Operating environment sensing based active control system for boom sprayer

Abstract

The invention relates to an operating environment sensing based active control system for a boom sprayer, which comprises an outside information sensing module, a running parameter measuring module, an active spray control system module and a running parameter real-time control module. CAN (controlled area network) bus communication of field-operation natural wind speed measured with a two-dimensional ultrasonic wind speed sensor and advancing speed of the boom sprayer measured with a rotary encoder is realized, and spray parameters are calculated through a precision active spray controller. A spray parameter regulating controller is used for acquiring pesticide pressure, fan air volume and spray angle information in real time so as to complete respective PID (proportion integration differentiation) control, and accordingly, the spray volume is guaranteed, drift-reduced spray and fine droplet penetrability are realized, and the effect of settling droplets on plant leaves is improved. The spray system based on external environment sensing and automatic active operating parameter control is high in practical value, simple in structure, convenient in operation and convenient in application.

Description

technical field [0001] The invention relates to an active control system of a boom sprayer with operating environment perception, and belongs to the technical field of pesticide application of plant protection spraying machinery. Background technique [0002] my country's pesticide application machinery technology is backward, and the utilization rate of pesticides has always been very low, generally 20% to 30%. 70% to 80% of pesticides are lost to soil, rivers and air, which seriously pollutes the environment and increases the burden of pesticides on crops. Residues directly affect the quality and safety of agricultural products. [0003] Airflow-assisted anti-drift spray technology, that is, adding an air duct to the spray bar of the sprayer, and adding a fan for air supply to the air duct, forcing air supply above the nozzle along the spray direction to form an air curtain, which not only strengthens the turning of branches and leaves, Increased droplet penetration, and w...

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Problems solved by technology

But none of the above-mentioned patents involves the control of working parameters in the spraying operation process

Considering uncontrollable factors such as natural wind speed and wind direction, characteristic factors such as the canopy of crops in different growth periods, and the system parameters of the boom sprayer itself are nonlinear time-varying parameters, when the boom sprayer is operating in the field, it cannot be dynamically Change the controllable working parameters of the sprayer, the effect of droplet drift reduction and deposition is often very limited

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