CN109997823A - A kind of wind send variable rate spray test platform and simulation experiment method - Google Patents
A kind of wind send variable rate spray test platform and simulation experiment method Download PDFInfo
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- 239000007921 spray Substances 0.000 title claims abstract description 98
- 238000012360 testing method Methods 0.000 title claims abstract description 73
- 238000000034 method Methods 0.000 title claims description 16
- 238000004088 simulation Methods 0.000 title claims description 7
- 238000005507 spraying Methods 0.000 claims abstract description 38
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 31
- 238000004458 analytical method Methods 0.000 claims abstract description 18
- 239000012530 fluid Substances 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims description 16
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 239000007788 liquid Substances 0.000 claims description 7
- 238000013461 design Methods 0.000 claims description 6
- 238000000889 atomisation Methods 0.000 claims description 5
- 238000009472 formulation Methods 0.000 claims description 5
- 239000000203 mixture Substances 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 230000010355 oscillation Effects 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- GNFTZDOKVXKIBK-UHFFFAOYSA-N 3-(2-methoxyethoxy)benzohydrazide Chemical compound COCCOC1=CC=CC(C(=O)NN)=C1 GNFTZDOKVXKIBK-UHFFFAOYSA-N 0.000 claims description 3
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 claims description 3
- 230000001419 dependent effect Effects 0.000 claims description 3
- 230000008021 deposition Effects 0.000 claims description 3
- 230000008676 import Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000035515 penetration Effects 0.000 claims description 3
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- 230000001360 synchronised effect Effects 0.000 claims description 3
- 239000003595 mist Substances 0.000 claims description 2
- 230000004044 response Effects 0.000 claims description 2
- 230000005622 photoelectricity Effects 0.000 claims 1
- 238000010998 test method Methods 0.000 claims 1
- 239000000575 pesticide Substances 0.000 abstract description 5
- 238000000151 deposition Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000003449 preventive effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
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- 230000006872 improvement Effects 0.000 description 2
- 239000002420 orchard Substances 0.000 description 2
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- 230000007547 defect Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
- A01M7/0096—Testing of spray-patterns
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- Life Sciences & Earth Sciences (AREA)
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Abstract
A kind of wind send variable rate spray test platform, including shelf, and the shelf is equipped with drive system, blast system and spraying system, and drive system is sequentially connected with blast system and spraying system respectively；The test platform is nearby equipped with control system, and control system is embedded with canopy structure analysis module, air quantity decision-making module and spray amount decision-making module；The present invention can be according to fruit tree canopy structure, such as Tree Crown Volume, leaf area, tree height, the age of tree and production season automatically adjust job parameter, it is extremely uneven to avoid the medical fluid being deposited in unit blade area, the phenomenon that causing the excessive application in part undesirable with local preventive effect and depositing, improve the quality of fruit tree and the effective rate of utilization of pesticide.
Description
Technical field
Technical field of plant protection machinery of the present invention, in particular to a kind of wind send variable rate spray test platform and simulation test side
Method.
Background technique
Air-assisted spraying is that current orchard is administered most common technology, and pesticide is sprayed on canopy target according to fixed dosage.
Wind send variable rate spray principle to obtain numerous scholars and approves at present, but the information collection of variable rate spray, the spraying weight such as decision and implementation
Link is wanted still to need to carry out numerous studies.And current research means mainly use field trial, and test platform only has
A certain simple function lacks to canopy structure, job parameter, spray parameters, (canopy information) acquisition parameter etc. to variable rate spray
Quality influence test platform, just because of application job parameter cannot according to fruit tree canopy structure (such as Tree Crown Volume, leaf area,
Tree is high, the age of tree and production season etc.) automatic adjustment, it is extremely uneven in turn result in the medical fluid being deposited in unit blade area, leads
The phenomenon that causing the excessive application in part undesirable with local preventive effect and depositing, seriously affects nutrient quality.
The present invention is made that improvement on the basis of existing technology, proposes a kind of wind and send variable rate spray test platform and examination
Proved recipe method, can overcome the problems, such as well it is above-mentioned, by fruit tree or the identification of other trees targets with calculate after, it is spraying to be
System improves pesticide efficacy according to the on-demand spraying pesticide of the parameters such as canopy volume, canopy density, operating speed.
Summary of the invention
The main object of the present invention is to overcome the defect pointed out in background technique, and current test platform only has single function
Can, it cannot be according to fruit tree canopy structure (such as Tree Crown Volume, leaf area, tree height, the age of tree and production season) automatic adjustment.
