CN104460683A - Small unmanned helicopter flying method for preventing and eliminating plant frost damage - Google Patents
Small unmanned helicopter flying method for preventing and eliminating plant frost damage Download PDFInfo
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- 238000012360 testing method Methods 0.000 claims description 23
- 241000196324 Embryophyta Species 0.000 claims description 19
- 235000009024 Ceanothus sanguineus Nutrition 0.000 claims description 9
- 240000003553 Leptospermum scoparium Species 0.000 claims description 9
- 235000015459 Lycium barbarum Nutrition 0.000 claims description 9
- 238000013461 design Methods 0.000 claims description 6
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 208000001034 Frostbite Diseases 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protecting plants
- A01G13/06—Devices for generating heat, smoke or fog in gardens, orchards or forests, e.g. to prevent damage by frost
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Abstract
The invention discloses a small unmanned helicopter flying method for preventing and eliminating the plant frost damage, and belongs to the field of agro-meteorological disaster control. The small unmanned helicopter flying method is based on analysis of frost prevention principle of an unmanned helicopter, a regression orthogonal experimental design method is used, the relationship between a flying frost prevention effect and all flying parameters is built, and then the frost prevention flying parameters of the unmanned helicopter are determined. Particularly, a three-level regression orthogonal experiment with the three factors of the flying height, flying speed and flying interval time is designed; by analyzing the experiment result, the importance sequence of the factors on the aspect of functions on the frost prevention effect is the flying interval time, the flying height and the flying speed; the relationship between the flying frost prevention effect and all the flying parameters is that y=1.603-0.063x1+0.117x2-0.013x3, and therefore the optimized parameter combination of frost prevention flying is that the flying height is 4.0 m, the flying speed is 6.0 m.s -1, and the flying interval time is 20 min. The small unmanned helicopter flying method for preventing and eliminating the plant frost damage can largely improve the effect of preventing and eliminating the plant frost damage, and can be used for preventing, eliminating and relieving the plant frost damage from late frost.
Description
Technical field
The present invention relates to agrometeorological hazard Inspect and control field, be specifically related to a kind of technology improving the method for depopulated helicopter preventing frost damage of plant efficiency.
Background of invention
Tealeaves, as a kind of important specialty economies crop of China, has the ecosystem characterization liking warm moisture-proof, but subjects to low temperature stress, mainly plant the Subtropical hill mountain area on the south the Changjiang river.In recent years, China's tealeaves main producing region is attacked by Spring frost continuously in 3 ~ April, lose great.Traditional practice of frost protection has covering, sootiness, heats, pours water, but effect is poor; The frost prevention technology such as water spray and overhead blower fan, because its antifrost effect is obvious, automaticity is high, production obtain certain applications.Overhead frost prevention blower fan according to type size, frost prevention areal extent 1 ~ 4hm
2not etc., but its installation is not mostly fixed to mu, and frost prevention scope is also substantially fixing, is not suitable for low cost large-scale application, and frost preventing machine only uses during cold spell in later spring, causes anniversary utilization rate low.For this reason, one moveable frost preventing machine in tea ridge arises at the historic moment, and obviously it is difficult to be applicable to hilly upland or mountain region.So, a kind of by the restriction of Hills landform less, the method for moveable extensive frost prevention method and depopulated helicopter preventing frost damage of plant has just been born.
Inversion layer is generally present in the certain altitude range in distance ground, and depopulated helicopter rotor is also subject to the restriction of its flying height to the flow perturbation on ground simultaneously, therefore flying height is one of important parameter of depopulated helicopter frost prevention flight.In addition, the size of flying speed and the length of flight interval time also affect the effect of flight frost prevention, efficiency and cost.
Therefore study and how to determine that depopulated helicopter frost prevention flight parameter then has important practice significance, so the invention provides a kind of method determining depopulated helicopter preventing frost damage of plant flight parameter.
