected to the top of the liquid level gauge 10, the lower part of the liquid level gauge 10 is inserted in the medicine box 4, and the liquid level sensor 5 is provided with a shielding wire 6, the medicine box water return port 8 is located on one side of the medicine box cover 7, and the medicine box water outlet 9 is located at the lower right side of the medicine box 4.
如图3所示，所述喷药机工作状态实时监测系统的药液喷洒前部系统C由水泵入口11、水泵12、水泵电机13、水泵出口14、管路压力传感器15、三通总管Ⅱ16、溢流阀17、三通支管Ⅱ18、三通支管Ⅰ19、三通总管Ⅰ20、水泵转速传感器21组成，其中水泵电机13输出轴与水泵12输入轴固接且二者以相同角速度转动，水泵转速传感器21套在水泵12输入轴上与其同轴转动，水泵出口14经三通支管Ⅰ19与三通支管Ⅱ18连通，三通总管Ⅰ20与三通支管Ⅰ19连通，三通总管Ⅰ20出口处固接管路压力传感器15，三通总管Ⅱ16与三通支管Ⅱ18连通，溢流阀17串接于三通总管Ⅱ16中部。As shown in Figure 3, the liquid spraying front system C of the real-time monitoring system for the working state of the spraying machine consists of a water pump inlet 11, a water pump 12, a water pump motor 13, a water pump outlet 14, a pipeline pressure sensor 15, and a three-way main pipe II 16 , overflow valve 17, three-way branch pipe II18, three-way branch pipe I19, three-way main pipe I20, and water pump speed sensor 21, wherein the output shaft of the water pump motor 13 is fixedly connected to the input shaft of the water pump 12 and both rotate at the same angular speed, the speed of the water pump The sensor 21 is set on the input shaft of the water pump 12 and rotates coaxially with it. The outlet of the water pump 14 is connected to the three-way branch pipe II18 through the three-way branch pipe I19, the three-way main pipe I20 is connected to the three-way branch pipe I19, and the outlet of the three-way main pipe I20 is connected to the pipeline pressure. The sensor 15, the three-way main pipe II16 communicate with the three-way branch pipe II18, and the overflow valve 17 is connected in series with the middle part of the three-way main pipe II16.
如图4、图5所示，所述喷药机工作状态实时监测系统的药液喷洒后部系统D由喷头堵塞监测传感器Ⅵ22、喷头堵塞监测传感器Ⅴ23、喷头堵塞监测传感器Ⅳ24、喷头堵塞监测传感器Ⅲ25、喷头堵塞监测传感器Ⅱ26、喷头堵塞监测传感器Ⅰ27、喷头Ⅰ28、喷头Ⅱ29、喷头Ⅲ30、喷头Ⅳ31、喷头Ⅴ32、喷头Ⅵ33、三通管Ⅰ总管34、支管Ⅰ35、支管Ⅱ36、支管Ⅲ37、支管Ⅳ38支管Ⅴ39、支管Ⅵ40组成，其中As shown in Figure 4 and Figure 5, the liquid spraying rear system D of the real-time monitoring system for the working state of the spraying machine consists of the nozzle clogging monitoring sensor VI22, the nozzle clogging monitoring sensor V23, the nozzle clogging monitoring sensor IV24, and the nozzle clogging monitoring sensor Ⅲ25, nozzle blockage monitoring sensor Ⅱ26, nozzle blockage monitoring sensor Ⅰ27, nozzle Ⅰ28, nozzle Ⅱ29, nozzle Ⅲ30, nozzle Ⅳ31, nozzle Ⅴ32, nozzle Ⅵ33, tee pipe Ⅰ main pipe 34, branch pipe Ⅰ35, branch pipe Ⅱ36, branch pipe Ⅲ37, branch pipe Ⅳ38 Composed of branch pipe Ⅴ39 and branch pipe Ⅵ40, of which
喷头Ⅰ28经喷头堵塞监测传感器Ⅰ27与三通管Ⅰ2的支管Ⅰ35连接；The nozzle I28 is connected to the branch pipe I35 of the tee pipe I2 through the nozzle blockage monitoring sensor I27;
喷头Ⅱ29经喷头堵塞监测传感器Ⅱ26与三通管Ⅰ2的支管Ⅱ36连接；The nozzle II29 is connected to the branch pipe II36 of the three-way pipe I2 through the nozzle clogging monitoring sensor II26;
