CN1275512C - Spray irrigation operation system of large spray irrigation machine and its control method - Google Patents

Abstract

The invention relates to a sprinkling operation system and a control method of a large sprinkling irrigation machine. The sprinkling irrigation system includes a sprinkler head, a ground wheel, multiple spans, an onboard computer, a control interface, a frequency conversion speed regulating device, an angle sensing device, and GPS positioning. device; the onboard computer is connected to the GPS positioning device through the control interface, and uses the received GPS signal and differential signal to calculate to locate the sprinkler, determine the walking speed of the sprinkler and the yaw distance of the sprinkler, and compare the given route with the actual route And the given walking speed and actual walking speed, and send control instructions through the control interface to adjust the frequency conversion speed regulating device so that the sprinkler can walk according to the given route and speed; the angle sensing device is used to measure the synchronous swing angle of each span; the machine The on-board computer is used to detect the synchronous swing angle of each span, and adjust the synchronous swing angle to approach zero by controlling the frequency conversion speed regulating device. The operation system and its control method can realize the uniform variable spraying of the sprinkling irrigation machine.

Description

A kind of sprinkling irrigation operating system and control method thereof of giant sprinkler

Technical field

The present invention relates to a kind of sprinkling irrigation operating system and control method thereof of irrigation sprinkler, particularly relate to a kind of variable sprinkling irrigation operating system and control method thereof of giant sprinkler.

Background technology

At present, mainly adopt as the control method of giant sprinkler and respectively to stride the timesharing control technology, really do not realize the variable sprinkling irrigation as yet.

Giant sprinkler generally comprises parallel-moving type irrigation sprinkler and round irrigation sprinkler.For the out-of-flatness that overcomes ground and the inhomogeneities of walking resistance, giant sprinkler generally is made up of multispan, and each is striden all has land wheel to support, and is furnished with independent motor-driven walking.On macroscopic view, for the speed of travel unanimity that guarantees respectively to stride so that the stable working of giant sprinkler, control method one by one inwardly steps into row control walking by striding outward, promptly stride outside a certain move after, make adjacent two to stride the formation certain angle, quit work that interior span begins walking by outer the striding of travel switch control, so, walk forward thereby control giant sprinkler from circulation repeatedly outside to inside.

Variable sprinkler irrigation technique as giant sprinkler mainly contains two kinds of technical schemes:

The one,, the method for employing variable sprayer.3 kinds of implementations are arranged usually: change shower nozzle aperture, the automatically controlled water spray of pulsed, combined type shower nozzle mode.Adopt the method that changes the shower nozzle aperture, the shower nozzle cost is higher, and shower nozzle aperture hour easy blocking up, and easily influences the spray effect of shower nozzle when the shower nozzle aperture is excessive; Adopt the automatically controlled water spray mode of pulsed, promptly spray water by time percentage-proportion intervals break-make, this method can influence the rainfall distribution uniformity of dynamic process; Adopt combined type shower nozzle mode, switch sprinkling with many group shower nozzles, cost slightly increases, and the control of irrigation sprinkler hydraulic pressure is had higher requirement, needs relevant devices such as increase variable pump.

The 2nd,, control the method for discharge rate by changing the irrigation sprinkler speed of travel.Normally press percentage and set travel time and dwell time, the method that promptly loiters, and respectively stride the timesharing walking, and set value the speed change walking that realizes giant sprinkler by changing percentage, reach the purpose of variable sprinkling irrigation.But there is the problem of difficult control rainfall distribution uniformity in this method.

The variable sprinkling irrigation problem that how to solve giant sprinkler put forward in recent years, was the main research and development direction in present this field.

In application number is 02149019.8 Chinese patent application, a kind of accurate variable-rate fertilization is also disclosed, it utilizes the GPS navigation system, provides the information of the applying quantity of chemical fertilizer at place, position location by the airborne computer that is fixed on the tractor for Machinery Control System, thereby realizes the purpose of accurate variable fertilization.Though this patent application discloses the geographical position that can accurately obtain its place when agricultural machinery carries out farm work under the help of gps system in real time, but the problem that the not open in detail variable that how specifically to utilize gps system to solve giant sprinkler of this patent is sprayed does not more disclose concrete variable sprinkling irrigation control method and equipment.

Summary of the invention

Technical problem to be solved by this invention is to provide a kind of variable sprinkling irrigation operating system and control method thereof of giant sprinkler, sprays with the uniform variate of realizing irrigation sprinkler, thereby can reach the water saving economic goal of sprinkling irrigation as required.

