CN102262040A - Method for detecting atomization quality of liquid - Google Patents
Method for detecting atomization quality of liquid Download PDFInfo
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- CN102262040A CN102262040A CN 201110106477 CN201110106477A CN102262040A CN 102262040 A CN102262040 A CN 102262040A CN 201110106477 CN201110106477 CN 201110106477 CN 201110106477 A CN201110106477 A CN 201110106477A CN 102262040 A CN102262040 A CN 102262040A
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Abstract
The invention discloses a method for detecting the atomization quality of liquid. The method comprises the following steps of: 1) arranging a solid baffle plate at the position which is perpendicular to the spray direction of atomized liquid drops; 2) arranging a vibration signal receiving device on the reverse side of the baffle plate to acquire a vibration signal generated when the atomized liquid drops impact the baffle plate or a wall surface; 3) selecting the frequency f, energy E, an area ratio n of a high-frequency peak to a low-frequency peak of a power spectrogram, energy fraction RJ within the characteristic wavelet frequency range and energy mean-square deviation s of the vibration signal as characteristic variables; 4) determining the variation of the atomization quality of the liquid and the excellent atomization state of the liquid according to the variation trend of the characteristic variables; and 5) acquiring the particle size distribution of the atomized drops according to the energy fraction in the characteristic frequency range of the vibration signal. The method is environment-friendly, safe and wide in application range; and a device is convenient to mount, easy to operate, sensitive in response and small in measuring error, can realize real-time on-line monitoring and has important theoretical significance and wide application prospects.
Description
Technical field
The present invention relates to the atomization quality detection method, relate in particular to a kind of detection method of spraying liquid atomization quality.
Background technology
Atomization of liquid technology is widely used in fields such as chemical industry, the energy, agricultural, medicine, fire-fighting, food, as surface spraying, fuel-oil atmozation, medicine supply, pesticide spraying, spray drying etc.The atomization characteristics of liquid is divided into spatial character and thickness characteristics, and wherein spatial character comprises mist amount distribution mode, spreading of spray, drop flying speed and distribution thereof etc., and thickness characteristics comprises mean diameter, characteristic diameter, size distribution of droplet etc.
The quality of estimating liquid atomizing quality need detect atomization parameter, and the detection method of atomization parameter mainly is divided three classes at present: mechanical measurement method, electronic surveying method and optical measuring method.The mechanical measurement method is traditional atomizing detection method, comprises drop solidification method, dewaxing method, sedimentation and indentation method etc., and these method principles are simple, but complex operation, quantity of information is few, and the part method is also to device restriction to some extent.The electronic surveying method comprises electrode method, traverse method, heat-pole method etc., and these methods need be invaded spray field inside, and data volume is big, and precision is relatively poor, and the motion morphology of particle has considerable influence to measurement result.Optical measuring method is emerging atomizing detection technique, by laser technology and computer technology and fast development, comprise axis interference of light the Schlieren method and non-axis interference of light the Schlieren method, laser interferencefringes spectroscopic methodology, laser light scattering beam intensity ratio method, laser multi-source scattered light method and the Ma Er syntax etc. of laser holography method, high-speed photography and high speed video process, laser Doppler method.Optical measuring method has the advantage of Noninvasive, can obtain more accurate and comprehensive atomization parameter, but equipment is accurate expensive, and is difficult to be applied to industry monitoring.Different detection methods also can mutually combine, a kind of detection method of droplet distribution consistency degree is disclosed as patent CN 101226108A, mechanical measurement method, camera technique, image processing techniques are combined, this method can detect droplet distribution consistency degree more all-sidedly and accurately, but step is tediously long, complex operation.Therefore, but seek a kind of novel method efficient and convenient, highly sensitive and the real time on-line monitoring atomization quality and have important significance for theories and wide prospect in industrial application.
Acoustic emission testing technology is emerging in recent years a kind of measurement means, receives vibration signal by sensor, through amplification, collection and mathematics manipulation, obtains some character and the feature of vibration source.Sensor is the critical component of acoustic emission detection system, sensor commonly used in the acoustic emission detection has calibrate AE sensor, acceleration transducer, nautical receiving set, microphone etc., and wherein calibrate AE sensor and acceleration transducer are used to measure sound and the vibration signal of propagating by solid.Acoustic emission testing technology have detect sensitive effectively, Environmental Safety, do not invade the characteristics of flow field and real-time online, be widely used in aspects such as the detection of fluidisation, stirring, drying, crystallization, chemical reaction and monitoring of tools at present.