To realize the above-mentioned technical purpose, the technical scheme adopted by the invention is as follows: a kind of wind send variable rate spray test platform, wraps
Include shelf, the shelf is equipped with drive system, blast system and spraying system, drive system respectively with blast system and be sprayed
Drive system connection；The test platform is nearby equipped with control system, and control system is embedded with canopy structure analysis module, air quantity
Decision-making module and spray amount decision-making module, canopy structure analysis module are logical with air quantity decision-making module and spray amount decision-making module respectively
News connection, spraying system with air quantity decision-making module and spray amount decision-making module communication connection, drive system with air quantity decision
Module and spray amount decision-making module communication connection；Control system communication connection has distance measuring sensor, and distance measuring sensor is installed on frame
On son, distance measuring sensor and canopy structure analysis module communication connection；It is provided with track around the test platform, pacifies on track
Equipped with timbered motor-driven carrier, motor-driven carrier is equipped with photoelectric sensor, photoelectric sensor respectively with air quantity
Decision-making module and spray amount decision-making module communication connection.
Preferably, the drive system mainly includes motor, and motor is sequentially connected with hydraulic by yielding coupling
Pump, hydraulic pump, which respectively drives, is connected with a gear motor and variable displacement motor, and gear motor drive connection has liquid pump, wherein variable
Motor further includes adjuster, and variable displacement motor controls the size of blast system discharge capacity by adjuster.
Preferably, the blast system mainly includes blower and diversion air duct, and blower is controlled by the adjuster of variable displacement motor
The size of fan delivery processed, to realize that rotation speed of fan is adjusted.
Preferably, the spraying system mainly includes that medicine-chest, several spray heads, spray head are connect by pipeline with liquid pump, shown
Show that the pressure sensor, flow sensor, the high-frequency electromagnetic valve for adjusting capacity of sprinkler of loine pressure flow, several spray heads are uniform
It is installed in diversion air duct air outlet, spray outlet is flushed with diversion air duct exit end face.
Preferably, the control system further includes control core plate, driving, power supply, pcb board, display screen, control system list
Test platform is solely mounted on nearby to be convenient for operating.
Preferably, the air quantity decision-making module refers to according to canopy structure characteristic to wind velocity U needed for penetration of droplets requirement,
Then air quantity needed for calculating spraying system；Guarantee the medical fluid deposition effect inside canopy, canopy middle position is minimum
Air velocity U' is 1.5m/s, the air velocity U:U=f (LAI, D) of arrival canopy needed for being calculated according to following modular form+
U ', f (LAI, D) is obtained by test data fitting in formula, and LAI is fruit tree leaf area index, and D is that fruit tree partly sets width, m；According to institute
Air velocity U is needed to calculate the atomising air speed U in diversion air duct exit according to the following formula0,In formula, C is
Coefficient, U0Wind speed, m/s, b are originated for diversion air duct air outlet0For diversion air duct exit width, mm；X is that spraying machine exports distance
The distance value of fruit tree, mm；The product of diversion air duct air outlet sectional area is calculated again, and air quantity needed for spraying system is water conservancy diversion wind
Road air outlet wind velocity U0With the product of diversion air duct air outlet sectional area.
Preferably, the detailed process that the f (LAI, D) is obtained by test data fitting are as follows: with the LAI of 30 groups of different levels
And D, corresponding U is tested out, using LAI and D as independent variable, using U as dependent variable, 2 yuan is carried out in data processing software and repeatedly returns
Return analysis, obtains f (LAI, D) model.
Preferably, the canopy structure analysis module refers to the architectural characteristic meter for the canopy measured according to distance measuring sensor
Point cloud density p and canopy volume V are calculated, architectural characteristic can be each laser scanning point distance, laser angular angle value θ n, ranging sensing
Linear distance, the high H of tree and tree thickness B of the laser beam hits canopy of device etc., calculating point cloud density p can be as the following formulaIt calculates
Canopy point Yun Midu out, ρ is point Yun Midu, point/m in formula3；N is points, and the laser of distance measuring sensor gets to the points of canopy,
The number of point is identical to the number of each laser scanning point distance values of distance measuring sensor as feedback；V is canopy volume, m3。
Preferably, the canopy volume V is calculated as follows: V=D*H*v, and H is that tree is high in formula, m, H=h+Rnsin θ n, θ n
∈ (0 ° -180 °), h is the mounting height of distance measuring sensor, m in formula；Rn is the straight of the laser beam hits canopy of distance measuring sensor
Linear distance Rn；V is that motor-driven carrier speed is to set the speed of movement, m/s；D is the average half thickness of tree, and canopy half thickness is as the following formula
Average the average half thickness D set,Dn is the canopy half thickness of each laser light strikes point, m in formula；Dn's
Calculating formula is as follows, Dn=L-Ln, and L is the horizontal distance on canopy boundary and distance measuring sensor, m；Ln is canopy and laser radar
Horizontal distance, m, each laser scanning point distance measured according to distance measuring sensor and angle value are calculated as follows out each
The canopy rum point of laser and the horizontal distance Ln, L of distance measuring sensorn=Rncosθn；Rn is the straight line of laser beam hits canopy
Distance, m；θ n is the angle of laser beam；The relational model between LAI and ρ can also be fitted by test data；Basis simultaneously
The each point distance and angle value that distance measuring sensor is measured calculate the thick equidimension of tree.