To achieve these goals, the invention provides a kind of sprinkling irrigation operating system of giant sprinkler, comprise shower nozzle, land wheel, a plurality of striding, wherein, also comprise airborne computer, control interface, RHVC, angle sensor device, GPS positioner; Described airborne computer expert crosses control interface and is connected to described GPS positioner, gps signal that utilization receives and differential signal calculate with the location irrigation sprinkler, determine the speed of travel of irrigation sprinkler and the cross track distance of irrigation sprinkler, contrast set route and actual course line and the given speed of travel and the actual speed of travel, and send by described control interface that control instruction is adjusted described RHVC so that irrigation sprinkler is walked by given course line and speed; Described angle sensor device is used to measure described synchronous pivot angle of respectively striding and measurement result is exported to described airborne computer; Described airborne computer is used to detect and described synchronous pivot angle of respectively striding, and to adjust described synchronous pivot angle convergence be zero degree by controlling described RHVC.

The sprinkling irrigation operating system of described giant sprinkler, wherein, described GPS positioner comprises gps antenna, GPS receiver, difference radio station, GPS base station again, described GPS receiver is connected with control interface with described gps antenna respectively, and the difference radio station that is connected with the GPS base station is connected to described control interface.

The sprinkling irrigation operating system of described giant sprinkler, wherein, described airborne computer comprises a host computer and a slave computer; Described host computer is used for the reception of gps signal and the reception of differential signal, and carries out the retrieval of operation set-point and sending of control instruction; Described slave computer is used to finish the order that described host computer is sent, and detects described synchronous pivot angle of respectively striding, and controls described RHVC.

The sprinkling irrigation operating system of described giant sprinkler, wherein, described angle sensor device comprises:

One swing span, one end are fixed in described one and step up, and the other end is a swinging end;

One displacement transducer is fixedly arranged on the swinging end of described swing span; And

One top board is fixedly arranged on another and steps up, and described displacement transducer presses and is contacted with described top board.

The sprinkling irrigation operating system of described giant sprinkler, wherein, described swing span is an A-frame.

The sprinkling irrigation operating system of described giant sprinkler, wherein, described displacement transducer is provided with a homing position type slide bar, and press in described top board on the top of described slide bar.

The sprinkling irrigation operating system of described giant sprinkler wherein, is provided with a spring in the described displacement transducer, described jack rod sleeve is connected on the described spring.

The sprinkling irrigation operating system of described giant sprinkler, wherein, the quantity of described RHVC is corresponding with the quantity of the variable-frequency motor of described land wheel; Described RHVC is adjusted the course line and the speed of travel of irrigation sprinkler by the variable-frequency motor that drives land wheel.

A kind of sprinkling irrigation job control method of giant sprinkler, be applicable to and comprise airborne computer, control interface, RHVC, the angle sensor device, the GPS positioner, shower nozzle, land wheel, a plurality of giant sprinkler sprinkling irrigation operating systems of striding, wherein, adopt the GPS positioner to locate irrigation sprinkler, determine the speed of travel of irrigation sprinkler and the cross track distance of irrigation sprinkler, by contrast set route and actual course line and the given speed of travel and the actual speed of travel, adopt described mechanical computer to send by described control interface that control instruction is adjusted described RHVC so that irrigation sprinkler is walked by given course line and speed; Use the described synchronous pivot angle of respectively striding of described angle sensor measurement device; Use described airborne computer to detect described synchronous pivot angle of respectively striding, adopt stride respectively that synchronous pivot angle makes zero that FEEDBACK CONTROL realizes giant sprinkler respectively stride synchronous walking.

The sprinkling irrigation job control method of described giant sprinkler wherein, further comprises the steps:

Step 1 is indicating drafting setting course line and the sprinkling irrigation amount of given irrigation sprinkler on different longitude and latitude point on the electronic chart of longitude and latitude;

Step 2 when the actual motion track of irrigation sprinkler when certain is some on prebriefed pattern, finds the given sprinkling irrigation amount of this point according to the longitude and latitude that records on electronic chart, calculate the pairing speed of travel by the sprinkling irrigation amount, and as the present speed of travel;

Step 3, by the present speed of travel of actual measurement, and the given speed of travel contrast that calculates with described step 2, if speed then described airborne computer inequality sends corresponding adjustment signal to described RHVC, make irrigation sprinkler advance, thereby it is consistent with given sprinkling irrigation amount to control actual sprinkling irrigation amount by given speed;

Step 4 when the actual motion track of irrigation sprinkler moves to prebriefed pattern more up and down the time, repeats above-mentioned steps.