喷头Ⅲ30经喷头堵塞监测传感器Ⅲ25与三通管Ⅰ2的支管Ⅲ37连接；The nozzle III30 is connected to the branch pipe III37 of the three-way pipe I2 through the nozzle clogging monitoring sensor III25;
喷头Ⅳ31经喷头堵塞监测传感器Ⅳ24与三通管Ⅰ2的支管Ⅳ38连接；Nozzle IV31 is connected to branch pipe IV38 of tee pipe I2 through nozzle clogging monitoring sensor IV24;
喷头Ⅴ32经喷头堵塞监测传感器Ⅴ23与三通管Ⅰ2的支管Ⅴ39连接；The nozzle V32 is connected to the branch pipe V39 of the three-way pipe I2 through the nozzle clogging monitoring sensor V23;
喷头Ⅵ33经喷头堵塞监测传感器Ⅵ22与三通管Ⅰ2的支管Ⅵ40连接。The nozzle VI33 is connected to the branch pipe VI40 of the tee pipe I2 through the nozzle clogging monitoring sensor VI22.
所述的水泵转速传感器21安装在水泵12上，用于监测水泵12转速；液位传感器5安装在药箱4上；管路压力传感器15通过三通总管Ⅰ20并联在供水管上，用于监测主回路压力；喷头堵塞监测传感器组由喷头堵塞监测传感器Ⅵ22、喷头堵塞监测传感器Ⅴ23、喷头堵塞监测传感器Ⅳ24、喷头堵塞监测传感器Ⅲ25、喷头堵塞监测传感器Ⅱ26、喷头堵塞监测传感器Ⅰ27组成；其串联在各个分支回路中，用于监测各回路中的药液流量。报警系统c为声光报警，当接收到主控制系统A的报警信号时，会发出红光和警报声。The water pump speed sensor 21 is installed on the water pump 12 for monitoring the speed of the water pump 12; the liquid level sensor 5 is installed on the medicine tank 4; the pipeline pressure sensor 15 is connected in parallel to the water supply pipe through the three-way main pipe I20 for monitoring Main circuit pressure; nozzle clogging monitoring sensor group consists of nozzle clogging monitoring sensor Ⅵ22, nozzle clogging monitoring sensor Ⅴ23, nozzle clogging monitoring sensor Ⅳ24, nozzle clogging monitoring sensor Ⅲ25, nozzle clogging monitoring sensor Ⅱ26, and nozzle clogging monitoring sensor Ⅰ27; In each branch circuit, it is used to monitor the liquid medicine flow in each circuit. The alarm system c is an audible and visual alarm. When receiving the alarm signal from the main control system A, it will emit red light and an alarm sound.
所述的液位传感器5优选投入式水位传感器，水泵转速传感器21优选光电编码器，管路压力传感器15优选应变式压力传感器，喷头堵塞监测传感器Ⅵ22、Ⅴ23、Ⅳ24、Ⅲ25、Ⅱ26和Ⅰ27优选霍尔流量传感器。并且上述传感器均通过屏蔽导线6与主控制系统A电连接，从而主控制系统A能够实时接收和监测上述传感器输出电平信号的变化。所述喷药机水泵电机13用于为喷药机水泵12提供动力；所述水泵测速传感器21与水泵同轴安装在水泵12后端，用于实时测量水泵12转速。The liquid level sensor 5 is preferably an input-type water level sensor, the water pump speed sensor 21 is preferably a photoelectric encoder, the pipeline pressure sensor 15 is preferably a strain gauge pressure sensor, and the nozzle clogging monitoring sensors VI22, V23, IV24, III25, II26 and I27 are preferably Huo Er flow sensor. And the above-mentioned sensors are all electrically connected to the main control system A through the shielded wire 6, so that the main control system A can receive and monitor the changes of the output level signals of the above-mentioned sensors in real time. The water pump motor 13 of the spraying machine is used to provide power for the water pump 12 of the spraying machine; the water pump speed sensor 21 is installed coaxially with the water pump on the rear end of the water pump 12 for real-time measurement of the speed of the water pump 12 .
