CN103636590B - Rice transplanter pesticide application device and pesticide application control method - Google Patents
Rice transplanter pesticide application device and pesticide application control method Download PDFInfo
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- CN103636590B CN103636590B CN201310644118.3A CN201310644118A CN103636590B CN 103636590 B CN103636590 B CN 103636590B CN 201310644118 A CN201310644118 A CN 201310644118A CN 103636590 B CN103636590 B CN 103636590B
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Abstract
The invention relates to a rice transplanter pesticide application device and a pesticide application control method, and belongs to the technical field of agricultural implements. The rice transplanter pesticide application device comprises a peristaltic pump and a control circuit, wherein the liquid inlet end of the peristaltic pump is connected with a pesticide box, and the liquid outlet end of the peristaltic pump is connected with a spray nozzle; the pesticide box is arranged on a rice transplanter; the spray nozzle is arranged at the rice transplanting position of a seedling claw of the rice transplanter; a proximity sensor is installed at the rice transplanting position of the seedling claw; the control circuit is provided with an intelligent control device, wherein the signal input end of the intelligent control device is connected with the proximity sensor so that pesticide application time can be determined according to the sensed position of the seedling claw; the control signal output end of the intelligent control device is connected with the controlled end of the peristaltic pump so that the peristaltic pump can be controlled to conduct pesticide application through the spray nozzle according to a preset quantity at the determined pesticide application time. The rice transplanter pesticide application device is simple and reasonable in structure, high in work efficiency, and capable of maximizing the pesticide effect and avoiding pesticide liquid waste.
Description
Technical field
The present invention relates to a kind of crop device for administration of drugs, especially a kind of rice transplanter giver, also relates to dispenser control method simultaneously, belongs to farm machinery technical field.
Background technology
Transplanting is conducive to alleviating the Rice Production amount of labour, and abridged edition, synergy, therefore by spread.But large, the Miao Ti little of slow, the line-spacing of rice transplanting, the envelope retardation of walking behind the whole field of transplanting, rice shoot is weak to weed competition power, thus the Weed infestation in machine transplanting of rice field comparatively hand to insert field serious.Meanwhile, plant wound etc. because machine transplanting of rice seedling is little and weak, there is machine, so herbicide application requires more strict, dispenser is improper very likely causes poisoning, affects output [1].
At present, machine transplanting of rice rice seedling bed generally adopts 2 weeding methods, namely first carries out 1 closed soil treatment with weed killer herbicide when rice field is smooth, weeds can not be emerged during plate is determined in rice field, when rice striking root executes tillering fertilizer, suitably postpone spraying time, then carry out 1 conventional method and use weed killer herbicide [2].The consumption of the obvious workload of this method and liquid is all larger.
Application number be 201110052041.1 Chinese patent application disclose a kind of method that weed in cotton field Real time identification sprays target.Its vision system hardware comprises additional light source, CCD colour TV camera, A/D conversion, DSP image processor, D/A conversion, LCD display, and additional light source can improve the uneven or inappropriate situation of brightness of light under natural conditions.Recognition methods adopts following steps: the video camera Real-time Obtaining cotton field image being arranged on weeding machine front portion; Be put in chip external memory through A/D conversion and call for dsp processor, DSP extracts two field picture and processes from video flowing; Cr characteristic method is utilized to carry out the segmentation of green crop and Soil Background; According to nozzle layout of sprinkler situation, image averaging is divided into four lines, the corresponding a line of each shower nozzle; Utilize position feature identification inter-row weed; Utilize weeds between blade area, shape facility identification strain; The weeds positional information obtained is sent microcontroller, controls shower nozzle and open, realize weed killer herbicide target precision and spray, to save agricultural chemicals and decreasing pollution.It forms complexity, with high costs, is difficult to apply.
Summary of the invention
The object of the invention is to: the shortcoming existed for above-mentioned prior art, propose a kind of operating efficiency high, drug effect can be made to maximize, and simple and practical rice transplanter giver, provides its dispenser and controls to amplify, thus avoid liquid waste and the poisoning to transplanting as far as possible simultaneously.