The sprinkling irrigation job control method of described giant sprinkler, wherein, the described synchronous pivot angle FEEDBACK CONTROL that makes zero of respectively striding further comprises the steps:

Step up adjacent two, a synchronous pivot angle determinator is set, measure two relative distances of striding and change;

Change described variable in distance into the signal of telecommunication and export described airborne computer to;

Described airborne computer calculates the described adjacent two axial line angles of striding;

Detect described angle, when it was non-vanishing, described airborne computer sent corresponding adjustment control signal to described RHVC, drove described land wheel speed governing, and adjusting described angle convergence is zero degree.

The job control method of described giant sprinkler, wherein, the axial line angle convergence that described adjustment adjacent two is striden is that the step of zero degree further comprises:

With first ground wheel location of left side or right side is benchmark, judges that first strides and whether second the angle between striding is along direction of advance, increase if then control the rotating speed of second land wheel, and be zero until its angle; Reducing if not then control the rotating speed of second land wheel, is zero until its angle;

Further measure second and stride and the 3rd angle between striding, the rotating speed that the method that the repeated using above-mentioned steps is identical is controlled the 3rd land wheel makes second to stride and the 3rd angle zero between striding;

Further repeat above-mentioned steps, other is respectively striden angle be controlled at zero degree.

The sprinkling irrigation job control method of described giant sprinkler, wherein, described employing GPS positioner comes localization step further to comprise:

Steps A, the software interface initialization comprises the serial ports interrupt parameters being set and preserving the raw data file name;

Step B, GPS control disposable plates parameter initialization comprises sending information format, communication format order and starting the ephemeris input;

Step C receives the GPS initial data, comprises analytical information prefix, demonstration and preservation data;

Step D resolves each satellite position, by almanac data computing time, clock correction, orbit parameter and position;

Step e is calculated the GPS receiver coordinate, computed user locations, speed;

Step F receives differential signal, carries out Difference Calculation, Coordinate Conversion and coordinate projection;

Step G, output shows and control, is turning back to step C then.

The sprinkling irrigation job control method of described giant sprinkler, wherein, the step that described airborne computer detects the synchronous pivot angle of respectively striding further comprises:

Step a, parameter and interface initialization;

Step b starts the reception control instruction and interrupts;

Step c, inspection stops key;

Steps d judges whether to quit work;

Step e if quit work, then shuts down; If do not quit work, then return step b.

Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.

Description of drawings

Fig. 1 is the structural representation according to giant sprinkler variable operating system of the present invention;

Fig. 2 is the theory diagram according to variable-frequency governor control land wheel variable-frequency motor of the present invention;

Fig. 3 is the Variable Control production plan figure according to large-scale transitional sprinkling machine of the present invention;

Fig. 4 is for respectively to stride synchronous pivot angle assay device structures schematic diagram according to giant sprinkler of the present invention;

Fig. 5 is according to giant sprinkler synchronous walking feedback theory diagram of the present invention;

Fig. 6 is basic GPS positioning software block diagram;

Fig. 7 is a mechanical computer host computer procedure flow chart;

Fig. 8 is a mechanical computer slave computer main program flow chart;

Fig. 9 is a mechanical computer slave computer interrupt routine flow chart.

Wherein, Reference numeral is as follows:

The 1-giant sprinkler

2-has the airborne computer of control interface

The 3-variable-frequency governor

4-angle sensor device

The 5-GPS antenna

The 6-GPS receiver

7-difference radio station

The 8-GPS base station

The 9-atmosphere

The 10-GPS satellite

First variable-frequency governor of 31-

Second variable-frequency governor of 32-

3n-n platform variable-frequency governor

111-first tableland wheel variable-frequency motor

112-second tableland wheel variable-frequency motor

11n-n tableland wheel variable-frequency motor

The 12-water channel

The 13-GPS rover station

What 141, the 142-irrigation sprinkler was adjacent two strides

The 41-swing span

The 411-swinging end

The 42-displacement transducer

The 421-slide bar

The 43-top board

The 44-pin joint

The 47-support plate

Angle between J-giant sprinkler adjacent two is striden

J1-first strides and second the angle between striding

J2-second strides and the 3rd angle between striding

Jn-1-n-1 strides and the angle of n between striding

Embodiment

Fig. 1 is the structural representation according to giant sprinkler variable operating system of the present invention.

