CN108693378B - Near-ground wind field measuring system in aviation pesticide application operation process - Google Patents
Near-ground wind field measuring system in aviation pesticide application operation process Download PDFInfo
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- CN108693378B CN108693378B CN201810555691.XA CN201810555691A CN108693378B CN 108693378 B CN108693378 B CN 108693378B CN 201810555691 A CN201810555691 A CN 201810555691A CN 108693378 B CN108693378 B CN 108693378B
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- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/24—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting acoustical wave
Abstract
The invention provides a near-earth wind field measuring system in an aviation pesticide application operation process, which comprises a ground ultrasonic tomography measuring device, wherein the ground ultrasonic tomography measuring device is used for measuring wind speed data of one or more layers of subdivided regions of a measured space, and correlating the wind speed data with airplane flight data information in a multilayer overlapping mode to obtain the three-dimensional space distribution of a near-earth wind field. The method can realize higher-precision measurement of the three-dimensional space wind field in a certain area in the aviation pesticide application process, so that the measured data can support the modeling requirement of analysis of the aviation pesticide application near-ground spray droplet motion rule.
Description
Technical Field
The invention relates to the technical field of agricultural plant protection, in particular to a near-ground wind field measurement system in an aviation pesticide application operation process.
Background
In the pesticide application operation of modern agriculture, compared with pesticide application on the ground, the space distance between a pesticide application device for aerial pesticide application and crops is larger, and the sprayed pesticide liquid is more greatly influenced by the wind field of the surrounding environment in the process of leaving a spray head to move to the crops.
In recent years, with the development of electronic measurement technology and aerodynamic technology, by analyzing the change rule of a wind field in the process of applying the pesticide to the ground by an airplane, designing a spraying device, optimizing the layout of a spray head, adjusting the particle size of spray droplets and the like become new hot spots. The change rule analysis of the wind field is mainly realized by a computational fluid modeling technology and a wind field measurement technology. In the current research on wind field measurement technology, relatively few instruments are available for providing high-precision wind field measurement and analysis.
The prior art discloses airborne wind field measuring equipment, which mainly comprises an airborne global satellite navigation positioning system, an airframe three-dimensional attitude sensor and an airspeed head, and the airborne airspeed head is used for measuring the two-dimensional wind speed of an airflow plane of an airplane accessory. And a pesticide application control system Flight Master which is further disclosed based on the measuring equipment and is controlled and adjusted based on real-time change of an aircraft environment wind field mainly comprises an airborne global satellite navigation positioning system, a machine body three-dimensional attitude sensor, an airspeed head, a relative height of the flying to the ground measuring instrument, an accurate variable spraying flow control system and the like. The wind field measuring equipment of the system can only measure a single-point two-dimensional wind field value in a very small range below the aircraft body in the flight process of the aircraft. The liquid medicine drifting deposition is influenced by the system not only comprising an airplane wake field, but also comprising a wind field generated by near-earth atmospheric motion, and the wind field data measured by airborne equipment of the system is very limited.
In addition, the prior art also discloses an unmanned aerial vehicle wind field measurement system based on triaxial turbine anemometer and distributed sensor network, mainly includes three-dimensional wind direction sensor of turbine and wireless short distance communication module and constitutes. The system can realize the wind field measurement of the unmanned aerial vehicle pesticide application process with lower precision, but is influenced by the rotation inertia of the turbine type sensor, the wind field measurement with high frequency and high precision cannot be realized, and the data cannot support the requirement of the wind field reconstruction precision based on hydromechanics under the distributed multi-point wind field measurement mode.
Disclosure of Invention
In order to overcome the problems or at least partially solve the problems, the invention provides a near-ground wind field measurement system in an aviation pesticide application operation process, which is used for realizing wind field measurement in a certain area three-dimensional space and enabling measurement data to support modeling requirements of aviation pesticide application near-ground spray droplet motion law analysis.
The invention provides a near-earth wind field measuring system in an aviation pesticide application operation process, which comprises a ground ultrasonic tomography measuring device, wherein the ground ultrasonic tomography measuring device is used for measuring wind speed data of one or more layers of subdivided regions of a measured space, and correlating the wind speed data with airplane flight data information in a multilayer overlapping mode to obtain the three-dimensional space distribution of a near-earth wind field.
