CN110503259A - A kind of plant protection unmanned aerial vehicle job parameter setting decision-making technique - Google Patents
A kind of plant protection unmanned aerial vehicle job parameter setting decision-making technique Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000005507 spraying Methods 0.000 claims description 123
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- 230000035515 penetration Effects 0.000 claims description 18
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Abstract
A kind of plant protection unmanned aerial vehicle job parameter setting decision-making technique, it is examination object with plant protection unmanned aerial vehicle operating efficiency and sprinkling quality, a kind of job parameter decision-making technique for adapting to different objects, different times, the different prevention and control of plant diseases, pest control and requiring is provided, to provide guidance for the setting of plant protection unmanned aerial vehicle job parameter.The present invention can carry out parameter selection according to actual job object, activity duration, controlling object, to guarantee the efficiency and effect that are administered operation, complete the foundation of plant protection unmanned aerial vehicle job parameter setting decision system.
Description
Technical field
The present invention relates to plant protection technology fields, and in particular to a kind of plant protection unmanned aerial vehicle job parameter setting decision-making technique.
Background technique
That there are insecticide-applying way is extensive for traditional artificial backpack type spraying machine/device operation, operating efficiency is low, time-consuming work consuming is more,
Control efficiency Customers ' Legal Right, it is difficult to meet the requirement of China's agricultural entire mechanization, in contrast, plant protection unmanned aerial vehicle has operation
Notable features, the developing states such as high-efficient, labour's less investment, the obvious, wide adaptability of water-saving section medicine are swift and violent.But along with plant protection
Unmanned aerial vehicle is gradually popularized, and matched pesticide application technology also more seems important.During current application, unmanned plane
Operation quality depend on mostly manipulator experience and operation it is horizontal, if using inappropriate flight ginseng in operation process
Number, often cannot not only play good prevention and control of plant diseases, pest control effect, while also will cause the drift and waste of pesticide, this is for planting
The development for protecting unmanned aerial vehicle industry causes huge negative effect.
Summary of the invention
The present invention aiming at the shortcomings in the prior art, provides a kind of plant protection unmanned aerial vehicle job parameter setting decision-making technique.
To achieve the above object, the invention adopts the following technical scheme:
A kind of plant protection unmanned aerial vehicle job parameter setting decision-making technique, which comprises the steps of:
Step 1, the elemental operation parameter for recording plant protection unmanned aerial vehicle, including its flying speed (v1、v2、v3、v4...vi)、
Flying height (h1、h2、h3、h4...hm) and spray head working flow (q1、q2、q3、q4...qn), these parameters are subjected to sorting group
It closes, forms i × m × n kind parameter combination；
Step 2, select one piece of kind have the field of crop as sample region carry out sampled point arrangement, sampled point along plant protection without
People's aircraft presets the vertical direction arrangement in course line, and fog droplet acquisition device is arranged for each sampled point；
Step 3, i × m × n kind parameter combination for being formed in step 1, step 2 arrange sample region on successively into
The spraying swath of row plant protection unmanned aerial vehicle measures test；
Step 4, scanning fog droplet acquisition device, analysis obtain coverage density of droplets and Spraying coverage, calculate each ginseng
Operation spraying swath under array conjunction；
Droplet average coverage rate under step 5, each parameter combination of calculating in operation spraying swath, carries out corresponding record；
The Spraying coverage coefficient of variation under step 6, each parameter combination of calculating in operation spraying swath；
Step 7 makes a variation to the lower measured operation spraying swath of different parameters combination, droplet average coverage rate, Spraying coverage
Coefficient carries out arrangement classification, calculates corresponding plant protection unmanned aerial vehicle operating efficiency and mu spraying volume under different parameters combination；
Step 8 is lower than preset standard and mu spraying volume, Spraying coverage change to operating efficiency, droplet average coverage rate
The parameter combination that different coefficient is greater than preset standard is rejected；
Step 9 carries out penetration of droplets test to the parameter combination after screening in step 8, and penetration of droplets rate is calculated；
Step 10 carries out job parameter Database, each parameter group of associated record according to the parameter combination after screening
Corresponding penetration of droplets rate is closed, to carry out parameter selection according to actual job object, operation reality, controlling object.