Preferably, the tree thickness B is calculated as follows: B=max (Ln)-min (Ln).
Preferably, the spray amount decision-making module refers to that the requirement according to canopy structure characteristic to formulation rate calculates spray head
Spray amount q, then the spray amount q of spray head is calculated as follows: q=VI, I is application coefficient in formula, and I is every cubic metre of canopy body
Long-pending formulation rate, I=0.8-1.2L/m3；V is canopy volume, m3。
Preferably, the shelf is equipped with sensor stand, and distance measuring sensor is mounted on sensor stand, ranging sensing
The mounting distance of device and blower and spray head is 1-4m.
Preferably, the mounting distance of the distance measuring sensor and blower and spray head is 2m.
Preferably, the distance measuring sensor is LIDAR sensor.
Preferably, the motor-driven carrier is controlled by permanent magnet synchronous motor, and velocity error is less than 1%.
Preferably, the high-frequency electromagnetic valve uses the ASCO brand proportioning valve of import, and control frequency is up to 300HZ,
The fluctuation of the atomisation pressure due to caused by the switch of valve can be reduced, can control pressure oscillation within 1%.
Preferably, the width of the track and motor-driven carrier spacing separately design as 4m and 2m.
Preferably, the trees are fruit tree.
A kind of simulation experiment method sending variable rate spray test platform using wind, it is characterised in that: the following steps are included:
Step a: distance measuring sensor measures the distance value of canopy boundary and distance measuring sensor；
Step b: by the photoelectric sensor being mounted on motor-driven carrier measure wheel rotor speed after be converted into it is electronic
Small vehicle speed；
Step c: trees height value is inputted in the controls, in conjunction with the distance value of canopy boundary and distance measuring sensor, point
Cloud data volume and motor-driven carrier speed, canopy structure analysis module calculate canopy volume and point Yun Midu；
Step d: according to canopy volume and point Yun Midu, required rotation speed of fan and spray amount are calculated；
Step e: according to duty ratio corresponding to required spray amount, high-frequency electromagnetic valve is controlled using PWM to adjust spray head
Flow is to desirable value；
Step f: monitoring rotation speed of fan according to required rotation speed of fan, while using photoelectric sensor, using approaching
The adjuster of method control variable displacement motor reaches requirements until revolving speed；
Step g: disposing different types of emulation fruit tree on each trolley, different branches assigned in fruit tree different location,
Realize different canopy layers density conditions；
Step h: arrangement atomization quality collecting sample is opened pilot system and is simultaneously adopted to after stable, opening spraying system
Collect above-mentioned corresponding data.
Step i: spraying system is closed before fruit tree duplicates by spraying, stops the secondary test；Experimental factor is adjusted to carry out
It tests next time.
Preferably, the blower maximum (top) speed is nmax=2000rpm, it is n that system, which designs the smallest rotation speed of fan,min=
0.7nmax, i.e. the distance measuring sensor is mounted on before blower at L=2m by 1400rpm, and blower wind speed adjusts the sound allowed at this time
It is L/V=2s between seasonable, V is operating speed, V=1m/s when test.
Beneficial effects of the present invention: the present invention can be according to fruit tree canopy structure (such as Tree Crown Volume, leaf area, tree height, the age of tree
With production season etc.) automatic adjustment job parameter, it is extremely uneven to avoid the medical fluid being deposited in unit blade area, leads to office
Excessively application and local preventive effect are undesirable and the phenomenon that deposit in portion, improve the quality of fruit tree and the effective rate of utilization of pesticide；Wind
It send system according to canopy thickness and position on-line control atomising air speed, guarantees that air-flow can penetrate canopy and droplet is few as far as possible
Drift；The capacity of sprinkler of air-assisted spraying system and fan outlet wind speed can be dynamic according to the size of canopy, operating speed is detected
State is adjusted, i.e., canopy is thicker, and capacity of sprinkler and wind speed are bigger；Main analog field of the present invention scene, for research fruit tree variable spray
Mist technical research provides new approaches；Clear thinking of the present invention, principle is understandable, practical, has a good application prospect.
