CN105882969A

CN105882969A - Automatic profile-modeling spraying device and angle adjustment method of agricultural aviation crop protection machine

Info

Publication number: CN105882969A
Application number: CN201610192065.XA
Authority: CN
Inventors: 祁力钧; 吴亚垒; 杨知伦; 高春花; 杜政伟; 曹军琳
Original assignee: China Agricultural University
Current assignee: China Agricultural University
Priority date: 2016-03-30
Filing date: 2016-03-30
Publication date: 2016-08-24
Anticipated expiration: 2036-03-30
Also published as: CN105882969B

Abstract

The invention belongs to the field of agricultural aviation crop protection and relates to an automatic profile-modeling spraying device and angle adjustment method of an agricultural aviation crop protection machine. The automatic profile-modeling spraying device and the angle adjustment method aim at solving the problem that crops are in gradient type inclined distribution due to biological contour characteristics of inclination of a crop crown and the terrain, and a machine body is inclined when turning, so that spraying is not conducted uniformly. By means of the automatic spray boom angle adjustment method of the aviation crop protection machine, a mathematic model with the inclination angle of the machine body equal to the reverse deflection angle of adjustment of a spray boom or with included angle between the surface of a profile-modeling crop and the ground equal to the reverse deflection angle of adjustment of the spray boom is established, and the angle of the spray boom is adjusted automatically through the model, so that the automatic profile-modeling spraying device achieves the effects of conducting profile-modeling on the contour of the crop crown and improving spraying uniformity. By detecting such factors as biological characteristics, geographical factors and machine body inclination, spray boom angle adjustment applicable to the complex environmental condition is instructed to be designed, the effects of applying less pesticide and applying pesticide better are achieved, spraying uniformity is improved, the coverage rate is raised, and the utilization rate of pesticide is raised.

Description

Automatic profiling spraying device of agricultural aviation plant protection machine and angle adjusting method thereof

Technical Field

The invention belongs to the field of agricultural aviation plant protection, and particularly relates to an automatic profiling spraying device of an agricultural aviation plant protection machine and an angle adjusting method thereof.

Background

There are many factors that affect the uniformity of aerial spray. As far as aviation plant protection liquid medicine spraying machine fixed spray lance now, must produce very big influence to spraying homogeneity under the following condition: first, the terrain causes the crop to be distributed in a "gradient-like" or sloping (hereinafter collectively referred to as gradient) slope. Because the gradient distribution of crops that ground slope caused, if agricultural aviation plant protection machine spray lance angle is not adjustable, must lead to agricultural aviation plant protection machine to cause the droplet to distribute inhomogeneously during operation. Second, the biological profile characteristics of different crops. When the agricultural aviation plant protection machine works in an orchard or a tea garden, the crown has obvious inclined surfaces, such as citrus trees, tea trees and the like. Considering the situation that the airframe of the agricultural aviation plant protection machine does not incline, if the angle of the spray rod is not adjustable, the pesticide is applied only from the upper part of the tree crown, and then the phenomenon of serious pesticide application unevenness is caused. And thirdly, the body of the agricultural aviation plant protection machine inclines. In the pesticide application operation of the agricultural aviation plant protection machine, the inclination phenomenon of the machine body caused by the turning process of the airplane in the field cannot be avoided, or the inclination phenomenon of the machine body caused by improper operation of an operator often occurs, and if the spray rod of the agricultural aviation plant protection machine is not adjustable, the pesticide application uniformity can be greatly influenced.

Disclosure of Invention

The invention aims to provide an automatic profiling spraying device for improving the spraying uniformity of agricultural aviation plant protection.

The invention also aims to provide an angle adjusting method of the agricultural aviation plant protection automatic profiling spraying device, which improves the spraying uniformity and coverage rate and improves the utilization rate of chemical pesticides.

In order to achieve the purpose, the invention provides the following technical scheme:

the invention provides an automatic profiling spraying device of an agricultural aviation plant protection machine, which comprises a machine body support 1 and a spray rod 13, and further comprises a T-shaped bending rod arm 12, a spray rod angle adjusting device, a data acquisition device and a control device; the machine body bracket 1 is provided with an upper supporting plate 2 and a lower supporting plate 14; the T-shaped bending lever arm 12 is provided with a horizontal part, a vertical part and a bending point, wherein the lower end of the vertical part of the T-shaped bending lever arm 12 is vertically and fixedly connected with the spray rod 13; one end of a hanging arm 10 is vertically and fixedly connected with the middle part of the upper supporting plate 2, and the other end of the hanging arm 10 is movably connected with a bending point of a T-shaped bending lever arm 12 through a movable pin shaft 11; the spray rod angle adjusting device comprises a stepping motor 3, a coupler 4, a screw rod 5, a sliding block 6, a square tube sliding block 7, a movable bolt 8 and a guide rod 9; the stepping motor 3 is fixedly connected to the upper supporting plate 2, the output end of the stepping motor 3 is connected with one end of a lead screw 5 through a coupler 4, and the other end of the lead screw 5 is mounted on a lower supporting plate 14 through a bearing assembly; the guide rod 9 is of a double-rod structure, is parallel to the screw rod 5 and is vertically arranged between the upper support plate 2 and the lower support plate 14; the sliding block 6 is provided with three parallel through long holes in the vertical direction; the central through long hole is provided with an internal thread, and the screw rod 5 penetrates through the central through long hole provided with the internal thread and is in threaded connection with the sliding block 6; the through long holes on the two sides are used for the guide rod 9 to pass through, and the guide rod 9 and the sliding block 6 form sliding connection; an internal thread blind hole 61 is formed in the center of the outer side of the sliding block 6; the square tube sliding block 7 is a hollow square tube; the horizontal part of the T-shaped bending lever arm 12 penetrates through the square tube sliding block 7 and is in sliding connection with the square tube sliding block 7, and a connecting hole is formed in the tube wall of the center position of the inner side of the square tube sliding block 7; the movable bolt 8 is arranged between the sliding block 6 and the square tube sliding block 7, one end of the movable bolt 8 is in threaded connection with the internal thread blind hole 61 of the sliding block 6, and the other end of the movable bolt 8 is in rotary connection with the connecting hole in the square tube sliding block 7; the data acquisition device comprises a left laser sensor 16, a right laser sensor 17, an angle displacement sensor 19 and a speed sensor 20; the left laser sensor 16 and the right laser sensor 17 are arranged at the left end and the right end of the spray rod 13; the angular displacement sensor 19 is arranged on a bending point of the T-shaped bending lever arm 12; the speed sensor 20 is arranged on the spray rod 13; the control device controls the operation of the stepping motor 3 according to the data acquired by the data acquisition device.

Preferably, two reinforcing plates 15 are symmetrically arranged between the vertical part of the "T" shaped bending lever arm 12 and the spray bar 13, one end of each reinforcing plate 15 is fixedly connected with the vertical part of the "T" shaped bending lever arm 12 through a bolt 18, and the other end of each reinforcing plate 15 is fixedly connected to the spray bar 13 through a fixing clamp 21.

The initial position of the slide 6 is located at half the position of the screw 5 and the guide rod 9.

Preferably, the spraying device further comprises a left limit rod switch 33 and a right limit rod switch 32, the left limit rod switch 33 and the right limit rod switch 32 are respectively and vertically and fixedly connected to the left side and the right side of the hanging arm 10, and the left limit rod switch 33 and the right limit rod switch 32 are located on the same straight line.

The control device comprises a controller 31, an output end unit 30, a right laser sensor unit 26, a left laser sensor unit 28, an angle displacement sensor unit 25, a speed sensor unit 27 and a test unit 29; the right laser sensor unit 26 is connected with the right laser sensor 17; the left laser sensor unit 28 is connected to the left laser sensor 16; the angular displacement sensor unit 25 is connected to the angular displacement sensor 19; the speed sensor unit 27 is connected to the speed sensor 20; the input end of the controller 31 is respectively connected with the right laser sensor unit 26, the left laser sensor unit 28, the angle displacement sensor unit 25 and the speed sensor unit 27, and the output end is connected with the output end unit 30; the output end unit 30 is connected with the stepping motor 3; the test unit 29 is connected to a controller 31.

