CN111199111A - Unmanned aerial vehicle dual-nozzle droplet particle size distribution simulation method - Google Patents
Unmanned aerial vehicle dual-nozzle droplet particle size distribution simulation method Download PDFInfo
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Abstract
The invention relates to a method for simulating the particle size distribution of double-nozzle fogdrops of an unmanned aerial vehicle, which comprises the following steps: placing single spray heads at different height positions; determining the spraying amplitude range of the single spray heads at different heights; placing the double spray heads at different heights and different spacing positions; the dual spray head includes: a first spray head and a second spray head; taking the center of the distance between the double spray heads as a zero point, respectively spacing a first set distance from the left to the right, and measuring the volume pitch diameters of the fog drops in the spray amplitude overlapping areas at different heights, different distances and different horizontal positions to obtain a real measured value; taking the height of the spray heads, the distance between the double spray heads and the horizontal position as independent variables, taking the real measured value as a dependent variable, and dividing all the independent variables and the dependent variables according to a fixed proportion to form a modeling set and a pre-set; and determining a fitting formula by adopting a REGRESS function based on the modeling set and the prediction set. The method of the invention adopts a machine learning method to obtain a high-precision quantitative modeling effect.
Description
Technical Field
The invention relates to the field of machine learning, in particular to a method for simulating the particle size distribution of double-nozzle fogdrops of an unmanned aerial vehicle.
Background
The unmanned aerial vehicle spraying has been used widely in the aspect of agricultural fertilization and pesticide spraying operation due to the characteristics of low operation cost, high efficiency, strong maneuverability and the like. However, unmanned aerial vehicle spraying is more susceptible to airflow and air movement conditions than ground tool spraying, and has the problems of large droplet size distribution range, difficult control of deposition amount, significant droplet drift and the like. The drifting of the fog drops can cause safety problems and waste of liquid medicine, and the drifting of the fog drops can cause various diseases of human bodies and cause unnecessary pollution to soil. The droplet size is a droplet parameter having a very high correlation with droplet drift, and it also affects the deposition rate of droplets on a target and the application efficiency of a drug solution. Therefore, determining the distribution rule of the droplet particle sizes in the overlapped sectors has important significance for improving the spraying effect and selecting the proper nozzle type. The Volume Median Diameter (VMD) of the fogdrop is the most commonly used parameter for representing the particle size of the fogdrop when the volume is added to 50 percent of the total volume by adding the particle sizes of the fogdrop in all spraying from small to large.
The machine learning method is widely used in agriculture, energy engineering, biomedicine and various fields. In the field of agricultural unmanned aerial vehicles, the machine learning method is mainly applied to image processing and automatic operation directions, and the accuracy of the model can be greatly improved by establishing a quantitative model of the particle size of fog drops in a nozzle sector by using the machine learning method.
Disclosure of Invention
The invention aims to provide a method for simulating the particle size distribution of double-nozzle fogdrops of an unmanned aerial vehicle, which realizes quantitative and accurate modeling.
In order to achieve the purpose, the invention provides the following scheme:
an unmanned aerial vehicle dual-nozzle droplet particle size distribution simulation method comprises the following steps:
placing single spray heads at different height positions;
determining the spraying amplitude range of the single spray heads at different heights;
placing the double spray heads at different heights and different spacing positions; the dual spray head includes: a first spray head and a second spray head;
taking the center of the distance between the double spray heads as a zero point, respectively spacing a first set distance from the left to the right, and measuring the volume pitch diameters of the fog drops in the spray amplitude overlapping areas at different heights, different distances and different horizontal positions to obtain a real measured value;
taking the height of the spray heads, the distance between the double spray heads and the horizontal position as independent variables, taking the real measured value as a dependent variable, and dividing all the independent variables and the dependent variables according to a fixed proportion to form a modeling set and a pre-set;
and determining a fitting formula by adopting a REGRESS function based on the modeling set and the prediction set.
Optionally, the positions with different heights specifically include: 1m, 1.5m and 2m from the ground.
