Method of operation of plant protection unit with satellite navigation on agricultural fields

FIELD: agriculture.

SUBSTANCE: invention relates to the field of agriculture. In the method the plant protection unit is operated, which consists of the vehicle and the sprayer with nozzles for spraying agent of protection. The operation of the movement of plant protection unit is performed by the onboard computer with the navigation system in accordance with coordinates of the route inputted in the onboard computer. The operation of spraying is carried out by using the nozzles of the sprayer in untreated areas of the field. At that operation of spraying is carried out by using the nozzle of the sprayer in untreated contaminated areas of the field to be sprayed - the contaminated area. The operation of the plant protection unit, movement and choice of the route geometry of movement, positioning accuracy of the unit on the route, the length of the rod, the number of nozzles on the rod, the radius of nozzle discharge pattern, the criterion for inclusion of the nozzles and operation of spraying is carried out with a minimum of environmental damage, and power resources costs of the plant protection unit, taking into account the spatial position of the contaminated zones and field configuration for a given precision of navigation and the system of determining the geographical coordinates.

EFFECT: method enables to minimise environmental damage and power resources costs for operation of the plant protection unit by reducing the length of the route of movement of the unit on sites including the contamination zones.

4 dwg

 

The present invention relates to the field of precision farming in agriculture and can be applied in the field of plant protection.

There is a method of plant control plant protection, consisting of vehicle and sprayer, namely, that the movement of the Assembly plant protection control using the on-Board computer, satellite navigation system in accordance with the introduction of the on-Board computer the coordinates of the track. For example, assemblies and electronic systems company John Deere GS2 display (see URL:http://stellarsupport.deere.com/en_INT/pdfs/English/ompfp10244_0_59_25_may10_RUS_GS2_display_basic_applications.pdf, file: ompfp10244_e0_59_25may10_RUS_GS2_display_basic_applications.pdf. Date of publication of this document specified in its properties - 08.06.2011 g), Swath Control - additional module system GS2 Pro. Works with sprayers JD Horst 700i, 800i and 5430i sprayer.

The motion is controlled by the AutoTrac system. System Swath Control Pro can automatically turn on and turn off the machine and sections of the unit depending on the previous actual coverage and limits (outer, inner and outer part of the end of the rutting season).

Differences from the proposed method are that the control spraying is carried out depending on its location in areas of overlap gon field or treated/untreated areas of the field, and not depending on its presence in n is treated infected areas of the field, subject to spraying (infected area), and the control unit of plant protection (movement and choice of the geometry of the route of movement, accuracy of positioning of the unit on the track, the length of the rod, the number of nozzles on the boom, the radius of the spray nozzle, the criterion for inclusion nozzles) and the control spraying is carried out without taking into account the minimum value of environmental damage, energy cost of the unit of plant protection, the spatial position of the zones of contamination and configuration of the field by spraying at a given precision navigation and system for determining the geographical coordinates.

In this way the control unit of plant protection parameters of environmental damage (environmental damage is determined by the amount of harmful substances released into the environment in excess of regulatory indicators and proportional to preobrasovaniy infected areas with spray more than once, niedoopisania, untreated infected plots treated uninfected areas) and the parameters of the energy cost of operation of the unit of plant protection (the total length, the length of the blank runs (the passage of one and the same part of the track without spraying this area of the field during the repeated traversal of obstacles or bends of the area of the field) have optimal values due to the lack of the Oia selection control unit of plant protection, i.e. motion and geometry selection of the route of movement, accuracy of positioning of the unit on the track, the length of the rod, the number of nozzles on the boom, the radius of the spray nozzle, the criterion for inclusion nozzles, and control the spray from the minimum value of environmental damage, energy cost of the unit of plant protection, the spatial position of the zones of contamination and configuration of the field at a given precision navigation and system for determining the geographical coordinates.

This leads to the deterioration of the environment nature conservation and increasing energy costs operation of plant protection.

The closest in technical essence to the proposed method (prototype) is a method of plant control plant protection sprayer developed by Trimble (see http://trl.trimble.com/docushare/dsweb/Get/Document-311632/, file: 022503-078F-RUS_2011_Ag_Portfolio_BRO_1110_Lr.pdf. Document title: 2011 Trimble Agriculture Product Portfolio - English version. Date of publication of this document specified in its properties - 25.03.2011, consisting of the transport Assembly and sprayer, namely, that the movement of the Assembly plant protection control using the on-Board computer with navigation satellite system (display CFX-750™ parallel driving and precision farming, thruster Trimble® EZ-Steer®, GPS receiver, control system making m the materials FIELD-IQ), and control of the sprayer carry out on/off sections with a control system making materials FIELD-IQ different from the proposed method the fact that the spraying is performed with the inclusion of the nozzles of the sprayer in the field to be sprayed, but not in untreated infected areas of the field to be sprayed (infected area), and the control unit of plant protection (movement and choice of the geometry of the route of movement, accuracy of positioning of the unit on the track, the length of the rod, the number of nozzles on the boom, the radius of the spray nozzle, the criterion for inclusion nozzles) and the control spraying is carried out without taking into account the minimum value of environmental damage, energy cost of a unit of plant protection, the spatial position of the zones of contamination and configuration of the field by spraying at a given precision navigation and system for determining the geographic coordinates