Fast Fourier Transform (FFT) (FFT) can be decomposed into periodic signal the stack of frequency multiplication component one by one, by resolution specific frequency content is extracted and realizes specific various needs.The characteristics of wavelet analysis are window analyses when signal is become, and promptly the low frequency component in the signal are adopted the time window of broad, and high fdrequency component is adopted narrower time window, and this makes wavelet analysis have good partial analysis characteristic simultaneously in time domain and frequency domain.Fast Fourier Transform (FFT) and wavelet analysis are the signal analysis treating methods of using always, are widely used in Analysis of Acoustic Emission Signal.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of detection method of liquid atomizing quality is provided.
The step of the detection method of liquid atomizing quality is as follows:
1) liquid sprays from atomizer, perpendicular to atomized drop injection direction place one solid baffle is being set, between solid baffle and the atomizer apart from scalable;
2) the fuel spray bump cross section at the solid baffle back side is disposed radially one or more vibration signal receiving traps, gathers the vibration signal that the atomized drop impingement baffles produces;
3) choose the frequency of vibration signal
f, energy
E, power spectrum chart high frequency peak and low frequency peak area ratio
n, the energy in the feature small echo frequency range divides rate
R J, the energy mean square deviation
sAs characteristic variable;
4) judging liquid atomizing quality according to characteristic variable with the variation tendency of liquid jeting speed, fluid flow or fluid pressure, is horizontal ordinate with liquid jeting speed, fluid flow or fluid pressure, with the vibration signal energy
E, power spectrum chart high frequency peak and low frequency peak area ratio
n, the energy in the feature small echo frequency range divides rate
R JPerhaps energy mean square deviation
sBe the ordinate mapping, obtain spray pattern and characterize curve, when the vibration signal energy
ETend to be steady and begin slow rising, perhaps power spectrum chart high frequency peak and low frequency peak area ratio
nChange rapid increase into by slow rising, perhaps the energy in the feature small echo frequency range divides rate
R JChange rapid increase into by slow rising, perhaps the energy mean square deviation
sBegin to rise and when tending to be steady, enter and make atomized liquid fully be broken into droplet, size droplet diameter is near broken ultimate value, the uniform spray pattern of droplet distribution;
5) gather different-grain diameter
d iThe vibration signal that produces of droplet impingement baffles, vibration signal is carried out small echo or WAVELET PACKET DECOMPOSITION obtains different-grain diameter characteristic of correspondence frequency range
f i, set up mist droplet particle size
d iWith the segmentation of vibration signal different frequency
f iBetween corresponding relation, by calculating the energy branch rate on each characteristic spectra
R iObtain the size distribution of droplet.
Described vibration signal receiving trap is calibrate AE sensor, acceleration transducer or is their combination.Described vibration signal is 1 ~ 256 frequency range by frequency resolution.The receive frequency of described calibrate AE sensor is 1 kHz ~ 100 MHz, and the receive frequency of acceleration transducer is 1 kHz ~ 1 MHz.
The present invention compares with existing method and has the following advantages:
1) device is easy for installation, and characterizing method is simple, can obtain the multiple dimensioned behavioral characteristics of SPRAY MOTION by the means of analysis of vibration signal;
2) Environmental Safety, vibration signal produces by the liquid machine collision, and environment, human body are not had harm;
3) applied widely, can be under mal-conditions such as High Temperature High Pressure long-time steady operation can be applied to the commercial production monitoring;
4) be quick on the draw, measuring error is little, real-time online.
Description of drawings
Fig. 1 is a liquid atomizing quality pick-up unit work synoptic diagram;
Fig. 2 (a) is that single vibration signal receiving trap is provided with position view among embodiment 1 ~ 3 and the embodiment 5;
Fig. 2 (b) is that a plurality of vibration signal receiving traps are provided with position view among the embodiment 4;
Fig. 3 is 6 kinds of typical liquid spray patterns among the embodiment 1 ~ 4;
Fig. 4 is an acoustic emission signal energy among the embodiment 1
EChange curve;
Fig. 5 is power spectrum chart high frequency peak and a low frequency peak area ratio among the embodiment 2
nChange curve;
Fig. 6 is a sound emission signal characteristic small echo band energy branch rate among the embodiment 3
R JChange curve;
Fig. 7 is an acoustic emission signal energy mean square deviation among the embodiment 4
sChange curve;
Among Fig. 1, the computing machine 7 of atomizer 1, fuel spray 2, solid baffle 3, vibration signal receiving trap 4, prime amplifier 5, amplifier 6, band signal harvester.