To optimize above-mentioned technical proposal, the concrete measure taken further include:
Further, the step 2 is specific as follows:
The arrangement for selecting one piece of kind to have the field of crop to carry out sampled point, sampled point preset course line along plant protection unmanned aerial vehicle
Vertical direction arrangement, be arranged in parallel 3 rows altogether, and line space is set as at least 10m, and the first row sampled point takes off apart from plant protection unmanned aerial vehicle
Position 30m or more；The central sampling point of every row is located on course line, and respectively j sampled point of arrangement, a row amount to (2j+1) to bilateral symmetry
A, number consecutively is-j~0~j, and 0, -1~0~1 spacing of central sampling point is 1m, remaining sampled point spacing is 0.2m, is adopted
Sampling point overall width are as follows:
L=0.2 × (j-1) × 2+1
Wherein, the value of L is greater than 1.5 times of tested plant protection unmanned aerial vehicle factory calibration spraying swath；
Fog droplet acquisition device selects water sensitive paper or the paper card for being sprayed with color developing agent, fog droplet acquisition device are clipped in each sampled point
Thief rod on, collection surface is consistent with field crops canopy height.
Further, in the step 3, in real time record continuous mode in field wind speed, temperature and humidity, when wind speed,
When temperature and humidity do not meet plant protection drone operating condition, acquired results are not used.
Further, in the step 4, plant protection unmanned aerial vehicle spraying swath demarcation method is from sample region both ends sampled point one by one
It is checked, for every row sampled point, the first unit area droplet number in both ends is not less than 15/cm2Sampled point as the ginseng
Two boundaries of effective spraying swath under array is closed, the distance between two boundaries is effective spraying swath, and three row sampled points is taken to measure effective spray
The average value of width is as the operation spraying swath W under the parameter combinationj, and carry out corresponding record.
Further, in the step 5, the Spraying coverage of each fog droplet acquisition device in operation spraying swath is recorded, with it
Average value carries out corresponding record as the droplet average coverage rate under the parameter combination.
Further, in the step 6, for every a line sampled point, each fog droplet acquisition device in operation spraying swath is calculated
Spraying coverage coefficient of variation CV:
S is poor for the Spraying coverage data standard with fog droplet acquisition device in a line operation spraying swath in formula, XiFor same a line
Each sampled point Spraying coverage in operation spraying swath,For each sampled point Spraying coverage average value in same a line operation spraying swath, n is
Number of sampling points in the row operation spraying swath includes two endpoints；
The Spraying coverage coefficient of variation average value for taking three row sampled points to measure is as in operation spraying swath under the parameter combination
The Spraying coverage coefficient of variation.
Further, in the step 7, corresponding plant protection unmanned aerial vehicle operating efficiency η and mu under different parameters combination
The calculating of spraying volume Q is as follows:
η=Vi×Wj×60
Q=667/ η × q
In formula, ViIndicate flying speed (v1、v2、v3、v4...vi), WjIndicate that operation spraying swath, q indicate spray head working flow
(q1、q2、q3、q4...qn)。
Further, in the step 9, when the testing time of penetration of droplets test combines the crop practical middle and later periods to be administered
Between, remaining test meteorological condition is consistent with the spraying swath measurement test in step 3；Penetrating Test is layouted with dual crossing method,
The line of flight is arranged 4 altogether, is respectively arranged two central points intersected with the 3rd article of course line at the 2nd article, the spraying swath setting of aircraft with
Subject to the corresponding operation spraying swath of the parameter combination that step 6 measures；Each sampled point is divided into upper layer and lower layer, by fog droplet acquisition device
One on the other, the first from left right side is clipped on thief rod, and bilevel fog droplet acquisition device is from influences of plant crown and ground respectively
15cm；After completing test, the fog droplet acquisition device after each test is removed in time, marked and properly saved；
Complete test after, fog droplet acquisition device is scanned and with software analyze Spraying coverage, penetration of droplets rate with
The Spraying coverage average value of lower layer's fog droplet acquisition device and the droplet of upper layer fog droplet acquisition device cover in aircraft operation spraying swath
The ratio of rate average value is measured.
