CN108739730A - A kind of spray boom balance active predicting regulating system and method - Google Patents

Abstract

The invention discloses a system and method for actively predicting and adjusting spray boom balance, and relates to the field of plant protection machinery. Hydraulic cylinder, right balance hydraulic cylinder, left lateral folding hydraulic cylinder and right lateral folding hydraulic cylinder; the control part includes chassis attitude sensor, multi-dimensional force sensor, data acquisition module, spray boom balance controller, data output module and solenoid valve Among them, a plurality of branching devices are arranged on the spray boom of the sprayer, and each branching device is equipped with a multi-dimensional force sensor to detect its random branching resistance, and a chassis attitude sensor is installed on the driving chassis to detect its attitude changes and trends. During the actual field operation of the sprayer, the spray boom balance controller predicts the spray boom attitude change according to the random branch resistance of each branch, the chassis attitude change and the trend, and controls the balance hydraulic cylinders on both sides to perform servo predictive control on the spray boom.

Description

An active predictive adjustment system and method for spray boom balance

technical field

The invention belongs to the field of plant protection machinery, and in particular relates to a system and method for actively predicting and adjusting spray boom balance.

Background technique

During the field operation of the boom sprayer, the boom not only has to bear the ground bumps transmitted by the driving chassis, but also bears the random branch resistance of each branch due to the existence of the branch, which is very prone to boom deflection and The shaking of the spray boom not only affects the uniformity of spraying, but may even cause serious accidents such as scratching crops, touching the spray boom to the ground, and breaking the spray boom. Therefore, it is of great practical significance to develop an automatic adjustment system for spray boom balance.

Patent application number 201510079249.0 discloses a spray boom balance automatic adjustment device and method. During operation, the controller predicts the hydraulic cylinder spraying angle and roll angle acceleration according to the roll angle and roll angle acceleration of the chassis on which the attitude sensor installed on the driving chassis is driving. The adjustment amount required for the leveling of the boom can realize the adjustment of the balance of the spray boom. The document "Research and Realization of Self-balancing Electrostatic Spray Boom Based on Attitude Adjustment" (Zhang Jinyan et al., Computer Engineering and Application, 2015, 51 (S1), pp. 322-325) designed a self-balancing spray boom based on attitude adjustment, The 9-axis attitude sensor GY521-MPU6050 is used to monitor the tilt state of the spray boom in real time, and the balance control of the spray boom is realized by controlling the speed and steering of the DC motor. However, this type of method only relies on the attitude sensor to monitor the balance state of the boom, and does not consider the influence of the branching resistance of the boom on the attitude of the boom. Seriously, poor balance.

In order to effectively adjust the balance of the spray boom, the present invention provides an active predictive adjustment system and method for the balance of the spray boom, which can realize the active predictive adjustment of the balance of the spray boom.

Contents of the invention

The purpose of the present invention is to provide a spray boom balance active predictive adjustment system and method, so as to realize that the spray boom balance controller can predict the spraying effect according to the random branch resistance of each branch, the change of the chassis attitude and the trend during the field operation stage of the spray boom sprayer. The amount of change in the attitude of the boom is controlled by controlling the balance hydraulic cylinders on both sides to perform servo predictive control on the balance of the spray boom. It is mainly to solve the deflection or shaking of the spray boom caused by the ground bumps in the field and the unbalanced branch resistance, and realize the automatic balance control of the spray boom.

In order to solve the above technical problems, the concrete technical scheme that the present invention adopts is as follows:

An active predictive adjustment system for spray boom balance includes a mechanical part and a control part; the mechanical part includes a driving chassis, a sprayer main frame, a spray boom, rollers, a line divider, a spray boom lifting hydraulic cylinder, a left balance hydraulic cylinder, The right balance hydraulic cylinder, the left horizontal folding hydraulic cylinder and the right horizontal folding hydraulic cylinder; the spray rod is provided with a plurality of splitters;

The control part includes a chassis attitude sensor, a multidimensional force sensor, a data acquisition module, a spray boom balance controller, a data output module, a solenoid valve A, a solenoid valve B, a solenoid valve C, a solenoid valve D and a solenoid valve E; the solenoid valve A , Solenoid valve B is connected to the data output module, which is used to drive the left balance hydraulic cylinder and the right balance hydraulic cylinder respectively; the chassis attitude sensor is installed on the driving chassis, and is used to detect the roll angle and roll angular acceleration of the driving chassis The multi-dimensional force sensor is installed on each branch for detecting the random branch resistance of each branch; the chassis attitude sensor and the multi-dimensional force sensor are connected to the data acquisition module; the data acquisition module and the data output module are connected to the spray bar balance control device.

Further, the spray boom balance controller is used to calculate the adjustment amount of the left balance hydraulic cylinder and the right balance hydraulic cylinder to maintain the balance of the spray boom according to the roll angle and roll angle acceleration of the driving chassis, and the random branch resistance of each branch. .

Further, the electromagnetic valve C, the electromagnetic valve D and the electromagnetic valve E are connected to the data output module, and are respectively used to drive the spray boom lifting hydraulic cylinder, the left lateral folding hydraulic cylinder and the right lateral folding hydraulic cylinder.