The angle adjusting device also comprises a left laser sensor stepping motor 23 and a right laser sensor stepping motor 24; the left laser sensor stepping motor 23 and the right laser sensor stepping motor 24 are respectively arranged at the left end and the right end of the spray rod 13 and are respectively connected with the left laser sensor 16 and the right laser sensor 17.

The left laser sensor 16 and the right laser sensor 17 can be replaced by ultrasonic sensors.

The invention provides an angle adjusting method of an automatic profiling spraying device of an agricultural aviation plant protection machine, which comprises a machine body inclined profiling mode and comprises the following steps:

a. adjusting the left laser sensor 16 and the right laser sensor 17 to be perpendicular to the ground 22, that is, making the forward tilt angle β of the left laser sensor 16 and the right laser sensor 17 equal to 0;

b. the left laser sensor 16 and the right laser sensor 17 collect data in real time, transmit the data to the test unit 29, and process and judge the data; if M ≦ L₁If W is less than or equal to L, the spray rod is adjusted, otherwise, the spray rod is not adjusted, wherein L₁Is the difference between the distances from the left laser sensor 16 and the right laser sensor 17 to the projection points thereof, and M and W are L₁Lower and upper limits of (2); at the same time, the angular displacement sensor 19 is turned on;

c. through L₃＞L₄Determines the adjustment of the spray bar if L₃＞L₄If the body is in the right inclined state, the right inclined spray rod of the body is adjusted, and if L is the right inclined spray rod₃＜L₄If the machine body is judged to be in a left inclined state, adjusting the left inclined spray rod of the machine body; then the test unit 29 sends a control signal to the control unit 31, and the control unit 31 drives the stepping motor 3 to drive the lead screw 5 to rotate, so that the threaded sliding block 6 moves; meanwhile, the square tube sliding block 7 drives the T-shaped bending lever arm 12 to rotate; wherein L is₃Distance from the left laser sensor 16 to its projection point; l is₄The distance from the right laser sensor 17 to its projection point;

d. after the angle displacement sensor 19 is started, initializing the angle displacement sensor 19, setting the angle count to 0, and starting to acquire angle displacement data; calculating an angle parameter of a spray rod recognition algorithm according to the established mathematical model, and then continuously detecting and correcting by using the angle displacement sensor 19, so that the controller 31 controls the stepping motor 3 to rotate through the output end unit 30;

the above mathematical model is:

L₁＝|L₃-L₄|

&angle; α_{1} = arc t a n \frac{L_{1}}{L_{2}}

∠α₁＝∠α₂

wherein,

L₁the difference between the distances from the left laser sensor 16 and the right laser sensor 17 to the projection points thereof respectively;

L₂the length of spray bar 13;

L₃distance from the left laser sensor 16 to its projection point;

L₄the distance from the right laser sensor 17 to its projection point;

∠α₁is the inclination angle of the machine body;

∠α₂a reverse deflection angle adjusted for spray bar 13;

e. ∠α is carried out after the angular displacement sensor 19 is continuously detected and corrected₁＝∠α₂When ∠α is judged₁≠∠α₂Meanwhile, the stepping motor 3 continues to rotate, and the angular displacement sensor 19 continues to acquire angular displacement data until ∠α₁＝∠α₂So far as ∠α₁＝∠α₂When the inclined copying of the machine body is finished, the stepping motor 3 stops rotating, and the position of the T-shaped bending lever arm 12 after the inclined copying of the machine body is finished is used as the angular displacement reference point of the next inclined copying of the machine body.

The invention provides an angle adjusting method of an automatic copying spraying device of an agricultural aviation plant protection machine, which comprises a crop copying mode and comprises the following steps:

a. adjusting the left laser sensor 16 and the right laser sensor 17 to incline forwards, so that the inclination angle beta of the left laser sensor 16 and the right laser sensor 17 is larger than 0;

b. left laser sensor 16 and right laser sensor 17 collect in real timeData, and transmits the data to the test unit 29, and processes and judges the data; if M ≦ L₀If W is less than or equal to I, the inclination adjustment is carried out, otherwise, the inclination adjustment is not carried out, wherein L₀Vertical distance from high end to low end of profiled crop, M and W being L₀Lower and upper limits of (2); at the same time, the angular displacement sensor 19 is turned on;

c. through L₃＞L₄Determines the adjustment of the spray bar if L₃＞L₄Judging whether the crop crown is high at the right side or low at the left side, adjusting the left inclination of the spray rod, and if L is judged₃＜L₄If the crop tree crown is judged to be high on the left and low on the right, the spray rod is adjusted to be inclined on the right; then the test unit 29 sends a control signal to the control unit 31, and the control unit 31 drives the stepping motor 3 to drive the lead screw 5 to rotate, so that the threaded sliding block 6 moves; meanwhile, the square tube sliding block 7 drives the T-shaped bending lever arm 12 to rotate; wherein L is₃Distance from the left laser sensor 16 to its projection point; l is₄The distance from the right laser sensor 17 to its projection point;

d. after the angular displacement sensor 19 is started, the angular displacement sensor 19 is initialized, the angle count is set to 0, and the acquisition of angular displacement data is started; calculating an angle parameter of a spray rod recognition algorithm according to the established mathematical model, and then continuously detecting and correcting by using the angle displacement sensor 19, so that the controller 31 controls the stepping motor 3 to rotate through the output end unit 30;

the mathematical model is as follows:

L₀＝|L₃-L₄|×cosβ

L₀＝L₁×cosβ

&angle; α_{3} = a r c t a n \frac{L_{0}}{L_{2}}

h＝Min(L₃cosβ,L₄cosβ)

T_{1} = \frac{h \times t a n β}{ν}

T₁＝T₂

∠α₃＝∠α₂

L₀the vertical distance from the high end to the low end of the profiling crop;

L₂the length of spray bar 13;

L₃distance from the left laser sensor 16 to its projection point;

L₄the distance from the right laser sensor 17 to its projection point;

h is the shortest spraying distance of the crops;

∠α₃is the included angle between the profiling crop and the ground;

∠α₂a reverse deflection angle adjusted for spray bar 13;

T₁delay time for laser sensor acquisition and spray rod adjustment processing;

T₂processing time is adjusted for laser sensor acquisition and a spray rod;

e. ∠α is carried out after the angular displacement sensor 19 is continuously detected and corrected₃＝∠α₂When ∠α is judged₃≠∠α₂In the meantime, the stepping motor 3 continues to rotate, and the angular displacement sensor 19 continues to pickCollecting angular displacement data until ∠α₃＝∠α₂So far as ∠α₃＝∠α₂When the crop copying is finished, the stepping motor 3 stops rotating, and the position of the T-shaped bending lever arm 12 after the crop copying is finished is used as the angular displacement reference point of the next crop copying.

Compared with the prior art, the invention has the beneficial effects that:

the method disclosed by the invention can be used for automatically adjusting the angle of the spray rod in time so as to adapt to the ground slope, the inclination of a machine body or the crown characteristics of fruit trees and the like, improve the distribution uniformity of fog drops and provide a theoretical basis for guiding the design of profiling spraying by further combining a spray rod angle adjusting method.

An important feature of the present invention is the provision for adjusting the level of the boom to ∠α depending on the angle of inclination of the fuselage₁Equal to the reverse deflection angle ∠α of the spray bar adjustment₂And the angle ∠α between the copying crop and the ground₃Equal to the reverse deflection angle ∠α of the spray bar adjustment₂The mathematical idea of (2) is combined with the distance measurement principle of a laser sensor and the real-time feedback and correction mechanism of an angular displacement sensor, and ∠α is utilized₁＝∠α₂And ∠α₃＝∠α₂The spray rod has timely, automatic and adjustable functions, and is suitable for multiple and complex environments, so that more uniform spraying is performed.