The beneficial effects of the present invention are: being examination object with plant protection unmanned aerial vehicle operating efficiency and sprinkling quality, provide
A kind of job parameter decision-making technique for adapting to different objects, different times, the different prevention and control of plant diseases, pest control and requiring, thus for plant protection nobody
Aircraft operation parameter setting provides guidance；Parameter selection can be carried out according to actual job object, activity duration, controlling object,
To guarantee to be administered the efficiency and effect of operation, the foundation of plant protection unmanned aerial vehicle job parameter setting decision system is completed.
Detailed description of the invention
Fig. 1 is plant protection unmanned aerial vehicle job parameter setting decision-making technique flow chart.
Fig. 2 is practical spraying swath measurement sampled point arrangement schematic diagram.
Fig. 3 is Penetrating Test sampled point arrangement schematic diagram.
Fig. 4 is Penetrating Test water sensitive paper (paper card) clamping schematic diagram.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.
Decision-making technique is arranged in plant protection unmanned aerial vehicle job parameter proposed by the invention, is suitable for a plurality of types of in the market
Plant protection unmanned aerial vehicle, including the dynamic single rotor plant protection unmanned aerial vehicle of electronic more rotors, electronic single rotor, oil, this method is mainly to make
Industry efficiency rating and operation quality evaluation these two aspects are as examination object.
Operating efficiency evaluation: the flight operating efficiency of plant protection unmanned aerial vehicle are as follows: flying speed × practical spraying swath.Regular situation
Under, when carrying out routeing before flight, generally using plant protection unmanned aerial vehicle spraying swath as the interval between adjacent two course lines, and set
The spraying swath data that this spraying swath value set then is measured by enterprise in equipment factory testing, this data are usually a certain solid
It is measured under fixed job parameter, during practical flight, if flight parameter changes, spraying swath numerical value can also become therewith
Change, for example use excessively high flying height and flying speed, then drift phenomenon of droplet during sprinkling can be increased, to lead
Practical spraying swath is caused to be less than its factory calibration spraying swath, if be still configured according to factory calibration spraying swath value in routeing,
It then will appear drain spray phenomenon, seriously affect operation quality, in this case, it is higher to seem operating efficiency, but actual job is imitated
Rate is often lower, and operation effectiveness is also poor.
Operation quality evaluation: the control efficiency of plant protection unmanned aerial vehicle is influenced by many factors, including crop
A situation arises for kind, planting patterns, climatic factor, pest and disease damage (explosive generation whether occur), the medicament used, plant protection nobody
Aircraft operation quality etc..Guarantee that plant protection unmanned aerial vehicle application operation quality is to guarantee one of the important prerequisite of preventive effect, job eveluation
Index includes droplet average coverage rate, the Spraying coverage coefficient of variation, penetration of droplets etc., and Different Crop is in different growing face
When to different pest and disease damages, often there is different requirements to operation quality evaluation index, for example be administered in rice, wheat early period
When, since plant height is smaller, leaf area index is smaller, and droplet average coverage rate and the coverage rate coefficient of variation are wanted during this
Ask higher, penetrability be then generally not considered, the later period in face of some base portions morbidity pest and disease damage when, due to crop plant height compared with
Greatly, blade envelope row, leaf area index are larger, should increase a penetrability requirement at this time, only meet three's requirement, ability simultaneously
It is utmostly lower to guarantee operation quality, to obtain ideal control efficiency.