所述电源为拖拉机+12V蓄电池所供直流电源，通过电源模块a分别输出+5V和+24V直流电；+12V直流电源用于为主控制系统A、水泵电机13、管路压力传感器15以及报警系统c供电，+5V直流电源用于为霍尔流量传感器和光电编码器供电，+24V直流电源用于为液位传感器5供电。The power supply is the DC power supplied by the +12V storage battery of the tractor, which respectively outputs +5V and +24V DC through the power module a; the +12V DC power is used for the main control system A, the water pump motor 13, the pipeline pressure sensor 15 and the alarm system c power supply, +5V DC power supply is used to supply power to the Hall flow sensor and photoelectric encoder, and +24V DC power supply is used to supply power to the liquid level sensor 5.
喷头28至喷头33在主控制系统A内均有相对应的编号(如喷头28,29和30等)，同时每个喷头以及每一喷头上的喷头堵塞监测传感器组上贴上标签，以便利于通过主控制系统A对每个喷头以及每一喷头上的喷头堵塞监测传感器组进行定位和标识。Nozzles 28 to 33 have corresponding numbers in the main control system A (such as nozzles 28, 29 and 30, etc.), and each nozzle and the nozzle clogging monitoring sensor group on each nozzle are labeled to facilitate Each nozzle and the nozzle clogging monitoring sensor group on each nozzle are positioned and identified by the main control system A.
一种喷药机工作状态实时监测方法，包括下列步骤：A method for real-time monitoring of the working state of a spraying machine, comprising the following steps:
1.安全工作状态的设置1. Setting of safe working state
1.1将药箱4装满水，稳压电源给水泵电机13供电使其正常旋转，使喷水正常，此时水泵测速传感器21输出的脉冲信号为水泵正常转速所对应的信号，管路压力传感器15输出的电压信号为对应的管路安全压力Pmax1信号、喷头堵塞监测传感器组输出的脉冲信号为对应喷头堵塞监测传感器的安全流量Nmax1的信号。实施例中，Pmax1为1.36MPa，Nmax1为1.82m3/h；喷头堵塞监测传感器组由喷头堵塞监测传感器Ⅵ22、喷头堵塞监测传感器Ⅴ23、喷头堵塞监测传感器Ⅳ24、喷头堵塞监测传感器Ⅲ25、喷头堵塞监测传感器Ⅱ26、喷头堵塞监测传感器Ⅰ27组成；1.1 Fill the medicine box 4 with water, and the regulated power supply supplies power to the water pump motor 13 to make it rotate normally, so that the water spraying is normal. At this time, the pulse signal output by the water pump speed sensor 21 is the signal corresponding to the normal speed of the water pump. The pipeline pressure sensor The voltage signal output by 15 is the corresponding pipeline safety pressure P max1 signal, and the pulse signal output by the nozzle clogging monitoring sensor group is the signal corresponding to the safety flow N max1 of the nozzle clogging monitoring sensor. In the embodiment, P max1 is 1.36MPa, N max1 is 1.82m 3 /h; the nozzle clogging monitoring sensor group consists of nozzle clogging monitoring sensor VI22, nozzle clogging monitoring sensor V23, nozzle clogging monitoring sensor IV24, nozzle clogging monitoring sensor III25, nozzle clogging monitoring sensor Consists of clogging monitoring sensor II26 and nozzle clogging monitoring sensor I27;
1.2通过调节稳压电源使水泵12转速降低，当喷水量小于正常喷水量、喷头喷出药液不能雾化喷洒时，分别记录此时水泵测速传感器21、管路压力传感器15、喷头堵塞监测传感器组对应的脉冲信号，此时水泵测速传感器21输出的信号为安全转速M对应的信号，管路压力传感器15和喷头堵塞监测传感器组输出的分别为临界安全压力Pmin1和临界安全流量Nmin1脉冲信号，实施例中，M为200r/min，Pmin1为0.26MPa，Nmin1为0.75m3/h；待药箱液位降低，即将导致水泵12不能正常抽水时，此时液位传感器5、管路压力传感器15、喷头堵塞监测传感器组会有对应的电压信号输出，此时的信号为对应的药箱液位的最低临界安全液位Lmin信号、管路压力的临界安全压力Pmin2信号和喷头的临界安全流量Nmin2信号，实施例中，Lmin为10cm，Pmin2为0.27MPa，Nmin2为0.75m3/h；1.2 Reduce the rotation speed of the water pump 12 by adjusting the stabilized power supply. When the water spray volume is less than the normal water spray volume and the liquid sprayed by the nozzle cannot be atomized and sprayed, record the speed sensor 21 of the water pump, the pipeline pressure sensor 