As shown in Figure 1, comprise giant sprinkler 1, have airborne computer 2, variable-frequency governor 3, angle sensor device 4, gps antenna 5, GPS receiver 6, difference radio station 7, GPS base station 8, atmosphere 9, the GPS satellite 10 of control interface according to giant sprinkler variable operating system of the present invention.GPS base station 8 keeps the state that works long hours, send differential signal by difference radio station 7 in real time, GPS receiver 6 is formed GPS rover station 13 with gps antenna 5, receive the differential signal that GPS base station 8 sends over by difference radio station 7 in real time, and calculate the position and the speed of travel of giant sprinkler 1 location by the airborne computer 2 that has control interface.Have the respective point of the airborne computer 2 of control interface by the position versus operation prescription map of being calculated, determine given sprinkling irrigation amount, thereby calculate the speed of travel of giant sprinkler 1, calculate the frequency of variable-frequency governor 3 by the speed of travel, 485 interfaces by standard send control signal to variable-frequency governor 3, thereby control giant sprinkler 1 sprinkling irrigation amount is according to plan sprayed.When the measurement numerical value of respectively striding angle sensor device 4 is non-vanishing, the airborne computer 2 that has control interface will be regulated the frequency of the variable-frequency governor 3 of adjacent two land wheel correspondences, respectively stride the keeping parallelism unanimity and will advance forward thereby control whole irrigation sprinkler.

Fig. 2 is the theory diagram according to variable-frequency governor control land wheel variable-frequency motor of the present invention.

Fig. 2 shows under the situation that n land wheel arranged, the basic connected mode of variable-frequency governor 3 and corresponding land wheel variable-frequency motor.Wherein, variable-frequency governor 31,32 is connected respectively to three phase mains to 3n, powers by three phase mains; Variable-frequency governor 31,32 to 3n links to each other with the airborne computer 2 that has control interface, to receive the control signal of the airborne computer 2 that carries control interface; Variable-frequency governor 31,32 to 3n links to each other with corresponding land wheel variable-frequency motor 111,112 to 11n respectively and arrives 11n to drive land wheel variable-frequency motor 111,112, thereby changes the rotating speed of corresponding land wheel.The quantity of variable-frequency governor 3 is corresponding with the quantity of the variable-frequency motor of land wheel (for adapting to the motor special of frequency conversion operating mode), and every variable-frequency governor drives the variable-frequency motor of tableland wheel.During work, when the airborne computer 2 that has control interface by control line after variable-frequency governor 3 sends given frequency signal, variable-frequency governor 3 will provide the AC signal of respective frequencies, driving the land wheel variable-frequency motor rotates with corresponding rotating speeds, the land wheel variable-frequency motor drives land wheel and rotates, and makes giant sprinkler 1 advance by given speed.

Fig. 3 is the Variable Control production plan figure according to large-scale transitional sprinkling machine of the present invention.

The Variable Control production plan of large-scale transitional sprinkling machine is undertaken by Fig. 3.As shown in Figure 3, GPS base station 8 is arranged on the point of the known longitude and latitude in roadside, and GPS rover station 13 is made up of two GPS receivers 6 and the airborne computer 2 that has a control interface, and is placed on the giant sprinkler 1.GPS adopts the pseudo range difference localization method in the location.

Variable sprinkling irrigation method based on the operation prescription map: at first indicating drafting setting course line and the sprinkling irrigation amount of given irrigation sprinkler on different longitude and latitude point on the electronic chart of longitude and latitude, when the actual motion track of giant sprinkler 1 when certain is some on prebriefed pattern, can on electronic chart, find the given sprinkling irrigation amount of this point according to the longitude and latitude that the GPS rover station 13 that is equipped on the giant sprinkler 1 records, calculate the pairing speed of travel by the sprinkling irrigation amount, and the speed of travel of the present giant sprinkler 1 of conduct, by the present speed of travel of GPS actual measurement, and with the contrast of the above-mentioned given speed of travel, if the speed airborne computer 2 that then has control interface inequality sends corresponding adjustment signal to each variable-frequency governor 3, make giant sprinkler 1 advance, thereby realize that actual sprinkling irrigation amount and given sprinkling irrigation measure corresponding to control result by given speed.When the actual motion track of giant sprinkler 1 more up and down the time, repeats the Variable Control that said process can be realized giant sprinkler 1 in prebriefed pattern.

Setting up carrier coordinate system is, the central point of definition giant sprinkler is an initial point, is Y-axis along irrigation sprinkler across right, is X-axis perpendicular to the direction of advance of irrigation sprinkler frame, Z axle and X, and the Y-axis perpendicular quadrature is downward, and constitutes right-handed coordinate system.Defining local geographical coordinate is, initial point is set on the position at GPS base station 8 places, and X-axis is pointed to direct north, Y-axis point to east to, Z axle and X, Y-axis constitutes right-handed coordinate system and points to down.Also need carry out Coordinate Conversion and projection in the process of specific implementation aforementioned calculation according to the method for disclosed Coordinate Conversion and projection.GPS is resulting to be WGS-84 geodetic coordinates (B84, L84, H84) calculate rectangular co-ordinate (X84 thus, Y84, Z84), be converted to again Beijing 54 rectangular co-ordinates (X54, Y54, Z54), calculate Beijing 54 geodetic coordinates (B54, L54, H54) back use Gauss Kru﹠4﹠ger projection be converted to Gauss plane coordinate (x, y), the central meridian of the initial point of this coordinate system n of projection zone of living in and the intersection point of terrestrial equator in the locality, wherein Y-axis is pointed to east, and has added n*1000km+500km, the X-axis energized north on each y value.Conversion from Gauss plane coordinate system to local geographic coordinate system only need be carried out the translation at zero point.