Applicant learns through theory analysis and practical proof, is namely engraved in the liquid that rice shoot position applies suitable metering and can obtains best pesticide supplying effect after rice transplanting, therefore controls dispenser opportunity, position and formulation rate simultaneously and just likely makes drug effect maximize.On this cognitive basis, in order to reach above object, application proposes rice transplanter giver basic technical scheme of the present invention: comprise feed liquor termination medicine-chest, the liquid pump of fluid terminating nozzles and control circuit, described medicine-chest is placed on rice transplanter, described nozzle is placed in seedling claw of transplanter rice transplanting position, and proximity transducer part is equipped with in described seedling pawl rice transplanting position; Described control circuit has the Based Intelligent Control device that signal input part connects described proximity transducer part (such as proximity switch), in order to determine dispenser opportunity according to the seedling pawl position of perception; The control signal of described Based Intelligent Control device exports the controlled end of termination liquid pump, in order to control liquid pump with predetermined dose by described nozzle dispenser opportunity in the dispenser determined.
Specifically, described Based Intelligent Control device is single-chip microcomputer, after the power amplification buffer circuit that the control signal output of described single-chip microcomputer consists of photoelectric isolated chip and voltage stabilizing chip, connect the grid of the FET as switch control device, the drain electrode of described FET and source electrode export the controlled end of termination peristaltic pump as switching signal.
When the present invention works, Based Intelligent Control device carries out dispenser control by following basic step:
The first step, calculate liquid pump each specified opening time;
The signal of second step, receiving sensor part, judges whether seedling pawl reaches rice transplanting position;
3rd step, as judged, seedling pawl reaches rice transplanting position, then export control signal and open liquid pump, as judged, seedling pawl does not reach rice transplanting position, then continue second step;
4th step, judge liquid pump open whether reach each specified opening time, as do not reached, being held open and continuing to judge the opening time, as reached, closing liquid pump, returning second step.
After adopting the present invention, dispenser controls to be attached on rice transplanter, dispenser operation is synchronous with rice transplanting, therefore simple and reasonable, operating efficiency is high, and by holding best dispenser opportunity to the monitoring of seedling pawl position, ensures desirable dispenser position by the nozzle being placed in rice transplanting position, drug effect can be made to maximize, avoid liquid waste and cause unnecessary pollution.
The above first step can calculate each specified opening time according to the average formulation rate in every cave and the preset metered flow of liquid pump usually, opens liquid pump and export with metered flow in the 3rd step.In practice, the change of rice transplanter gait of march and seedling pawl running speed when considering work, improving further of above-mentioned control is, in the described first step, also judge that seedling pawl this time reaches rice transplanting position and reached the time interval of rice transplanting position last time, and judge whether this time interval is less than predetermined threshold value, then calculate each specified opening time again by after the corresponding raising of preset for liquid pump metered flow in this way, then carry out subsequent step; As otherwise directly carry out subsequent step.Liquid pump unlatching opportunity and seedling pawl operating position so not only can be made to match, and delivery rate and rice transplanting speed are matched, thus ensure the synchronous effect of dispenser and rice transplanting better.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further illustrated.
Fig. 1 is the structured flowchart of one embodiment of the invention.
Fig. 2 is the control flow chart of Fig. 1 embodiment intelligent controller.
Fig. 3 is the control circuit core circuit diagram of Fig. 1 embodiment.
Fig. 4 is the control circuit periphery circuit diagram of Fig. 1 embodiment.
Embodiment
Embodiment one
The rice transplanter giver of the present embodiment as shown in Figure 1, the feed liquor termination medicine-chest of peristaltic pump, fluid terminating nozzles.Medicine-chest is placed on rice transplanter, and nozzle is placed in seedling claw of transplanter rice transplanting position.The typical structure of rice transplanter can be the Chinese patent literature of 01823007.5 see application number, does not describe in detail herein.The proximity switch as proximity transducer part is equipped with in seedling pawl rice transplanting position, and during when realizing rice transplanting action after the seedling taking of seedling pawl near proximity switch, this senser element will send corresponding signal.The basic comprising of control circuit is, there is Based Intelligent Control device---the single-chip microcomputer that signal input part connects proximity transducer part (proximity switch), this single-chip microcomputer has conventional display, operation push-button, routine interface etc., powered by mu balanced circuit by the vehicular power-bottle of rice transplanter, its control signal output connects the controlled end that overpower amplifying circuit connects peristaltic pump, therefore can according to the seedling pawl position of proximity switch signal perception, determine dispenser opportunity, reed time controll peristaltic pump with predetermined dose by the accurate dispenser of nozzle.