Detailed description of the invention
Fig. 1 is test platform structural schematic diagram of the present invention；
Fig. 2 is motor-driven carrier of the present invention and test platform relation schematic diagram；
Fig. 3 is workflow schematic diagram of the present invention；
Fig. 4 is drive system relational graph of the present invention；
Fig. 5 is the overall schematic of test platform compatibility test platform of the present invention；
Fig. 6 is air quantity decision-making module parameter schematic diagram of the present invention；
Fig. 7 is spray amount decision-making module parameter schematic diagram of the present invention.
1, shelf；2, liquid pump；3, motor；4, yielding coupling；5, hydraulic pump；6, gear motor；7, variable displacement motor；8,
Blast system；9, spray head；10, high-frequency electromagnetic valve；11, sensor stand；12, distance measuring sensor；13, trees；14, electronic small
Vehicle；15, track；16, photoelectric sensor.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1
A kind of wind that the present embodiment 1 provides send the general function of variable rate spray test platform are as follows: the spray of air-assisted spraying system
Head flow and fan outlet wind speed can be according to size, the operating speed dynamic regulations for detecting canopy, i.e. canopy is thicker, spray head
Flow and wind speed are bigger.
A kind of wind send variable rate spray test platform, including shelf 1, and the shelf 1 is equipped with drive system, blast system 8
And spraying system, drive system are sequentially connected with blast system and spraying system respectively, the drive system mainly includes electronic
Machine 3, motor 3 are sequentially connected with hydraulic pump 5 by yielding coupling 4, and hydraulic pump 5, which respectively drives, is connected with a gear motor
6 and variable displacement motor 7, the drive connection of gear motor 6 has liquid pump 2, and wherein variable displacement motor 7 further includes adjuster, and variable displacement motor 7 passes through
Adjuster controls the size of blast system discharge capacity；The test platform is nearby equipped with control system, and control system is embedded with hat
Layer Structural Analysis Module, air quantity decision-making module and spray amount decision-making module, canopy structure analysis module respectively with air quantity decision model
Block and spray amount decision-making module communication connection, spraying system with air quantity decision-making module and spray amount decision-making module communication connection,
For drive system with air quantity decision-making module and spray amount decision-making module communication connection, control system further includes control core plate, drive
Dynamic, power supply, pcb board, display screen, control system are arranged separately in test platform and nearby are convenient for operating.
Control system communication connection has distance measuring sensor 12, and distance measuring sensor 12 is installed on shelf 1, distance measuring sensor 12
With canopy structure analysis module communication connection, it is preferred that shelf 1 is equipped with sensor stand 11, and distance measuring sensor 12 is mounted on
On sensor stand 11, distance measuring sensor 12 is 1-4m with the mounting distance of blower and spray head 9, and preferably 2m effect is best, certainly
3m can also be with；Distance measuring sensor 12 is LIDAR sensor, other sensors for being capable of measuring distance are also applied for the present invention；It is described
It is provided with track 15 around test platform, the motor-driven carrier 14 with trees 13 is installed on track 15, is set on motor-driven carrier 14
There is photoelectric sensor 16, photoelectric sensor 16 connects with air quantity decision-making module and the communication of spray amount decision-making module respectively
It connects.
The blast system mainly includes blower and diversion air duct, and blower is controlled blower row by the adjuster of variable displacement motor
The size of amount, to realize that rotation speed of fan is adjusted.
The spraying system mainly include medicine-chest, several spray heads 9, spray head 9 connect with liquid pump 2 by pipeline, display tube
The pressure sensor of road pressure flow, flow sensor, the high-frequency electromagnetic valve 10 for adjusting capacity of sprinkler, several spray heads 9 are uniform
It is installed in diversion air duct air outlet, the outlet of spray head 9 is flushed with diversion air duct exit end face.