Furthermore, the system also comprises an airborne measuring device, wherein the airborne measuring device is used for measuring flight data information comprising the flight longitude and latitude, the flight speed, the relative height of the flight to the ground and the attitude information of the aircraft body.
Wherein the surface ultrasonic tomography measuring apparatus further comprises: the system comprises a ground ultrasonic transducer measuring probe array, an ultrasonic drive circuit and a signal acquisition circuit; the ground ultrasonic transducer measuring probe array is arranged on the boundary of a measured area in a surrounding array mode, the ultrasonic driving circuit is used for controlling each probe to transmit and measure ultrasonic signals, and the signal acquisition circuit is used for acquiring electric signals generated when each probe receives ultrasonic waves.
The probes in the ground ultrasonic transducer measuring probe array are distributed in one layer or multiple layers, are mutually connected and are sequentially connected with the signal acquisition circuit and the ultrasonic drive circuit.
The ground ultrasonic tomography measuring device is specifically used for recording the transmission time of the measured ultrasonic wave of each probe of each layer and the time of the corresponding layer probe for receiving the measured ultrasonic wave, taking the time difference between transmission and reception as the flight time of the ultrasonic wave on the path of the corresponding ultrasonic transmitting probe and the corresponding ultrasonic receiving probe, and combining the average flight speed of the airplane and the ultrasonic propagation speed of the subdivided region to obtain the average propagation speed of the corresponding ultrasonic path.
The probes in the ground ultrasonic transducer measuring probe array are arranged on the periphery of a measured space in a multi-layer surrounding mode, the number of the ultrasonic probes distributed on each layer is the same, and the number of the subdivided small areas is the same.
The probe in the ground ultrasonic transducer measuring probe array is a receiving and transmitting integrated ultrasonic transducer, and the ultrasonic drive circuit is integrated with a global navigation satellite system.
The airborne measuring device further comprises a longitude and latitude and flying speed measuring unit adopting satellite difference, a laser ranging sensor used for measuring the relative height of the plane to the ground and a triaxial electronic inclination angle sensor used for measuring the posture of the plane body.
The ground ultrasonic tomography measuring device is also used for obtaining process data of the wind field of the measured area along with the time change by performing high-frequency measurement on the measured area; acquiring the variation data of the near-earth wind field at different positions away from the airplane body in the flying process of the airplane by correlating the process data with the flying position of the airplane; and carrying out spatial superposition on the near-earth wind field change data to obtain the time-dependent change process of the wind field of the measured spatial region, thereby realizing the reconstruction of the wind field.
The ground ultrasonic tomography measuring device is specifically used for obtaining the ultrasonic propagation speed of each subdivision region by establishing a relational equation between the average flight speed of the airplane obtained by the measuring instrument on the flight path of the airplane and the ultrasonic propagation speed of each subdivision region.
According to the near-ground wind field measurement system in the aviation pesticide application operation process, provided by the invention, the defect that the data quantity information acquired by a ground distributed sensor measurement mode and an airborne sensor measurement mode is limited is overcome by utilizing an ultrasonic technology and adopting a ground fixed large-area space wind field chromatography measurement mode, and the higher-precision measurement of a three-dimensional space wind field in a certain area in the aviation pesticide application operation process can be realized, so that the measurement data can support the modeling requirement of aviation pesticide application near-ground spray droplet motion rule analysis.
Drawings
FIG. 1 is a schematic structural diagram of a ground ultrasonic tomography measuring device in a near-ground wind field measuring system in an aviation pesticide application process according to an embodiment of the invention;
FIG. 2 is a schematic diagram illustrating arrangement of probes and transmission and reception of ultrasonic signals in a near-ground wind field measurement system during aerial pesticide application according to an embodiment of the invention;
FIG. 3 is a schematic diagram illustrating an ultrasonic propagation path in a near-earth wind field measurement system during an aerial pesticide application process according to an embodiment of the invention;
fig. 4 is a schematic structural diagram of a composition of a near-ground wind field measurement system in an aviation pesticide application process according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As an embodiment of the present invention, the present embodiment provides a near-ground wind field measurement system during an aerial pesticide application operation, including a ground ultrasonic tomography measurement apparatus. The ground ultrasonic tomography measuring device is used for measuring wind speed data of one or more layers of subdivided regions of a measured space, and correlating the wind speed data with airplane flight data information in a multilayer overlapping mode to obtain the three-dimensional space distribution of a near-earth wind field.
