CN112776985A - Variable pesticide application control method for forestry aviation helicopter - Google Patents
Variable pesticide application control method for forestry aviation helicopter Download PDFInfo
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- CN112776985A CN112776985A CN202110083913.4A CN202110083913A CN112776985A CN 112776985 A CN112776985 A CN 112776985A CN 202110083913 A CN202110083913 A CN 202110083913A CN 112776985 A CN112776985 A CN 112776985A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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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
Abstract
The invention discloses a variable pesticide application control method for a forestry aviation helicopter, which comprises the following steps: s1, setting the application rates of the altitude, the speed and the hectare as independent variables, and setting the opening of the valve as dependent variables; s2, determining the relation between the dependent variable and the application rate of hectare; s3, determining the relation between the navigational speed and the drug application rate of hectare; s4, determining the relation between the voyage height and the application amount of hectare; s5, establishing an aviation variable pesticide application mathematical model through the steps S2, S3 and S4; s6, acquiring the flight height, the flight speed and the flow data of the liquid medicine of the helicopter in real time, and calculating to obtain the valve opening through an aviation variable pesticide application mathematical model; when the data of the navigation height, the navigation speed and the flow rate change, the opening of the valve is adjusted in time to ensure that the application amount of hectare is not changed.
Description
Technical Field
The invention relates to the field of forestry management, in particular to a variable pesticide application control method for a forestry aviation helicopter.
Background
In order to achieve the effective control effect of forestry diseases and insect pests, pesticide application operation needs to be carried out on a forestry area. When the helicopter is used for applying pesticide, the purpose of plant protection cannot be achieved due to too small application amount, pesticide waste and environmental pollution are caused due to too much application amount, so that the application amount per unit area needs to be controlled within a certain range, but the application effect is difficult to master due to the reasons of higher flying speed, higher flying height and the like of the helicopter. At present, the pesticide is mainly applied by depending on the feeling of an operator, so certain subjectivity and randomness exist, the operation quality is difficult to ensure, and the development of the aerial pesticide application technology in forestry in China is influenced.
Disclosure of Invention
The invention aims to solve the problems and provides a variable pesticide application control method of a forestry aviation helicopter, which can improve the pesticide spraying uniformity.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a variable pesticide application control method for forestry aviation helicopters comprises the following steps:
s1, setting the application rates of the altitude, the speed and the hectare as independent variables, and setting the opening of the valve as dependent variables;
s2, determining the relation between the dependent variable and the application rate of hectare;
s3, determining the relation between the navigational speed and the drug application rate of hectare;
s4, determining the relation between the voyage height and the application amount of hectare;
s5, establishing an aviation variable pesticide application mathematical model through the steps S2, S3 and S4;
s6, acquiring the flight height, the flight speed and the flow data of the liquid medicine of the helicopter in real time, and calculating to obtain the valve opening through an aviation variable pesticide application mathematical model; when the data of the navigation height, the navigation speed and the flow rate change, the opening of the valve is adjusted in time to ensure that the application amount of hectare is not changed.
