CN107631756A - Self-walking sprayer with spraying rod inter-vehicle information system and operation quality method for visualizing - Google Patents
Self-walking sprayer with spraying rod inter-vehicle information system and operation quality method for visualizing Download PDFInfo
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- CN107631756A CN107631756A CN201710928154.0A CN201710928154A CN107631756A CN 107631756 A CN107631756 A CN 107631756A CN 201710928154 A CN201710928154 A CN 201710928154A CN 107631756 A CN107631756 A CN 107631756A
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Abstract
The invention discloses Self-walking sprayer with spraying rod inter-vehicle information system and operation quality method for visualizing.The system includes input display module, information acquisition module, d GPS locating module, data memory module and power supply module；Information acquisition module includes environment information acquisition module, work tool information acquisition module and spraying system information acquisition module.The system is installed on Self-walking sprayer with spraying rod；During equipment operation, sensor and the d GPS locating module work of information acquisition module；The data that core processing module is gathered information acquisition module by operating area method for visualizing obtain operation quality information with the positional information Coordination Treatment that d GPS locating module is gathered；Display screen real-time display result；Data memory module stores work data.The system can gather Self-walking sprayer with spraying rod farm work information, and by farm work information visualization, foundation is provided for operation quality evaluation.
Description
Technical field
The present invention relates to equipment for plant protection field of information acquisition, specially a kind of field suitable for Self-walking sprayer with spraying rod
Job information acquisition system.
Background technology
With the proposition of the slogan such as " economizing on resources ", " preserving the ecological environment ", preventing and treating plant disease pest from comprehensively it is single uniformly
The direction of dispenser toward directional selectivity dispenser is developed, it means that equipment for plant protection is needed towards automation, intelligent and modernization
Direction develop.At present, the research for Self-walking sprayer with spraying rod is concentrated mainly on the design and variable rate spray of spray boom suspension
Aspect, and it is fewer to the job state of operating environment and work tool, working area concern, especially lack commenting for operation quality
Valency foundation.Therefore, it is current urgent problem to provide operation quality to assess foundation for Self-walking sprayer with spraying rod.
The content of the invention
The present invention is directed to problem above, proposes a kind of inter-vehicle information system suitable for Self-walking sprayer with spraying rod, can
Monitors environment information, work tool information and spraying system information in real time, there is provided to operating personnel as reference, and pass through
Handling situations are visualized and shown by operation quality method for visualizing, realize that job information visualizes, and are provided for operation quality evaluation
Foundation, reference is provided so as to be improved for operation scheme, there is preferable application value.
Concrete scheme of the present invention is as follows：
Self-walking sprayer with spraying rod inter-vehicle information system, on Self-walking sprayer with spraying rod, including control box, control
Box one side is equipped with capacitance touch LCDs, and the upper left corner of control box is connected with an antenna, and there is an electricity at the control box back side
There is a SD card slot pond groove, control box side, wherein, core processor is housed inside control box；Core processor is believed with environment
Breath acquisition module is connected；Core processor is connected with work tool information acquisition module；Core processor and spraying system information
Acquisition module is connected；Core processor is connected with data memory module；Core processor is connected with d GPS locating module；At core
Reason device is connected with display module；Power supply module is also equipped with control box.
The core processor by iic bus respectively with environment information acquisition module, work tool information acquisition module
It is connected with spraying system information acquisition module.
The power supply module includes one piece of solar panels, one piece of 9V charged lithium cells, power regulator module, A/D moduluss of conversion
Block and MCU1, wherein, solar panels, charged lithium cells are connected with A/D modular converters, power regulator module respectively；A/D moduluss of conversion
Block is connected with MCU1；Solar panels voltage signal is converted into data signal through A/D modular converters and sends MCU1 to, works as solar panels
When the voltage value stabilization of offer is in set interval, MCU1 selection solar panels power supplies, battery powered is otherwise selected；The power supply
Voltage stabilizing module is stable in setting value, feed system by supply voltage.