It can be understood that the near-earth wind field measurement system of the embodiment of the invention realizes high-precision measurement of the near-earth wind field in the aviation pesticide application process by adopting a ground fixed space large-area wind field chromatography measurement mode. Specifically, a ground ultrasonic tomography measuring device is arranged in the system, and a plurality of measuring devices are arranged on one or more layers of subdivided regions of a measured space by using the ground ultrasonic tomography measuring device, so that the wind speed data of the one or more layers of subdivided regions of the measured space are measured. And by adopting a superposition mode on a plurality of layers of the tested layer, the measured wind speed data is associated with the flight data information of the airplane, and the three-dimensional space distribution of the near-ground wind field in the aviation pesticide application operation process is obtained.
According to the near-ground wind field measurement system in the aviation pesticide application operation process, provided by the embodiment of the invention, by utilizing an ultrasonic technology and adopting a ground fixed type large-area space wind field chromatography measurement mode, the defect that the data quantity information obtained by a ground distributed sensor measurement mode and an airborne sensor measurement mode is limited is overcome, and the higher-precision measurement of a three-dimensional space wind field in a certain area in the aviation pesticide application operation process can be realized, so that the measurement data can support the modeling requirement of the aviation pesticide application near-ground spray droplet motion rule analysis.
In one embodiment, a further constituent structure of the ground ultrasonic tomography measuring device according to the above embodiment is shown in fig. 1, which is a schematic structural diagram of the ground ultrasonic tomography measuring device in the near-earth wind field measuring system during aerial pesticide application operation according to an embodiment of the present invention, and includes: the system comprises a ground ultrasonic transducer measuring probe array 1, an ultrasonic drive circuit 2 and a signal acquisition circuit 3.
The ground ultrasonic transducer measuring probe array 1 is arranged on the boundary of a measured area in a surrounding array mode, the ultrasonic driving circuit 2 is used for controlling each probe to transmit and measure ultrasonic signals, and the signal acquisition circuit 3 is used for acquiring electric signals generated by each probe receiving ultrasonic waves.
It can be understood that, as shown in fig. 1, the ground ultrasonic tomography measuring device mainly comprises three components of a ground ultrasonic transducer measuring probe array 1, an ultrasonic drive circuit 2 and a signal acquisition circuit 3. In addition, the ground ultrasonic tomography measuring device can be provided with wind field reduction system graphical display software and a system based on ground system data acquisition according to needs.
The plurality of probes in the ground ultrasonic transducer measuring probe array 1 are arranged on the periphery of the measured area, for example, on the boundary of the measured area in a surrounding array manner. The ultrasonic drive circuit 2 is in communication connection with each probe arranged, and the other end of the ultrasonic drive circuit 2 is connected with the processor. The ultrasonic drive circuit 2 controls each probe to emit a measurement ultrasonic signal according to a processing instruction of the processor.
Meanwhile, a signal acquisition circuit 3 in the device is also connected with the processor. The processor collects the electric signals generated by the ultrasonic wave received by each probe through the signal collecting circuit 3 and controls each probe to transmit the measuring ultrasonic wave through the driving control circuit.
Optionally, the probes in the ground ultrasonic transducer measuring probe array are arranged in one or more layers, and the probes are connected with each other and sequentially connected with the signal acquisition circuit and the ultrasonic drive circuit.
It can be understood that the ground ultrasonic transducer measuring probe array 1 according to the above embodiment is arranged on the boundary of the measured area in a surrounding array manner. All the probes can be distributed in one layer or a plurality of layers, and the probes are connected with each other through a communication cable and are sequentially connected with the signal acquisition circuit and the ultrasonic drive circuit.
Fig. 2 is a schematic diagram showing arrangement of probes and transmission and reception of ultrasonic signals in a near-ground wind field measurement system in an aerial pesticide application process according to an embodiment of the invention. Fig. 2(a) shows a ground installation manner of the probe array, and generally, a plurality of probes are connected in series on each vertical rod according to the space measurement requirement, and the vertical rods are distributed around the space boundary of the measured area. All probes are connected with the acquisition circuit controller through a wired cable. Fig. 2(b) is a schematic diagram of the ultrasonic probes transmitting and receiving signals, assuming that the probes are arranged in a square shape, and n probes are uniformly arranged on each side.