Meanwhile, the invention firstly considers that the two laser sensors collect data in real time and transmit the data to the control device, so that the control device can continuously send signals to the output device, the spray rod is very easy to continuously adjust the left inclination and the right inclination in the air, the spray distribution is more uneven, and the spray rod and the wings are ensured not to interfere. Based on this, in the body tilt profile mode, the conditions for setting the program to regulate the spray bar are: l is less than or equal to M₁The inclination adjustment is carried out when the angle is less than or equal to W, otherwise, the inclination adjustment is not carried out, wherein, L₁Is the difference between the distances from the two laser sensors to the projection point, and M and W are L₁Lower and upper limit values of (1), (b), (c), (dThe lower limit value is not necessarily 0), and the specific value is set according to the length of the spray rod 13 and the amplitude of the shaking of the machine body and the fluctuation degree of the ground crop canopy. In the crop profiling mode, the conditions for setting the program to regulate the spray bar are: l is less than or equal to M₀If W is less than or equal to I, the inclination adjustment is carried out, otherwise, the inclination adjustment is not carried out, wherein L₀- -is the vertical distance from the high end to the low end of the profiled crop, M and W are L₀The specific value is set according to the length of the spray rod 13 and the comprehensive shaking amplitude of the machine body and the fluctuation degree of the ground crop canopy.

Secondly, average operation processing is carried out on three groups of data which are collected by two laser sensors latest to obtain a group of average data, and the group of average data is processed through a mathematical algorithm model to obtain ∠α₃And then an angular displacement sensor is used for carrying out real-time feedback and displacement correction on the control device. Finally, the delay time T of the acquisition and processing of the laser sensor during the profiled spraying process is taken into account₁Therefore, the forward inclination angle β of the laser sensor is used to measure the shortest spraying distance h and the airplane speed v of the crop by the left and right laser sensors 16, 17 and the speed sensor 20, and the results are put into the formulaT₁＝T₂Calculating the time T of the spray rod adjustment₂The corresponding forward tilt angle β is set to ensure that the spray bar automatically adjusts to level, which is more accurate and reliable.

Drawings

FIG. 1 is a schematic structural view of an automatic profiling spraying device of an agricultural aviation plant protection machine of the invention;

FIG. 2 is a schematic structural view of a slider 6 according to the present invention;

FIG. 3a is a schematic view of the spray bar 13 in a fuselage lean profile mode with the fuselage tilted to the left;

FIG. 3b is a schematic view of the horizontal adjustment of the left inclined spray bar 13 in the tilting profile mode of the fuselage;

FIG. 3c is a schematic view of the spray bar 13 in the fuselage lean profiling mode with the fuselage left tilted-back horizontal;

FIG. 3d is a schematic view of the horizontal adjustment of the left tilting-restoring horizontal lance 13 of the fuselage in the tilting profile mode;

FIG. 4a is a schematic view of the spray bar 13 in a fuselage lean profile mode with the fuselage tilted to the right;

FIG. 4b is a schematic view of the horizontal adjustment of the right tilting boom 13 of the fuselage in the tilting profile mode of the fuselage;

FIG. 4c is a schematic view of the spray bar 13 in the fuselage lean profiling mode with the fuselage tilted right-back horizontal;

FIG. 4d is a schematic diagram showing the leveling of the lance 13 during the right tilting-leveling of the fuselage in the tilting profile mode;

FIG. 5a is a schematic view of the spray bar 13 in a crop profiling mode with the crop crowns higher on the left and lower on the right;

FIG. 5b is a schematic diagram of the profiling state of the spray bar 13 when the crop crown is high at the left and low at the right in the crop profiling mode;

FIG. 6a is a schematic view of the spray bar 13 in a crop profiling mode with the crop crown at a high right and a low left;

FIG. 6b is a schematic diagram of the profiling state of the spray bar 13 when the crop crown is high at the right and low at the left in the crop profiling mode;

FIG. 7a is a flow chart of the automatic adjustment of the spray bar for the fuselage lean profile mode of the present invention;

fig. 7b is a flow chart of the present invention for automatic adjustment of the spray bar in the crop profiling mode.

Wherein the reference numerals are:

1 machine body support 2 upper support plate

3 step motor 4 shaft coupling

5 leading screw 6 slide block

61 internal thread blind hole 7 square tube slider

8 movable bolt 9 guide bar

10 hang arm 11 activity round pin axle

12 'T' shaped bending lever arm 13 spray rod

14 lower support plate 15 reinforcing plate

16 left laser sensor and 17 right laser sensor

18-bolt 19-angle displacement sensor

20 speed sensor 21 fixing clip

22 ground 23 left laser sensor stepping motor

24 right laser sensor stepping motor 25 angle displacement sensor unit

26 right laser sensor unit 27 speed sensor unit

28 left laser sensor unit 29 test unit

30 output terminal unit 31 controller

32 right limit rod switch and 33 left limit rod switch

Forward tilt angle of beta left laser sensor 16 and right laser sensor 17

L₀-vertical distance from high end to low end of profiled crop

L₁The difference of the distances from the left laser sensor 16 and the right laser sensor 17 to the projection points thereof respectively

L₂Length of spray bar 13

L₃Distance from left laser sensor 16 to its projection point

L₄Distance from right laser sensor 17 to its projection point

h shortest spray distance of crop

Speed of flight for v aircraft

∠α₁Inclination angle of fuselage

∠α₂Adjustable counter deflection angle of spray bar 13

∠α₃Angle between profiled crop and ground 22

End point of the E left laser sensor 16

Projected spot of the E' left laser sensor 16

End point of the F right laser sensor 17

Projected point of F' right laser sensor 17

A. B, C, D, G, H, A ', B', C ', D', G ', H' drawing auxiliary points (mathematical symbols)

Detailed Description

Aiming at the problem of uneven spraying caused by the characteristics of gradient-type inclined distribution of crops, inclination of a machine body and the like due to the biological appearance characteristics of inclination of crop crowns and terrain, a mathematical model with the inclination angle of the machine body equal to the reverse deflection angle of the spray rod adjustment and the included angle between the surface of a copying crop and the ground equal to the reverse deflection angle of the spray rod adjustment is respectively established by a method for automatically adjusting the angle of the spray rod of an aviation plant protection machine, and the model is used for controlling the automatic adjustment of the angle of the spray rod, so that the designed device for automatically adjusting the angle of the spray rod achieves the effect of improving the spraying uniformity.

The invention discloses an automatic profiling spray rod of an agricultural unmanned aerial vehicle, which is based on the biological appearance characteristics of crops, the gradient distribution of the crops caused by the topography and the relative gradient caused by the inclination of a machine body. In the aviation spraying process of the agricultural unmanned aerial vehicle, the biological appearance characteristics of crops, the gradient distribution of the crops, the relative gradient caused by the inclination of the machine body and the like have great influence on the distribution uniformity of droplets.

The invention is further illustrated with reference to the following figures and examples.

Fig. 1 is a schematic structural diagram of an automatic profiling spraying device of an agricultural aviation plant protection machine. The spraying device comprises a machine body support 1, a T-shaped bending lever arm 12, a spray rod 13, a spray rod angle adjusting device, a data acquisition device and a control device.

The machine body support 1 is fixedly connected to a machine body chassis (not shown) of the agricultural aviation plant protection machine, and the machine body support 1 is provided with an upper support plate 2 and a lower support plate 14.

The T-shaped bending lever arm 12 is provided with a horizontal part, a vertical part and a bending point, wherein the lower end of the vertical part of the T-shaped bending lever arm 12 is vertically and fixedly connected with the spray rod 13. One end of a hanging arm 10 is vertically and fixedly connected with the middle part of the upper supporting plate 2, and the other end of the hanging arm 10 is movably connected with a bending point of a T-shaped bending lever arm 12 through a movable pin shaft 11.

Preferably, two reinforcing plates 15 are symmetrically arranged between the vertical part of the "T" shaped bending lever arm 12 and the spray bar 13, one end of each reinforcing plate 15 is fixedly connected with the vertical part of the "T" shaped bending lever arm 12 through a bolt 18, and the other end of each reinforcing plate 15 is fixedly connected to the spray bar 13 through a fixing clip 21.