The speed of travel of large-scale filling spray machine 1 is:

$V\left(t_i\right)=\frac{[\sqrt{{(x_3\left(t_i\right)-x_3\left(t_{i-1}\right))}^2+{(y_3\left(t_i\right)-y_3\left(t_{i-1}\right))}^2}+\sqrt{{(x_4\left(t_i\right)-x_4\left(t_{i-1}\right))}^2+{(y_4\left(t_i\right)-y_4\left(t_{i-1}\right))}^2}]}{2\×(t_i-t_{i-1})}$

X wherein ₃(t _i), y ₃(t _i) and x ₄(t _i), y ₄(t _i) be two GPS rover stations ti points constantly under local geographic coordinate system.

Fig. 4 is for respectively to stride synchronous pivot angle assay device structures schematic diagram according to giant sprinkler of the present invention.

Respectively stride the synchronous pivot angle feedback technique that makes zero and comprise the content of two aspects, be i.e. pivot angle sensing measuring method and feedback synchronously.

Respectively stride synchronous pivot angle sensing measuring method below in conjunction with Fig. 4 explanation according to giant sprinkler truss of the present invention.As shown in Figure 4,141 and 142 for adjacent two stride (stride and be truss) hinged by support plate 47 at pin joint 44 places.Swing span 41 is fixedlyed connected with truss 142, is fixed with displacement transducer 42 at the swinging end 411 of swing span 41, but its homing position type slide bar 421 relies on the spring action of displacement transducer 42 inside, presses in top board 43, and this top board 43 is fixedly connected on strides on 141.When stride 141 with stride 142 and axial line occurs and depart from, because of swing span 41 is to fixedly connected with striding 142, so be fastened on the top board 43 of striding on 141 with respect to the swinging end 411 of swing span 41 occur near or away from state, its distance is by displacement transducer 42 perception and output, again in conjunction with the physical dimension of swing span 41, calculate giant sprinkler 1 adjacent two axial line angles of striding (being synchronous pivot angle) J by mechanical computer 2.Realized that thus giant sprinkler respectively strides the accurate measurement of synchronous pivot angle.Here, swing span 41 is an A-frame.

Fig. 5 is according to giant sprinkler synchronous walking feedback theory diagram of the present invention.

As shown in Figure 5, detecting giant sprinkler 1, respectively to stride synchronous pivot angle be per two angle J between striding, when J is non-vanishing, the airborne computer 2 that then has control interface sends corresponding adjustment control signal to each variable-frequency governor 3, drive each corresponding land wheel variable-frequency motor speed governing, make each angle be adjusted into zero degree and promptly make zero.J1, J2 represent adjacent two angles between striding respectively to Jn-1, and J1 represents that first strides and second angle, the J2 between striding represents that second strides and the 3rd angle between striding, and by that analogy, Jn-1 represents that n-1 strides and the angle of n between striding.With first ground wheel location of left and right sides is benchmark, because the symmetry of system, only analyze the control situation on right side, if first strides and second the angle J1 between striding is just (along direction of advance for just), then controlling corresponding second tableland of second frequency converter, 32 adjustment wheel variable-frequency motor 112 and make the rotating speed of second land wheel increase, is zero until its angle; If first stride and second the angle J1 between striding for negative, then control second frequency converter 32 and adjust corresponding second tableland wheel variable-frequency motor 112 and make the rotating speed of second land wheel reduce, be zero until its angle.Measure second again and stride and the 3rd angle J2 between striding, it is zero that the rotating speed of in like manner controlling the 3rd land wheel makes it angle.By that analogy, can be controlled at about zero degree respectively striding angle.Because response time of control system is very fast, the pivot angle between respectively striding is all less, so the pivot angle of whole giant sprinkler between respectively striding generally can be controlled it less than 0.05 degree, so has realized that giant sprinkler 1 respectively strides the target of synchronous walking.

Giant sprinkler is striden and is respectively striden synchronous pivot angle method for sensing and synchronous walking feedback and constituted and respectively stride the synchronous pivot angle feedback technique that makes zero.