Wherein the ultrasonic drive circuit 2 controls the start and end of each complete measurement. When the ultrasonic drive circuit 2 receives a measurement start instruction from a computer, the drive control circuit first starts the measurement with the ID number S11The ultrasonic transducer of (A) sends a line of ultrasonic waves with the number S13To S1nThe ultrasonic transducer of (1) receives the ultrasonic wave, wherein n is the total number of the ultrasonic probes of one layer.
Then, number S12、S13、S14……S1nThe ultrasonic transducer probes send ultrasonic waves in sequence, the ultrasonic probes on the same layer except the ultrasonic sending probe receive the ultrasonic waves, and the flight time of the ultrasonic waves on each sending path is calculated.
When each ultrasonic probe of one layer finishes transmitting once, the ID number of the second layer is S21The ultrasonic transducer starts the measurement of the second layer again, and so on until the measurement is finishedAnd (4) completing measurement in all layers, namely realizing complete measurement in sequence. The first number in the ultrasonic transducer probe subscript represents the number of layers, and the second number represents the number of layers.
For the measured area with n measuring probes arranged on each layer, after one measurement is finished, n measuring probes are received2An ultrasonic flight path time data corresponding to n2The average propagation velocity of the ultrasonic paths. According to the requirement of measurement precision, the measured space can be not more than n2And dividing the subdivided areas. The measured space is generally divided by adopting a regular hexagon approximation mode.
First a first layer, consisting of S1Transmitting a train of ultrasonic waves at the receiving probes R, respectively1-R4n-1The ultrasonic time-of-flight information was recorded, thus yielding 4n times-of-flight. Under the control of control circuit, has S1And the right probe is used as a transmitting probe to transmit ultrasonic waves, 4n flight times are obtained, and the rest is repeated until all the probes transmit the ultrasonic waves through the transmitting probe, and the total 4n multiplied by 4n flight times can be obtained.
Then, the ultrasonic transceiver moves downwards, and the first layer transceiving signal process is repeated by the second and third layers of ultrasonic transceivers. The ground system does not realize a complete ultrasonic signal acquisition process until all layers of ultrasonic waves are transmitted and received. Substituting the collected 4n multiplied by 4n ultrasonic flight time values on the same layer into a reconstruction algorithm to establish a two-dimensional wind field velocity distribution map of the layer of the region to be measured, and accumulating all the measurement layers to obtain a three-dimensional wind field velocity distribution map of the space of the region to be measured.
Optionally, probes in the ground ultrasonic transducer measurement probe array are arranged around the measured space in a multi-layer surrounding manner, the number of the ultrasonic probes arranged on each layer is the same, and the number of the subdivided small areas is the same.
It can be understood that, in order to obtain the wind field velocity distribution of the three-dimensional space, the measured space can be divided into a plurality of layers, and each layer is provided with an ultrasonic transducer probe in a surrounding mode. And each layer is independently analyzed, the wind speed data of each subdivided region in a layer plane is solved, and the wind field distribution of the three-dimensional space is obtained in a multilayer overlapping mode. In this method, the number of ultrasonic probes to be placed on each layer is the same, and the number of subdivided small regions is also the same.
The arrangement number of the ultrasonic transducer probes is related to the resolution precision of the space wind field. Assuming n probes in the same layer, a maximum of n probes can be used for the area plane2And (4) dividing the subdivided areas. Assuming that the total area of the measured region is S, if the information of the measured region is divided averagely, the area of each subdivided region is S/n2. To improve the spatial resolution accuracy of the wind field, the number of ultrasonic transducer probes needs to be increased.
Optionally, the probe in the ground ultrasonic transducer measuring probe array is a transceiving integrated ultrasonic transducer, and the ultrasonic drive circuit integrates a global navigation satellite system.