Wherein, spray lance angle adjusting device includes step motor 3, shaft coupling 4, lead screw 5, slider 6, square pipe slider 7, movable bolt 8 and guide bar 9. Step motor 3 fixed connection is on last backup pad 2, and step motor 3's output passes through shaft coupling 4 and is connected with the one end of lead screw 5, and the other end of lead screw 5 passes through the bearing assembly and installs on backup pad 14 down, and lead screw 5 has the auto-lock characteristic. The guide rod 9 is of a double-rod structure, is parallel to the screw rod 5 and is vertically arranged between the upper supporting plate 2 and the lower supporting plate 14.

As shown in fig. 2, the slider 6 is provided with three parallel through-long holes in the vertical direction. The central through long hole is provided with an internal thread, and the screw rod 5 penetrates through the central through long hole provided with the internal thread and is in threaded connection with the sliding block 6; the through long holes on the two sides are used for the guide rod 9 to pass through, and the guide rod 9 and the sliding block 6 form sliding connection. The outer side center position of the slide block 6 is provided with an internal thread blind hole 61. The square tube slide block 7 is a hollow square tube. The horizontal part of the T-shaped bending lever arm 12 penetrates through the square tube sliding block 7 and is in sliding connection with the square tube sliding block 7. The pipe wall of the inner side center position of the square pipe sliding block 7 is provided with a connecting hole.

The movable bolt 8 is arranged between the sliding block 6 and the square tube sliding block 7, one end of the movable bolt 8 is in threaded connection with the inner thread blind hole 61 of the sliding block 6, and the other end of the movable bolt is in rotating connection with the connecting hole in the square tube sliding block 7.

When the stepping motor 3 drives the screw rod 5 to do spiral motion, the sliding block 6 drives the square tube sliding block 7 to do linear motion along the length direction of the guide rod 9; meanwhile, the square tube sliding block 7 rotates by taking the movable bolt 8 as a rotating shaft, so that the T-shaped bending lever arm 12 rotates around the hanging arm 10 through the movable pin shaft 11. Meanwhile, the spray rod 13 fixedly connected with the vertical part of the T-shaped bending lever arm 12 and additionally connected through the reinforcing plate 15 rotates under the driving of the T-shaped bending lever arm 12 to rotate obliquely left and right, so that the purposes of profiling and adjusting the inclined machine body are achieved.

Preferably, the spraying device further comprises a left limit rod switch 33 and a right limit rod switch 32, the left limit rod 33 and the right limit rod 32 are respectively and vertically and fixedly connected to the left side and the right side of the hanging arm 10, and the left limit rod 33 and the right limit rod 32 are located on the same straight line.

When the mechanical contacts of the left limit lever switch 33 and the right limit lever switch 32 contact the horizontal portion of the "T" shaped bending lever arm 12, the stepping motor 3 stops rotating to protect the stepping motor 3 switch from being damaged.

The data acquisition device comprises a left laser sensor 16, a right laser sensor 17, an angle displacement sensor 19 and a speed sensor 20.

Left and right laser sensors 16 and 17 are provided at the left and right ends of the spray bar 13.

An angular displacement sensor 19 is arranged at the bending point of the "T" shaped bending lever arm 12.

The angular displacement sensor 19 is used to collect angular displacement data and is arranged at the bending point of the "T" shaped bending lever arm 12, and the angular displacement sensor 19 counts once every time the bending point rotates by 1 °. When the angular displacement sensor 19 is initialized, its count value is set to 0, and when the angular displacement sensor 19 is set to rotate in the forward direction or the reverse direction in programming, the count is regularly increased with the angle of rotation.

A speed sensor 20 is provided on the spray bar 13.

The control device comprises a controller 31, an output end unit 30, a right laser sensor unit 26, a left laser sensor unit 28, an angle displacement sensor unit 25, a speed sensor unit 27 and a test unit 29.

The right laser sensor unit 26 is connected with the right laser sensor 17; the left laser sensor unit 28 is connected to the left laser sensor 16; the angular displacement sensor unit 25 is connected to the angular displacement sensor 19; the speed sensor unit 27 is connected to the speed sensor 20.

The input end of the controller 31 is respectively connected with the right laser sensor unit 26, the left laser sensor unit 28, the angle displacement sensor unit 25 and the speed sensor unit 27, and the output end is connected with the output end unit 30; the output terminal unit 30 is connected to the stepping motor 3.

The test unit 29 is connected with the controller 31, the test unit 29 calculates the angle parameters of the spray rod recognition algorithm according to the real-time collected measurement data of the left laser sensor 16 and the right laser sensor 17 and the established mathematical model, and then the angle parameters are continuously detected and corrected by the angular displacement sensor 19, so that the controller 31 controls the stepping motor 3 to rotate through the output end unit 30, the spray rod 13 adjusts the inclination of the machine body, the profiling is carried out on the appearance biological characteristics of different crops, and the effect of uniformly spraying the ground crops is achieved.

Preferably, the left and right ends of the spray rod 13 are further provided with a left laser sensor stepping motor 23 and a right laser sensor stepping motor 24, respectively, and are connected with the left laser sensor 16 and the right laser sensor 17, respectively.

The control device further comprises a laser sensor stepping motor control unit (not shown) for controlling the rotation of the left laser sensor stepping motor 23 and the right laser sensor stepping motor 24, and adjusting the forward tilting angle beta of the laser sensor, wherein the angle adjusting range is that beta is more than or equal to 0 degree and less than or equal to 45 degrees.

The laser sensor in the invention is one of the distance measuring sensors, and the left laser sensor 16 and the right laser sensor 17 can be replaced by ultrasonic sensors.

The invention provides an angle adjusting method of an automatic copying spraying device of an agricultural aviation plant protection machine.

According to the biological appearance characteristic of the inclination of the crown of the crop, the gradient-type inclination distribution of the crop caused by the topography and the inclination of the machine body, an automatic profiling mode is selected: when the working area is small and the agricultural aviation plant protection machine needs to frequently perform the inclination action of the machine body in the turning process in the field; or when the biological appearance of the crop crown is relatively flat, the inclined copying mode of the machine body is selected. In the fuselage inclination profiling mode, when the aerial plant protection aircraft normally flies without deviation, the flight direction is parallel to the ground 22, the left turn of the fuselage is defined as the left inclination of the fuselage, and the right turn of the fuselage is defined as the right inclination of the fuselage; when the working area is large, the agricultural aviation plant protection machine can keep stable flight for a long time, and the biological appearance of the crop crowns is uneven, a crop profiling mode is selected. In the crop profiling mode, when the crop crown is high at the left and low at the right, the downward inclination profiling of the right end of the spray rod is defined as the right inclination of the spray rod; the left end of the spray rod inclines downwards when the crop tree crown is higher at the right side and lower at the left side, and the profiling is defined as the left inclination of the spray rod.

1. As shown in fig. 7a, when the body inclination profile mode is selected, the angle adjustment method of the automatic profile spraying device of the agricultural aerial plant protection machine comprises the following steps:

b. the left laser sensor 16 and the right laser sensor 17 collect data in real time, transmit the data to the test unit 29, and process and judge the data; if M ≦ L₁If W is less than or equal to L, the spray rod is adjusted, otherwise, the spray rod is not adjusted, wherein L₁Is the difference between the distances from the left laser sensor 16 and the right laser sensor 17 to the projection points thereof, and M and W are L₁The specific values of M and W are set according to the length of the spray lance 13 and the comprehensive amplitude of the shaking of the machine body and the fluctuation degree of the ground crop canopy; at the same time, the angular displacement sensor 19 is turned on;

d. after the angular displacement sensor 19 is started, the angular displacement sensor 19 is initialized, the angular counter is set to 0, the acquisition of angular displacement data is started, the angle parameter of the spray rod recognition algorithm is calculated according to the established mathematical model, and then the angular displacement sensor 19 is used for continuously detecting and correcting, so that the controller 31 controls the stepping motor 3 to rotate through the output end unit 30;

the mathematical model is as follows:

L₁＝|L₃-L₄|

&angle; α_{1} = arc t a n \frac{L_{1}}{L_{2}}

∠α₁＝∠α₂

wherein,

L₂the length of spray bar 13;

L₃distance from the left laser sensor 16 to its projection point;

L₄the distance from the right laser sensor 17 to its projection point;

∠α₁is the inclination angle of the machine body;

∠α₂a reverse deflection angle adjusted for spray bar 13;

e. ∠α is carried out after the angular displacement sensor 19 is continuously detected and corrected₁＝∠α₂When ∠α is judged₁≠∠α₂Meanwhile, the stepping motor 3 continues to rotate, and the angular displacement sensor 19 continues to acquire angular displacement data until ∠α₁＝∠α₂So far as ∠α₁＝∠α₂When the inclined copying of the machine body is finished, the stepping motor3, stopping rotating, and taking the position of the T-shaped bending lever arm 12 after the current machine body inclined copying is finished as an angular displacement reference point of the next machine body inclined copying.