The concrete formation of control circuit as shown in Figure 3, Figure 4, containing MSP430F149 single-chip microcomputer, have 64 pins, wherein 1,64 pins introduce 3V voltage, 52-53,8-9 pin is connected with major and minor crystal oscillator respectively, 54-58 pin meets JTAG emulator interface J7, and P4 pin is by voltage conversion chip U5(LVC4245) do voltage transitions after connect button and driving switch interface J6.P3.4-3.5 pin passes through I
2the transmission means of C connects display interface device J4, and the P2.0 pin of pin interrupt function is connected with the proximity switch transducing signal after Phototube Coupling, and P1.2 pin is as the control signal output of peristaltic pump.
In Fig. 4, the control signal that single-chip microcomputer P1.2 pin exports is by photoelectric isolated chip U1(6N137) with voltage stabilizing chip U3(78L08) after the power amplification buffer circuit that forms, connect the grid of the FET IRF540 of switch control device, the drain electrode of this FET and source electrode connect the controlled end of peristaltic pump by interface J2 as switching signal output.The feedback signal of proximity switch J3, by being connected to the P2.0 pin of single-chip microcomputer after another photoelectric isolated chip U2 isolation, after vehicular power-bottle DC voltage interface J1 access LM2576-12 module does voltage stabilizing adjustment, provides 12V direct current to peristaltic pump.
When the rice transplanter giver of the present embodiment works, MSP430F149 single-chip microcomputer carries out dispenser control (see Fig. 2) as follows:
The first step, when bringing into operation, perform a function such as singlechip chip, pin, interruption, timing and define and initialization step; Each specified opening time is calculated according to the average formulation rate in every cave and the preset metered flow of peristaltic pump.Every cave flat existing market standard rice transplanter is each slotting 6 strain rice shoots simultaneously of 6 row (line number i) at present, seedling planting row pitch 300mm, spacing in the rows 180-220mm, cave, every mu of ground about 1.5 ten thousand (cave number n), according to agronomy dispenser requirement, weed killer herbicide mu formulation rate 2-5L(formulation rate C), peristaltic pump metered flow 260ml/min(flow Q), then
The average formulation rate M in every cave:
=0.07-0.55ml
The each opening time S of liquid pump:
=
=0.18-0.54s
Getting 0.3s is each specified opening time.
Second step, enter low-power consumption wait state, until the signal of receiving sensor part, detected that rice shoot is by implanted, judged whether seedling pawl reaches rice transplanting position.
3rd step, as judged, seedling pawl reaches rice transplanting position, then enter interrupt routine, and single-chip microcomputer P1 pin sets high unlatching liquid pump, simultaneously opening timing counter, and as judged, seedling pawl does not reach rice transplanting position, then continue second step.
4th step, judge peristaltic pump open whether reach each specified opening time, as do not reached, being held open and continuing to judge the opening time, then close peristaltic pump as count value occurs to overflow, reenter low-power consumption wait state, return second step and wait for that next rice shoot is implanted.
More specifically, proximity switch is arranged near the rotating shaft of seedling pawl, detects its working condition, when intercutting rice shoot, seedling pawl around axle do half circular motion near proximity switch time start pulse signal, single-chip microcomputer, after return pulse signal, is opened liquid pump, is opened timer count simultaneously, after certain hour, liquid pump is closed, and single-chip microcomputer is in wait state again, until feedback signal arrives next time.The time period of whole process spray liquid and rice transplanter intercut the rice shoot time and match, calculate according to the peristaltic pump of six row rice transplanters, 30cm seedling planting row pitch and 120ml flow, the time of each liquid pump unlatching of dispenser system can realize the formulation rate of 2L/ mu at about 0.15s.On the other hand, the DC voltage that vehicular power-bottle provides, after mu balanced circuit adjustment, export 3V, 5V, 8V, 12V voltage distribution respectively in each integrated circuit of system, display passes through I
2the transmission means of C is connected with main frame, display system duty, and button connects main frame parameters.