Further, there are 11 said splitters.

Further, there are 11 multi-dimensional force sensors.

An active predictive adjustment method for spray boom balance, comprising the following steps:

Step 1. During the actual field operation stage of the boom sprayer, the chassis attitude sensor detects the roll angle and roll angular acceleration of the driving chassis to predict the attitude change of the boom caused by ground bumps, and the multi-dimensional force sensor detects the random branch resistance of each branch to predict changes in boom attitude due to random branch resistance;

Step 2: The spray boom balance controller predicts the spray boom posture change according to the roll angle and roll angle acceleration of the driving chassis and the random branch resistance of the branch, and calculates the balance hydraulic cylinder on the left side and the balance hydraulic cylinder on the right side to maintain the balance of the spray boom. adjustment amount;

Step 3: According to the spray boom balance adjustment amount calculated in step 2, control commands are sent to solenoid valve A and solenoid valve B, and solenoid valve A and solenoid valve B drive the left balance hydraulic cylinder and the right balance hydraulic cylinder to adjust the spray boom in advance. Balanced to counteract boom deflection or wobble caused by field bumps and random branch drag imbalances.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention can detect the random branching resistance of each runner during the actual field operation stage of the sprayer by installing a multi-dimensional force sensor on each runner.

2. The present invention predicts the attitude change of the spray boom based on the random branching resistance of each distributor, combined with the chassis attitude roll angle and roll angle acceleration output by the chassis attitude sensor, so that the balance hydraulic cylinders on both sides can be controlled during the actual field operation stage of the sprayer Servo predictive control is performed on the spray boom to realize the predictive adjustment of the spray boom balance, which is conducive to improving the uniformity of spray droplet deposition, saving pesticides, and reducing environmental pollution.

Description of drawings

Figure 1 is an axonometric view of a boom sprayer.

Figure 2 is a schematic diagram of the spray boom balance control structure.

The reference signs are as follows:

1. Multi-dimensional force sensor 2. Branch 3. Left balance hydraulic cylinder 4. Right balance hydraulic cylinder 5. Chassis attitude sensor 6. Data acquisition module 7. Spray boom balance controller 8. Data output module 9. Solenoid valve A 10. Solenoid valve B

Detailed ways

The technical solution of the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

The invention relates to an active forecasting and adjusting system for spray rod balance, which includes a mechanical part and a control part.

As shown in Figure 1, the mechanical part consists of a driving chassis, a sprayer main frame, a spray bar, a roller, a branch 2, a spray bar lifting hydraulic cylinder, a left balance hydraulic cylinder 3, a right balance hydraulic cylinder 4, a left balance hydraulic cylinder Composed of horizontal folding hydraulic cylinder and right horizontal folding hydraulic cylinder. Wherein, a plurality of distributors 2 are arranged on the spray boom.

As shown in Figure 2, the control part consists of chassis attitude sensor 5, multi-dimensional force sensor 1, data acquisition module 6, spray boom balance controller 7, data output module 8, solenoid valve A9, solenoid valve B10, solenoid valve C, solenoid The valve D and the solenoid valve E are composed; the solenoid valve A9 and the solenoid valve B10 are connected to the data output module 8, and are used to drive the left balance hydraulic cylinder 3 and the right balance hydraulic cylinder 4 respectively. Among them, the chassis attitude sensor 5 is installed on the driving chassis to detect the roll angle and roll angular acceleration of the driving chassis; the multi-dimensional force sensor 1 is installed on each branch 2 to detect the random branching resistance of each branch 2; the chassis Attitude sensor 5 and multidimensional force sensor 1 are connected to data acquisition module 6; data acquisition module 6 and data output module 8 are connected to spray boom balance controller 7; spray boom balance controller 7 is used to The inclination acceleration and the random branch resistance of each branch 2 are used to calculate the adjustment amount of the left balance hydraulic cylinder 3 and the right balance hydraulic cylinder 4 to maintain the balance of the spray boom.

Working process of the present invention and adjustment method are as follows:

Before the boom sprayer works in the field, the operator should first adjust the boom height to an appropriate value through the boom lifting hydraulic cylinder according to the actual height of the current crop growth to meet the operation requirements, and then use the left balance hydraulic cylinder 3 and the right balance hydraulic cylinder Cylinder 4 adjusts the spray boom to a balanced state.

In the actual field operation stage of the sprayer, the multi-dimensional force sensor 1 monitors the random branch resistance of each branch 2 in real time, and the chassis attitude sensor 5 monitors the roll angle and roll angle acceleration of the chassis in real time, and transmits them to the boom balance controller 7 through the data acquisition module 6 . The spray boom balance controller 7 predicts the spray boom attitude change according to the random branch resistance of each branch 2, the chassis attitude change and the trend, calculates the adjustment amount required for the spray boom leveling, and sends the required leveling amount through the data output module 8 The output is sent to the corresponding solenoid valve, and the corresponding balance hydraulic cylinder is driven to perform servo predictive control on the spray boom, offsetting the attitude change of the spray boom caused by ground bumps and random branch resistance, and realizing the active predictive adjustment of the spray boom balance.