As shown in Figure 1, plant protection unmanned aerial vehicle job parameter setting decision-making technique specifically comprises the following steps:
Step 1, data classification: for the plant protection unmanned aerial vehicle of a certain model, its elemental operation parameter is remembered first
Record, including its flying speed (v1、v2、v3、v4...vi), flying height (h1、h2、h3、h4...hm) and spray head working flow (q1、
q2、q3、q4...qn), these parameters are classified and combined, i × m × n kind parameter combination is formed.
Step 2, the measurement of practical spraying swath: one piece of kind of selection has the field of crop to carry out the arrangement of sampled point, and sampled point is along plant
The vertical direction arrangement that unmanned aerial vehicle presets course line is protected, 3 rows that are arranged in parallel altogether (or more than 3 rows), line space is set as 10m or 10m
More than.The first row sampled point distance takes off position 30m or more, to ensure aircraft through operating speed, operation when oversampled points
Height and spray head sprinkling are stablized.Central sampling point is located on course line, and respectively j sampled point of arrangement, a row amount to (2j to bilateral symmetry
+ 1) a, number consecutively is-j~0~j, and 0, -1~0~1 spacing of central sampling point is 1m, remaining sampled point arrangement spacing is
0.2m, sampled point overall width are as follows:
L=0.2 × (j-1) × 2+1
In order to guarantee to sample the accuracy of row sampled data, the value of L, which must assure that, is greater than tested plant protection unmanned aerial vehicle factory
1.5 times for demarcating spraying swath.Sampled point layout drawing is shown in Fig. 2.
Fog droplet acquisition device can select water sensitive paper, or match to postpone according to a certain percentage with color developing agent and be sprayed on paper card
(for substituting water sensitive paper), water sensitive paper or paper card are generally clipped on thief rod with clip, collection surface and field crops canopy height
It is consistent.
Step 3: for the data of step 1, i.e. flying speed (v1、v2、v3、v4...vi), flying height (h1、h2、h3、
h4...hm) and spray head working flow (q1、q2、q3、q4...qn), unit is respectively m/s, m, L/min, amounts to i × m × n seed ginseng
Array is closed, and is successively tested, and the water sensitive paper (paper card) after each test is removed, marks and properly saved in time, is taken back
Laboratory.During test, field wind speed, temperature and humidity need to be recorded in real time, spraying swath measurement test must field wind speed compared with
It is small, it is carried out in the case where temperature and humidity suitable operation.The weather conditions of spraying swath measurement test should comply with plant protection drone work
Industry condition, wind speed is excessively high, there are dew, temperature is excessively high situations such as can generate large effect, resulting result to measurement result
It is not useable for the foundation of decision system.
Step 4: water sensitive paper (paper card) being scanned with scanner, in 600dpi, droplet covers the high resolution of selection
Lid density (a/cm2) can be obtained by the analysis of the special-purpose softwares such as Dropletscan with Spraying coverage.Plant protection nobody fly
Machine spraying swath demarcation method is that sampled point is checked one by one from sample region both ends, and the first unit area droplet number in both ends is not less than 15
A/cm2Two boundaries of the sampled point as spraying swath effective under the parameter combination, the distance between two boundaries is effective spraying swath,
Take the average value of three row sampled point data measureds as the operation spraying swath W under the parameterj, and carry out corresponding record.
Step 5: the Spraying coverage of every water sensitive paper (paper card) in record operation spraying swath, using its average value as the ginseng
Droplet average coverage rate under several, carries out corresponding record.