The data memory module includes SD card and SD card module for reading and writing, wherein, at the SD card module for reading and writing and core
Reason device is connected；SD card is connected with SD card module for reading and writing；The operating environment data of storage information acquisition module collection, work tool number
According to, spraying system data and work tool position data.
The operating environment information acquisition module includes temperature sensor, processes temperature signal module, humidity sensor, wet
Spend signal processing module and MCU2, wherein, temperature sensor is connected with processes temperature signal module, processes temperature signal module and
MCU2 is connected；Humidity sensor is connected with humidity signal processing module；Humidity signal processing module is connected with MCU2；The temperature
Sensor and humidity sensor difference collecting temperature information and humidity information, after signal processing module is handled, pass through
MCU2 is sent on iic bus, is received by core processor.
The work tool information acquisition module includes hall speed sensor, rate signal processing module and MCU3, its
In, hall speed sensor is connected with rate signal processing module；Rate signal processing module is connected with MCU3；The Hall speed
Sensor picking rate signal is spent, after rate signal processing module processing, is sent to by MCU3 on iic bus, by
Core processor receives.
The spraying system information acquisition module includes sprinkler pressure acquisition module, spray boom height detection module, medicine-chest liquid
Position detection module and MCU4.
The sprinkler pressure acquisition module includes pressure sensor and pressure signal processing module；The spray boom height detection
Module includes ultrasonic sensor and ultrasonic signal processing module；The medicine-chest level sensing module includes medicine-chest level sensing
Device and liquid level signal processing module；Wherein, pressure sensor is connected with pressure signal processing module；Pressure signal processing module with
MCU4 is connected；Ultrasonic sensor is connected with ultrasonic signal processing module；Ultrasonic signal processing module is connected with MCU4；Liquid
Level sensor is connected with liquid level signal processing module；Liquid level signal processing module is connected with MCU4；It is the pressure sensor, described
Ultrasonic sensor and the liquid level sensor gather pressure information, ultrasound information and liquid level information respectively, through the signal
After processing module processing, it is sent on IIC by MCU4, is received by core processor.
The d GPS locating module includes GPS location chip, gps signal processing module, radio frequency signal receiver and receives day
Line, wherein, GPS location chip is connected with gps signal processing module；Gps signal processing module is connected with core processor；And
The input of GPS chip is connected with radio frequency signal receiver；Reception antenna is also equipped with radio frequency signal receiver；Positioning in real time
The job position of work tool.
Above-mentioned Self-walking sprayer with spraying rod job information acquisition system and operating area method for visualizing, it is characterised in that
Comprise the following steps that：
(1) staff is by handhold GPS measuring apparatus operation boundary of land block key point, and measures spray bar length in advance
With shower nozzle spraying swath, the Self-walking sprayer with spraying rod inter-vehicle information system is input to；
(2) the Self-walking sprayer with spraying rod on-vehicle information acquisition system is according to the operation boundary of land block key point of institute's typing
Generate job task figure；
(3) the Self-walking sprayer with spraying rod inter-vehicle information system merges the work tool that d GPS locating module collects
Positional information, spray bar length and shower nozzle spraying swath, generate boom sprayer actual job figure, the boom sprayer actual job figure
Including normal sprinkling region, equipment skidding region, respray region and drain spray region；
(4) the Self-walking sprayer with spraying rod inter-vehicle information system is actual according to the job task figure and boom sprayer
Flow diagram calculates required working area and resprays area, drain spray area respectively, and the rate of respraying and drain spray rate is calculated.
In above-mentioned steps (2), the border key point inputted is needed in the Self-walking sprayer with spraying rod inter-vehicle information system
It is divided into straight border key point and curved boundary key point；Border for straight line portion in system, it is necessary to input two keys
Point；Border for curved portion, it is necessary to input three key points in systems.