It can be understood that the probe, i.e. the ultrasonic transducer in the measurement probe array according to the above embodiments employs an ultrasonic transducer integrated with a transceiver. The ultrasonic drive control circuit obtains accurate standard time information by integrating a global navigation satellite system, so that the accurate time for each transducer probe to send and receive ultrasonic signals can be accurately recorded. And performing correlation analysis on the data and positioning and measuring data of an aircraft-mounted global navigation satellite system to further obtain the variation of the near-earth wind field at different positions away from the aircraft body in the flight process of the aircraft.
On the basis of the above-mentioned embodiment, wherein the ground ultrasonic tomography measuring device is also used for,
acquiring process data of a wind field of a measured area along with time change by performing high-frequency measurement on the measured area;
the method comprises the steps of associating process data with the flying position of an airplane to obtain the variation data of a near-ground wind field at different positions away from an airplane body in the flying process of the airplane;
and the change process of the wind field of the measured space region along with time is obtained by performing space superposition on the near-earth wind field change data, so that the reconstruction of the wind field is realized.
It can be understood that the change of the near-ground wind field at different positions away from the airplane body in the flying process of the airplane can be obtained by performing high-frequency measurement on the measured area to obtain the data of the time-varying process of the measured area, and comparing and associating the data with the accurate flying position of the airplane. The change process of the wind field of the measured space area along with time can be obtained by spatially superposing the wind field change data, and further the reconstruction of the wind field can be realized.
It should be understood that, during the measurement process, the system further comprises a ground meteorological station, and the synchronous acquisition of the ambient temperature, the air relative humidity, the atmospheric pressure and the ambient wind speed and direction information can be realized.
In one embodiment, the ground ultrasonic tomography measuring device is specifically configured to record the transmission time of the measurement ultrasonic wave of each probe in each layer and the time when the probe in the corresponding layer receives the measurement ultrasonic wave, use the time difference between transmission and reception as the flight time of the ultrasonic wave on the path of the corresponding ultrasonic transmission probe and the corresponding ultrasonic reception probe, and obtain the average propagation speed of the corresponding ultrasonic path by combining the average flight speed of the aircraft and the propagation speed of the ultrasonic wave in the subdivided region.
It is understood that the processor of the ground ultrasonic tomography measuring apparatus records the transmission time of the measurement ultrasonic wave of each probe and the time when the corresponding probe receives the measurement ultrasonic wave, and calculates the time difference between the two, and takes the time difference as the flight time of the ultrasonic wave on the path of the corresponding ultrasonic transmission probe and the receiving probe.
And then, after determining the flight time of the ultrasonic wave between the receiving probe and the transmitting probe, performing joint solution on the flight time, the average flight speed of the airplane and the ultrasonic wave propagation speed of the fine area in the area to be measured to obtain the corresponding average propagation speed of the ultrasonic wave path.
In another embodiment, the ground ultrasonic tomography measuring device is specifically configured to obtain the ultrasonic propagation velocity of each subdivided region by establishing a relational equation between the average flight velocity of the aircraft obtained by the measuring device on the flight path of the aircraft and the ultrasonic propagation velocity of each subdivided region.
It will be appreciated that, according to the above embodiments, the invention is embodied in more detailBy setting different ultrasonic propagation velocities V for each subdivisioniAnd establishing a relational equation between the average flight speed obtained by measuring by an instrument on the flight path of the airplane and the ultrasonic propagation speed of each subdivided region, and solving the ultrasonic propagation speed of each subdivided region.
In addition, the propagation speed of the ultrasonic wave in the space is related to the air temperature and the relative movement speed of the air. Since the air temperature of the field environment in which aerial pesticide application occurs does not change dramatically in a short time and does not have obvious differences in area distribution in one measurement period, the propagation speed of the ultrasonic waves in such a spatial area is considered to be related only to the wind speed on the flight path of the ultrasonic waves leaving the transmitting end to the receiving end.
Thus, the ratio of the distance S between the transmitting end and the receiving end of the ultrasonic wave to the flight time T of the ultrasonic wave is the average flight speed V of the ultrasonic wave on the path, and the speed V is determined by the specific propagation speed V of the ultrasonic wave in the air with certain temperature0Superimposed on the ambient wind speed Vw, and V0Is a constant value. Therefore, V can be seen as a linear function of Vw.