2. As shown in fig. 7b, when the crop profiling mode is selected, the angle adjustment method of the automatic profiling spraying device of the agricultural aerial plant protection machine comprises the following steps:

b. the left laser sensor 16 and the right laser sensor 17 collect data in real time, transmit the data to the test unit 29, and process and judge the data; if M ≦ L₀If W is less than or equal to I, the inclination adjustment is carried out, otherwise, the inclination adjustment is not carried out, wherein L₀Vertical distance from high end to low end of profiled crop, M and W being L₀The specific value of the lower limit value and the upper limit value is set according to the length of the spray rod 13 and by integrating the shaking amplitude of the machine body and the fluctuation degree of the ground crop canopy; at the same time, the angular displacement sensor 19 is turned on;

d. after the angular displacement sensor 19 is started, the angular displacement sensor 19 is initialized, the angular counter is set to be 0, the acquisition of angular displacement data is started, the angle parameters of the spray rod recognition algorithm are calculated according to the established mathematical model, and then the angular displacement sensor 19 is used for continuously detecting and correcting, so that the controller 31 controls the stepping motor 3 to rotate through the output end unit 30;

the mathematical model is as follows:

L₀＝|L₃-L₄|×cosβ

L₀＝L₁×cosβ

&angle; α_{3} = a r c t a n \frac{L_{0}}{L_{2}}

h＝Min(L₃cosβ,L₄cosβ)

T_{1} = \frac{h \times t a n β}{ν}

T₁＝T₂

∠α₃＝∠α₂

L₂the length of spray bar 13;

L₃distance from the left laser sensor 16 to its projection point;

L₄the distance from the right laser sensor 17 to its projection point;

h is the shortest spraying distance of the crops;

∠α₃is the included angle between the profiling crop and the ground;

∠α₂a reverse deflection angle adjusted for spray bar 13;

T₂processing time is adjusted for laser sensor acquisition and a spray rod;

e. ∠α is carried out after the angular displacement sensor 19 is continuously detected and corrected₃＝∠α₂When ∠α is judged₃≠∠α₂Meanwhile, the stepping motor 3 continues to rotate, and the angular displacement sensor 19 continues to acquire angular displacement data until ∠α₃＝∠α₂So far as ∠α₃＝∠α₂When the crop copying is finished, the stepping motor 3 stops rotating, and the position of the T-shaped bending lever arm 12 after the crop copying is finished is used as the angular displacement reference point of the next crop copying.

The invention provides a method for mutually switching two profiling modes, which comprises the following steps:

the laser sensor stepping motor control unit controls the left laser sensor stepping motor 23 and the right laser sensor stepping motor 24 to rotate, so that the forward inclination angle beta of the left laser sensor 16 and the right laser sensor 17 is adjusted within the range of 0-45 degrees; when beta is 0 degrees, the airplane body is in an inclined copying mode; when beta is more than 0 degree, the crop copying mode is realized.

The automatic copying principle of the present invention will be described in detail with reference to the accompanying drawings.

The inclined copying mode of the fuselage:

based on an analysis of the mathematical model of the inclination of the fuselage. First, the forward tilt angle of the left laser sensor 16 and the right laser sensor 17 has no effect on the delay time, so that given a tilt of the fuselage, the left laser light will have no effect on the delay timeThe forward tilt angle β of the sensor 16 and the right laser sensor 17 is 0, considering the delay time of data acquisition and processing of the left laser sensor 16 and the right laser sensor 17, on the basis of the fact that the distance between the lead screw 5 and the hanging arm 10 is constant, the rotating speed of the stepping motor 3 is increased, the adjustment angle in unit time is increased, the adjustment time of the spray rod 13 is shortened, and the spray rod 13 is rapidly adjusted to be in a horizontal state, secondly, the real-time data acquisition of the left laser sensor 16 and the right laser sensor 17 is transmitted to the control device, so that the controller 31 can continuously send signals to the output end unit 30, the spray rod 13 is easily and continuously adjusted in left tilt and right tilt in the air, the spray distribution is more uneven, and the spray rod 13 is ensured not to interfere with the wing₁|≤W，L₁Is the difference between the distances from the left laser sensor 16 and the right laser sensor 17 to the projection points thereof, and M and W are L₁The specific values of the lower limit value and the upper limit value, M and W are set according to the length of the spray rod 13 and by integrating the shaking amplitude of the machine body and the fluctuation degree of the ground crop canopy, three groups of data newly collected by the controller 31 are subjected to average operation processing to obtain a group of average data, and the group of average data are processed by a mathematical algorithm model to obtain ∠α₁(ii) a Third, by L₃＞L₄Determines the adjustment of the spray bar if L₃＞L₄If the machine body is in a right inclined state, adjusting a right inclined spray rod of the machine body; if L is₃＜L₄Fourthly, the angle displacement sensor 19 is arranged on a bending point of the T-shaped bending lever arm 12, in the continuous machine body inclination profiling process, the angle displacement sensor 19 takes the position of the T-shaped bending lever arm 12 after the current machine body inclination profiling is finished as the angle displacement reference point of the next machine body inclination profiling, the angle displacement sensor 19 is started, the angle displacement sensor 19 is initialized, the angle counting number is 0, and the angle displacement data starts to be collected, so that the angle displacement sensor 19 can detect the rotating angle ∠α of the T-shaped bending lever arm 12 in real time₂. The angular displacement sensor 19 feeds back the control device in real timeThe angular displacement is then corrected.

As shown in fig. 3a, when the fuselage inclines to the left, the left laser sensor 16 and the right laser sensor 17 collect data in real time, and the distance from the left laser sensor 16 to the projection point E' is L₃The distance between the projection point F' of the right laser sensor 17 is L₄It can be seen that the difference between the distances from the left laser sensor 16 and the right laser sensor 17 to the respective projection points is L₁The length of the spray bar 13 is L₂A straight line perpendicular to a connecting line between the right laser sensor 17 and the projection point F 'is made through the projection point E' of the left laser sensor 16, and the straight line is parallel to the spray rod 13, at this time, the property of the inverse trigonometric function of the right triangle can be obtained: the angle of the straight line with the ground 22

As shown in figure 3b, when the aircraft body inclines to the left, the angle displacement sensor 19 collects data in real time, the data collected by the angle displacement sensor 19 is angular displacement data measured by taking the position of the T-shaped bending lever arm 12 starting at this time as a reference when the aircraft body inclines to the left, the stepping motor 3 drives the screw rod 5 to rotate forwards, the sliding block 6 moves downwards, the T-shaped bending lever arm 12 is driven to adjust the spray rod 13 to the horizontal state, and the angle displacement sensor 19 measures an included angle ∠α formed by taking the position of the T-shaped bending lever arm 12 starting at this time as a reference₂Adjusting the level condition according to the spray boom, the inclination angle of the body ∠α₁Equal to the reverse deflection angle ∠α of the spray bar adjustment₂The corresponding mathematical model is established according to the mathematical principle:

L₁＝|L₃-L₄|…………………………①

∠α₁＝∠α₂…………………………③

L₁the difference in the distance of the left laser sensor 16 and the right laser sensor 17 to their projection points E 'and F', respectively.

L₂The length of the spray bar 13.

L₃Distance of left laser sensor 16 to its projection point E'.

L₄Distance of right laser sensor 17 to its projected point F'.

∠α₁-fuselage inclination angle.

∠α₂The adjusted counter deflection angle of spray bar 13.