Embodiment
Implement the pick-up unit of the inventive method, involving vibrations signal receiving device, signal pickup assembly and signal processing apparatus.Wherein the vibration signal receiving trap is one or more vibration transducers; Signal pickup assembly is one or more data acquisition cards (A/D converters); Signal processing device is changed to the processor of tape handling software.
The signal output part of vibration signal receiving trap is connected with the input end of signal amplifying apparatus, and the output terminal of signal amplifying apparatus is connected with the input end of signal pickup assembly, and described signal amplifying apparatus is one or more signal amplifiers.Whether this signal amplifier can be selected to use according to actual needs.
The vibration signal receiving trap comprises calibrate AE sensor, acceleration transducer or their combination.The receive frequency range of calibrate AE sensor is 1 kHz ~ 100 MHz, is preferably 1 kHz ~ 1 MHz; The receive frequency range of acceleration transducer is 1 kHz ~ 1 MHz, is preferably 1 kHz ~ 100 kHz; Multiplying arrangement and signal pickup assembly amplification range are 1 ~ 10000 times, are preferably 1 ~ 100 times.
The step of the detection method of liquid atomizing quality is as follows:
1) liquid sprays from atomizer, perpendicular to atomized drop injection direction place one solid baffle is being set, between solid baffle and the atomizer apart from scalable;
2) the fuel spray bump cross section at the solid baffle back side is disposed radially one or more vibration signal receiving traps, gathers the vibration signal that the atomized drop impingement baffles produces;
3) choose the frequency of vibration signal
f, energy
E, power spectrum chart high frequency peak and low frequency peak area ratio
n, the energy in the feature small echo frequency range divides rate
R J, the energy mean square deviation
sAs characteristic variable;
4) judging liquid atomizing quality according to characteristic variable with the variation tendency of liquid jeting speed, fluid flow or fluid pressure, is horizontal ordinate with liquid jeting speed, fluid flow or fluid pressure, with the vibration signal energy
E, power spectrum chart high frequency peak and low frequency peak area ratio
n, the energy in the feature small echo frequency range divides rate
R JPerhaps energy mean square deviation
sBe the ordinate mapping, obtain spray pattern and characterize curve, when the vibration signal energy
ETend to be steady and begin slow rising, perhaps power spectrum chart high frequency peak and low frequency peak area ratio
nChange rapid increase into by slow rising, perhaps the energy in the feature small echo frequency range divides rate
R JChange rapid increase into by slow rising, perhaps the energy mean square deviation
sBegin to rise and when tending to be steady, enter and make atomized liquid fully be broken into droplet, size droplet diameter is near broken ultimate value, the uniform spray pattern of droplet distribution;
5) gather different-grain diameter
d iThe vibration signal that produces of droplet impingement baffles, vibration signal is carried out small echo or WAVELET PACKET DECOMPOSITION obtains different-grain diameter characteristic of correspondence frequency range
f i, set up mist droplet particle size
d iWith the segmentation of vibration signal different frequency
f iBetween corresponding relation, by calculating the energy branch rate on each characteristic spectra
R iObtain the size distribution of droplet.
Choose the vibration signal energy
EBe meant as characteristic variable and analyze the vibration signal that the receiving trap be arranged on fuel spray kernel of section zone collects that utilize Fast Fourier Transform (FFT) (FFT) to do spectrum analysis, the average energy of trying to achieve vibration signal is as characteristic variable.
The power spectrum chart analytical approach is that original vibration signal is equally divided into
mSection is carried out fft analysis superposed average then to each section,
mThe ratio that the power spectrum that is comprised for sample frequency and arbitrary segment signal is counted.
The energy of selected characteristic small echo frequency range divides rate
R JBe meant as characteristic variable, utilize the characteristic frequency region of fft analysis vibration signal, vibration signal is carried out the wavelet decomposition of some yardsticks, choose comprise the vibration signal characteristics frequency the small echo frequency range as feature small echo frequency range, the energy in the calculated characteristics small echo frequency range divides rate
R JAs characteristic variable.Wavelet decomposition frequency range number is 1 ~ 256.