Summary of the invention
The object of the present invention is to provide a kind of flying method of small-sized depopulated helicopter preventing frost damage of plant, while guaranteeing to adapt to Hills landform restriction, realize the optimal combination of flight parameter, to improve the effect of small-sized depopulated helicopter preventing frost damage of plant, avoid depopulated helicopter blindly to repeat flight, reduce the depopulated helicopter frost prevention cost of unit area simultaneously.
In order to solve above technical matters, the present invention utilizes Regressive Orthogonal Design method, devises with flying height, flying speed and the flight interval time Regression Orthogonal Experiment that is Three factors-levels; By the analysis to test findings, determine that the effect primary and secondary order of each factor to antifrost effect is followed successively by flight interval time, flying height, flying speed; Set up the relation between flight antifrost effect and each factor.Concrete technical scheme of the present invention is as follows:
A flying method for small-sized depopulated helicopter preventing frost damage of plant, is characterized in that: by the flying height to small-sized depopulated helicopter, flying speed and the flight parameter optimal combination of flight interval time, improves the effect of preventing frost damage of plant;
Described small-sized depopulated helicopter is as follows at the flight parameter combinations in overhead, botanical garden: flying height is 4m, and flying speed is 6ms
-1, the flight interval time is 20min.
Described parameter optimization combined method is realized by following steps:
Step one, designs and implements with flying height, flying speed and the flight interval time Regression Orthogonal Experiment that is factor;
Step 2, according to the test figure of step one, the relation equation set up between flight antifrost effect and each described factor is:
Y=1.603-0.063x
1+ 0.117x
2-0.013x
3, wherein x
1, x
2and x
3be respectively flying height, flying speed and flight interval time; Y is temperature rise, that is flight antifrost effect.
Step 3, is optimized the equation in described step 2 and solves, and obtains small-sized depopulated helicopter in the flight parameter optimal combination in overhead, botanical garden to be: flying height is 4m, and flying speed is 6ms
-1, the flight interval time is 20min.
The main rotor diameter of described small-sized depopulated helicopter is 2.1m, and maximum flying weight is 35kg.
Described plant is any one in tea tree, apple tree, cherry tree, pear tree, peach, orange tree.
Principle of work of the present invention: generally, in near-earth atmosphere convection layer, temperature reduces along with the increase of height, but when cold spell in later spring late frost occurs, in certain altitude range, temperature but raises along with the increase of height, and this phenomenon is inversion.The present invention uses unmanned helicopter flight above inversion layer, by its rotor by below top comparatively warm air forced convertion to inversion layer, to improve tea tree canopy surface temperature, thus avoids or alleviates frost damage; By determining the most optimized parameter combination that depopulated helicopter frost prevention is flown, to improve the frost protection effect of unmanned helicopter flight.
The present invention has beneficial effect: the present invention carries out frost prevention flight by setting optimization frost prevention flight parameter combinations, improve the efficiency of depopulated helicopter preventing frost damage of plant, make plant canopy temperature improve 55% of inversion difference between flying height and earth's surface, reduce the depopulated helicopter frost prevention cost of unit area; In addition effectively can tackling the reasons such as the remote information delay in district to have little time to take practice of frost protection as laid the emergency case of frost prevention blower fan etc. ahead of time, avoiding the heavy economic losses overnight brought by heavy frostbite.
Accompanying drawing explanation
Fig. 1 is depopulated helicopter frost prevention schematic diagram of the present invention;
Fig. 2 is that near-earth temperature test point of the present invention arranges schematic diagram;
Fig. 3 is that tea place of the present invention near-earth temperature changes in time.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further details.
Method of the present invention as shown in Figure 1, uses unmanned helicopter flight above inversion layer, by its rotor by below top comparatively warm air forced convertion to inversion layer, to improve tea tree canopy surface temperature, thus avoids or alleviate frost damage.