Step 8: calculate water sensitive paper (paper card) Spraying coverage coefficient of variation CV in operation spraying swath:
S is poor, X with water sensitive paper (paper card) Spraying coverage data standard in a line operation spraying swath in formulaiMake for same a line
Each sampled point Spraying coverage (%) in industry spraying swath,For each sampled point Spraying coverage average value in same a line operation spraying swath
(%), n are the number of sampling points in the row operation spraying swath, include two endpoints.Take the average value of three row sampling card data measureds
As the Spraying coverage coefficient of variation.The coefficient of variation is smaller, then shows that the otherness of the Spraying coverage of different sampled points is smaller,
Droplet covering is more uniform.
Step 7: making a variation to the lower measured operation spraying swath of different parameters combination, droplet average coverage rate, Spraying coverage
Coefficient carries out arrangement classification, calculates corresponding plant protection unmanned aerial vehicle operating efficiency η (work surface per minute under different parameters combination
Product) and the liquid volume Q (L/ mus) that is applied per acre.
η=Vi×Wj×60
Q=667/ η × q
Wherein, ViIndicate flying speed (v1、v2、v3、v4...vi), q indicates spray head working flow (q1、q2、q3、
q4...qn)。
Step 8: it is relatively too low to operating efficiency η, droplet average coverage rate X in step 7 test result, and mu is administered
Liquid measure Q, Spraying coverage coefficient of variation CV excessive parameter combination is rejected.Job parameter after screening can satisfy crop
Initial stage plant height is lower, the lesser job requirements of leaf area index, combines operating efficiency and operation quality, and concrete application can root
It is selected according to actual demand.
Step 9: penetration of droplets test being carried out to the parameter after step 8 screening, the testing time need to be in conjunction with crop in practice
Later period spraying time, crop plant height, leaf area index at this time has when testing compared to step 2- step 6 obviously to be mentioned
Height, remaining test meteorological condition are consistent.Penetrating Test is layouted with dual crossing method, and the line of flight is arranged 4 altogether, in longitudinal direction
The 2nd article with layout on the 3rd article of course line, sampled point layout drawing is shown in Fig. 3, and the parameter group measured with step 4 is arranged in spraying swath
It closes subject to corresponding operation spraying swath.Each sampled point is divided into upper layer and lower layer, one on the other by Universal clamp by water sensitive paper (paper card),
One the first from left right side is clipped on thief rod, is respectively 15cm from wheat plant canopy and ground, specific as shown in Figure 4.After completing test,
Water sensitive paper (paper card) after each test is removed, marked and properly saved in time, laboratory is taken back.
Penetration of droplets test is arranged according to the crop practical application activity duration with number situation, if the crop exists
Middle and later periods spraying times are less, then test can be arranged only primary, if later period spraying times have twice or more, and each application phase is made
Object plant height, leaf area index change greatly, then the test need to carry out repeatedly, to improve the effect of optimization of parameter, preferably instruct
Actual job.Complete test after, water sensitive paper (paper card) is scanned and with software analysis Spraying coverage (or droplet covering it is close
Degree), penetration of droplets rate with lower layer's sampling card Spraying coverage (or coverage density of droplets) average value in aircraft operation spraying swath with it is upper
The ratio of layer sampling card Spraying coverage (or coverage density of droplets) average value is measured, and is fallen ill heavier disease pest for lower layer
Evil, under the high parameter combination of penetration of droplets rate corresponding control efficiency can the parameter group poorer than penetrance get togather, ratio more it is big then
Indicate that penetration of droplets is better.Also the coefficient of variation that the Spraying coverage (or Droplet deposition) of different acquisition point can be used is come
Penetration of droplets is measured, coefficient of variation calculation method is identical as step 6, and the coefficient of variation is smaller, indicates that mist droplet deposition penetrability is got over
It is good.
If the plant height in crop later period is very big, can arrange when arranging water sensitive paper (paper card) greater than two layers, penetrance
Test method is consistent, and specific water sensitive paper (paper card) position can be adjusted voluntarily, and each layer water sensitive paper (paper card) should be mutual in principle
It is staggered.Number of sampling points can also be adjusted according to actual needs with method for arranging, should be arranged in principle uniformly, sampled point
With enough representativenesses.