In above-mentioned steps (3), the Self-walking sprayer with spraying rod inter-vehicle information system is according to the work tool collected
Positional information generates boom sprayer operation track；Self-walking sprayer with spraying rod inter-vehicle information system is according to spray bar length and shower nozzle
Spraying swath generates decoction coverage diagram；Point D in decoction coverage diagram using boom sprayer operation track as its movement locus,
It is that its direction of motion generates boom sprayer actual job figure perpendicular to the direction of boom sprayer operation track；Boom sprayer
Overlapping region occurs in actual job figure to be judged to respraying region；Uncovered area is determined as in boom sprayer actual job figure
Drain spray region；If the system detects that vehicle wheel rotational speed is not 0, and equipment positional information is constant, is determined as that work tool skids
Region；Remaining regional determination is normal region.
Compared with prior art, the present invention has advantage：
(1) running status in Self-walking sprayer with spraying rod operation process is obtained；(2) to Self-walking sprayer with spraying rod operation number
According to processing visualization display, foundation is provided for operation quality evaluation；(3) improved for operation scheme after operating personnel and ginseng is provided
Examine.
Brief description of the drawings
Fig. 1 is the modular structure schematic diagram of the present invention.
Fig. 2 is the decoction overlay area schematic diagram in the operation quality method for visualizing of the present invention
Embodiment
Below in conjunction with the accompanying drawings, the present invention program is described in further detail.
As illustrated, the present invention program：A kind of inter-vehicle information system suitable for Self-walking sprayer with spraying rod, including one
Control box, on Self-walking sprayer with spraying rod；One side is provided with display screen outside the control box；Have inside the control
Core processing；The core processor is adopted with environment information acquisition module, equipment information acquisition module, spraying system information respectively
Collection module, d GPS locating module are connected；The core processor is gathered information acquisition module using operating area method for visualizing
Data Fusion, operating personnel is shown to by display screen；The core processor is also connected with data memory module,
The data memory module data storage；Power supply module is additionally provided with the main control computer box, for the power supply to each module.
The core processor uses model STM32F407 process chip, is connected with around the core processing
Display module, d GPS locating module, data memory module, operating environment information acquisition module, work tool information acquisition module and
Spraying system information acquisition module；Wherein described operating environment information acquisition module, the work tool information acquisition module and
The spraying system information acquisition module is communicated by iic bus with the core processor；The core processor is born
Blame the core processing work of whole system：Whole system control program by the burned core processor of burning program circuit,
The core processor needs, to corresponding module request data, to receive the module of request data instruction by institute according to operating personnel
The data of collection are sent to core processor, calculation of the core processor by the data received according to setting by iic bus
Method fusion treatment；Display screen is shown to operating personnel when core processor is handled into obtained fructufy, realizes work data
Visualization.
The power supply module include 9V solar panels, 9V charged lithium cells, power regulator module, A/D modular converters and
MCU1；The output end of the 9V solar panels draws both threads A and B, A end are connected with A/D modular converters, B ends and MCU phases
Even, while the output end extraction both threads A of 9V charged lithium cells and B, A end are connected with A/D modular converters, and B ends are connected with MCU,
A/D modular converters are connected with MCU；The voltage of the voltage of the solar panels and affiliated lithium battery is converted into through A/D modular converters
Data signal is exported to MCU；When the voltage value stabilization of solar panels output is in set interval, MCU selects the sun
Energy plate is system power supply, otherwise selects the lithium battery to be exported for system power supply eventually through power regulator module to system；When
Not in set interval, MCU1 sends and alarmed the voltage of the voltage of the solar panels and the lithium battery to core processor
Signal, alarm signal are shown on a display screen.
The operating environment information acquisition module includes temperature sensor, processes temperature signal module, humidity sensor, wet
Spend signal processing module and MCU2；The temperature sensor uses DS18B20 temperature sensors, and small volume, precision is high, anti-interference
Ability is strong；The temperature sensor collecting temperature signal, after temperature signal is by Temperature Treatment resume module, it is transferred to described
MCU2, and core processor is sent to by iic bus according to core processor demand；The humidity sensor uses
DHT11 humidity sensors, small volume are low in energy consumption；The moisture signal that the humidity sensor collects, moisture signal is by humidity
After managing resume module, the MCU2 is transferred to, and core processing is sent to by iic bus according to core processor demand
Device；The core processor processing environment information, driving display screen are shown.