In this way the control unit of plant protection parameters environmental damage and energy cost of the unit of plant protection and will have a non-optimal values due to the lack of selection control unit of plant protection, i.e. the choice of the geometry of the route of movement, accuracy of positioning of the unit on the track, the length of the rod, the number of nozzles on the boom, RA is iusa spray nozzles, criterion for inclusion nozzles, and control the spray from the minimum value of environmental damage, energy cost of the unit of plant protection, the spatial position of the zones of contamination and configuration of the field at a given precision navigation and system for determining the geographical coordinates.

This leads to the deterioration of the environment nature conservation and increasing energy costs operation of plant protection.

The invention consists in that the spraying is performed by turning the nozzle of the sprayer in untreated infected areas of the field to be sprayed (infected area), the management unit of plant protection (movement and choice of the geometry of the route of movement, accuracy of positioning of the unit on the track, the length of the rod, the number of nozzles on the boom, the radius of the spray nozzle, the criterion for inclusion nozzles), control spraying is carried out for the minimum value of environmental damage, energy cost of the unit of plant protection, taking into account the spatial position of the zones of contamination and configuration of the field at a given precision navigation and system for determining the geographical coordinates.

This is achieved in that the control spraying (turning the nozzle of the sprayer in untreated infected areas of the field, to be who they spraying (infected area), the unit of plant protection (movement and choice of the geometry of the route of movement, accuracy of positioning of the unit on the track, the length of the rod, the number of nozzles on the boom, the radius of the spray nozzle, the criterion for inclusion nozzles) at a given precision navigation and system for determining the geographic coordinates determined at the calculation on the computer for digital field model with a deposited geographical coordinates fields, obstacles, and areas of contamination minimum value of environmental damage and energy cost of operation of the unit of plant protection by varying the geometry of the route of movement, accuracy of positioning of the unit on the track, the length of the rod, the number of nozzles on the boom, the radius of the spray nozzle, the criterion for inclusion nozzles with regard to the spatial position of the zones of contamination and configuration of the field, the accuracy of determining the geographic coordinates of the field of interest-obstacles and areas of contamination, precision navigation

Certain parameters of the control unit of plant protection (path geometry of motion, precision positioning of the unit on the track, the length of the rod, the number of nozzles on the boom, the radius of the spray nozzle, the criterion for inclusion nozzles) for the minimum value of environmental damage and energy cost of operation of the unit protection Rast is tions determine the type of vehicle and sprayer with some precision positioning of the unit on the track, the length of the rod, the number of nozzles on the boom, the radius of the spray nozzle.

An array of coordinates, tracks and coordinates the inclusion of each nozzle of the sprayer is introduced into the onboard computer to control the movement of the Assembly and operation of the sprayer in the field with his navigation (inclusion nozzles of the sprayer when it is over the treated area of infection). This limits the route change on the field are determined by the boundaries of the zones of contamination, and not the entire field.

The technical result, objectively manifested in the process, is to minimise environmental harm (exposure to pesticides, plant protection products on the environment and energy costs operation of plant protection (reducing the length of the path of movement of the unit areas, including the areas of infection, since in this case there is no need movement to uninfected parts of the field, and the length of the track idling) by choosing the type of vehicle and sprayer with some precision positioning of the unit on the track, the length of the rod, the number of nozzles on the boom, the radius of the spray nozzle, the geometry of the route of movement and control nozzles of the sprayer (preparation of plant protection only within the area of contamination)as determined by the calculation with the importance of environmental damage and energy cost of operation of the unit of plant protection.

1 shows a device for implementing the method of controlling the Assembly plant protection in satellite navigation in agricultural fields. The device consists of a transport unit, the sprayer unit calculating a route. The transport unit 10 consists of a GPS receiver to the satellite coordinates 1, on-Board computer 2, the device control unit 3, program the on-Board computer controls the movement of the unit along the calculated route 5. Sprayer 4 consists of a rod with nozzle atomization plant protection management on/off by signals from the onboard computer of the unit. The unit of calculation of the route 11 consists of the mainframe 7, the program of the calculation of the track 8, the digital model of the field 9, dataset 6 GPS track and coordinate the inclusion of the nozzles of the sprayer 4.