Determining the fuselage lean angle ∠α from ① and ②₁And ∠α₂Substituting the angle parameter of (a) into the fuselage inclination angle ∠α₁Equal to boom reverse deflection angle ∠α₂③, the position of the T-shaped bending lever arm 12 after the end of the current inclined copying of the machine body is taken as the angular displacement reference point of the next crop copying, so that the angular displacement sensor can detect ∠α of the rotation of the T-shaped bending lever arm 12 at the time₂And real-time acquisition ∠α₂And carrying out real-time feedback and angular displacement correction on the control device.

As shown in fig. 3c, when the body returns to the horizontal position, the spray bar 13 is inclined relative to the ground 22, and horizontal adjustment is required: the stepping motor 3 drives the screw 5 to rotate reversely, so that the slide block 6 moves upwards, and drives the T-shaped bending lever arm 12 to adjust the spray rod 13 to a horizontal state, as shown in fig. 3 d.

As shown in FIG. 4a, when the fuselage is tilted to the right, the distance between the projected points E' of the left laser sensor 16 is L₃The distance between the projection point F' of the right laser sensor 17 is L₄The difference between the distances from the left laser sensor 16 and the right laser sensor 17 to the respective projection points is L₁The length of the spray bar 13 is L₂Making a projection point F' perpendicular to the left laser sensor 16 and the projection point by the right laser sensor 17E' and parallel to boom 13, from the inverse trigonometric property of the right triangle: the angle of the straight line with the ground 22

As shown in fig. 4b, when the machine body tilts the spray boom to the right to adjust the horizontal state, the angular displacement sensor 19 collects data in real time, the stepping motor 3 drives the screw 5 to rotate reversely, the slide block 6 moves upwards, the T-shaped bending lever arm 12 is driven to adjust the spray boom 13 to the horizontal state, and the angular displacement sensor 19 measures an included angle ∠α between the T-shaped bending lever arm 12 and the position of the T-shaped bending lever arm 12 at the beginning of the time as the reference₂Determining the fuselage lean angle ∠α from ① and ②₁And ∠α₂Substituting the angle parameter of (a) into the fuselage inclination angle ∠α₁Equal to boom reverse deflection angle ∠α₂Given that the position of the T-shaped bending lever arm 12 at the beginning of the inclined profiling of the fuselage at this time is the reference point of the angular displacement, the angular displacement sensor can detect ∠α of the rotation of the T-shaped bending lever arm 12 at this time₂And real-time acquisition ∠α₂And carrying out real-time feedback and angular displacement correction on the control device.

As shown in fig. 4c, when the body returns to the horizontal position, the spray bar 13 is tilted relative to the ground 22, and horizontal adjustment is required: the stepping motor 3 drives the screw 5 to rotate forward, so that the slide block 6 moves downwards, and drives the T-shaped bending lever arm 12 to adjust the spray rod 13 to a horizontal state, as shown in fig. 4 d.

Crop profiling mode:

first, the forward tilt angle of the left and right laser sensors 16, 17 has a large significance for the delay time given that the forward tilt angle β of the left and right laser sensors 16, 17 is > 0 given a profiled spray, and second, the real-time data gathered by the left and right laser sensors 16, 17 is communicated to the control device, which causes the controller 31 to send a message without stoppingThe output end unit 30 is very easy to cause the spray rod 13 to continuously perform left-inclined and right-inclined adjustment in the air, so that the spray distribution is more uneven, and the spray rod 13 is ensured not to interfere with the wing. Based on this, M.ltoreq.L is specified in the set program₀If W is less than or equal to I, the inclination adjustment is carried out, otherwise, the inclination adjustment is not carried out, wherein L₀For profiling the vertical distance from the high end to the low end of the crop, M and W are L₀The specific value of the lower limit value and the upper limit value is set according to the length of the spray rod 13 and by integrating the shaking amplitude of the machine body and the fluctuation degree of the ground crop canopy, the controller 31 carries out average operation processing on the latest acquired 3 groups of data to obtain a group of average data, and the group of average data is processed through a mathematical algorithm model to obtain ∠α₃(ii) a Third, by L₃＞L₄Determines the adjustment of spray bar 13 if L₃＞L₄If the height of the front crop tree crown is judged to be high at the right side and low at the left side, the spray rod is adjusted to be inclined at the left side; if L is₃＜L₄Fourthly, the angular displacement sensor 19 is arranged on a bending point of the T-shaped bending lever arm 12, the position of the T-shaped bending lever arm 12 where the crop profiling starts is given as a reference point of angular displacement, in the continuous crop profiling process, the angular displacement sensor 19 takes the position of the T-shaped bending lever arm 12 where the crop profiling ends as an angular displacement reference point of the next crop profiling, the angular displacement sensor 19 is started to initialize the angular displacement sensor 19, the angle count is set to be 0, and the angular displacement data starts to be collected, so that the angular displacement sensor 19 can detect the angle ∠α rotated by the T-shaped bending lever arm 12 in real time₂The method comprises the steps of feeding back a control device in real time by an angular displacement sensor 19 so as to correct the angular displacement, and installing a speed sensor 20 on a spray rod 13 so as to acquire the speed v of the airplane in the profiling spraying of the airplane, and measuring the advancing speed v of the airplane on the basis of the shortest spraying distance h of crops and the front horizontal distance measured by the forward inclination angle β of a laser sensor by considering that the acquisition and the processing of a left laser sensor 16 and a right laser sensor 17 have certain delay time T so as to obtain the water passing through the section of the airplaneTime T of flat distance₁And calculating the adjusting time T of the spray rod 13 by combining the shortest spraying distance h of the crops and the front horizontal distance measured by the inclination β of the left laser sensor 16 and the right laser sensor 17₂The forward tilt angle β of the corresponding left laser sensor 16 and right laser sensor 17 is set so that when the object reaches the position right below the spray bar 13, automatic target spraying is realized, and the liquid medicine can be uniformly sprayed on the target.

The principle of profiling different crop topography biological characteristics and the profiling principle of crop gradient distribution caused by topography gradients is consistent with the principle of adjusting the spray bar 13 in fig. 3a-3d and 4a-4 d.

As shown in fig. 5a and 5b, the crop tree crown is high at the left and low at the right, the left laser sensor 16 and the right laser sensor 17 collect data in real time, and the length of the spray rod 13 is L₂The measurement distance L from the left laser sensor 16 to the projection point E' (the high end of the canopy of the copying crop)₃The measured distance L from the right laser sensor 17 to the projection point F 'of the lower end of the canopy of the profiling crop is EE' in the figure₄The difference L between the distances from the left laser sensor 16 and the right laser sensor 17 to the projected point respectively is shown as FF₁The vertical distance L from the high end to the low end of the profiling crop is E' G in the figure₀The vertical point of E ' on the ground in FIG. 5a is D, line E ' D is parallel and equal to line AC, and the identity of the azimuthal angle indicates that the angle between E ' G and AC is β, then L₀＝L₁× cos β the shaded surface is the schematic diagram of the inclined surface of the crop, and the mathematical geometrical relationship shows that the included angle between the inclined surface of the crop and the ground is ∠α₃Equal to ∠ CBA, the included angle between the inclined plane of the crop and the ground 22 can be obtained from the inverse trigonometric function of the right triangle

But based on analysis of the profile spray mathematical model, the forward tilt angle β of the laser sensor has a greater significance for the delay time, so the forward tilt angle β of the laser sensor given a profile spray is not equal to 0;0°<β is not more than 45 degrees, the angle between the profiling crop and the ground is ∠α according to the condition of spray rod profiling adjustment₃Equal to the reverse deflection angle ∠α of the spray bar adjustment₂The corresponding mathematical model is established according to the mathematical principle:

L₀＝|L₃-L₄|×cosβ…………………………④

L₀＝L₁×cosβ…………………………⑤

h＝Min(L₃cosβ,L₄cosβ)…………………………⑦

T₁＝T₂…………………………⑨

∠α₃＝∠α₂…………………………⑩

L₀-the vertical distance from the high end to the low end of the profiled crop is AC in the figure.

L₁The difference between the distances acquired by the left laser sensor 16 and the right laser sensor 17, respectively, to the projection points is E' G in the figure.