Like this, can guarantee that dispenser operation is synchronous with rice transplanting, rationally efficient, by holding best dispenser opportunity to the monitoring of seedling pawl position, ensure desirable dispenser position by the nozzle being placed in rice transplanting position, adopt peristaltic pump with the predetermined formulation rate of enough accuracy dynamic regulation in addition, drug effect therefore can be made to maximize, avoid liquid waste and excess contamination, easy to utilize.
Embodiment two
Basic comprising and the embodiment one of the present embodiment are similar, for realizing medicine liquid spray speed and rice transplanting speeds match, also choosing micrometeor peristaltic pump is flusher, and medicine-chest, flexible pipe are sprinkler part, and devises the embedded intelligence control system formed with single-chip microcomputer and peripheral circuit.This system can control peristaltic pump work according to the motion conditions of seedling pawl, and rice transplanter often inserts a line rice shoot, and once, each working time can pre-set according to the size of mu formulation rate, thus realizes flow regulating function in peristaltic pump work.For being applicable to Rice Production applied environment, giver core electron parts have waterproof construction, can keep out rain drop erosion and muddy water spills, and can not affect the continuity of dispenser because of mud and ponding.
Can to intercut situation harmonious with rice transplanter rice shoot in order to make dispenser equip, the liquid of doses is sprayed while often inserting a seedling, consider Financial cost simultaneously, system adopts MSP430 single-chip microcomputer to be Master control chip in hardware design, receiving feedback signals, draft control strategy, sending controling instruction; Adopt proximity switch as feedback signal source, detect seedling pawl duty and feed back with the form of pulse signal; Adopt display, driving switch, button etc. as human-computer interaction interface; Meanwhile, design with the peripheral circuit with voltage stabilizing, isolation, enlarging function of the integration module compositions such as LM2576,6N137, IRF540.
Consider that on market, existing rice transplanter is of a great variety, different types of rice transplanter rice transplanting frequency is also different, better adaptability can be had to make dispenser system, liquid pump delivery rate and rice transplanter rice transplanting frequency are matched, ensureing under the prerequisite that each formulation rate is certain, change delivery rate, intelligence control system adopts the method for PWM duty ratio modulation to control the liquid pump working time, liquid pump operating voltage set of frequency is 2000HZ, giving tacit consent to dutycycle during rice transplanting is 50%, when rice transplanter transplanting time interval (Δ s) is less than 1s, automatic raising liquid pump dutycycle, thus minimizing spraying time.Above-mentioned intelligence control system with intercut the ADAPTIVE CONTROL specific practice that Frequency Synchronization responds and be: in the first step, also judge that seedling pawl this time reaches rice transplanting position and reached the time interval of rice transplanting position last time, and judge whether this time interval is less than predetermined threshold value 1s, then calculate each specified opening time again by after the corresponding raising of preset for liquid pump metered flow in this way, and the dutycycle that corresponding adjustment is corresponding, then carry out subsequent step; As otherwise directly carry out subsequent step.So not only make liquid pump open opportunity and seedling pawl operating position to match, and delivery rate and rice transplanting frequency match, no matter rice transplanting speed speed, all can ensure that dispenser is synchronous with rice transplanting.
Experiment proves, the device for administration of drugs of the present embodiment is arranged on after on rice transplanter, while rice transplanting, in the ranks drips spill the liquid such as growth regulator, weed killer herbicide to rice shoot.Dripping of liquid spills speed and rice transplanting speed matches, and rice transplanter is advanced soon, and rice transplanting is fast, and liquid drips and spills corresponding quickening, accomplishes that unit are drips the consistent self adaptation dispenser of the amount of liquid medicine equilibrium of spilling.Device for administration of drugs unit are is dripped the amount of liquid medicine of spilling and can be regulated, adjustable range every mu 2-8L, and dispenser uniformity is fine, can meet most of growth regulator, fertilizer and sustained-release herbicide dispenser requirement.As auxiliary equipment, when not needing to change rice transplanter body, can be contained on the rice transplanter of all main brands, comprising high-speed transplanter and common seedling transplanter.
