CN108739730B - Active prediction and adjustment system and method for spray rod balance - Google Patents
Active prediction and adjustment system and method for spray rod balance Download PDFInfo
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- CN108739730B CN108739730B CN201810410278.4A CN201810410278A CN108739730B CN 108739730 B CN108739730 B CN 108739730B CN 201810410278 A CN201810410278 A CN 201810410278A CN 108739730 B CN108739730 B CN 108739730B
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- 239000007921 spray Substances 0.000 title claims abstract description 91
- 238000000034 method Methods 0.000 title claims abstract description 14
- 206010034719 Personality change Diseases 0.000 claims abstract description 7
- 230000001133 acceleration Effects 0.000 claims description 16
- 238000005507 spraying Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- Insects & Arthropods (AREA)
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Abstract
本发明公开了一种喷杆平衡主动预测调节系统及方法，涉及植保机械领域；机械部分包括行驶底盘、喷雾机主架、喷杆、滚柱、分行器、喷杆升降液压缸、左侧平衡液压缸、右侧平衡液压缸、左侧横向折叠液压缸和右侧横向折叠液压缸；控制部分包括底盘姿态传感器、多维力传感器、数据采集模块、喷杆平衡控制器、数据输出模块和电磁阀；其中喷雾机喷杆上设置有多个分行器，各分行器安装有多维力传感器检测其随机分行阻力，行驶底盘上安装有底盘姿态传感器检测其姿态变化及趋势。喷雾机实际田间作业过程中，喷杆平衡控制器依据各分行器随机分行阻力、底盘姿态变化及趋势预测喷杆姿态变化量，操控两侧的平衡液压缸对喷杆进行伺服预测控制。
The invention discloses a system and method for actively predicting and adjusting the balance of a spray rod, and relates to the field of plant protection machinery. The mechanical part includes a traveling chassis, a main frame of a sprayer, a spray rod, a roller, a brancher, a spray rod lifting hydraulic cylinder, and a left balance. Hydraulic cylinder, right balance hydraulic cylinder, left lateral folding hydraulic cylinder and right lateral folding hydraulic cylinder; control part includes chassis attitude sensor, multi-dimensional force sensor, data acquisition module, boom balance controller, data output module and solenoid valve ; Among them, a plurality of branches are arranged on the sprayer boom, and each branch is equipped with a multi-dimensional force sensor to detect its random branch resistance, and a chassis attitude sensor is installed on the driving chassis to detect its attitude change and trend. During the actual field operation of the sprayer, the boom balance controller predicts the change of the boom attitude according to the random branch resistance, chassis attitude change and trend of each branch, and controls the balance hydraulic cylinders on both sides to perform servo predictive control of the boom.
Description
Technical Field
The invention belongs to the field of plant protection machinery, and particularly relates to a spray rod balance active prediction and adjustment system and method.
Background
In the spray rod type spraying machine, in the field operation process, the spray rod not only needs to bear ground jolt transmitted by a running chassis, but also needs to bear random row-dividing resistance of each row divider due to the existence of the row dividers, so that the phenomena of spray rod deflection and spray rod shaking are easily caused, the pesticide application uniformity is influenced, and even serious accidents such as crop scratching, spray rod grounding, spray rod breakage and the like can be caused. Therefore, the research and development of the automatic spray rod balance adjusting system has important practical significance.
Patent application No. 201510079249.0 discloses a spray lance balance automatic regulating device and method, during operation, a controller predicts the regulating quantity required by the leveling of a spray lance of a hydraulic cylinder according to the inclination angle and the inclination angle acceleration of a running chassis on which an attitude sensor arranged on the running chassis is located, and the regulation of the spray lance balance is realized. The self-balancing spray rod based on the attitude adjustment is designed in the document research and implementation of the self-balancing static spray rod based on the attitude adjustment (Zhang jin Yan et al, computer engineering and application 2015,51(S1), pages 322-325), a 9-axis attitude sensor GY521-MPU6050 is adopted to monitor the inclination state of the spray rod in real time, and the control of the spray rod balance is realized by controlling the rotating speed and the steering of a direct current motor. However, the method only relies on the attitude sensor to monitor the balance state of the spray rod, does not consider the influence of the spray rod shunting resistance on the attitude of the spray rod, and has poor adaptability to the spray rod type spraying machine with a line splitter structure, serious adjustment lag and poor balance effect.