Fig. 6 is basic GPS positioning software block diagram.

As shown in Figure 6, basic GPS locatees and comprises the steps:

The software interface initialization is provided with, and comprises the setting of serial ports interrupt parameters and preserves raw data file name, step 600;

The initialization of GPS OEM board parameter comprises sending information format, communication format order and starting ephemeris input, step 610;

Receive the GPS initial data, comprise analytical information prefix, demonstration and preservation data, step 620;

Resolve each satellite position, by almanac data computing time, clock correction, orbit parameter and position, step 630;

Calculate the GPS receiver coordinate, i.e. computed user locations, speed, step 640;

Receive differential signal, carry out Difference Calculation, Coordinate Conversion and coordinate projection, step 650;

Output shows and control, step 660; Then, return step 620 again.

In an embodiment of the present invention, the hardware of this receiver is formed and is comprised five parts: 12V dc source, gps antenna, GPS OEM plate, serial line interface and calculator.The form of Jupiter OEM dash receiver output data has two kinds, and a kind of is binary format, and a kind of is the NMEA0183 form.Because information such as ephemeris output have only binary format just to support, data mining of the present invention is based upon on this form basis.Present embodiment adopts the Jupiter OEM series GPS receiver of Rockwell company, selects the JupiterGPS-OEM plate for use.

Information is obtained the method that adopts hybrid programming with software programming, utilizes VB6.0 to make conveniently characteristics of interface, and establishment information is obtained, the interface portion of data show, Kinematic Positioning and location compute software; Performance VC6.0 computational speed is fast, call characteristics easily, the calculating section of making software.

Almanac data obtain calculating with satellite position.By sending the continuous reception that OEM plate information control command can start the almanac data of Jupiter GPS, GPS judges automatically whether certain satellite data is available, effective then the ephemeris of this satellite is sent out during the kind Data Update in each second, the ephemeris of 12 passages is to circulate in order to send to the user.The user need judge at first after receiving almanac data whether this satellite-signal is effective, judge whether that again elevation angle is greater than 6 degree, if all be greater than 6 the degree could adopt this almanac data to carry out the calculating of satellite orbit parameter, resolve the coordinate under the WGS-84 of this satellite, when if effectively the satellite number is more than or equal to 4, can calculate the position coordinates of receiver user.Receive differential signal, carry out Difference Calculation, try to achieve relative user coordinates.GPS is resulting to be WGS-84 geodetic coordinates (B84, L84 H84) calculates rectangular co-ordinate (X84, Y84 thus, Z84), be converted to again Beijing 54 rectangular co-ordinates (X54, Y54, Z54), calculate Beijing 54 geodetic coordinates (B54, L54, H54) back use Gauss Kru﹠4﹠ger projection be converted to Gauss plane coordinate (x, y).

Fig. 7, Fig. 8, Fig. 9 show the control flow of the airborne computer that has control interface.

The airborne computer that has control interface 2 according to irrigation sprinkler operating system of the present invention is made up of two parts: the small desk calculator is as host computer, and single-chip microcomputer is as slave computer.The small desk calculator is mainly used in the reception of gps signal and the reception of differential signal, and carries out the retrieval of operation set-point and sending of control instruction.Single-chip microcomputer is mainly finished the order that host computer is sent as slave computer, detects and respectively strides synchronous pivot angle J, control variable-frequency governor 3.Control software is divided into corresponding two parts.Mainly acting as of host computer: receive the data of GPS navigation system, carry out data and handle and change, receive the GPS differential signal, calculate customer location accurately.Retrieve the given numerical value of sprinkling irrigation amount, be converted into the tachometer value of the speed of travel and land wheel.Send frequency control signal to slave computer.Slave computer (single-chip microcomputer) image data, and all operational factors are uploaded to host computer by radio station, by host computer data are analyzed and handled, and carry out corresponding control with passing to slave computer under the control instruction, host computer also writes down the running status of each sensor and motor simultaneously.

Fig. 7 shows the control flow of host computer.

As shown in Figure 7, the control flow chart of host computer comprises the steps:

Parameter and interface initialization, step 700;

Receive gps signal, and computed user locations, step 710;

Receive differential signal, calculate relative position, step 720;

Carry out Coordinate Conversion and coordinate projection, step 730;

Retrieve given sprinkling irrigation amount, calculate the speed of travel, receive speed of travel detection signal, step 740;

Judge whether to reach the sprinkling irrigation amount, step 750;

If do not reach the sprinkling irrigation amount, then send the control frequency change control signal, step 760b returns step 740 then;

If reach the sprinkling irrigation amount, then judge whether to press to stop key step 760a;

Stop key if supress, then quit work step 770a;

Do not stop key if do not press, then return step 710.