Choose the energy mean square deviation
sBe meant the vibration signal of gathering the different radial positions in fuel spray cross section as characteristic variable, respectively calculating energy
E i, obtain the energy mean square deviation again
sAs characteristic variable.
As shown in Figure 1, the liquid atomizing quality pick-up unit comprises the computing machine 7 of solid baffle 3, vibration signal receiving trap 4, prime amplifier 5, amplifier 6, band signal harvester; During work, liquid forms fuel spray 2 from atomizer 1 ejection, fuel spray 2 vertical bump solid baffle 3, produce vibration signal, vibration signal is gathered by the vibration signal receiving trap 4 that is affixed on solid baffle 3 back, vibration signal inserts computing machine 7 by prime amplifier 5, amplifier 6 successively, and data acquisition card and corresponding software are installed in the computing machine 7.
Embodiment 1:
Adopt pick-up unit as shown in Figure 1, the atomizer internal diameter is 1 mm, and a calibrate AE sensor is set, and the position is set shown in Fig. 2 (a).Liquid spouting velocity variation range is 0 ~ 120 ms
-1, choose the typical spray pattern under 6 different liquids spouting velocities, take fuel spray with camera method, as shown in Figure 3.Calibrate AE sensor receives the acoustic emission signal that the atomized drop impingement baffles produces, and sample frequency is 500 kHz.Choose the acoustic emission signal energy value
EAs eigenwert, the acoustic emission signal that collects under 6 kinds of typical spray patterns is analyzed, calculate its energy value
E, the result as shown in Figure 4.
Among Fig. 3 along with the liquid spouting velocity
vIncrease, liquid atomizing quality improves gradually, when state 4, liquid crushing is more abundant, size droplet diameter is near ultimate value, and the mist bundle is evenly distributed, liquid enters good spray pattern.Among Fig. 4, along with liquid atomizing quality improves gradually, the acoustic emission signal energy
EReduce at first rapidly, tend to be steady when reaching state 4 and begin slow rising.Comparison diagram 3 and Fig. 4, when
v=78.9 ms
-1The time, the acoustic emission signal energy
EBegin to tend to be steady and slowly rise, liquid enters good spray pattern.Therefore, the accurate tracer liquid atomization quality of the variation that utilizes the acoustic emission signal energy value.
Embodiment 2:
Adopt pick-up unit as shown in Figure 1, testing conditions is identical with embodiment 1.Acoustic emission signal is carried out power spectrumanalysis, and power spectrum chart produces the low frequency peak at frequency 0 ~ 5 kHz place, produces the high frequency peak at frequency 110 ~ 170 kHz places.Calculate power spectrum chart high frequency peak and low frequency peak area ratio under the different spray patterns
n, the result as shown in Figure 5.Among Fig. 5, along with liquid atomizing quality improves gradually, power spectrum chart high frequency peak and low frequency peak area ratio
nSlowly rise, when
v=78.9 ms
-1The time,
nBeginning increases rapidly, and curve break enters good spray pattern corresponding to spraying, and therefore, the variation that utilizes acoustic emission signal power spectrum chart high frequency peak and low frequency peak area ratio is the tracer liquid atomization quality accurately.
Embodiment 3:
Adopt pick-up unit as shown in Figure 1, testing conditions is identical with embodiment 1.Utilize wavelet decomposition that acoustic emission signal is divided into 8 frequency ranges, as shown in table 1.Acoustic emission signal is carried out fft analysis, and contrast wavelet decomposition frequency range is found the characteristic frequency that the frequency range of the second small echo frequency range obtains corresponding to fft analysis, so choose the acoustic energy branch rate of the second small echo frequency range
R JAs characteristic variable, it with the variation relation of liquid atomizing quality as shown in Figure 6.Among Fig. 6, along with liquid atomizing quality improves gradually, feature small echo band energy divides rate
R JSlowly rise, when
v=78.9 ms
-1The time,
R JBeginning increases rapidly, and curve break is corresponding to good spray pattern, and therefore, the variation that utilizes sound emission signal characteristic small echo band energy branch rate is the tracer liquid atomization quality accurately.