FIG. 3 is a schematic diagram of an ultrasonic propagation path in a near-earth wind field measurement system during an aerial pesticide application process according to an embodiment of the present invention, wherein if S is2To S5Is a distance D25Ultrasonic wave leaving S2To S5Time difference of is T25Then S2To S5The average speed V of the ultrasonic wave on the flight path25Can be measured. On the flight path, due to the non-uniformity of the wind speed, the ultrasonic waves may have different flight speeds in different areas.
Suppose that the flight path has three regions B, G and E, where the flight velocities of the ultrasonic waves are Vb、VgAnd VeThen, the process of the present invention,
V25＝(Vb+Vg+Ve)/3；
similarly, based on other flight paths, other relations can be obtained, such as:
V26＝(Vb+Va+Vf)/3
V24＝(Vb+Vc+Vd)/3
V36＝(Vc+Vg+Vf)/3
……
assuming that the measurement space is subdivided into A, B, C, D, E, F and G seven regions as shown in FIG. 3, only 7 propagation paths need to be found, establishing 7 ultrasonic propagation velocities V for the seven subdivided regionsa、Vb、Vc、Vd、Ve、Vf、VgAnd solving an equation of the average propagation time on the seven paths to obtain the propagation speed of the ultrasonic wave in each sub-region.
The characteristic propagation velocity V of the ultrasonic wave in the air at the current temperature is subtracted from the propagation velocity of the ultrasonic wave0The wind field velocity values for the subdivided regions may be obtained. Based on the same principle, if finer spatial wind field speed distribution is to be obtained, the measurement area can be divided into smaller areas, more ultrasonic probes can be placed, more relation equations can be established, and the wind speed of each subdivided area can be obtained through iterative calculation.
And performing interpolation fitting on each refined region wind field through computer-side software, and superposing according to the space position and time to obtain a spatial-temporal evolution model of the region wind field, so as to realize the visualization of the space wind field.
Further, on the basis of the above embodiment, the system further comprises an onboard measuring device, wherein the onboard measuring device is used for measuring flight data information including flight longitude and latitude, flight speed, flight-to-ground relative altitude and aircraft body attitude information of the aircraft.
It can be understood that, as shown in fig. 4, the schematic structural diagram of the near-earth wind field measurement system during the aerial pesticide application operation according to the embodiment of the present invention is shown, wherein the measurement system further includes an onboard measurement device on the basis of the ground ultrasonic tomography measurement device described in the above embodiment.
The airborne measuring device is used for measuring the flying longitude and latitude, the flying speed, the flying ground relative height and the airplane body attitude information of the airplane. The ground ultrasonic tomography measuring system is used for measuring wind speed data of one or more layers of subdivided regions of a measured space and acquiring three-dimensional space distribution of a near-earth wind field through a multilayer superposition mode and associated flight data information.
The airborne measuring device comprises an airborne global navigation positioning system, a communication system and a flight ground relative height measuring device; the method is used for accurately positioning and recording the flight space position of the airplane and is also used for the correlation analysis of the flight position of the airplane and the measured wind field data of the ground measurement system.
The airborne measuring device further comprises a longitude and latitude and flying speed measuring unit adopting satellite difference, a laser ranging sensor used for measuring the relative height of the plane to the ground and a triaxial electronic tilt angle sensor used for measuring the posture of the plane body.
The airborne measuring device adopts a high-precision measuring system, specifically adopts a satellite differential longitude and latitude and flight speed measuring system, adopts a laser ranging sensor to realize the measurement of the relative height of the airplane to the ground, and adopts a three-axis electronic tilt sensor to realize the measurement, acquisition and storage of the attitude of the airplane body.
The near-earth wind field measurement system in the aviation pesticide application process provided by the embodiment of the invention realizes the tomographic inversion measurement of the near-earth wind field in the aviation pesticide application process by utilizing the ultrasonic technology and based on the ultrasonic technology, overcomes the defect that the data volume information obtained by a ground distributed sensor measurement mode or an airborne sensor measurement mode is limited, can realize the subdivision measurement of the wind field in a certain space area after an airplane flies, and has important value for analyzing the drifting motion of spray droplets along with the wind field in a small area in the aviation pesticide application process and establishing a drifting motion model of the spray droplets under the condition of a specific wind direction and wind speed.