An active predictive adjustment method for spray boom balance of the present invention comprises the following steps:

Step 1: During the actual field operation stage of the boom sprayer, the chassis attitude sensor 5 detects the roll angle and roll angular acceleration of the driving chassis to predict the attitude change of the spray boom caused by ground bumps, and the multi-dimensional force sensor 1 detects the position of each branch 2. Random branch resistance to predict boom attitude changes due to random branch resistance;

Step 2: The spray boom balance controller 7 predicts the spray boom posture variation according to the roll angle and roll angle acceleration of the driving chassis and the random branch resistance of the distributor 2, and calculates the balance hydraulic cylinder 3 on the left and the balance hydraulic cylinder 4 on the right. The adjustment amount of the boom balance;

Step 3: According to the balance adjustment amount of the spray boom calculated in step 2, a control command is sent to the solenoid valve A9 and the solenoid valve B10, and the solenoid valve A9 and the solenoid valve B10 drive the left balance hydraulic cylinder 3 and the right balance hydraulic cylinder 4 to adjust the spray in advance. The balance of the boom counteracts the deflection or shaking of the spray boom caused by field bumps and random branch resistance imbalances.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be Modifications or equivalent replacements without departing from the spirit and scope of the technical solution of the present invention shall fall within the scope of the claims of the present invention.

The described embodiment is a preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation, without departing from the essence of the present invention, any obvious improvement, replacement or modification that those skilled in the art can make Modifications all belong to the protection scope of the present invention.

Claims (6)

1. A spray boom balance active predictive adjustment system, including a mechanical part and a control part; the mechanical part includes a driving chassis, a sprayer main frame, a spray boom, a roller, a distributor (2), a spray boom lifting hydraulic cylinder, The left balance hydraulic cylinder (3), the right balance hydraulic cylinder (4), the left horizontal folding hydraulic cylinder and the right horizontal folding hydraulic cylinder; it is characterized in that a plurality of dividers (2) are arranged on the spray bar ; The control part includes a chassis attitude sensor (5), a multidimensional force sensor (1), a data acquisition module (6), a boom balance controller (7), a data output module (8), a solenoid valve A (9), a solenoid Valve B (10), solenoid valve C, solenoid valve D, and solenoid valve E; solenoid valve A (9), solenoid valve B (10) are connected to the data output module (8), and are used to drive the left balance hydraulic cylinder ( 3) and the right balance hydraulic cylinder (4); the chassis attitude sensor (5) is installed on the driving chassis for detecting the roll angle and roll angular acceleration of the driving chassis; the multidimensional force sensor (1) is installed on the Each branch (2) is used to detect the random branch resistance of each branch (2); the chassis attitude sensor (5) and the multi-dimensional force sensor (1) are connected to the data acquisition module (6); the data acquisition module (6) And the data output module (8) is connected to the boom balance controller (7). 2. A kind of spray boom balance active predictive adjustment system based on branch resistance according to claim 1, characterized in that, the spray boom balance controller (7) is used to 1. Calculate the random branch resistance of each branch (2), and calculate the adjustment amount of the left balance hydraulic cylinder (3) and the right balance hydraulic cylinder (4) to maintain the balance of the spray bar. 3. A kind of spray boom balance active predictive regulation system based on branch resistance according to claim 1, is characterized in that, described electromagnetic valve C, electromagnetic valve D and electromagnetic valve E are connected to data output module (8), respectively Used to drive the boom lift hydraulic cylinder, the left lateral folding hydraulic cylinder and the right lateral folding hydraulic cylinder. 4. An active predictive adjustment system for boom balance based on branching resistance according to claim 1, characterized in that there are 11 said branching devices (2). 5. An active predictive adjustment system for boom balance based on branch resistance according to claim 4, characterized in that there are 11 multi-dimensional force sensors (1). 6. The method based on a kind of boom balance active predictive adjustment system according to any one of claims 1 to 5, characterized in that it comprises the following steps: Step 1: During the actual field operation stage of the boom sprayer, the chassis attitude sensor (5) detects the roll angle and the roll angle acceleration of the driving chassis to predict the attitude change of the boom caused by the ground bumps, and the multidimensional force sensor (1) detects each The random branch resistance of the branch (2) is used to predict the boom attitude change caused by the random branch resistance; Step 2: The spray boom balance controller (7) predicts the spray boom posture variation according to the roll angle and roll angle acceleration of the driving chassis and the random branch resistance of the distributor (2), and calculates the left balance hydraulic cylinder (3) and the right balance hydraulic cylinder (3). The side balance hydraulic cylinder (4) maintains the adjustment amount of the spray boom balance; Step 3: According to the balance adjustment amount of the spray boom calculated in step 2, a control command is sent to the solenoid valve A (9) and the solenoid valve B (10), and the solenoid valve A (9) and the solenoid valve B (10) drive the left balance hydraulic pressure The cylinder (3) and the right balance hydraulic cylinder (4) adjust the balance of the spray boom in advance to offset the deflection or shaking of the spray boom caused by field bumps and random branch resistance imbalance.