Figure 2 shows a digital model of agricultural fields for route calculation unit with a sprayer for plant protection, including obstacles to the movement of the unit 12, unit 13 with a boom sprayer, road transport Assembly 14 in the form of a rectilinear gon increments ΔI 18 and the positioning error of the unit relative to the calculated route Δrpoz 21, the infected zone 15 with navigation error Δrnav 17 and the field of 16 with coordinates I 19 J 18.

The method of controlling the Assembly plant protection when sat is a similar navigation on agricultural fields is as follows, figure 1 - figure 2: transport unit 10 receives signals from a satellite navigation using GPS receiver 1, which are entered into the onboard computer 2. The onboard computer 2 in accordance with a set program 5 during movement minimizes the deviation of the current satellite coordinates from the coordinates of the track at the current point in its position by controlling the direction of movement through the device control unit 3 and controls the inclusion of the nozzles of the sprayer 4 in accordance with the introduction of the on-Board computer the array of coordinates 6 nozzles of the sprayer 4. The parameters of the unit of plant protection, the array coordinates of the track and a data control nozzles of the sprayer are calculated in advance in the block of calculation of route 11 on the mainframe 7 program for calculation of route 8 on the digital model of the field 9 containing obstacles 12 and the infected zone 15.

The parameters of the unit of plant protection, track movement of the unit and switching on of the nozzles is chosen for the minimum value of environmental damage and energy cost of operation of the unit of plant protection. To do this, calculate the payroll program track 8 on the digital model of the field 9 containing obstacles 12 and the infected zone 15, the values of environmental damage and energy cost of operation of the unit of plant protection at varying GE the metry of the route including the spatial position of the zones of contamination and configuration fields the accuracy of determining the coordinates of the field of interest-obstacles and areas of contamination, precision navigation, parameters of the sprayer (the length of the rod, the number of nozzles on the boom, the radius of the spray nozzle, the criterion for inclusion nozzles), the accuracy of positioning of the unit on the track. This limits the route change on the field are determined by the boundaries of the zones of contamination, and not the entire field.

Environmental damage is proportional to the squares of the spraying:

s1 - spraying healthy zone, s2 - pereopisanie healthy zone, s3 - spraying the infected area, s4 - pereopisanie infected area, s5 - niedoopisania infected area.

Environmental damage is defined as the value of s6 is proportional to the square of the field treated pesticide:

s6=s1+2*s2+s3+2*s4(1).

The quality factor process, equal to the ratio of processed and full of squares of the zone of contamination sz:

Kwho=(s3+s4)/sz(2) .

The coefficient of the environmental damage, equal to the ratio of the area treated an infected area to a full square spray:

KEV=(s3+s4)/(s1+2*s2+s3+2*s4)(3).

Generally, the maximum energy cost of the unit EAO determined by the sum of the length of the track Assembly on the pitch single passage - Lo, spreads on the border of the field and re-crawl of the objects and of the projections of the edges of the box - Lxx in their cost per unit path length and the length of the sprayer boom k*LS

Eao=k*LS*Lp=k*LS(Lo+Lxx)(4).

The ratio of energy costs unit Ken equal to the ratio of useful energy cost Lo to the total cost of

Ken=(Lp-Lxx)/Lp(5).

We define the quality of the spraying head gear as multiplicative evaluation:

Kaboutpp=Ken*Ktabout*Kein(6),

or

Kaboutpp=(Lp-Lxx)/Lp*(s3+s4)/sz)*((s3+s4)/(s1+2*s2+s3+2*s4))(7)

For fixed length rod LS head gear is the surface in varying coordinates. Values of head gear are calculated, programme the calculation of the route 8 on the digital model of the field 9, containing obstacles 12 and the infected zone 15, for the given initial parameters. The parameters of the unit of plant protection, the length of the rod, the number of nozzles on the boom, the radius of the spray nozzle, the criteria for including a nozzle, the geometry of the route of movement, the coordinates of the inclusion of the nozzles is determined by the surface point with the maximum value of head gear. The array of coordinates of the track and control of the sprayer are entered into the onboard computer unit to control operation when driving on the highway.