The above described embodiments are merely illustrative, wherein elements described as separate components may or may not be physically separate, may be located in one place, or may be distributed over different network elements. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the technical solutions mentioned above may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a usb disk, a removable hard disk, a ROM, a RAM, a magnetic or optical disk, etc., and includes several instructions for causing a computer device (such as a personal computer, a server, or a network device, etc.) to execute the methods described in the method embodiments or some parts of the method embodiments.
In addition, it should be understood by those skilled in the art that the terms "comprises," "comprising," or any other variation thereof, in the specification of the present invention, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the present invention, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects.
However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. A near-earth wind field measurement system in the aviation pesticide application operation process is characterized by comprising a ground ultrasonic tomography measurement device, wherein the ground ultrasonic tomography measurement device is used for measuring wind speed data of one or more layers of subdivided regions of a measured space, and associating the wind speed data with airplane flight data information in a multilayer overlapping mode to obtain the three-dimensional space distribution of the near-earth wind field;
the system also comprises an airborne measuring device, wherein the airborne measuring device is used for measuring flight data information comprising the flight longitude and latitude, the flight speed, the relative height of the flight to the ground and the attitude information of the aircraft body;
the ground ultrasonic tomography measuring device further comprises: the system comprises a ground ultrasonic transducer measuring probe array, an ultrasonic drive circuit and a signal acquisition circuit;
the ground ultrasonic transducer measuring probe array is arranged on the boundary of a measured area in a surrounding array mode, the ultrasonic driving circuit is used for controlling each probe to transmit and measure ultrasonic signals, and the signal acquisition circuit is used for acquiring electric signals generated by each probe receiving ultrasonic waves;
the ground ultrasonic tomography measuring device is specifically used for recording the transmission time of the measured ultrasonic wave of each probe of each layer and the time of the corresponding layer of probe receiving the measured ultrasonic wave, taking the time difference between transmission and reception as the flight time of the ultrasonic wave on the path of the corresponding ultrasonic transmitting probe and the corresponding ultrasonic receiving probe, and combining the average flight speed of the airplane and the ultrasonic propagation speed of the subdivided region to obtain the average propagation speed of the corresponding ultrasonic path;
the ground ultrasonic tomography measuring device is specifically used for establishing a relational equation between the average flight speed of the airplane obtained by the measuring instrument on the flight path of the airplane and the ultrasonic propagation speed of each subdivided region, and obtaining the ultrasonic propagation speed of each subdivided region.
2. The system according to claim 1, wherein the probes in the ground surface ultrasonic transducer measuring probe array are arranged in one or more layers, and the probes are connected with each other and sequentially connected with the signal acquisition circuit and the ultrasonic drive circuit.
3. The system according to claim 1, wherein the probes in the ground surface ultrasonic transducer measuring probe array are arranged around the measured space in a multi-layer surrounding manner, the number of the ultrasonic probes arranged in each layer is the same, and the number of the subdivided small areas is the same.
4. The system according to claim 1, wherein the probe in the ground ultrasonic transducer measurement probe array is a transmit-receive integrated ultrasonic transducer, and the ultrasonic drive circuit is integrated with a global navigation satellite system.
5. The system of claim 1, wherein the airborne measuring device further comprises a longitude and latitude and flying speed measuring unit adopting satellite difference, a laser ranging sensor for measuring the relative height of the airplane to the ground and a three-axis electronic tilt sensor for measuring the attitude of the airplane body.
6. The system of claim 1, wherein the surface ultrasound tomography measurement device is further configured to,
acquiring process data of a wind field of a measured area along with time change by performing high-frequency measurement on the measured area;
acquiring the variation data of the near-earth wind field at different positions away from the airplane body in the flying process of the airplane by correlating the process data with the flying position of the airplane;
and carrying out spatial superposition on the near-earth wind field change data to obtain the time-dependent change process of the wind field of the measured spatial region, thereby realizing the reconstruction of the wind field.
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| CN106199064A (en) * | 2016-08-23 | 2016-12-07 | 清华大学 | The iteration ultrasound tomography method of axial flow field imaging in pipeline |
| CN106525275A (en) * | 2016-11-29 | 2017-03-22 | 宝鸡文理学院 | Method for analyzing primary air flow field of DC burner based on multi-section acoustic tomography |
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