The equipment information acquisition module includes velocity sensor, rate signal processing module and MCU3；Velocity sensor
Using hall speed sensor；Hall sensor, small volume, sound construction, small power consumption, vibration resistance, suitable for more severe
Environment；Hall sensor is arranged on wheel, is gathered vehicle wheel rotational speed information, MCU3 processing vehicle wheel rotational speed information, is obtained working rig
The travel speed of tool, and the core processor is sent to by iic bus, the core processor driving shows screen display
Show.
The spraying system information acquisition module include pressure sensor, pressure signal processing module, ultrasonic sensor,
Ultrasonic signal processing module, liquid level sensor and liquid level signal processing module and MCU4；Wherein, each shower nozzle is connected with jet pipe
Place is provided with a pressure sensor, and pressure sensor uses pipe pressure sensor, and the degree of accuracy is high, reliability is high, structure
Simply, intelligent, the pipe pressure sensor gathers pressure signal, after pressure signal is handled by pressure signal processing module,
The MCU4 is transferred to, and core processor is sent to by iic bus according to core processor demand；Ultrasonic sensor
On spray boom, for measuring the height of spray boom, the ultrasonic sensor gathers ultrasonic signal, and ultrasonic signal is by surpassing
After acoustic signal processing module processing, the MCU4 is transferred to, and be sent to by iic bus according to core processor demand
Core processor；Liquid level sensor uses float-ball type sensor, floating ball type liquid level sensor is placed in medicine-chest, the liquid level
Sensor gathers liquid level signal, after liquid level signal is handled by liquid level signal processing module, is transferred to the MCU4, and according to core
Heart processor demand is sent to core processor by iic bus, and the core processor handles spraying system information, and driving is aobvious
Display screen is shown.
The pressure information for each shower nozzle that the core processor analyzing and processing receives, according to interval judgement set in advance
Whether shower nozzle blocks, if the value received in the section of setting, shows shower nozzle normal work, corresponding on display screen
Shower nozzle state is shown as green light phase；If the value received shows that shower nozzle blocks, at core not in the section of setting
Manage device and produce an alarm signal, corresponding shower nozzle state is shown as red light phase on display screen.
The d GPS locating module includes GPS location chip, gps signal processing module and antenna, wherein, the GPS location
Chip uses model NEO-7M positioning chip, and the GPS location chip is connected with the gps signal processing module, described
Gps signal processing module is connected with core processor, and the input of the GPS chip is connected with radio frequency signal receiver, institute
State and reception antenna is also equipped with radio frequency signal receiver, the antenna that receives should be mounted in spray boom on whole boom sprayer
Geometry point midway.
The core processor is by work tool information, spraying system information and GPS location use processing, and generation is just
Normal region, region, drain spray region and skidding region are resprayed, and calculate the rate of respraying and drain spray rate；Shown in real time by display screen
Show to staff.
The data memory module includes a SD storage card and SD card module for reading and writing；Wherein, the SD card module for reading and writing
It is connected with core processor；SD card is connected with SD card module for reading and writing；The data and GPS location that described information acquisition module collects
The data that module collects are stored in SD card, are improved for the analysis of later operation quality and operation scheme and are provided foundation.
Above-mentioned Self-walking sprayer with spraying rod job information acquisition system and operating area method for visualizing, it is characterised in that
Comprise the following steps that：
(1) staff is by handhold GPS measuring apparatus operation boundary of land block key point, and measures spray bar length in advance
With shower nozzle spraying swath, the Self-walking sprayer with spraying rod inter-vehicle information system is input to；
(2) the Self-walking sprayer with spraying rod inter-vehicle information system generates according to the operation boundary of land block key point of institute's typing
Job task figure；
(3) the work tool position that the Self-walking sprayer with spraying rod inter-vehicle information system fusion d GPS locating module collects
Confidence breath, spray bar length and shower nozzle spraying swath, generate boom sprayer actual job figure, and the boom sprayer flow diagram is included just
Often spray region, equipment skidding region, respray region and drain spray region；
(4) the Self-walking sprayer with spraying rod inter-vehicle information system is actual according to the job task figure and boom sprayer
Flow diagram calculates required working area and resprays area, drain spray area respectively, and the rate of respraying and drain spray rate is calculated.