In order to effectively adjust the balance of the spray rod, the invention provides a spray rod balance active prediction adjusting system and a spray rod balance active prediction adjusting method, which can realize active prediction adjustment of the spray rod balance.
Disclosure of Invention
The invention aims to provide a spray rod balance active prediction adjusting system and a spray rod balance active prediction adjusting method, so that in a spray rod type spraying machine field operation stage, a spray rod balance controller predicts spray rod posture variation according to random branch resistance, chassis posture variation and trend of each branch device, and controls balance hydraulic cylinders on two sides to perform servo prediction control on spray rod balance. Mainly in order to solve the spray lance deflection or the rocking that the uneven spray lance that arouses of field ground jolt and branch resistance, realize the automatic balance control of spray lance.
In order to solve the technical problems, the invention adopts the following specific technical scheme:
a boom balance active predictive regulation system includes a mechanical section and a control section; the mechanical part comprises a running chassis, a sprayer main frame, a spray rod, a roller, a line divider, a spray rod lifting hydraulic cylinder, a left side balancing hydraulic cylinder, a right side balancing hydraulic cylinder, a left side transverse folding hydraulic cylinder and a right side transverse folding hydraulic cylinder; a plurality of line dividers are arranged on the spray rod;
the control part comprises a chassis attitude sensor, a multi-dimensional force sensor, a data acquisition module, a spray rod 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 electromagnetic valve A and the electromagnetic valve B are connected to the data output module and are respectively used for driving the left balance hydraulic cylinder and the right balance hydraulic cylinder; the chassis attitude sensor is arranged on the running chassis and used for detecting the roll angle and the roll inclination acceleration of the running chassis; the multi-dimensional force sensor is arranged on each line splitter and used for detecting the random line splitting resistance of each line splitter; 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 rod balance controller.
Further, the spray rod balance controller is used for calculating the adjustment amount of the left side balance hydraulic cylinder and the right side balance hydraulic cylinder for keeping the balance of the spray rod according to the roll angle and the roll angle acceleration of the running chassis and the random row-dividing resistance of each row divider.
Furthermore, the electromagnetic valve C, the electromagnetic valve D and the electromagnetic valve E are connected to the data output module and are respectively used for driving the spray rod lifting hydraulic cylinder, the left side transverse folding hydraulic cylinder and the right side transverse folding hydraulic cylinder.
Further, the number of the splitters is 11.
Further, the number of the multi-dimensional force sensors is 11.
A spray rod balance active prediction adjusting method comprises the following steps:
step one, in an actual field operation stage of the boom sprayer, a chassis attitude sensor detects a roll angle and a roll angle acceleration of a running chassis to predict boom attitude change caused by ground bump, and a multi-dimensional force sensor detects random row-dividing resistance of each row divider to predict boom attitude change caused by the random row-dividing resistance;
secondly, the spray rod balance controller predicts spray rod posture variation according to the roll angle and roll angle acceleration of the running chassis and the random row-dividing resistance of the line divider, and calculates the adjustment quantity of the left side balance hydraulic cylinder and the right side balance hydraulic cylinder for keeping the balance of the spray rod;
and step three, sending a control command to the solenoid valve A and the solenoid valve B according to the spray rod balance adjustment amount calculated in the step two, driving the left side balance hydraulic cylinder and the right side balance hydraulic cylinder by the solenoid valve A and the solenoid valve B to adjust the balance of the spray rod in advance, and offsetting the deflection or the shaking of the spray rod caused by field ground bump and random branch resistance imbalance.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the multi-dimensional force sensor is arranged on each line divider, so that the random line dividing resistance of each line divider can be detected in the actual field operation stage of the sprayer.