Fig. 8, Fig. 9 show the interrupt routine flow process of the main program flow and the slave computer of slave computer respectively.

The main program of slave computer is mainly finished the setting of interrupt service routine, starts interrupt service routine, and waits for.The interrupt service routine of slave computer mainly is according to the angle control speed of travel of respectively striding.For first passage, the given speed of travel, and the speed of travel of regulating next land wheel by the positive and negative situation of adjacent angle.Carry out the judgement and the output control of next angle again, circulation is so repeatedly adjusted and is respectively striden synchronous walking.

As shown in Figure 8, the main program of slave computer comprises the steps:

Parameter and interface initialization, step 800;

Start and receive control instruction interruption, step 810;

Inspection stops key, step 820;

Judge whether to quit work step 830;

If quit work, then shut down step 840a;

If do not quit work, then return step 810.

As shown in Figure 9, the interrupt routine of slave computer comprises the steps:

By setting port number, receive tachometer value, step 900;

Output speed control, step 910;

The signal that takes measurement of an angle, step 920;

Whether judge angle greater than zero, step 930;

If angle then reduces rotating speed, step 940a greater than zero;

If angle is not more than zero, judge again then whether angle is zero, step 940b;

If angle is non-vanishing, then increase rotating speed, step 950b;

And then return step 910;

If angle equals zero, then port number adds one, step 950a;

Judge whether passage all finishes step 960;

If passage is not all finished, then return step 910;

If passage is all finished, then interrupt returning step 970a.

Certainly; the present invention also can have other various embodiments; under the situation that does not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.

Claims (14)