8 frequency range wavelet decomposition of table 1 acoustic emission signal
Embodiment 4:
Adopt pick-up unit as shown in Figure 1, four calibrate AE sensors are set, along the radially setting in fuel spray cross section, space 5 mm are shown in Fig. 2 (b).Liquid spray operation condition is identical with embodiment 1.
Under each spray pattern, the acoustic emission signal of four acoustic emission receiving trap distribution collection diverse locations is calculated the mean square deviation of each acoustic emission signal energy
s, mean square deviation
sAnd the variation relation between atomization quality as shown in Figure 7.Among Fig. 7, along with liquid atomizing quality improves gradually, the acoustic emission signal energy mean square deviation of different radial positions
sReduce rapidly earlier, slowly rise then, finally tend to be steady.When
v=78.9 ms
-1The time,
sBegin to increase, curve break enters good spray pattern corresponding to spraying, therefore, utilizes the accurate tracer liquid atomization quality of variation of the acoustic emission signal energy mean square deviation of different radial positions.
Adopt to get pick-up unit as shown in Figure 1, an acceleration transducer is set, the position is set shown in Fig. 2 (a), the conducting probe detection system is set simultaneously measures the droplet size.Acceleration transducer sample frequency 50 kHz.Change the liquid spouting velocity and obtain the different atomization of liquid states that different-grain diameter distributes that have, detect simultaneously with acceleration transducer and conducting probe respectively.Analysis obtains the pairing acceleration signal frequency range of different-grain diameter scope, and is as shown in table 2.
The acceleration signal frequency range that the droplet of table 2 different-grain diameter scope produces
| Particle size range/μ m | 0~20 | 20~40 | 40~60 | 60~80 | 80~100 |
| Frequency range/kHz | 12.5~18.75 | 9.375~12.5 | 6.25~9.375 | 3.125~6.25 | 0~3.125 |
Choose the liquid spouting velocity
v=78.9 ms
-1The time spray pattern, utilize acceleration transducer and conducting probe to detect the size distribution of droplet respectively, the result is as shown in table 3.Can be obtained by table 3, it is very approaching that two kinds of methods record the size distribution result, and error is less, therefore can accurately check the size distribution of atomized liquid with inspection method disclosed by the invention.
Table 3 mist droplet particle size distributes
| Particle size range/μ m | 0~20 | 20~40 | 40~60 | 60~80 | 80~100 |
| Conducting probe/% | 5.4 | 12.8 | 63.1 | 10.1 | 8.6 |
| Acceleration transducer/% | 5.7 | 11.9 | 64.4 | 9.6 | 8.4 |
| Error/% | 5.6 | 7.0 | 2.1 | 4.9 | 2.3 |
Claims (4)
1. the detection method of a liquid atomizing quality is characterized in that its step is as follows:
1) liquid sprays from atomizer, perpendicular to atomized drop injection direction place one solid baffle is being set, between solid baffle and the atomizer apart from scalable;
2) the fuel spray bump cross section at the solid baffle back side is disposed radially one or more vibration signal receiving traps, gathers the vibration signal that the atomized drop impingement baffles produces;
3) choose the frequency of vibration signal
f, energy
E, power spectrum chart high frequency peak and low frequency peak area ratio
n, the energy in the feature small echo frequency range divides rate
R J, the energy mean square deviation
sAs characteristic variable;
4) judging liquid atomizing quality according to characteristic variable with the variation tendency of liquid jeting speed, fluid flow or fluid pressure, is horizontal ordinate with liquid jeting speed, fluid flow or fluid pressure, with the vibration signal energy
E, power spectrum chart high frequency peak and low frequency peak area ratio
n, the energy in the feature small echo frequency range divides rate
R JPerhaps energy mean square deviation
sBe the ordinate mapping, obtain spray pattern and characterize curve, when the vibration signal energy
ETend to be steady and begin slow rising, perhaps power spectrum chart high frequency peak and low frequency peak area ratio
nChange rapid increase into by slow rising, perhaps the energy in the feature small echo frequency range divides rate
R JChange rapid increase into by slow rising, perhaps the energy mean square deviation
sBegin to rise and when tending to be steady, enter and make atomized liquid fully be broken into droplet, size droplet diameter is near broken ultimate value, the uniform spray pattern of droplet distribution;
5) gather different-grain diameter
d iThe vibration signal that produces of droplet impingement baffles, vibration signal is carried out small echo or WAVELET PACKET DECOMPOSITION obtains different-grain diameter characteristic of correspondence frequency range
f i, set up mist droplet particle size
d iWith the segmentation of vibration signal different frequency
f iBetween corresponding relation, by calculating the energy branch rate on each characteristic spectra
R iObtain the size distribution of droplet.