For tea tree garden and tea place frost prevention
Facilities and equipments condition: test to step spring tea field (north latitude 32 ° of 01'35 "; east longitude 119 ° of 40'21 ", sea level elevation 18.5m, belongs to level land, hills) in Danyang, Jiangsu Province on March 13rd ~ 14,2014 and carry out, supply examination tea tree breed to be turtledove hole, the age of tree is about 20a.The major equipment that test uses and instrument have: CD-10 type small-sized plant protection depopulated helicopter, its rotor diameter 2100mm, flying speed scope 0 ~ 8ms
-1, maximum flying weight 35kg; KIMO hot-wire anemometer, configures 5 unidirectional probe STV-150, measuring wind speed error be full scale ± 3%; ZDR-3W1S moisture recorder, measurement range-40 ~ 100 DEG C, precision is ± 0.5 DEG C; Be the use of the portable wind gage of NK4000 in addition, measuring accuracy ± 0.1ms
-1, measurement range 0.4 ~ 40.0ms
-1.
Test method
For seeking the reasonable flight parameter of depopulated helicopter tea place frost prevention, be not subject to the place of unmanned helicopter flight interference, laying temperature sensor, ambient temperature change during record test; The linear regression orthogonal experiment that design is Three factors with flying height, flying speed and interval time.
Background inversion testing experiment
This is tested and carries out morning evening to next day on March 13rd, 2014.Be not subject to any region affected of helicopter frost prevention flight, vertical ground places the column of a long 15.0m as shown in Figure 2, and from apart from ground 0.2m on column, arranges 1 ZDR-3W1S humiture registering instrument every 2.0m, layout 9 measuring points, set its every 10min and record 1 temperature altogether.
The Regression Orthogonal Experiment of depopulated helicopter frost prevention flight
From unmanned helicopter flight frost prevention principle analysis, the factor affecting its antifrost effect mainly contains: flying height, flying speed, flight interval time.Here the variation range of selected above-mentioned three factors respectively: flying height 4.0 ~ 10.0m, flying speed 1.0 ~ 6.0ms
-1, interval time 20 ~ 50min.For determining that each factor affects the primary and secondary order of antifrost effect, and set up the relation between flight antifrost effect and each factor, thus determine the Optimal Parameters combination that frost prevention is flown, intend adopting linear regression orthogonal experiment design.
Each level of flying height, flying speed, flight interval time 3 factors is encoded, as shown in table 1.
Table 1 factor level coding schedule
Select suitable orthogonal arrage and design experiment, this experimental selection orthogonal arrage L
8(2
7), do not consider the reciprocation between each factor here, the 3 factor Orthogonal Regression table obtained, as shown in table 2.Wherein test sequence number is the experiment of 8,9, No. 10 is arrangement zero level replica test, and object intends checking the precision improving regression equation by losing.
Table 2 orthogonal test scheme
The enforcement of test, processes number by test tea by table 2, is divided into the fritter that 11 sizes are identical; And 6 groups of ZDR-3W1S moisture recorder are placed at the tea tree canopy place managed throughout, gather the temperature variation of the tea tree canopy implemented before and after each process, get the index of test of temperature rise mean value as this process.All tests process between 13 ~ 14 days March in 2014 and occur that frost is rear night and implement.
Experimental result and analysis
The dynamic change of test background inversion
Duration of test nature wind speed is less, at 0 ~ 0.2ms
-1change in scope, lowest temperature reaches-1.1 DEG C, occurs with the slight Frost's Descent.Be not subject to any region affected of helicopter flight, temperature Change as shown in Figure 3.Post sunset temperature declines rapidly, 17:00 inversion start formed, until morning 6:00, after this because sunrise temperature rises rapidly, about 7:00 inversion disappear.In 22:00 ~ 5:30 period, tea tree canopy place temperature is down to less than 0 DEG C, and site observation has frost to generate.In 18:00 ~ 7:00 period, in the altitude range of 0 ~ 14m, there is inversion lamination, maximum inversion is worse than 21:00 and occurs, is 5.9 DEG C.Frost prevention flight test is carried out between 4:40 ~ 5:50, and now the temperature difference of ground and liftoff 14.0m eminence is 3.8 DEG C.