[1] " pre-test of middle seedling rice mechanical transplanting field weed Chemical control " Zhuan Chun, Chen Chuan etc., Jiangsu's agriculture science, the 6th phase in 2006.
[2] " machine transplanting of rice rice seedling bed Application of Herbicides " Tao Sheng, Zhang Anzhong etc., modern agriculture science and technology, the 14th phase in 2011.
Claims (5)
1. a rice transplanter giver, comprise feed liquor termination medicine-chest, the peristaltic pump of fluid terminating nozzles and control circuit, it is characterized in that: described medicine-chest is placed in rice transplanter, described nozzle is placed in seedling claw of transplanter rice transplanting position, and proximity transducer part is equipped with in described seedling pawl rice transplanting position; Described control circuit has the Based Intelligent Control device that signal input part connects described proximity transducer part, in order to determine dispenser opportunity according to the seedling pawl position of perception; The control signal of described Based Intelligent Control device exports the controlled end of termination peristaltic pump, in order to control peristaltic pump with predetermined dose by described nozzle dispenser opportunity in the dispenser determined.
2. rice transplanter giver according to claim 1, it is characterized in that: described Based Intelligent Control device is single-chip microcomputer, after the power amplification buffer circuit that the control signal output of described single-chip microcomputer consists of photoelectric isolated chip and voltage stabilizing chip, connect the grid of the FET as switch control device, the drain electrode of described FET and source electrode export the controlled end of termination peristaltic pump as switching signal.
3. rice transplanter giver dispenser control method according to claim 1 and 2, is characterized in that described Based Intelligent Control device carries out dispenser control as follows:
The first step, calculate peristaltic pump each specified opening time;
The signal of second step, receiving sensor part, judges whether seedling pawl reaches rice transplanting position;
3rd step, as judged, seedling pawl reaches rice transplanting position, then export control signal and open peristaltic pump, as judged, seedling pawl does not reach rice transplanting position, then continue second step;
4th step, judge peristaltic pump open whether reach each specified opening time, as do not reached, being held open and continuing to judge the opening time, as reached, closing peristaltic pump, returning second step.
4. dispenser control method according to claim 3, is characterized in that: the described first step calculates each specified opening time according to the average formulation rate in every cave and the preset metered flow of peristaltic pump, opens peristaltic pump and export with metered flow in the 3rd step.
5. dispenser control method according to claim 3, it is characterized in that: in the described first step, also judge that seedling pawl this time reaches rice transplanting position and reached the time interval of rice transplanting position last time, and judge whether this time interval is less than predetermined threshold value, then calculate each specified opening time again by after the corresponding raising of preset for peristaltic pump metered flow in this way, then carry out subsequent step; As otherwise directly carry out subsequent step.
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| CN201310644118.3A CN103636590B (en) | 2013-08-19 | 2013-12-03 | Rice transplanter pesticide application device and pesticide application control method |
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| CN201310644118.3A CN103636590B (en) | 2013-08-19 | 2013-12-03 | Rice transplanter pesticide application device and pesticide application control method |
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| JPH08275624A (en) * | 1995-04-07 | 1996-10-22 | Kubota Corp | Rice transplanter with fertilizing device |
| HU224536B1 (en) * | 2002-07-05 | 2005-10-28 | G & G Növényvédelmi és Kereskedelmi Kft. | Connection arrangement of weeding equipment mounted onto a railway vehicle and weeding procedure |
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|---|---|---|---|---|
| CN1527665A (en) * | 2001-05-14 | 2004-09-08 | ��Ŭ�ء���÷�� | Method and system for volume-specific treatment of ground and plants |
| CN2640615Y (en) * | 2003-07-29 | 2004-09-15 | 中国农业大学 | Air feeding low volume boom atomizer for paddy field |
| CN201032802Y (en) * | 2007-06-01 | 2008-03-12 | 农业部南京农业机械化研究所 | Plant Protection Machinery dynamic insufflation combination property testing vehicle |
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