2. According to the invention, the change of the attitude of the spray rod is predicted according to the random row-dividing resistance of each row divider and by combining the chassis attitude roll angle and the roll angle acceleration output by the chassis attitude sensor, so that the balance hydraulic cylinders at two sides can be controlled to perform servo prediction control on the spray rod in the actual field operation stage of the spraying machine, the prediction and adjustment of the balance of the spray rod are realized, the improvement of the deposition uniformity of spray droplets is facilitated, pesticides are saved, and the environmental pollution is reduced.
Drawings
FIG. 1 is an isometric view of a boom sprayer.
FIG. 2 is a schematic view of a boom balance control configuration.
The reference numbers are as follows:
1. the multi-dimensional force sensor 2, the divider 3, the left side balance hydraulic cylinder 4, the right side balance hydraulic cylinder 5, the chassis attitude sensor 6, the data acquisition module 7, the spray rod balance controller 8, the data output module 9, the electromagnetic valve A10, the electromagnetic valve B
Detailed Description
The technical solution of the present invention is further described in detail with reference to the accompanying drawings and specific embodiments.
The invention discloses a spray rod balance active prediction adjusting system which comprises a mechanical part and a control part.
With reference to the attached drawing 1, the mechanical part comprises a running chassis, a sprayer main frame, a spray rod, a roller, a line divider 2, a spray rod lifting hydraulic cylinder, a left side balance hydraulic cylinder 3, a right side balance hydraulic cylinder 4, a left side transverse folding hydraulic cylinder and a right side transverse folding hydraulic cylinder. Wherein a plurality of splitters 2 are arranged on the spray bar.
Referring to fig. 2, the control part comprises a chassis attitude sensor 5, a multidimensional force sensor 1, a data acquisition module 6, a spray rod balance controller 7, a data output module 8, an electromagnetic valve A9, an electromagnetic valve B10, an electromagnetic valve C, an electromagnetic valve D and an electromagnetic valve E; the electromagnetic valve A9 and the electromagnetic valve B10 are connected to the data output module 8 and are respectively used for driving the left balancing hydraulic cylinder 3 and the right balancing hydraulic cylinder 4. The chassis attitude sensor 5 is mounted on the running chassis and used for detecting the roll angle and the roll angle acceleration of the running chassis; the multi-dimensional force sensor 1 is arranged on each line splitter 2 and used for detecting the random line splitting resistance of each line splitter 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 are connected to the spray rod balance controller 7; the spray rod balance controller 7 is used for calculating the adjustment quantity of the left side balance hydraulic cylinder 3 and the right side balance hydraulic cylinder 4 for keeping the balance of the spray rod according to the roll angle and the roll angle acceleration of the running chassis and the random row-dividing resistance of each line divider 2.
The working process and the adjusting method of the invention are as follows:
before the boom sprayer field operation, operating personnel should at first adjust the spray lance height to suitable value through boom hoist cylinder according to current crop growth actual height in order to satisfy the operation demand to adjust the spray lance to balanced attitude through left side balance hydraulic cylinder 3 and right side balance hydraulic cylinder 4.
In the actual field operation stage of the spraying machine, the multi-dimensional force sensor 1 monitors the random row-dividing resistance of each row-dividing device 2 in real time, the chassis attitude sensor 5 monitors the side inclination angle and the side inclination angle acceleration of the chassis in real time, and the side inclination angle acceleration are transmitted to the spray rod balance controller 7 through the data acquisition module 6. The spray rod balance controller 7 predicts spray rod attitude variation according to random branch resistance, chassis attitude variation and trend of each divider 2, calculates adjustment quantity required by spray rod leveling, outputs the required leveling quantity to a corresponding electromagnetic valve through the data output module 8, drives a corresponding balance hydraulic cylinder to perform servo prediction control on the spray rod, counteracts spray rod attitude variation caused by ground bump and random branch resistance, and realizes active prediction adjustment of spray rod balance.