In above-mentioned steps (1), the Self-walking sprayer with spraying rod inter-vehicle information system needs the key of operation boundary of land block
Point, the spray bar length of work tool and shower nozzle spraying swath, staff needs the landform border of operation needed for analysis, by operation landform
Border be divided into two classes：Straight border and curved boundary；Staff is adopted by handhold GPS equipment in two end points of straight border
Collect two gps signals, gathered in curved boundary and three gps signals are a little gathered on two end points and curve, it is defeated after collection
Enter system；And work tool spray bar length and shower nozzle spraying swath are measured, inputs the system.
In above-mentioned steps (2), the key point for needing to input in the Self-walking sprayer with spraying rod inter-vehicle information system is divided into
Straight border key point and curved boundary key point；Gathered straight border key point and curved side are inputted in the system
Boundary's key point；The system generates job task figure according to key point, and operating personnel can see whole need in operation process
Want the region of operation.
In above-mentioned steps (3), when the boom sprayer operation, the real-time Collecting operation equipment of d GPS locating module
Positional information, the work that the Self-walking sprayer with spraying rod inter-vehicle information system collects in real time according to the d GPS locating module
Industry equipment positional information generates the operation track of boom sprayer.
In above-mentioned steps (3), when work tool is entered in the job task region, the vehicle-mounted letter of boom sprayer
Breath acquisition system generates decoction coverage diagram, i.e. decoction coverage diagram according to the spray bar length l and shower nozzle spraying swath d inputted
It is a length of L=l+d/2+d/2, a width of W=d region, region both ends are the figure of semicircle, and point D is the geometry of decoction coverage diagram
Center, as shown in Figure 2；Point D in the decoction coverage diagram using the boom sprayer operation track as its movement locus,
It is that its direction of motion generates boom sprayer actual job figure perpendicular to the direction of the boom sprayer operation track.
In above-mentioned steps (3), the Self-walking sprayer with spraying rod inter-vehicle information system is by boom sprayer actual job figure
It is middle generation overlapping region be judged to respraying region, be shown as navy blue；The Self-walking sprayer with spraying rod inter-vehicle information system will
Uncovered area is judged to respraying region in boom sprayer actual job figure, is shown as white；When the self-propelled spray boom sprays
Mist machine on-vehicle information system detectio is not 0 to vehicle wheel rotational speed, and when equipment be Information invariability, is determined as work tool skidding,
Now the regional determination where work tool is skidding region, shown in red；Regional determination is normal sprinkling region, is shown as
Blueness.
In above-mentioned steps (4), system-computed goes out to respray the area in region and drain spray region, using respray region area with it is total
The ratio of area calculates the rate of respraying；Drain spray rate is calculated using the ratio of drain spray region area and the gross area.