2. detection method according to claim 1 is characterized in that: described vibration signal receiving trap is calibrate AE sensor, acceleration transducer or is their combination.
3. detection method according to claim 1 is characterized in that: described vibration signal is 1 ~ 256 frequency range by frequency resolution.
4. according to claim 1 and 2 described detection methods, it is characterized in that: the receive frequency of described calibrate AE sensor is 1 kHz ~ 100 MHz, and the receive frequency of acceleration transducer is 1 kHz ~ 1 MHz.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103323174A (en) * | 2013-06-09 | 2013-09-25 | 东南大学 | Measuring device for needle-free injection jet flow pressure and measuring method thereof |
| CN104019991A (en) * | 2014-06-16 | 2014-09-03 | 西北工业大学 | Liquid drop and solid plate oblique collision testing device |
| CN105372165A (en) * | 2015-12-22 | 2016-03-02 | 东南大学 | Liquid drop diameter distribution measurement method based on hydrophobic material |
| CN107702910A (en) * | 2017-10-30 | 2018-02-16 | 陕西中烟工业有限责任公司 | A kind of double base nozzle atomization offline inspection adjusting apparatus and detection method of adjustment |
| CN111474243A (en) * | 2020-04-27 | 2020-07-31 | 上海化工研究院有限公司 | System for measuring slurry concentration in slurry loop reactor |
| CN112730627A (en) * | 2020-12-22 | 2021-04-30 | 上海空间推进研究所 | Injection hole detection system and method based on acoustic measurement |
| CN115034276A (en) * | 2022-08-15 | 2022-09-09 | 农业农村部南京农业机械化研究所 | Method, device and system for detecting droplet distribution of high-flow spray head |
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| CN103323174B (en) * | 2013-06-09 | 2015-02-11 | 东南大学 | Measuring device for needle-free injection jet flow pressure and measuring method thereof |
| CN103323174A (en) * | 2013-06-09 | 2013-09-25 | 东南大学 | Measuring device for needle-free injection jet flow pressure and measuring method thereof |
| CN104019991A (en) * | 2014-06-16 | 2014-09-03 | 西北工业大学 | Liquid drop and solid plate oblique collision testing device |
| CN105372165A (en) * | 2015-12-22 | 2016-03-02 | 东南大学 | Liquid drop diameter distribution measurement method based on hydrophobic material |
| CN105372165B (en) * | 2015-12-22 | 2018-07-17 | 东南大学 | A kind of droplet diameter distribution measurement method based on hydrophobic material |
| CN107702910B (en) * | 2017-10-30 | 2024-03-01 | 陕西中烟工业有限责任公司 | Binary nozzle atomization offline detection and adjustment device and detection and adjustment method |
| CN107702910A (en) * | 2017-10-30 | 2018-02-16 | 陕西中烟工业有限责任公司 | A kind of double base nozzle atomization offline inspection adjusting apparatus and detection method of adjustment |
| CN111474243A (en) * | 2020-04-27 | 2020-07-31 | 上海化工研究院有限公司 | System for measuring slurry concentration in slurry loop reactor |
| CN111474243B (en) * | 2020-04-27 | 2023-11-07 | 上海化工研究院有限公司 | Slurry concentration measuring system in slurry loop reactor |
| CN112730627A (en) * | 2020-12-22 | 2021-04-30 | 上海空间推进研究所 | Injection hole detection system and method based on acoustic measurement |
| CN115034276A (en) * | 2022-08-15 | 2022-09-09 | 农业农村部南京农业机械化研究所 | Method, device and system for detecting droplet distribution of high-flow spray head |
| CN117007475A (en) * | 2023-10-07 | 2023-11-07 | 北京市农林科学院智能装备技术研究中心 | Fogdrop landing behavior detection device |
| CN117007475B (en) * | 2023-10-07 | 2023-12-22 | 北京市农林科学院智能装备技术研究中心 | Fogdrop landing behavior detection device |
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