Flight frost prevention Regression Orthogonal Experiment result
One, the test findings after 11 flight process is implemented, in table 3.
Table 3 flies frost prevention test findings
The regression coefficient being calculated known equation (1) by table 3 is: b
0=1.007, b
1=-0.188, b
2=0.175, b
3=-0.193
Therefore there is following relation between temperature rise and each flight parameter after flight:
y＝1.007-0.188Z
1+0.175Z
2-0.193Z
3(1)
Wherein Z
1, Z
2, Z
3be respectively flying height, flying speed, flight interval time corresponding encoded radio.According to coding formula, can obtain:
From this regression equation partial regression coefficient order of magnitude, the primary and secondary order of each factor impact is: x
3>x
1>x
2, i.e. flight interval time > flying height > flying speed.
Two, regression equation significance test
The results of analysis of variance carried out to regression equation as shown in table 4.
Table 4 variance analysis
Note: F
0.1(1,7)=3.59, F
0.05(1,7)=5.59, F
0.05(3,7)=4.35
Each statistic in table 4 is as follows:
F
1＝6.432>F
0.05
F
2＝5.568>F
0.1
F
3＝6.773>F
0.05
F
return=6.250>F
0.05(3,7)
From assay, all there are appreciable impact flying height, flying speed, flight interval time to temperature rise index, and the equation set up is significant.
Will
Substitution formula (1) obtains the equation of natural variable:
y＝1.603-0.063x
1+0.117x
2-0.013x
3(2)
Three, equation loses the property intended inspection
By to the error of 3 zero level tests and the calculating of mistake matching quadratic sum, finally obtain F
lf=8.093.
Due to F
lf=8.093<F
0.1(5,2)=9.33, therefore it is remarkable to lose plan, regression model and actual conditions matching obtain very well.Therefore, in depopulated helicopter frost prevention process, the available formula of the impact of each flight parameter on antifrost effect (2) represents.
Four, equation Optimization Solution
In order to obtain best flight parameter combinations, adopt single factor test Changli Golden Beach nature preserve, namely calculated by MATLAB Programming with Pascal Language, be optimized regression equation (2) and solve, final optimization pass result is:
Work as x
1=4.0, x
2=6.0, x
3when=20, maximal value y=1.8, namely when flying height be 4.0m, flying speed is 6.0m.s
-1during flight interval time 20min, after flight, temperature rise is 1.8 DEG C to the maximum.
Experimental result shows, utilizes flight parameter combinations of the present invention to carry out flight and has better antifrost effect.
Claims (4)
1. a flying method for small-sized depopulated helicopter preventing frost damage of plant, is characterized in that: by the flying height to small-sized depopulated helicopter, flying speed and the flight parameter optimal combination of flight interval time, improves the effect of preventing frost damage of plant;
Described small-sized depopulated helicopter is as follows at the flight parameter combinations in overhead, botanical garden: flying height is 4m, and flying speed is 6ms
-1, the flight interval time is 20min.
2. the flying method of a kind of small-sized depopulated helicopter preventing frost damage of plant according to claim 1, is characterized in that described parameter optimization combined method is realized by following steps:
Step one, designs and implements with flying height, flying speed and the flight interval time Regression Orthogonal Experiment that is factor;
Step 2, according to the test figure of step one, the relation equation set up between flight antifrost effect and each described factor is:
Y=1.603-0.063x
1+ 0.117x
2-0.013x
3, wherein x
1, x
2and x
3be respectively flying height, flying speed and flight interval time; Y is temperature rise, that is flight antifrost effect;
Step 3, is optimized the equation in described step 2 and solves, and obtains small-sized depopulated helicopter in the flight parameter optimal combination in overhead, botanical garden to be: flying height is 4m, and flying speed is 6ms
-1, the flight interval time is 20min.
3. the flying method of a kind of small-sized depopulated helicopter preventing frost damage of plant according to claim 1, is characterized in that: the main rotor diameter of described small-sized depopulated helicopter is 2.1m, and maximum flying weight is 35kg.