The method of controlling the Assembly of plant protection, consisting of vehicle and sprayer with nozzles for atomization means of protection, namely, that the motion control Assembly plant protection carried out using the on-Board computer navigation system in accordance with the introduction of the on-Board computer the coordinates of the track, and control of the spraying is performed with the inclusion of the nozzles of the sprayer in untreated areas of the field, characterized in that the control spraying is carried out by turning the nozzle of the sprayer in untreated infected areas of the field, subject to the spraying zone intrusion, and the control unit of plant protection, movement and geometry selection of the route of movement, precision positioning of the unit on the track length of the rod, the number four is UNOC on the rod the radius of the spray nozzle, the criterion for inclusion nozzles and the control spraying is carried out with a minimum value of environmental damage and energy cost of the unit of plant protection, taking into account the spatial position of the zones of contamination and configuration of the field at a given precision navigation and system for determining the geographical coordinates.



 

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1 dwg

FIELD: agricultural engineering, in particular, system for automatic protection and controlling of self-propelled multi-tower sprinkling machines.

SUBSTANCE: hydraulic system has locking device equipped with hydraulic drive and positioned at entrance end of machine, controllable hydraulic relay connected to control pipe extending through each tower and connected to hydraulic relay control unit and through narrowing device to pressure pipeline, return valve, normally open locking valves and actuating devices with tower position sensors disposed on rods which are fixed on housing bars of synchronization mechanism for intermediate supporting carts, hydraulically controlled valve mounted in feeding line of hydraulic drive for terminating cart and hydraulically communicated with control pipe. Actuating devices are connected through inlet pipe unions with control pipe via normally open locking valve by means of T-pipe, and through outlet pipe union with atmosphere. Tower position sensors are formed from plates made of fluorinated plastic material and equipped with slot widening at its ends. Plates are fixed on rods of synchronization mechanism by means of bolt connection so that said plates are movable axially of rod. Silicone pipe positioned within slot is joined with inlet and outlet pipe unions rigidly fixed within housing of synchronization mechanism for intermediate towers. Hydraulic communication between narrowing device and pressure pipeline is provided through return valve.

EFFECT: simplified construction and enhanced reliability in operation.

4 dwg

FIELD: irrigation systems used for automatic watering of plants on restricted area plots.

SUBSTANCE: apparatus has accumulating vessel with bottom opening closed with valve, auxiliary vessel, two float valves, one of float valves being adapted for supplying of water into accumulating vessel and other float valve being adapted for cutting-off water supply. Valve floats are arranged in auxiliary vessel disposed below accumulating vessel bottom and connected by means of flexible pipes with hermetically sealed vessels provided with porous bottoms deepened into soil. When water is sucked through porous bottoms into soil, water level in auxiliary vessel is lowered and float valves are opened, with water being delivered into accumulating vessel through one of float valves. When predetermined water level is reached, valve for discharge opening is opened, water is supplied into low-pressure irrigation system and is further delivered through second float valve into auxiliary vessel. As a result, water level in auxiliary vessel is increased to cut-off water supply into accumulating vessel.

EFFECT: increased efficiency and simplified construction.

2 dwg

FIELD: agriculture.

SUBSTANCE: invention concerns agriculture, particularly, a suspension bracket for a self-propelled agricultural sprinkling machine. A vehicle comprises a frame, a bridge and a suspension bracket. The suspension bracket comprises at least one pair of connecting traction rods. The pair of traction rods, when looked at from the tops, forms "X", and when looked at the side, the rods are parallel to each other. The suspension bracket comprises the first upper pair and the first lower pair of connecting traction rod supports. The upper pair is located in the middle between the opposite ends of the bridge and is located between the lower pair of the traction rod supports. The second upper pair and the second lower pair of supports of connecting traction rods are installed on the main frame. Some ends of the upper pair of connecting traction rods are connected with several ones of the first upper pairs of the traction rod supports, the other ones - with several ones from the second upper pairs of traction rod supports. Some ends of the pair of lower traction rods are connected with several ones of the first lower pairs of the traction rod supports. Other ends are connected with several ones of the second lower pairs of the traction rod supports. The first and second upper pairs of traction rod supports are arranged so that one traction rod from the pair of upper connecting traction rods jointly with one traction rod from the specified pair of the lower connecting traction rods form "X". The other traction rod of the pair of upper traction rods jointly with the other traction rod from the pair of lower traction rods form "X". The suspension bracket comprises at least one pair of connecting traction rods, jointly with each other forming "X", when looked at from the top, in which the first ends are connected with the bridge, and the second ends are connected with the frame. The first and second ends of traction rods are arranged relative to each other so that at least one pair of traction rods is parallel.

EFFECT: invention provides for development of a wheel suspension bracket for a vehicle, which eliminates problems related to movement of rear wheels strictly in a track of front ones, when a bridge swings along an arc relative to points of fixation of a stabiliser of transverse stability.

4 cl, 4 dwg

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