Optionally, the determining the range of the spraying widths of the single nozzles at different heights specifically includes:
arranging a plurality of measuring cylinders under the single spray heads in sequence, and determining the spray amplitude ranges of the single spray heads at different heights by adopting a 50% effective deposition amount determination method; the outer diameter of the cylinder bottom of the measuring cylinder is the same as the first set distance.
Optionally, the first set distance is 6.5 cm.
Optionally, the different spacing positions specifically include: 0.5m, 0.6m and 0.7 m.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the method adopts a machine learning method (REGRESS) to be applied to simulation modeling of the volume medium diameter of the double-nozzle fogdrops of the unmanned aerial vehicle and obtain a quartic formula, so that a very good quantitative modeling effect is obtained, and the particle size values of the fogdrops measured by using different heights, horizontal positions and nozzle distances of the nozzles can be used for simulating the particle size distribution of the fogdrops at the overlapped part of the whole double-nozzle sector.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flow chart of a method for simulating the particle size distribution of dual-nozzle fogdrops of an unmanned aerial vehicle according to the invention;
FIG. 2 is a schematic view of a single-nozzle measurement of an unmanned aerial vehicle according to an embodiment of the invention;
fig. 3 is a schematic view of measurement of dual sprinklers of an unmanned aerial vehicle according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a method for simulating the particle size distribution of double-nozzle fogdrops of an unmanned aerial vehicle, which realizes quantitative and accurate modeling.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The experiment is carried out under the indoor windless condition, the pressure of the spray head is constant to be 0.2Mpa, the temperature range is 25 +/-2 ℃, the relative humidity is 55 +/-5%, and clear water is used for replacing pesticide liquid to carry out the experiment.
Fig. 1 is a flow chart of a method for simulating the particle size distribution of dual-nozzle fogdrops of an unmanned aerial vehicle, as shown in fig. 1, the method comprises the following steps:
step 101: single nozzles are placed at different height positions.
Specifically, the height positions of the nozzles are 1m, 1.5m and 2m from the ground respectively.
Step 102: and determining the spray amplitude range of the single spray head under different heights.
As shown in fig. 2, fig. 2 is a schematic view of measuring a single nozzle of an unmanned aerial vehicle according to an embodiment of the present invention, and the specific steps are as follows:
arranging a plurality of measuring cylinders under the single spray heads in sequence, and determining the spray amplitude ranges of the single spray heads at different heights by adopting a 50% effective deposition amount determination method; the outer diameter of the cylinder bottom of the measuring cylinder is the same as the first set distance.
As an embodiment of the present invention, 31 measuring cylinders of 100ml are sequentially and horizontally placed on two sides (1 is placed in the middle, and 15 are placed on two sides respectively) right below the spray head, the spray width of the spray head at 3 heights is determined according to a 50% effective deposition amount determination method, and the final measurement result is: the width of the spray width is 1040mm when the height of the spray head is 1m, 1300mm when the height of the spray head is 1.5m, and 1430mm when the height of the spray head is 2 m.
Wherein, each position is repeatedly measured by using a 100ml measuring cylinder for three times to obtain an average value, the duration of each measurement is 5min, and each measurement is directly read by a head-up method. In the experiment, the deposition amount values of the measuring points at all horizontal positions under one height are measured simultaneously.
The specific content of the 50% effective deposition amount determination method is that the deposition amount of each measuring point of a single nozzle is measured, a curve is drawn by taking the deposition amount as a vertical coordinate and the horizontal position as a horizontal coordinate, the deposition amount of each point on two sides of the curve is half of the maximum deposition amount, and the distance between the two points can be used as the effective spraying width.
Step 103: placing the double spray heads at different heights and different spacing positions; the dual spray head includes: a first spray head and a second spray head.
Step 104: and taking the center of the distance between the double spray heads as a zero point, and measuring the volume pitch diameters of the fog drops in the spray amplitude overlapping areas at different heights, different distances and different horizontal positions at intervals of a first set distance to obtain a real measured value. The first set distance is 6.5 cm.
Specifically, as shown in fig. 3, the method for measuring the volume median diameter of the droplets in the overlapping region of the nozzle width in this step is the same as the method for measuring the volume median diameter of the droplets in step 103, and details thereof are not repeated here.