15, and the blockage of the nozzle at this time. Monitor the pulse signal corresponding to the sensor group. At this time, the signal output by the water pump speed sensor 21 is the signal corresponding to the safe speed M, and the output of the pipeline pressure sensor 15 and the nozzle clogging monitoring sensor group are the critical safety pressure P min1 and the critical safety flow rate N respectively. min1 pulse signal, in the embodiment, M is 200r/min, P min1 is 0.26MPa, and N min1 is 0.75m 3 /h; when the liquid level of the medicine tank is lowered, which will cause the water pump 12 to fail to draw water normally, the liquid level sensor at this time 5. The pipeline pressure sensor 15 and the nozzle clogging monitoring sensor group will have a corresponding voltage signal output. The signal at this time is the minimum critical safety liquid level L min signal of the corresponding medicine tank liquid level, and the critical safety pressure P of the pipeline pressure. min2 signal and the critical safety flow N min2 signal of the nozzle, in the embodiment, L min is 10 cm , P min2 is 0.27MPa , and N min2 is 0.75m 3 /h;
1.3由于作业环境复杂，如药箱内落入杂质，可能会将喷头堵塞造成管路压力信号增大，严重时会导致喷头堵塞监测传感器组后端管路爆裂，从而使流量信号骤然增大，故将管路安全压力Pmax1信号、安全流量Nmax1信号分别提高10％作为最高临界安全压力Pmax和最大临界安全流量Nmax信号，实施例中，Pmax为1.50MPa，Nmax为2.00m3/h；并比较Pmin1和Pmin2、Nmin1和Nmin2，取数值大者分别作为最低临界安全压力Pmin和最小临界安全流量Nmin，实施例中，Lmin为10cm，Pmin为0.26MPa，Nmin为0.75m3/h；主控制系统A根据上述获得的各个信号值分别作为后期作业时判断药箱液位、水泵转速、管路压力、喷头是否堵塞的基准；1.3 Due to the complex working environment, if impurities fall into the medicine box, the nozzle may be blocked and the pressure signal of the pipeline will increase. In severe cases, the pipeline at the rear end of the nozzle clogging monitoring sensor group will burst, resulting in a sudden increase in the flow signal. Therefore, the pipeline safety pressure P max1 signal and the safety flow N max1 signal are respectively increased by 10% as the highest critical safety pressure P max and the maximum critical safety flow N max signal. In the embodiment, P max is 1.50MPa and N max is 2.00m3 /h; and compare P min1 and P min2 , N min1 and N min2 , take the larger value as the minimum critical safety pressure P min and the minimum critical safety flow N min respectively, in the embodiment, L min is 10cm, and P min is 0.26 MPa, N min is 0.75m 3 /h; the main control system A uses each signal value obtained above as the benchmark for judging the liquid level of the medicine tank, the speed of the water pump, the pressure of the pipeline, and whether the nozzle is blocked in the later operation;
2.漏喷状况的监测2. Monitoring of spray leakage
2.1主控制系统A根据液位传感器5、水泵测速传感器21、管路压力传感器15和喷头堵塞监测传感器组所提供的监测信息判定是否发生漏喷：2.1 The main control system A judges whether there is a leakage of spray according to the monitoring information provided by the liquid level sensor 5, the water pump speed sensor 21, the pipeline pressure sensor 15 and the nozzle clogging monitoring sensor group:
2.1.1液位传感器5监测液位值低于最低临界安全液位10cm时，表示药箱液位低于安全液位，将引起漏喷，即通过报警系统c发出报警信号；2.1.1 When the liquid level value monitored by the liquid level sensor 5 is 10cm lower than the minimum critical safety liquid level, it means that the liquid level of the medicine tank is lower than the safe liquid level, which will cause spray leakage, that is, an alarm signal will be sent through the alarm system c;