L₂The length of the spray bar 13.

L₃The measured distance from the left laser sensor 16 to the projected point E '(the high end of the replica crop crown) is EE' in the figure.

L₄The measured distance from the right laser sensor 17 to the projected point F '(lower end of the profiled crop crown) is FF'.

h- -shortest spraying distance of the crop.

v- -the speed of travel of the aircraft.

∠α₃-the angle of the profiled crop to the ground is ∠ CBA in the figure.

∠α₂The adjusted counter deflection angle of spray bar 13.

T₁The laser sensor acquisition and the boom adjustment process both have a certain delay time.

T₂Laser sensor acquisition and boom adjustment processing time.

An included angle ∠α between the copying crop and the ground is obtained according to ④⑤⑥₃The angle parameter of (A) is substituted into the included angle ∠α between the copying crop and the ground₃Equal to the reverse deflection angle ∠α of the spray bar adjustment₂In the mathematical model ⑩, given that the starting position of the T-shaped bending lever arm 12 at this time of crop profiling is the reference point of the angular displacement, the stepping motor 3 drives the screw 5 to rotate forward, so that the slide block 6 moves downward, and drives the T-shaped bending lever arm 12 to tilt the spray rod 13 to the right, and then the angular displacement sensor can detect ∠α of the rotation of the T-shaped bending lever arm 12 at this time₂And real-time acquisition ∠α₂Considering that the acquisition and processing of the laser sensor have certain delay time T, on the basis of the shortest spraying distance h of crops and the front horizontal distance measured by the inclination β of the laser sensor, the advancing speed v of the airplane needs to be measured, and the advancing speed v is substituted into ⑧ to obtain the time T of the airplane passing through the horizontal distance₁And calculating the adjustment time T of the spray rod 13 by combining the shortest spraying distance h of the crops and the front horizontal distance measured by the inclination β of the laser sensor₂Setting a corresponding forward tilt angle β to achieve automatic target spray when the object reaches directly below the spray bar 13, ensuring that the liquid medicine is evenly applied to the target.

As shown in fig. 6a and 6b, the crop crown is high at the right and low at the left, the left laser sensor 16 and the right laser sensor 17 collect data in real time, and the length of the spray rod 13 is L₂Left laserThe measured distance L from the light sensor 16 to the projection point E' of the lower end of the canopy of the copying crop₃Is EE 'in the figure, the measurement distance L from the right laser sensor 17 to the projection point F' at the high end of the canopy of the profiling crop₄The difference L between the distances from the left laser sensor 16 and the right laser sensor 17 to the projected point respectively is shown as FF₁The vertical distance L from the high end to the low end of the profiling crop is F' H in the figure₀The vertical point of F ' on the ground in FIG. 6a is D, and the line segment F ' D is parallel and equal to the line segment AC, as can be seen from the identity of the same azimuth angle, the included angle between F ' H and AC is also β, then L₀＝L₁× cos β the shaded surface is the schematic diagram of the inclined surface of the crop, and the mathematical geometrical relationship shows that the included angle between the inclined surface of the crop and the ground is ∠α₃Equal to ∠ CBA, the included angle between the inclined plane of the crop and the ground 22 can be obtained from the inverse trigonometric function of the right triangle

An included angle ∠α between the copying crop and the ground is obtained according to ④⑤⑥₃The angle parameter of (A) is substituted into the included angle ∠α between the copying crop and the ground₃Equal to the reverse deflection angle ∠α of the spray bar adjustment₂In the mathematical model ⑩, given that the starting position of the T-shaped bending lever arm 12 at this time of crop profiling is the reference point of the angular displacement, the stepping motor 3 drives the screw 5 to rotate reversely, so that the slider 6 moves upwards, and drives the T-shaped bending lever arm 12 to tilt the spray rod 13 to the left, and then the angular displacement sensor can detect ∠α of the rotation of the T-shaped bending lever arm 12 at this time₂And real-time acquisition ∠α₂Considering that the acquisition and processing of the laser sensor have certain delay time T, on the basis of the shortest spraying distance h of crops and the front horizontal distance measured by the inclination β of the laser sensor, the advancing speed v of the airplane needs to be measured, and the advancing speed v is substituted into ⑧ to obtain the time T of the airplane passing through the horizontal distance₁And calculating the adjustment time T of the spray rod 13 by combining the shortest spraying distance h of the crops and the front horizontal distance measured by the forward tilting angle β of the laser sensor₂The corresponding laser sensor forward tilt angle β is set so that when the object reaches right under the spray bar 13, automatic target spraying is realized, and the liquid medicine can be uniformly sprayed on the target.

Claims

1. The utility model provides an automatic profile modeling sprinkler of agricultural aviation plant protection machine, includes organism support (1) and spray lance (13), its characterized in that: the spraying device also comprises a T-shaped bending lever arm (12), a spray rod angle adjusting device, a data acquisition device and a control device;

the machine body bracket (1) is provided with an upper supporting plate (2) and a lower supporting plate (14);

the T-shaped bending lever arm (12) is provided with a horizontal part, a vertical part and a bending point, wherein the lower end of the vertical part of the T-shaped bending lever arm (12) is vertically and fixedly connected with the spray rod (13); one end of a hanging arm (10) is vertically and fixedly connected with the middle part of the upper supporting plate (2), and the other end of the hanging arm (10) is movably connected with a bending point of a T-shaped bending lever arm (12) through a movable pin shaft (11);

the spray rod angle adjusting device comprises a stepping motor (3), a coupler (4), a lead screw (5), a sliding block (6), a square tube sliding block (7), a movable bolt (8) and a guide rod (9);

the stepping motor (3) is fixedly connected to the upper supporting plate (2), the output end of the stepping motor (3) is connected with one end of the lead screw (5) through the coupler (4), and the other end of the lead screw (5) is mounted on the lower supporting plate (14) through a bearing assembly; the guide rod (9) is of a double-rod structure, is parallel to the screw rod (5), and is vertically arranged between the upper support plate (2) and the lower support plate (14);

the sliding block (6) is provided with three parallel through long holes in the vertical direction; the central through long hole is provided with an internal thread, and the lead screw (5) penetrates through the central through long hole provided with the internal thread and is in threaded connection with the sliding block (6); the through long holes on the two sides are used for the guide rod (9) to pass through, and the guide rod (9) and the sliding block (6) form sliding connection; an internal thread blind hole (61) is formed in the center of the outer side of the sliding block (6);

the square tube sliding block (7) is a hollow square tube; the horizontal part of the T-shaped bending lever arm (12) penetrates through the square tube sliding block (7) and is in sliding connection with the square tube sliding block (7), and a connecting hole is formed in the tube wall of the center position of the inner side of the square tube sliding block (7);

the movable bolt (8) is arranged between the sliding block (6) and the square tube sliding block (7), one end of the movable bolt (8) is in threaded connection with the internal thread blind hole (61) of the sliding block (6), and the other end of the movable bolt is in rotary connection with the connecting hole in the square tube sliding block (7);

the data acquisition device comprises a left laser sensor (16), a right laser sensor (17), an angle displacement sensor (19) and a speed sensor (20);

the left laser sensor (16) and the right laser sensor (17) are arranged at the left end and the right end of the spray rod (13);

the angular displacement sensor (19) is arranged on a bending point of the T-shaped bending lever arm (12);

the speed sensor (20) is arranged on the spray rod (13);

the control device controls the operation of the stepping motor (3) according to the data acquired by the data acquisition device.

2. The agricultural aerial plant protection machine automatic profiling spraying device as claimed in claim 1, wherein: two reinforcing plates (15) are symmetrically arranged between the vertical part of the T-shaped bending lever arm (12) and the spray rod (13), one end of each reinforcing plate (15) is fixedly connected with the vertical part of the T-shaped bending lever arm (12) through a bolt (18), and the other end of each reinforcing plate is fixedly connected to the spray rod (13) through a fixing clamp (21).

3. The agricultural aerial plant protection machine automatic profiling spraying device as claimed in claim 1, wherein: the initial position of the slide block (6) is positioned at one half of the screw rod (5) and the guide rod (9).