The air quantity decision-making module refers to according to canopy structure characteristic to wind velocity U needed for penetration of droplets requirement, then counts
Air quantity needed for calculating spraying system；Guarantee the medical fluid deposition effect inside canopy, the minimum gas velocity in canopy middle position
Degree U' is 1.5m/s, and air velocity U:U=f (LAI, D)+U ' of canopy, f in formula are reached needed for calculating according to following modular form
(LAI, D) is obtained by test data fitting, and LAI is fruit tree leaf area index, and D is that fruit tree partly sets width, m；According to required gas velocity
Degree U calculates the atomising air speed U in diversion air duct exit according to the following formula0,In formula, C is coefficient, U0
Wind speed, m/s, b are originated for diversion air duct air outlet0For diversion air duct exit width, mm；X is that spraying machine is exported apart from fruit tree
Distance value, mm；The product of diversion air duct air outlet sectional area is calculated again, and air quantity needed for spraying system is diversion air duct outlet air
Mouth wind velocity U0With the product of diversion air duct air outlet sectional area.
The detailed process that the f (LAI, D) is obtained by test data fitting are as follows: with the LAI and D of 30 groups of different levels, survey
Corresponding U is tried out, using LAI and D as independent variable, using U as dependent variable, 2 yuan of multiple regression analyses are carried out in data processing software,
Obtain f (LAI, D) model.
The canopy structure analysis module refers to that the architectural characteristic for the canopy measured according to distance measuring sensor 12 calculates point
Cloud density p and canopy volume V, architectural characteristic can be each laser scanning point distance, laser angular angle value θ n, distance measuring sensor 12
Linear distance, the high H of tree and the tree thickness B of laser beam hits canopy etc., calculate put a cloud density p can be as the following formulaIt calculates
Canopy point Yun Midu, ρ is point Yun Midu, point/m in formula3；N is points, and the laser of distance measuring sensor 12 gets to the points of canopy,
The number of point is identical to the number of each laser scanning point distance values of distance measuring sensor 12 as feedback；V is canopy volume,
m3.The canopy volume V is calculated as follows: V=D*H*v, and H is that tree is high in formula, m, H=h+Rnsin θ n, θ n ∈ (0 ° -180 °),
H is the mounting height of distance measuring sensor 12, m in formula；Rn is the linear distance Rn of the laser beam hits canopy of distance measuring sensor 12；
V is that motor-driven carrier speed is to set the speed of movement, m/s；D is the average half thickness of tree, and canopy half thickness is averaged as the following formula
To the average half thickness D of tree,Dn is the canopy half thickness of each laser light strikes point, m in formula；The calculating formula of Dn is such as
Under, Dn=L-Ln, L are the horizontal distance on canopy boundary and ranging (laser) sensor, m；Ln is the water of canopy and laser radar
Flat distance, m, each laser scanning point distance measured according to distance measuring sensor 12 and angle value are calculated as follows out each
The canopy rum point of laser and the horizontal distance Ln, L of distance measuring sensor 12n=Rncosθn；Rn is the straight of laser beam hits canopy
Linear distance, m；θ n is the angle of laser beam；The relational model between LAI and ρ can also be fitted by test data；Root simultaneously
The each point distance and angle value measured according to distance measuring sensor 12 calculate the thick equidimension of tree, and the tree thickness B is as follows
It calculates: B=max (Ln)-min (Ln).
The spray amount decision-making module refers to that the requirement according to canopy structure characteristic to formulation rate calculates being sprayed for spray head
Q is measured, then the spray amount q of spray head is calculated as follows: q=VI, I is application coefficient in formula, and I is applying for every cubic metre of canopy volume
Dose, I=0.8-1.2L/m3；V is canopy volume, m3。
The motor-driven carrier 14 is controlled by permanent magnet synchronous motor, and velocity error is less than 1%.The high-frequency electromagnetic valve 10 is adopted
With the ASCO brand proportioning valve of import, controlling frequency is up to 300HZ, can reduce the atomisation pressure due to caused by the switch of valve
Fluctuation can control pressure oscillation within 1%.The width and 14 spacing of motor-driven carrier of the track 15 separately design as 4m and
2m.The trees 13 are fruit tree, and test platform of the invention is also applied for other trees, such as the landscape tree of highway both sides.