Claims (9)
1. Self-walking sprayer with spraying rod inter-vehicle information system, on Self-walking sprayer with spraying rod, it is characterised in that：The car
Carrying information system includes a control box, and control box includes a core processor and power supply module, core processor respectively with
Environment information acquisition module, work tool information acquisition module are connected, spraying system information acquisition module, data memory module phase
Even, d GPS locating module is connected, display module is connected；
The operating environment information acquisition module includes temperature sensor, processes temperature signal module, humidity sensor, humidity letter
Number processing module and MCU2, wherein, temperature sensor is connected with processes temperature signal module, processes temperature signal module and MCU2
It is connected；Humidity sensor is connected with humidity signal processing module；Humidity signal processing module is connected with MCU2；The TEMP
Device and humidity sensor difference collecting temperature information and humidity information, after signal processing module is handled, are sent out by MCU2
It is sent on iic bus, is received by core processor；
The work tool information acquisition module includes hall speed sensor, rate signal processing module and MCU3, wherein, suddenly
You are connected at velocity sensor with rate signal processing module；Rate signal processing module is connected with MCU3；The Hall speed passes
Sensor picking rate signal, after rate signal processing module processing, it is sent to by MCU3 on iic bus, by core
Processor receives；
The spraying system information acquisition module includes sprinkler pressure acquisition module, spray boom height detection module, the inspection of medicine-chest liquid level
Survey module and MCU4；
The sprinkler pressure acquisition module includes pressure sensor and pressure signal processing module；The spray boom height detection module
Including ultrasonic sensor and ultrasonic signal processing module；The medicine-chest level sensing module include medicine-chest liquid level sensor and
Liquid level signal processing module；Wherein, pressure sensor is connected with pressure signal processing module；Pressure signal processing module and MCU4
It is connected；Ultrasonic sensor is connected with ultrasonic signal processing module；Ultrasonic signal processing module is connected with MCU4；Liquid level passes
Sensor is connected with liquid level signal processing module；Liquid level signal processing module is connected with MCU4；The pressure sensor, the ultrasound
Wave sensor and the liquid level sensor gather pressure information, ultrasound information and liquid level information respectively, through the signal transacting
After resume module, it is sent on IIC by MCU4, is received by core processor.
Core processor is responsible for the core processing work of whole system：Whole system control program is burned by burning program circuit
The core processor, the core processor need, to corresponding module request data, to receive number of request according to operating personnel
According to the module of instruction the data gathered are sent to core processor by iic bus, the core processor will receive
Data are handled according to the algorithm fusion of setting.
2. Self-walking sprayer with spraying rod inter-vehicle information system as claimed in claim 1, it is characterised in that：The control box one side
Equipped with capacitance touch LCDs, the core processor melts the data that information acquisition module gathers according to the algorithm of setting
Conjunction is handled, and operating personnel is shown to by display screen；The upper left corner of control box is connected with an antenna, and the control box back side has one
There is a SD card slot battery case, control box side.
3. Self-walking sprayer with spraying rod inter-vehicle information system as claimed in claim 1, it is characterised in that：The power supply module bag
One piece of solar panels, one piece of 9V charged lithium cells, power regulator module, A/D modular converters and MCU1 are included, wherein, solar panels,
Charged lithium cells are connected with A/D modular converters, power regulator module respectively；A/D modular converters are connected with MCU1；Solar panels electricity
Pressure signal is converted into data signal through A/D modular converters and sends MCU1 to, when the voltage value stabilization that solar panels provide is being set
When in section, MCU1 selection solar panels power supplies, battery powered is otherwise selected；The power regulator module is stable by supply voltage
In setting value, feed system.
4. Self-walking sprayer with spraying rod inter-vehicle information system as claimed in claim 1, it is characterised in that：The data storage mould
Block includes SD card and SD card module for reading and writing, wherein, the SD card module for reading and writing is connected with core processor；SD card is read and write with SD card
Module is connected；Operating environment data, work tool data, spraying system data and the working rig of storage information acquisition module collection
Has position data.
5. Self-walking sprayer with spraying rod inter-vehicle information system as claimed in claim 1, it is characterised in that：The GPS location mould
Block includes GPS location chip, gps signal processing module, radio frequency signal receiver and reception antenna, wherein, GPS location chip with
Gps signal processing module is connected；Gps signal processing module is connected with core processor；And the input of GPS chip is connected with and penetrated
Frequency signal receiver；Reception antenna is also equipped with radio frequency signal receiver；The job position of real-time position work implement, it is described
Receive antenna mounted in the geometric center position of the spray boom of Self-walking sprayer with spraying rod.