4. the flying method of a kind of small-sized depopulated helicopter preventing frost damage of plant according to claim 1, is characterized in that: described plant is any one in tea tree, apple tree, cherry tree, pear tree, peach, orange tree.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410620814.5A CN104460683A (en) | 2014-11-06 | 2014-11-06 | Small unmanned helicopter flying method for preventing and eliminating plant frost damage |
| PCT/CN2015/093568 WO2016070763A1 (en) | 2014-11-06 | 2015-11-02 | Method for flying small unmanned helicopter to prevent and eliminate frost damage to plants |
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|---|---|---|---|
| CN201410620814.5A CN104460683A (en) | 2014-11-06 | 2014-11-06 | Small unmanned helicopter flying method for preventing and eliminating plant frost damage |
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| Publication Number | Publication Date |
|---|---|
| CN104460683A true CN104460683A (en) | 2015-03-25 |
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| WO (1) | WO2016070763A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016070763A1 (en) * | 2014-11-06 | 2016-05-12 | 江苏大学 | Method for flying small unmanned helicopter to prevent and eliminate frost damage to plants |
| CN106069415A (en) * | 2016-05-31 | 2016-11-09 | 江苏大学 | A kind of agricultural frost prevention group of planes method for arranging |
| CN111758465A (en) * | 2020-07-11 | 2020-10-13 | 浙江极客桥智能装备股份有限公司 | Tea frost prevention method and system based on unmanned aerial vehicle |
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| US3067541A (en) * | 1960-10-10 | 1962-12-11 | American Liquid Gas Corp | Agricultural method and apparatus for heating, treating, and circulating air |
| US4644683A (en) * | 1985-07-12 | 1987-02-24 | Jones Darrell R | Method and apparatus for enhancing the pollination of alfalfa |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104460683A (en) * | 2014-11-06 | 2015-03-25 | 江苏大学 | Small unmanned helicopter flying method for preventing and eliminating plant frost damage |
-
2014
- 2014-11-06 CN CN201410620814.5A patent/CN104460683A/en active Pending
-
2015
- 2015-11-02 WO PCT/CN2015/093568 patent/WO2016070763A1/en active Application Filing
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| US4644683A (en) * | 1985-07-12 | 1987-02-24 | Jones Darrell R | Method and apparatus for enhancing the pollination of alfalfa |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016070763A1 (en) * | 2014-11-06 | 2016-05-12 | 江苏大学 | Method for flying small unmanned helicopter to prevent and eliminate frost damage to plants |
| CN106069415A (en) * | 2016-05-31 | 2016-11-09 | 江苏大学 | A kind of agricultural frost prevention group of planes method for arranging |
| CN111758465A (en) * | 2020-07-11 | 2020-10-13 | 浙江极客桥智能装备股份有限公司 | Tea frost prevention method and system based on unmanned aerial vehicle |
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|---|---|
| WO2016070763A1 (en) | 2016-05-12 |
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Effective date of registration: 20151204 Address after: Tang Lu Honglan town Lishui District Nanjing City, Jiangsu Province, China 211219 (Industrial Park) Applicant after: NANJING FENGGONG AGRICULTURAL SCIENCE AND TECHNOLOGY CO., LTD. Applicant after: Jiangsu University Address before: 212013 Zhenjiang City, Jiangsu Province University Road, No. 301 Applicant before: Jiangsu University |
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Address after: 212013 Zhenjiang City, Jiangsu Province University Road, No. 301 Applicant after: Jiangsu University Applicant after: NANJING FENGGONG AGRICULTURAL SCIENCE AND TECHNOLOGY CO., LTD. Address before: Tang Lu Honglan town Lishui District Nanjing City, Jiangsu Province, China 211219 (Industrial Park) Applicant before: NANJING FENGGONG AGRICULTURAL SCIENCE AND TECHNOLOGY CO., LTD. Applicant before: Jiangsu University |
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Application publication date: 20150325 |