A kind of simulation experiment method sending variable rate spray test platform using wind, it is characterised in that: the following steps are included:
Step a: distance measuring sensor 12 measures the distance value on canopy boundary Yu distance measuring sensor 12；
Step b: it is converted into after measuring wheel rotor speed by the photoelectric sensor 16 being mounted on motor-driven carrier 14
Motor-driven carrier speed；
Step c: inputting trees height value in the controls, in conjunction with canopy boundary and distance measuring sensor 12 distance value,
Point cloud data amount and motor-driven carrier speed, canopy structure analysis module calculate canopy volume and point Yun Midu；
Step d: according to canopy volume and point Yun Midu, required rotation speed of fan and spray amount are calculated；
Step e: according to duty ratio corresponding to required spray amount, high-frequency electromagnetic valve 10 is controlled using PWM to adjust spray head 9
Flow to desirable value；
Step f: monitoring rotation speed of fan according to required rotation speed of fan, while using photoelectric sensor 16, using forcing
The adjuster of nearly method control variable displacement motor reaches requirements until revolving speed；
Step g: disposing different types of emulation fruit tree on each trolley, different branches assigned in fruit tree different location,
Realize different canopy layers density conditions；
Step h: arrangement atomization quality collecting sample is opened pilot system and is simultaneously adopted to after stable, opening spraying system
Collect above-mentioned corresponding data.
Step i: spraying system is closed before fruit tree duplicates by spraying, stops the secondary test；Experimental factor is adjusted to carry out
It tests next time.
The present invention is n according to the blower maximum (top) speed of practical applicationmax=2000rpm, system design the smallest rotation speed of fan
For nmin=0.7nmax, i.e. the distance measuring sensor 12 is mounted on before blower at L=2m, at this time blower wind speed tune by 1400rpm
The response time that section allows is L/V=2s, and V is operating speed, V=1m/s when test；The main purpose designed in this way be because
Adjusting rotation speed of fan using approach method has certain hysteresis quality, and is that rotation speed of fan variation range is excessive when avoiding no canopy
Situation, when tree gap occurs in prevention and treatment, the rotation speed of fan of theory calls is 0, to avoid the huge fluctuation of revolving speed that system is caused to respond
Not in time, therefore just 70%n is designedmax, that is, guarantee that rotation speed of fan adjusts between 1400-2000rpm.
Main analog field of the present invention scene provides new approaches for research fruit tree variable rate spray technical research；For limited
The actual working scene of analogue test platform, test platform is fixed in space, and circular orbit is established around test platform, will
Emulation fruit tree is fixed on each trolley, and each trolley links together and driven by motor-driven carrier, as shown in figure 5, can be real
The successive test of existing variable rate spray, the test platform can also be used for the actual scene simulation of other spraying operations.Wherein rail
The width in road and small workshop are 4m and 2m respectively away from separately designing as current typical standard orchard planting line-spacing and spacing in the rows.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
It is all to modify to technical solution documented by previous embodiment or equivalent replacement of some of the technical features
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in guarantor of the invention
Within the scope of shield.
Claims (20)
1. a kind of wind send variable rate spray test platform, including shelf (1), it is characterised in that: the shelf (1) is equipped with driving system
System, blast system (8) and spraying system, drive system are sequentially connected with blast system and spraying system respectively；The test is flat
Platform is nearby equipped with control system, and control system is embedded with canopy structure analysis module, air quantity decision-making module and spray amount decision model
Block, canopy structure analysis module is respectively with air quantity decision-making module and spray amount decision-making module communication connection, and spraying system is and wind
Decision-making module and spray amount decision-making module communication connection are measured, drive system is logical with air quantity decision-making module and spray amount decision-making module
News connection；Control system communication connection has distance measuring sensor (12), and distance measuring sensor (12) is installed on shelf (1), and ranging passes
Sensor (12) and canopy structure analysis module communication connection；It is provided with around the test platform track (15), on track (15)
Motor-driven carrier (14) with trees (13) is installed, motor-driven carrier (14) is equipped with photoelectric sensor (16), and photoelectricity turns
Fast sensor (16) respectively with air quantity decision-making module and spray amount decision-making module communication connection.
2. a kind of wind according to claim 1 send variable rate spray test platform, it is characterised in that: the drive system is main
Including motor (3), motor (3) is sequentially connected with hydraulic pump (5) by yielding coupling (4), and hydraulic pump (5) respectively drives
It is connected with a gear motor (6) and variable displacement motor (7), gear motor (6) drive connection there are liquid pump (2), wherein variable displacement motor
It (7) further include adjuster, variable displacement motor (7) controls the size of blast system discharge capacity by adjuster.
3. a kind of wind according to claim 2 send variable rate spray test platform, it is characterised in that: the blast system is main
Including blower and diversion air duct, blower is controlled the size of fan delivery by the adjuster of variable displacement motor, to realize that blower turns
Velocity modulation section.