6. Self-walking sprayer with spraying rod inter-vehicle information system as claimed in claim 1, it is characterised in that：Hall speed sensor
On the wheel of Self-walking sprayer with spraying rod, vehicle wheel rotational speed information is gathered；Pressure sensor is arranged on shower nozzle and connected with jet pipe
Meet place；Ultrasonic sensor is arranged on spray boom；Liquid level sensor uses float-ball type sensor, and floating ball type liquid level sensor is put
Put in the medicine-chest of Self-walking sprayer with spraying rod.
7. realize operation quality visualization method using system as claimed in claim 1, it is characterised in that specific steps are such as
Under：
(1) staff is by handhold GPS measuring apparatus operation boundary of land block key point, and measures spray bar length and spray in advance
Head spraying swath, is input to the Self-walking sprayer with spraying rod inter-vehicle information system；
(2) the Self-walking sprayer with spraying rod on-vehicle information acquisition system generates according to the operation boundary of land block key point of institute's typing
Job task figure；
(3) position for the work tool that the Self-walking sprayer with spraying rod inter-vehicle information system fusion d GPS locating module collects
Information, spray bar length and shower nozzle spraying swath, generate boom sprayer actual job figure, and the boom sprayer actual job figure includes
Normal sprinkling region, equipment skidding region, respray region and drain spray region；
(4) the Self-walking sprayer with spraying rod inter-vehicle information system is according to the job task figure and boom sprayer actual job
Figure calculates required working area and resprays area, drain spray area respectively, and the rate of respraying and drain spray rate is calculated.
8. method as claimed in claim 7, it is characterised in that：In step (2), the Self-walking sprayer with spraying rod on-vehicle information
The border key point for needing to input in system is divided into straight border key point and curved boundary key point；For the side of straight line portion
Boundary in system, it is necessary to input two key points；Border for curved portion, it is necessary to input three key points in systems.
9. method as claimed in claim 7, it is characterised in that：In step (3), the Self-walking sprayer with spraying rod on-vehicle information
System generates boom sprayer operation track according to the work tool positional information collected；Self-walking sprayer with spraying rod is vehicle-mounted
Information system generates decoction coverage diagram according to spray bar length and shower nozzle spraying swath；Geometric center in decoction coverage diagram with
Boom sprayer operation track is its movement locus, is generated perpendicular to the direction of boom sprayer operation track for its direction of motion
Boom sprayer actual job figure；Overlapping region occurs in boom sprayer actual job figure to be judged to respraying region；Spray boom sprays
Uncovered area is determined as drain spray region in mist machine actual job figure；If the system detects that vehicle wheel rotational speed is not 0, and equipment
Positional information is constant, is determined as work tool skidding region；Remaining regional determination is normal region.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710928154.0A CN107631756B (en) | 2017-10-09 | 2017-10-09 | Vehicle-mounted information system of self-propelled boom sprayer and operation quality visualization method |
Applications Claiming Priority (1)
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| CN108703128A (en) * | 2018-06-04 | 2018-10-26 | 安徽省大地园林工程有限公司 | A kind of gardens pesticide spraying device |
| CN111158319A (en) * | 2019-09-29 | 2020-05-15 | 上海联适导航技术有限公司 | System and method for monitoring, detecting and evaluating spraying operation of pesticide sprayer |
| CN111264504A (en) * | 2020-03-20 | 2020-06-12 | 河北信翔电子有限公司 | Intelligent spraying control method and system for cloud strategy pesticide spraying machine |
| CN112147989A (en) * | 2020-10-22 | 2020-12-29 | 农业农村部南京农业机械化研究所 | Variable boom sprayer flow control characteristic test equipment and test method thereof |
| CN114527727A (en) * | 2022-01-19 | 2022-05-24 | 中国农业机械化科学研究院集团有限公司 | Self-propelled boom sprayer and unmanned control system and method thereof |
| US11793187B2 (en) | 2021-01-15 | 2023-10-24 | Cnh Industrial America Llc | System and method for monitoring agricultural fluid deposition rate during a spraying operation |
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