The invention discloses a spray rod balance active prediction and adjustment method, which comprises the following steps:
step one, in an actual field operation stage of the boom sprayer, a chassis attitude sensor 5 detects a roll angle and a roll angle acceleration of a running chassis to predict boom attitude change caused by ground bump, and a multi-dimensional force sensor 1 detects random shunt resistance of each shunt 2 to predict boom attitude change caused by the random shunt resistance;
secondly, the spray rod balance controller 7 predicts spray rod posture variation according to the roll angle and roll angle acceleration of the running chassis and random row dividing resistance of the row divider 2, and calculates the adjustment amount of the left balance hydraulic cylinder 3 and the right balance hydraulic cylinder 4 for keeping the balance of the spray rod;
and step three, sending a control command to a solenoid valve A9 and a solenoid valve B10 according to the spray rod balance adjustment amount calculated in the step 2, and driving a left side balance hydraulic cylinder 3 and a right side balance hydraulic cylinder 4 by the solenoid valve A9 and the solenoid valve B10 to adjust the balance of the spray rod in advance so as to counteract the spray rod deflection or shaking caused by field ground bump and random branch resistance imbalance.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (6)
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810410278.4A CN108739730B (en) | 2018-05-02 | 2018-05-02 | Active prediction and adjustment system and method for spray rod balance |
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| CN201810410278.4A CN108739730B (en) | 2018-05-02 | 2018-05-02 | Active prediction and adjustment system and method for spray rod balance |
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| CN108739730A CN108739730A (en) | 2018-11-06 |
| CN108739730B true CN108739730B (en) | 2021-02-12 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109329253B (en) * | 2018-11-28 | 2023-08-25 | 石河子大学 | Self-propelled high-clearance sprayer chassis device |
| EP3930454A1 (en) * | 2019-03-01 | 2022-01-05 | Precision Planting LLC | Agricultural spraying system |
| CN110326604A (en) * | 2019-08-16 | 2019-10-15 | 山东思代尔农业装备有限公司 | Multisensor formula spray boom intelligent balance and obstruction-avoiding control system |
| CN112167213A (en) * | 2020-08-18 | 2021-01-05 | 南京农业大学 | Active air suspension applied to spraying rod of spraying machine |
| CN113728995B (en) * | 2021-07-29 | 2023-05-05 | 盐城市农业机械试验鉴定站 | Intelligent boom balancing device suitable for self-propelled boom sprayer |
| PL245325B1 (en) * | 2023-07-12 | 2024-06-24 | Univ Przyrodniczy W Lublinie | Power supply system for the sprayer boom |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE2658451C3 (en) * | 1976-12-23 | 1979-12-06 | Amazonen-Werke H. Dreyer Gmbh & Co Kg, 4507 Hasbergen | Device for controlling the amount of liquid in field sprayers |
| CA1167145A (en) * | 1980-10-23 | 1984-05-08 | Sed Systems Inc. | Sprayer flowmeter |
| AUPO370596A0 (en) * | 1996-11-18 | 1996-12-12 | Research Foundation Institute Pty Limited, The | Vegetation recognition system |
| CN201640261U (en) * | 2010-04-15 | 2010-11-24 | 农业部南京农业机械化研究所 | Lifting Boom Sisal Sprayer |
| CN102091682B (en) * | 2010-12-24 | 2012-07-04 | 江苏大学 | Self-balancing spray boom spraying machine |
| CN203207026U (en) * | 2013-03-15 | 2013-09-25 | 太仓光电技术研究所 | Spray rod locking balance control technique of large-scale electrostatic sprayer |
| CN103817038B (en) * | 2013-12-27 | 2015-12-02 | 河南工程学院 | Self-propelled clearance monolateral suspension jet pipe automatic balance type spraying machine |
| CN104663635B (en) * | 2015-02-14 | 2017-03-15 | 江苏大学 | A kind of interference signal filtering device of spraying machine and method |
| CN104663636A (en) * | 2015-02-14 | 2015-06-03 | 江苏大学 | Automatic adjusting device and method for boom balance |
| CN106741952B (en) * | 2016-12-12 | 2023-06-30 | 农业部南京农业机械化研究所 | Active balancing device and adjusting method for spray boom of agricultural remote control flight plant protection machine |
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