4. a kind of wind according to claim 3 send variable rate spray test platform, it is characterised in that: the spraying system is main
It connect by pipeline with liquid pump (2) including medicine-chest, several spray heads (9), spray head (9), show that the pressure of pipeline pressure flow passes
Sensor, flow sensor, the high-frequency electromagnetic valve (10) for adjusting capacity of sprinkler, several spray heads (9) are uniformly installed on diversion air duct
In air outlet, spray head (9) outlet is flushed with diversion air duct exit end face.
5. a kind of wind according to claim 4 send variable rate spray test platform, it is characterised in that: the control system is also wrapped
Control core plate, driving, power supply, pcb board, display screen are included, control system is arranged separately in test platform and nearby is convenient for operating.
6. a kind of wind according to claim 5 send variable rate spray test platform, it is characterised in that: the air quantity decision-making module
Refer to according to canopy structure characteristic to wind velocity U needed for penetration of droplets requirement, air quantity needed for then calculating spraying system；It wants
Guarantee the medical fluid deposition effect inside canopy, the minimum air velocity U' in canopy middle position is 1.5m/s, according to lower surface model
Formula reaches air velocity U:U=f (LAI, D)+U ' of canopy needed for calculating, f (LAI, D) is obtained by test data fitting in formula
Out, LAI is fruit tree leaf area index, and D is that fruit tree partly sets width, m；Water conservancy diversion wind is calculated according to the following formula according to required air velocity U
The atomising air speed U in road exit0,In formula, C is coefficient, U0Wind is originated for diversion air duct air outlet
Speed, m/s；b0For diversion air duct exit width, mm；X is distance value of the spraying machine outlet apart from fruit tree, mm；Water conservancy diversion is calculated again
The product of duct outlet sectional area, air quantity needed for spraying system are diversion air duct air outlet wind velocity U0With diversion air duct outlet air
The product of mouth sectional area.
7. a kind of wind according to claim 6 send variable rate spray test platform, it is characterised in that: the f (LAI, D) is by trying
It tests data and is fitted the detailed process obtained are as follows: with the LAI and D of 30 groups of different levels, test out corresponding U, be certainly with LAI and D
Variable carries out 2 yuan of multiple regression analyses in data processing software, obtains f (LAI, D) model using U as dependent variable.
8. a kind of wind according to claim 7 send variable rate spray test platform, it is characterised in that: the canopy structure analysis
Module refers to that the architectural characteristic for the canopy measured according to distance measuring sensor (12) calculates point cloud density p and canopy volume V, structure
Characteristic can for each laser scanning point distance, laser angular angle value θ n, distance measuring sensor (12) laser beam hits canopy it is straight
Linear distance, the high H of tree and tree thickness B etc., calculating point cloud density p can be as the following formulaCanopy point Yun Midu is calculated, ρ is in formula
Point Yun Midu, point/m3；N is points, and the laser of distance measuring sensor (12) gets to the points of canopy, and the number and feedback of point, which arrive, to be surveyed
The number of each laser scanning point distance values away from sensor (12) is identical；V is canopy volume, m3。
9. a kind of wind according to claim 8 send variable rate spray test platform, it is characterised in that: the canopy volume V is pressed
Following formula calculates: V=D*H*v, and H is that tree is high in formula, m, H=h+Rnsin θ n, θ n ∈ (0 ° -180 °), and h is distance measuring sensor in formula
(12) mounting height, m；Rn is the linear distance Rn of the laser beam hits canopy of distance measuring sensor (12)；V is motor-driven carrier speed
The degree i.e. speed of tree movement, m/s；D is the average half thickness of tree, and canopy half thickness average half set that average as the following formula is thick
D is spent,Dn is the canopy half thickness of each laser light strikes point, m in formula；The calculating formula of Dn is as follows, Dn=L-Ln,
L is the horizontal distance on canopy boundary and distance measuring sensor (12), m；Ln is the horizontal distance of canopy and laser radar, m, according to survey
The each laser scanning point distance and angle value measured away from sensor (12), the canopy that each laser is calculated as follows out are hit
The horizontal distance Ln, L of point and distance measuring sensor (12)n=Rncosθn；Rn is the linear distance of laser beam hits canopy, m；θ n is
The angle of laser beam；The relational model between LAI and ρ can also be fitted by test data；Simultaneously according to distance measuring sensor
(12) each point distance and angle value measured calculate the thick equidimension of tree.
10. a kind of wind according to claim 9 send variable rate spray test platform, it is characterised in that: the tree thickness B is by following
Formula calculates: B=max (Ln)-min (Ln).