When the unmanned aerial vehicle dual-nozzle particle size measurement is carried out, firstly, leveling and correction of a laser particle size analyzer are carried out to ensure the accuracy of data measured by the particle size analyzer, laser of the laser particle size analyzer vertically passes through a nozzle fog surface measuring point, the data change of the volume medium diameter of the fog drops is observed, when the data tend to be stable, 60 repeated volume medium diameter values of the fog drops are measured and collected every time, and the obtained values are averaged to serve as a measuring point value. And repeatedly acquiring three measurement point values, and taking the average value of the three values as the final fog drop volume intermediate diameter value VMD of one measurement point.
Step 105: and taking the height of the spray heads, the distance between the double spray heads and the horizontal position as independent variables, taking the real measured value as a dependent variable, and dividing all the independent variables and the dependent variables according to a fixed proportion to form a modeling set and a prediction set.
Step 106: and determining a fitting formula by adopting a REGRESS function based on the modeling set and the prediction set. The correlation coefficient of the modeling set of the obtained fitting formula reaches 0.9595, the root mean square error of the modeling set is 1.9949, the correlation coefficient of the prediction set reaches 0.9594, and the root mean square error of the prediction set is 2.0602.
The fitting equation is expressed as follows:
y＝127.4970-5.6276x1 4+154.6896x2 4-1.0552×10-5x3 4-0.1914x1x2x3+4.1692x2x3-0.8158x1x3+57.0344x1x2-450.9652x1x2 2-0.0019x1x2 2-0.0438x2x3 2+163.9057x2x1 2+0.2832x2x1 2-3.5307x2x2 2-22.5764x1 2+191.8288x2 2+0.0505x3 2-0.4886x3
x1represents the height (m) of the nozzles, x2 represents the spacing (m) of the nozzles, x3Represents the horizontal position (cm), and y represents the droplet volume median diameter (. mu.m).
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (5)
1. The method for simulating the particle size distribution of the double-nozzle fogdrops of the unmanned aerial vehicle is characterized by comprising the following steps:
placing single spray heads at different height positions;
determining the spraying amplitude range of the single spray heads at different heights;
placing the double spray heads at different heights and different spacing positions; the dual spray head includes: a first spray head and a second spray head;
taking the center of the distance between the double spray heads as a zero point, respectively spacing a first set distance from the left to the right, and measuring the volume pitch diameters of the fog drops in the spray amplitude overlapping areas at different heights, different distances and different horizontal positions to obtain a real measured value;
taking the height of the spray heads, the distance between the double spray heads and the horizontal position as independent variables, taking the real measured value as a dependent variable, and dividing all the independent variables and the dependent variables according to a fixed proportion to form a modeling set and a pre-set;
and determining a fitting formula by adopting a REGRESS function based on the modeling set and the prediction set.
2. The method for simulating the particle size distribution of the dual-nozzle fogdrops of the unmanned aerial vehicle according to claim 1, wherein the positions with different heights specifically comprise: 1m, 1.5m and 2m from the ground.
3. The method for simulating the particle size distribution of the double-nozzle fogdrops of the unmanned aerial vehicle according to claim 1, wherein the step of determining the range of the single-nozzle spray at different heights specifically comprises the following steps:
arranging a plurality of measuring cylinders under the single spray heads in sequence, and determining the spray amplitude ranges of the single spray heads at different heights by adopting a 50% effective deposition amount determination method; the outer diameter of the cylinder bottom of the measuring cylinder is the same as the first set distance.
4. The method for simulating the particle size distribution of the dual-nozzle fogdrop of an unmanned aerial vehicle of claim 1, wherein the first set distance is 6.5 cm.
5. The method for simulating the particle size distribution of the dual-nozzle fogdrops of the unmanned aerial vehicle according to claim 1, wherein the different spacing positions specifically comprise: 0.5m, 0.6m and 0.7 m.
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| CN113252281A (en) * | 2021-06-02 | 2021-08-13 | 中国空气动力研究与发展中心低速空气动力研究所 | Method for reconstructing size distribution of icing cloud droplets |
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