Step 10: carrying out job parameter Database, the corresponding mist of each parameter combination of associated record after completing step 9
Penetrance or penetration of droplets are dripped, it is subsequent parameter selection to be carried out according to actual job object, activity duration, controlling object,
To guarantee to be administered the efficiency and effect of operation, the foundation of plant protection unmanned aerial vehicle job parameter setting decision system is completed.
It should be noted that the term of such as "upper", "lower", "left", "right", "front", "rear" cited in invention, also
Only being illustrated convenient for narration, rather than to limit the scope of the invention, relativeness is altered or modified, in nothing
Under essence change technology contents, when being also considered as the enforceable scope of the present invention.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (8)
1. decision-making technique is arranged in a kind of plant protection unmanned aerial vehicle job parameter, which comprises the steps of:
Step 1, the elemental operation parameter for recording plant protection unmanned aerial vehicle, including its flying speed (v1、v2、v3、v4...vi), flight
Highly (h1、h2、h3、h4...hm) and spray head working flow (q1、q2、q3、q4...qn), these parameters are subjected to sort merge, shape
At i × m × n kind parameter combination；
Step 2, the arrangement for selecting one piece of kind to have the field of crop to carry out sampled point as sample region, along plant protection, nobody flies sampled point
Machine presets the vertical direction arrangement in course line, and fog droplet acquisition device is arranged for each sampled point；
Step 3, i × m × n kind parameter combination for being formed in step 1 are successively planted on the sample region that step 2 is arranged
The spraying swath for protecting unmanned aerial vehicle measures test；
Step 4, scanning fog droplet acquisition device, analysis obtain coverage density of droplets and Spraying coverage, calculate each parameter group
Operation spraying swath under closing；
Droplet average coverage rate under step 5, each parameter combination of calculating in operation spraying swath, carries out corresponding record；
The Spraying coverage coefficient of variation under step 6, each parameter combination of calculating in operation spraying swath；
Step 7 combines lower measured operation spraying swath, droplet average coverage rate, the Spraying coverage coefficient of variation to different parameters
Arrangement classification is carried out, corresponding plant protection unmanned aerial vehicle operating efficiency and mu spraying volume under different parameters combination are calculated；
Step 8 is lower than preset standard and mu spraying volume, Spraying coverage variation lines to operating efficiency, droplet average coverage rate
The parameter combination that number is greater than preset standard is rejected；
Step 9 carries out penetration of droplets test to the parameter combination after screening in step 8, and penetration of droplets rate is calculated；
Step 10 carries out job parameter Database, each parameter combination pair of associated record according to the parameter combination after screening
The penetration of droplets rate answered, to carry out parameter selection according to actual job object, operation reality, controlling object.
2. decision-making technique is arranged in a kind of plant protection unmanned aerial vehicle job parameter as described in claim 1, it is characterised in that: the step
Rapid 2 is specific as follows:
The arrangement for selecting one piece of kind to have the field of crop to carry out sampled point, sampled point preset the vertical of course line along plant protection unmanned aerial vehicle
Direction arrangement, be arranged in parallel 3 rows altogether, and line space is set as at least 10m, and the first row sampled point is apart from plant protection unmanned aerial vehicle takeoff setting
30m or more；The central sampling point of every row is located on course line, and bilateral symmetry respectively arranges j sampled point, and a row total (2j+1) is a,
Number consecutively is-j~0~j, and 0, -1~0~1 spacing of central sampling point is 1m, remaining sampled point spacing is 0.2m, sampled point
Overall width are as follows:
L=0.2 × (j-1) × 2+1
Wherein, the value of L is greater than 1.5 times of tested plant protection unmanned aerial vehicle factory calibration spraying swath；
Fog droplet acquisition device selects water sensitive paper or the paper card for being sprayed with color developing agent, fog droplet acquisition device are clipped in adopting for each sampled point
On sample bar, collection surface is consistent with field crops canopy height.