2.1.2管路压力传感器15监测压力值低于最低临界安全压力0.26MPa时，表示水泵水压不足造成管路压力偏低、将引起漏喷，即通过报警系统c发出报警信号；管路压力传感器15监测压力值高于最高临界安全压力1.50MPa时，表示喷头可能发生堵塞造成管路压力偏高、将引起漏喷，即通过报警系统c发出报警信号；2.1.2 When the pressure value monitored by the pipeline pressure sensor 15 is lower than the minimum critical safety pressure of 0.26MPa, it means that the water pressure of the water pump is insufficient and the pipeline pressure is low, which will cause spray leakage, that is, an alarm signal is sent through the alarm system c; the pipeline pressure When the pressure value monitored by the sensor 15 is higher than the maximum critical safety pressure of 1.50MPa, it means that the nozzle may be blocked, resulting in high pipeline pressure, which will cause spray leakage, that is, an alarm signal will be sent through the alarm system c;
2.1.3喷头堵塞监测传感器组监测喷头流量小于最小临界安全流量0.75m3/h时，表示管路流量偏小、将引起漏喷，即通过报警系统c发出报警信号；喷头堵塞监测传感器组监测喷头流量大于最大临界安全流量2.00m3/h且管路压力信号骤然降低时，表示管路可能爆裂、将引起漏喷，即通过报警系统c发出报警信号；2.1.3 When the sensor group monitors nozzle clogging, when the flow rate of the nozzle is less than the minimum critical safety flow rate of 0.75m 3 /h, it means that the flow rate of the pipeline is too small, which will cause leakage of spraying, that is, an alarm signal will be sent through the alarm system c; the nozzle clogging monitoring sensor group will monitor When the nozzle flow rate is greater than the maximum critical safety flow rate of 2.00m3/h and the pipeline pressure signal drops suddenly, it means that the pipeline may burst and cause spray leakage, that is, an alarm signal will be sent through the alarm system c;
2.1.4水泵测速传感器21监测水泵12低于安全转速200r/min，时，表示水泵转速过低，从而引起管路压力偏低、管路流量偏小，进而导致漏喷；并同时判断其压力是否满足喷药要求，当压力不满足喷药要求时，即通过报警系统c发出报警信号；2.1.4 The water pump speed measuring sensor 21 monitors that the water pump 12 is lower than the safe speed of 200r/min, indicating that the water pump speed is too low, which causes the pipeline pressure to be low and the pipeline flow to be too small, resulting in spray leakage; and at the same time, judge its pressure Whether it meets the spraying requirements, when the pressure does not meet the spraying requirements, an alarm signal will be sent through the alarm system c;
2.2在发生漏喷时，主控制系统A在指令报警系统c进行声光报警的同时，显示模块b能够显示出现状况的传感器对应的编号，从而能够快速发现状况；主控制系统A根据提供漏喷信息的传感器所在支路编号和传感器安装位置，确定和存储发生漏喷的支路编号和故障类型、存储发生漏喷的时间，所述漏喷类型为药箱液位低、喷头堵塞、管路爆裂和水泵压力低四种状况中的一种或多种；2.2 When a leak occurs, the main control system A instructs the alarm system c to give an audible and visual alarm, and at the same time, the display module b can display the number corresponding to the sensor where the situation occurs, so that the situation can be quickly discovered; the main control system A provides the leaked spray The branch number of the information sensor and the installation position of the sensor, determine and store the branch number and fault type of the leaked spray, and store the time of the missed spray. One or more of the four conditions of burst and low pump pressure;
3.针对报警系统c发出报警信号的类型和主控制系统A的各类提示，采取相应措施予以补救。3. Take corresponding measures to remedy the types of alarm signals issued by alarm system c and various prompts from main control system A.