1. A sprinkling operation system for a large-scale sprinkling irrigation machine, comprising a sprinkler head, ground wheels, and multiple spans, characterized in that it also includes an on-board computer, a control interface, a frequency conversion speed regulating device, an angle sensing device, and a GPS positioning device; The on-board computer is connected to the GPS positioning device through the control interface, uses the received GPS signal and differential signal to perform calculations to locate the sprinkler, determine the walking speed of the sprinkler and the yaw distance of the sprinkler, and compare the given route with the yaw distance of the sprinkler. The actual route and the given walking speed and actual walking speed, and the control command is issued through the control interface to adjust the frequency conversion speed regulating device so that the sprinkler can walk according to the given route and speed; the angle sensing device is used to measure The synchronous swing angle of each span and output the measurement result to the on-board computer; the on-board computer is used to detect the synchronous swing angle with each span, and adjust the The synchronous swing angle approaches zero degrees. 2. The sprinkling operation system of a large sprinkler according to claim 1, wherein the GPS positioning device further comprises a GPS antenna, a GPS receiver, a differential radio station, and a GPS reference station, and the GPS receiver is connected to the GPS reference station respectively. The GPS antenna is connected to the control interface, and the differential station connected to the GPS reference station is connected to the control interface. 3. The sprinkling operation system of a large sprinkler according to claim 1 or 2, wherein the onboard computer includes a host computer and a lower computer; the host computer is used for receiving GPS signals and differential signals The reception of the given value of the job and the issuance of the control command; the lower computer is used to complete the command sent by the upper computer, detect the synchronous swing angle of each span, and control the frequency conversion speed regulating device . 4. The sprinkler irrigation operation system of a large sprinkler irrigation machine according to claim 1, wherein the angle sensing device comprises: A swing frame, one end of which is fixedly connected to the one span, and the other end is a swing end; a displacement sensor fixed on the swing end of the swing frame; and A top plate is fixed on the other span, and the displacement sensor is pressed against the top plate; The one span and the other span are two adjacent spans hinged at hinge points. 5. The sprinkler irrigation system for a large sprinkler irrigation machine according to claim 4, wherein the swing frame is a tripod. 6. The sprinkling operation system of a large sprinkler according to claim 4 or 5, characterized in that the displacement sensor is provided with a resetting slide bar, and the top end of the slide bar is tightly pressed against the top plate. 7. The sprinkler irrigation system for a large sprinkler according to claim 6, wherein a spring is arranged in the displacement sensor, and the sliding rod is sleeved on the spring. 8. The sprinkling operation system of a large sprinkler irrigation machine according to claim 1, wherein the number of the frequency conversion speed regulating devices corresponds to the number of the frequency conversion motors of the ground wheel; the frequency conversion speed regulating devices are driven by The frequency conversion motor of the ground wheel is used to adjust the course and walking speed of the irrigation machine. 9. A sprinkling operation control method for a large sprinkler irrigation machine, suitable for sprinkling irrigation of a large sprinkler irrigation machine including an onboard computer, a control interface, a frequency conversion speed regulating device, an angle sensor device, a GPS positioning device, a sprinkler head, a ground wheel, and multiple spans The operating system is characterized in that a GPS positioning device is used to locate the sprinkler, determine the walking speed of the sprinkler and the yaw distance of the sprinkler, and compare the given route with the actual route and the given travel speed with the actual travel speed, and adopt the The onboard computer sends a control command through the control interface to adjust the frequency conversion speed regulating device so that the sprinkler can walk at a given route and speed; use the angle sensing device to measure the synchronous swing angle of each span; use The on-board computer detects the synchronous swing angles of the spans, and adopts the synchronous swing angle return-to-zero feedback control of each span to realize the synchronous walking of each span of the large sprinkler irrigation machine. 10. The sprinkling operation control method of a large sprinkler irrigation machine according to claim 9, further comprising the following steps: Step 1, draw the set route on the electronic map marked with latitude and longitude and specify the sprinkling amount of the sprinkler at different latitude and longitude points; Step 2. When the actual running trajectory of the sprinkler is at a certain point on the predetermined route, find the given sprinkling irrigation volume of this point on the electronic map according to the measured latitude and longitude, and calculate the corresponding walking speed from the sprinkling irrigation volume, and use it as the current Walking speed; Step 3, the current walking speed is actually measured by GPS, and compared with the given walking speed calculated in the step 2, if the speeds are not the same, the onboard computer sends a corresponding adjustment signal to the frequency conversion speed regulating device, Make the irrigation machine move forward at a given speed, so that the actual sprinkler irrigation amount is consistent with the given sprinkler irrigation amount; Step 4, when the actual running track of the sprinkler moves to a point above and below the predetermined route, repeat the above steps. 11. The sprinkling operation control method of a large sprinkler irrigation machine according to claim 9, characterized in that, the feedback control of returning the synchronous swing angle of each span to zero further comprises the following steps: On the two adjacent spans, install a synchronous swing angle measuring device to measure the relative distance change between the two spans; converting the distance change into an electrical signal and outputting it to the onboard computer; The onboard computer calculates the angle between the axis lines of the two adjacent spans; The included angle is detected, and when it is not zero, the onboard computer sends a corresponding adjustment control signal to the frequency conversion speed regulating device to drive the ground wheel to adjust the speed, and adjust the included angle to approach zero degrees. 12. The sprinkling operation control method of a large sprinkler according to claim 11, wherein the step of adjusting the angle between the axis lines of two adjacent spans to approach zero degrees further comprises: Based on the position of the first ground wheel on the left or right side, judge whether the included angle between the first span and the second span is along the forward direction, and if so, control the speed of the second ground wheel to increase until the included angle is zero; if not, control the speed of the second ground wheel to decrease until the included angle is zero; Further measure the angle between the second span and the third span, repeat the same method as the above steps to control the speed of the third ground wheel to make the angle between the second span and the third span zero; Further repeat the above steps to control the other span angles at zero degrees. 13. The method for controlling the sprinkling operation of a large sprinkler irrigation machine according to claim 9, wherein the step of using a GPS positioning device to locate further comprises: Step A, software interface initialization, including setting serial port interrupt parameters and saving the original data file name; Step B, GPS control processing board parameter initialization, including sending information format, communication format command and starting ephemeris input; Step C, receiving GPS raw data, including analyzing information header, displaying and saving data; Step D, solving the position of each satellite, calculating the time, clock difference, orbital parameters and position from the ephemeris data; Step E, calculating the coordinates of the GPS receiver, calculating the user's position and speed; Step F, receiving the difference signal, performing difference calculation, coordinate transformation and coordinate projection; Step G, output display and control, and then return to step C. 14. The sprinkling operation control method of a large sprinkler irrigation machine according to claim 9, characterized in that the step of adjusting the synchronous running of each span by the onboard computer further comprises: Step a, parameter and interface initialization; Step b, start receiving control command interrupt; Step c, check the stop button; Step d, judging whether to stop working; Step e, if stop working, then stop; if not stop working, then return to step b; Step f, by setting the number of channels, receiving the rotational speed value; Step g, output speed control; Step h, measuring the angle signal; Step i, judging whether the angle is greater than zero; Step ja, if the angle is greater than zero, then reduce the rotational speed; Step jb, if the angle is not greater than zero, then judge whether the angle is zero; Step kb, if the angle is not zero, then increase the rotational speed; then return to step g; Step ka, if the angle is equal to zero, the number of channels is increased by one; Step 1, judging whether the channels are all completed; if the channels are not all completed, then return to step g; In step ma, if the channels are all completed, the interrupt returns.

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