3. decision-making technique is arranged in a kind of plant protection unmanned aerial vehicle job parameter as described in claim 1, it is characterised in that: the step
In rapid 3, in real time record continuous mode in field wind speed, temperature and humidity, when wind speed, temperature and humidity do not meet plant protection nobody
When machine operation condition, acquired results are not used.
4. decision-making technique is arranged in a kind of plant protection unmanned aerial vehicle job parameter as claimed in claim 2, it is characterised in that: the step
In rapid 4, plant protection unmanned aerial vehicle spraying swath demarcation method is that sampled point is checked one by one from sample region both ends, and every row is sampled
Point, the first unit area droplet number in both ends are not less than 15/cm2Two as spraying swath effective under the parameter combination of sampled point
Boundary, the distance between two boundaries is effective spraying swath, and three row sampled points is taken to measure the average value of effective spraying swath as the parameter group
Operation spraying swath W under closingj, and carry out corresponding record.
5. decision-making technique is arranged in a kind of plant protection unmanned aerial vehicle job parameter as described in claim 1, it is characterised in that: the step
In rapid 5, record operation spraying swath in each fog droplet acquisition device Spraying coverage, using its average value as the parameter combination under
Droplet average coverage rate carries out corresponding record.
6. decision-making technique is arranged in a kind of plant protection unmanned aerial vehicle job parameter as described in claim 1, it is characterised in that: the step
In rapid 6, for every a line sampled point, the Spraying coverage coefficient of variation CV of each fog droplet acquisition device in operation spraying swath is calculated:
S is poor for the Spraying coverage data standard with fog droplet acquisition device in a line operation spraying swath in formula, XiFor same a line operation spray
Each sampled point Spraying coverage in width,For each sampled point Spraying coverage average value in same a line operation spraying swath, n is row work
Number of sampling points in industry spraying swath includes two endpoints；
The Spraying coverage coefficient of variation average value for taking three row sampled points to measure is as the mist in operation spraying swath under the parameter combination
Drip the coverage rate coefficient of variation.
7. decision-making technique is arranged in a kind of plant protection unmanned aerial vehicle job parameter as described in claim 1, it is characterised in that: the step
In rapid 7, the calculating of corresponding plant protection unmanned aerial vehicle operating efficiency η and mu spraying volume Q are as follows under different parameters combination:
H=Vi×Wj×60
Q=667/ η × q
In formula, ViIndicate flying speed (v1、v2、v3、v4...vi), WjIndicate that operation spraying swath, q indicate spray head working flow (q1、
q2、q3、q4...qn)。
8. decision-making technique is arranged in a kind of plant protection unmanned aerial vehicle job parameter as described in claim 1, it is characterised in that: the step
In rapid 9, the testing time of penetration of droplets test combines the practical middle and later periods spraying time of crop, remaining test meteorological condition and step
Spraying swath measurement test in rapid 3 is consistent；Penetrating Test is layouted with dual crossing method, and the line of flight is arranged 4 altogether, the 2nd
Article two central points intersected are respectively arranged with the 3rd article of course line, the parameter combination pair measured with step 6 is arranged in the spraying swath of aircraft
Subject to the operation spraying swath answered；Each sampled point is divided into upper layer and lower layer, by fog droplet acquisition device one on the other, the first from left right side is clipped in and adopts
On sample bar, bilevel fog droplet acquisition device is respectively 15cm from influences of plant crown and ground；After completing test, it will test every time
Fog droplet acquisition device afterwards is removed in time, is marked and properly saves；
After completing test, fog droplet acquisition device is scanned and analyzes Spraying coverage with software, penetration of droplets rate is with aircraft
The Spraying coverage average value of lower layer's fog droplet acquisition device and the Spraying coverage of upper layer fog droplet acquisition device are flat in operation spraying swath
The ratio of mean value is measured.
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