3.1当药箱液位低时，显示模块b会显示药箱液位过低同时报警系统c会发出报警信号，及时提醒操作人员停车加药水。3.1 When the liquid level of the medicine box is low, the display module b will display that the liquid level of the medicine box is too low and the alarm system c will send out an alarm signal to remind the operator to stop and add medicine in time.
3.2当水泵压力过低时能够，显示模块b会显示水泵压力过低同时报警系统c会发出报警信号，及时提醒操作人员调节水泵电机13的电压，进而调节水泵12的转速。3.2 When the water pump pressure is too low, the display module b will display that the water pump pressure is too low and the alarm system c will send out an alarm signal to remind the operator in time to adjust the voltage of the water pump motor 13, and then adjust the speed of the water pump 12.
3.3当喷头堵塞或管路爆裂时，显示模块b会显示相应状况同时报警系统c会发出报警信号，主控制系统A在指令报警系统c进行声光报警的同时存储发生漏喷的支路编号和故障类型、时间等信息，便于后续操作人员补喷药液。3.3 When the nozzle is blocked or the pipeline bursts, the display module b will display the corresponding situation and the alarm system c will send out an alarm signal. The main control system A will store the branch number and Fault type, time and other information are convenient for subsequent operators to re-spray chemical solution.
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| CN105947216A (en) * | 2016-04-27 | 2016-09-21 | 北京农业智能装备技术研究中心 | Unmanned aerial vehicle spraying control system and method based on flow dynamic prediction |
| CN106939570A (en) * | 2017-04-10 | 2017-07-11 | 温州职业技术学院 | A kind of multistation sprinkler system |
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| CN109611687B (en) * | 2018-12-03 | 2020-05-22 | 苏州市洋基机电工程有限公司 | Automatic management and control system for management liquid |
| CN109611687A (en) * | 2018-12-03 | 2019-04-12 | 苏州市洋基机电工程有限公司 | A kind of control liquid automatic control system |
| CN110275552A (en) * | 2019-04-24 | 2019-09-24 | 四川中鼎智能技术有限公司 | Diagnosis control method, system, storage medium and terminal based on sump waterlevel data process |
| CN111239850A (en) * | 2020-03-12 | 2020-06-05 | 北京农业智能装备技术研究中心 | Device and method for detecting blockage of spray head |
| CN111852828A (en) * | 2020-07-23 | 2020-10-30 | 嘉善边锋机械股份有限公司 | Diaphragm pump with pressure real-time monitoring and control functions |
| CN112722279A (en) * | 2020-12-29 | 2021-04-30 | 北京农业智能装备技术研究中心 | Unmanned aerial vehicle plant protection operation monitoring method and system |
| CN113958576A (en) * | 2021-09-22 | 2022-01-21 | 无锡威顺煤矿机械有限公司 | Spraying device for emulsion tank and using method |
| CN114643537A (en) * | 2022-03-14 | 2022-06-21 | 长沙矿冶研究院有限责任公司 | Automatic sand inspection device and method for sand supply tank of high-pressure water jet cleaning equipment |
| CN114982447A (en) * | 2022-05-18 | 2022-09-02 | 中国农业科学院郑州果树研究所 | Internet of things-based grape water and fertilizer integrated programmable control system and method |
| CN115921284A (en) * | 2022-12-27 | 2023-04-07 | 中煤科工集团北京华宇工程有限公司 | A water spray device, a double-layer vibrating screen and a de-intermediation method |
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