11. a kind of wind according to claim 10 send variable rate spray test platform, it is characterised in that: the spray amount decision
Module refers to that the requirement according to canopy structure characteristic to formulation rate calculates the spray amount q of spray head, then the spray amount q of spray head is pressed
Following formula calculates: q=VI, and I is application coefficient in formula, and I is the formulation rate of every cubic metre of canopy volume, I=0.8-1.2L/m3；V is
Canopy volume, m3。
12. a kind of wind according to claim 11 send variable rate spray test platform, it is characterised in that: on the shelf (1)
Equipped with sensor stand (11), distance measuring sensor (12) is mounted on sensor stand (11), distance measuring sensor (12) and blower
And the mounting distance of spray head (9) is 1-4m.
13. a kind of wind according to claim 12 send variable rate spray test platform, it is characterised in that: the distance measuring sensor
It (12) is 2m with the mounting distance of blower and spray head (9).
14. a kind of wind according to claim 13 send variable rate spray test platform, it is characterised in that: the distance measuring sensor
It (12) is LIDAR sensor.
15. a kind of wind according to claim 14 send variable rate spray test platform, it is characterised in that: the motor-driven carrier
(14) it is controlled by permanent magnet synchronous motor, velocity error is less than 1%.
16. a kind of wind according to claim 15 send variable rate spray test platform, it is characterised in that: the high-frequency electromagnetic valve
(10) the ASCO brand proportioning valve of import is used, control frequency is up to 300HZ, can reduce and spray due to caused by the switch of valve
Mist pressure oscillation can control pressure oscillation within 1%.
17. a kind of wind according to claim 16 send variable rate spray test platform, it is characterised in that: the track (15)
Width and motor-driven carrier (14) spacing separately design as 4m and 2m.
18. a kind of wind according to claim 17 send variable rate spray test platform, it is characterised in that: the trees (13) are
Fruit tree.
19. a kind of simulation experiment method for sending variable rate spray test platform using wind described in -18 according to claim 1, special
Sign is: the following steps are included:
Step a: distance measuring sensor (12) measures the distance value on canopy boundary Yu distance measuring sensor (12)；
Step b: it is converted into after measuring wheel rotor speed by the photoelectric sensor (16) being mounted on motor-driven carrier (14)
Motor-driven carrier speed；
Step c: trees height value is inputted in the controls, in conjunction with distance value, the point on canopy boundary and distance measuring sensor (12)
Cloud data volume and motor-driven carrier speed, canopy structure analysis module calculate canopy volume and point Yun Midu；
Step d: according to canopy volume and point Yun Midu, required rotation speed of fan and spray amount are calculated；
Step e: according to duty ratio corresponding to required spray amount, spray head (9) are adjusted using PWM control high-frequency electromagnetic valve (10)
Flow to desirable value；
Step f: monitoring rotation speed of fan according to required rotation speed of fan, while using photoelectric sensor (16), using approaching
The adjuster of method control variable displacement motor reaches requirements until revolving speed；
Step g: disposing different types of emulation fruit tree on each trolley, and different branches is assigned in fruit tree different location, realizes
Different canopy layers density conditions；
Step h: arrangement atomization quality collecting sample is opened pilot system and is simultaneously acquired to spraying system after stable, is opened
State corresponding data.
Step i: spraying system is closed before fruit tree duplicates by spraying, stops the secondary test；It is next to adjust experimental factor progress
Secondary test.
20. a kind of test method for sending variable rate spray test platform using wind according to claim 19, it is characterised in that:
The blower maximum (top) speed is nmax=2000rpm, it is n that system, which designs the smallest rotation speed of fan,min=0.7nmax, i.e. 1400rpm,
The distance measuring sensor (12) is mounted on before blower at L=2m, it is L/V=that blower wind speed, which adjusts the response time allowed, at this time
2s, V are operating speed, V=1m/s when test.
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| CN112970706A (en) * | 2021-02-05 | 2021-06-18 | 盐城工学院 | Continuous profiling variable spraying method based on laser scanning detection |
| CN112970706B (en) * | 2021-02-05 | 2022-05-03 | 盐城工学院 | Continuous profiling variable spraying method based on laser scanning detection |
| CN116339292A (en) * | 2023-05-31 | 2023-06-27 | 北京市农林科学院智能装备技术研究中心 | Testing platform and testing method for accurate variable spraying control system |
| CN116339292B (en) * | 2023-05-31 | 2023-09-19 | 北京市农林科学院智能装备技术研究中心 | Testing platform and testing method for accurate variable spraying control system |
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