4. The agricultural aerial plant protection machine automatic profiling spraying device as claimed in claim 1, wherein: the spraying device further comprises a left limiting rod switch (33) and a right limiting rod switch (32), the left limiting rod switch (33) and the right limiting rod switch (32) are respectively and vertically and fixedly connected to the left side and the right side of the hanging arm (10), and the left limiting rod switch (33) and the right limiting rod switch (32) are located on the same straight line.

5. The agricultural aerial plant protection machine automatic profiling spraying device as claimed in claim 1, wherein:

the control device comprises a controller (31), an output end unit (30), a right laser sensor unit (26), a left laser sensor unit (28), an angle displacement sensor unit (25), a speed sensor unit (27) and a test unit (29); the right laser sensor unit (26) is connected with the right laser sensor (17); the left laser sensor unit (28) is connected with the left laser sensor (16); the angle displacement sensor unit (25) is connected with the angle displacement sensor (19); the speed sensor unit (27) is connected with the speed sensor (20);

the input end of the controller (31) is respectively connected with the right laser sensor unit (26), the left laser sensor unit (28), the angle displacement sensor unit (25) and the speed sensor unit (27), and the output end of the controller is connected with the output end unit (30); the output end unit (30) is connected with the stepping motor (3);

the test unit (29) is connected to a controller (31).

6. The agricultural aerial plant protection machine automatic profiling spraying device as claimed in claim 1, wherein: the angle adjusting device also comprises a left laser sensor stepping motor (23) and a right laser sensor stepping motor (24); the left laser sensor stepping motor (23) and the right laser sensor stepping motor (24) are respectively arranged at the left end and the right end of the spray rod (13) and are respectively connected with the left laser sensor (16) and the right laser sensor (17).

7. The agricultural aerial plant protection machine automatic profiling spraying device as claimed in claim 1, wherein: the left laser sensor (16) and the right laser sensor (17) can be replaced by ultrasonic sensors.

8. A method for adjusting the angle of an automatic profiling spraying device of an agricultural aerial plant protection machine according to any one of claims 1 to 7, wherein the method comprises the following steps: the method comprises a fuselage lean profile mode and comprises the following steps:

a. adjusting the left laser sensor (16) and the right laser sensor (17) to be perpendicular to the ground (22), i.e. such that the forward tilt angle β of the left laser sensor (16) and the right laser sensor (17) is 0;

b. the left laser sensor (16) and the right laser sensor (17) collect data in real time, transmit the data to the test unit (29), and process and judge the data; if M ≦ L₁If W is less than or equal to L, the spray rod is adjusted, otherwise, the spray rod is not adjusted, wherein L₁Is the difference between the distances from the left laser sensor (16) and the right laser sensor (17) to the projection points thereof, and M and W are L₁Lower and upper limits of (2); simultaneously, turning on an angular displacement sensor (19);

c. through L₃>L₄Determines the adjustment of the spray bar if L₃>L₄If the body is in the right inclined state, the right inclined spray rod of the body is adjusted, and if L is the right inclined spray rod₃<L₄If the machine body is judged to be in a left inclined state, adjusting the left inclined spray rod of the machine body; then the test unit (29) sends a control signal to the control unit (31), and the control unit (31) drives the stepping motor (3) to drive the lead screw (5) to rotate so as to enable the threaded sliding block (6) to move; meanwhile, the square tube sliding block (7) drives the T-shaped bending lever arm (12) to rotate; wherein L is₃The distance from the left laser sensor (16) to the projection point thereof; l is₄The distance from the right laser sensor (17) to the projection point thereof;

d. after the angle displacement sensor (19) is started, initializing the angle displacement sensor (19), setting an angle counter to be 0, and starting to acquire angle displacement data; calculating an angle parameter of a spray rod recognition algorithm according to the established mathematical model, and then continuously detecting and correcting by using an angle displacement sensor (19), so that a controller (31) controls a stepping motor (3) to rotate through an output end unit (30);

the above mathematical model is:

L₁＝|L₃-L₄|

&angle; α_{1} = a r c t a n \frac{L_{1}}{L_{2}}

∠α₁＝∠α₂

wherein,

L₁the difference value of the distance from the left laser sensor (16) to the projection point of the right laser sensor (17) is obtained;

L₂the length of the spray bar (13);

L₃the distance from the left laser sensor (16) to the projection point thereof;

L₄the distance from the right laser sensor (17) to the projection point thereof;

∠α₁is the inclination angle of the machine body;

∠α₂a reverse deflection angle adjusted for the spray bar (13);

e. ∠α is carried out after the angle displacement sensor (19) is continuously detected and corrected₁＝∠α₂When ∠α is judged₁≠∠α₂When the stepping motor (3) continues to rotate, the angular displacement sensor (19) continues to acquire angular displacement data until ∠α₁＝∠α₂So far as ∠α₁＝∠α₂When the inclined copying of the fuselage once is finished, the stepping motor (3) stops rotating, and the position of the T-shaped bending lever arm (12) after the inclined copying of the fuselage this time is used as the angular displacement reference point of the inclined copying of the fuselage next time.

9. A method for adjusting the angle of an automatic profiling spraying device of an agricultural aerial plant protection machine according to any one of claims 1 to 7, wherein the method comprises the following steps: the method comprises a crop profiling mode and comprises the following steps:

a. adjusting the left laser sensor (16) and the right laser sensor (17) to be both inclined forward, so that the forward inclination angle beta of the left laser sensor (16) and the right laser sensor (17) is larger than 0;

b. the left laser sensor (16) and the right laser sensor (17) collect data in real time, transmit the data to the test unit (29), and process and judge the data; if M ≦ L₀If W is less than or equal to I, the inclination adjustment is carried out, otherwise, the inclination adjustment is not carried out, wherein L₀Vertical distance from high end to low end of profiled crop, M and W being L₀Lower and upper limits of (2); simultaneously, turning on an angular displacement sensor (19);

c. through L₃>L₄Determines the adjustment of the spray bar if L₃>L₄Judging whether the crop crown is high at the right side or low at the left side, adjusting the left inclination of the spray rod, and if L is judged₃<L₄If the crop tree crown is judged to be high on the left and low on the right, the spray rod is adjusted to be inclined on the right; the test unit (29) then sends a control signal to the control unit (31) to controlThe unit (31) drives the stepping motor (3) to drive the screw rod (5) to rotate, so that the threaded sliding block (6) moves; meanwhile, the square tube sliding block (7) drives the T-shaped bending lever arm (12) to rotate; wherein L is₃The distance from the left laser sensor (16) to the projection point thereof; l is₄The distance from the right laser sensor (17) to the projection point thereof;

d. after the angular displacement sensor (19) is started, the angular displacement sensor (19) is initialized, the angle count is set to be 0, and the acquisition of angular displacement data is started; calculating an angle parameter of a spray rod recognition algorithm according to the established mathematical model, and then continuously detecting and correcting by using an angle displacement sensor (19), so that a controller (31) controls a stepping motor (3) to rotate through an output end unit (30);

the above mathematical model is:

L₀＝|L₃-L₄|×cosβ

L₀＝L₁×cosβ

&angle; α_{3} = a r c t a n \frac{L_{0}}{L_{2}}

h＝Min(L₃cosβ,L₄cosβ)

T_{1} = \frac{h \times t a n β}{ν}

T₁＝T₂

∠α₃＝∠α₂

L₂the length of the spray bar (13);

h is the shortest spraying distance of the crops;

∠α₃is the included angle between the profiling crop and the ground;

∠α₂a reverse deflection angle adjusted for the spray bar (13);

T₂processing time is adjusted for laser sensor acquisition and a spray rod;

e. ∠α is carried out after the angle displacement sensor (19) is continuously detected and corrected₃＝∠α₂When ∠α is judged₃≠∠α₂When the stepping motor (3) continues to rotate, the angular displacement sensor (19) continues to acquire angular displacement data until ∠α₃＝∠α₂So far as ∠α₃＝∠α₂When one crop copying is finished, the stepping motor (3) stops rotating, and the position of the T-shaped bending lever arm (12) after the crop copying is finished is used as the angular displacement datum point of the next crop copying.