Further, the step S2 specifically includes the following steps:
s21, solving the application rate of hectare, wherein the calculation formula is as follows:
wherein Q is the flow rate; c is the application amount of hectare; s0The application area is;
the flow is calculated by the formula:
in the formula, S1Is the sectional area of the valve outlet; v. of1The flow rate of the liquid medicine is shown; t is the application time;
s22, calculating the sectional area of the valve outlet, wherein the calculation formula is as follows:
in the formula, S1Is the cross section of the valve outlet; theta is the valve opening; r is the pipeline radius of the spherical electromagnetic valve;
s23, combining the formula (1), the formula (2) and the formula (3), obtaining the relation between the valve opening and the applied dosage of hectare as follows:
further, the step S3 specifically includes the following steps:
s31, deducing a calculation formula of the medicine application area through a particle motion formula as follows:
in the formula, Y is a spray amplitude; v. of2Is the speed of the ship;
s32, combining the formula (4) and the formula (5), the relation between the navigational speed and the applied dosage of hectare is as follows:
further, the step S4 specifically includes the following steps:
s41, the relation between the flight height and the spray width is as follows:
in the formula, H is the altitude; g is the acceleration of gravity; v. ofxThe horizontal direction speed of the liquid medicine when leaving the spray head; l0The length of the spray rod;
s42, applying the aerial pesticide by using a pneumatic rotary cage type aerial sprayer, wherein the relation between the rotating speed and the wind speed of the aerial sprayer is as follows:
n＝44.08v3-673.3 (8)；
in the formula, n is the rotating speed of the spray head; v. of3The wind speed of the nozzle;
s43, neglecting the influence of natural wind, therefore, the speed can be converted into the wind speed of the spray head, namely v2＝v3；
S44, the relation between the rotating speed and the linear speed of the spray head is as follows:
vx＝2πrn； (9)；
in the formula, r is the radius of the spray head;
the relational expression of the altitude and the spray width obtained by combining the formula (7), the formula (8) and the formula (9) is as follows:
the relation between the voyage height and the applied dosage of hectare obtained by combining the formula (6) and the formula (10) is as follows:
further, in step S5, the calculation formula of the aviation variable pesticide application mathematical model is as follows:
in the formula, a, b and c are compensation values and are set by equipment parameters in the pesticide application process.
Compared with the prior art, the invention has the advantages and positive effects that:
the invention discloses a variable pesticide application control method for a forestry aviation helicopter, which can monitor the aviation pesticide application condition in real time in the pesticide application process, and adjust the valve opening in real time according to the navigational height, the navigational speed and the hectare pesticide application amount required by the helicopter operation, so as to ensure that the pesticide application amount in unit area is not changed in the aviation pesticide application process, avoid the phenomenon of unbalanced pesticide application amount in unit area caused by the change of pesticide application parameters in the aviation pesticide application process, and achieve the pesticide application effect as required and the aim of precise pesticide application; the method is simple to operate, low in cost and wide in adaptability, and brings convenience to agricultural pesticide application work.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art 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 for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a block diagram of the framework of the present 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 from the embodiments of the present invention by a person skilled in the art without any creative effort, should be included in the protection scope of the present invention.
As shown in figure 1, the invention discloses a variable pesticide application control method for a forestry aviation helicopter, which adopts a mode of regulating the opening of a flow valve.
According to the practical helicopter pesticide application operation experience, the operation height (flight height), the operation speed (flight speed) and the pesticide application flow all influence the pesticide application rate (hectare pesticide application rate) in a unit area. Therefore, the opening degree of the valve needs to be adjusted according to the operation height, the operation speed and the application amount of hectare, so as to realize the aviation accurate application of forestry.
The opening degree of the flow valve is adjusted according to the forestry aviation variable pesticide application mathematical model. The forestry aviation variable pesticide application mathematical model is a mathematical relation formula established among the aviation height, the aviation speed, the pesticide application amount per hectare and the pesticide application amount.
The forestry aviation variable pesticide application mathematical model is established by the following steps:
1. and determining independent variables and dependent variables. The independent variables include: voyage height (H), voyage speed (V) and hectare application rate (C); the dependent variable is the valve opening (θ).
2. The relationship between the independent variable and the dependent variable is determined.
(1) The relationship between dependent variable and the applied dosage of hectare;
the application rate of hectare is the application rate of unit area, which is the ratio of the total amount of the liquid medicine to the application area in a certain period, and is shown as the formula (1):
wherein Q is the flow, L; c is the application rate of hectare, L/hm2；S0Is the area of application, hm2。
The flow rate is calculated as shown in the following equation (2):
in the formula, S1Is the valve outlet cross section, m2；v1The flow speed of the liquid medicine (obtained by a flow sensor) is m/min; t is the application time, min.
According to the formula (2), the flow rate is determined by the opening size of the electromagnetic valve, the flow rate of the liquid medicine and the administration time, and the larger the valve opening is, the larger the flow rate is, on the premise that the flow rate of the liquid medicine and the administration time are not changed. Because the electromagnetic valves are all spherical electromagnetic valves, when the valve angle theta is between 0 and 90 degrees, the sectional area calculation formula of the valve outlet is as follows:
by combining the equations (1), (2) and (3), the relationship between the opening angle of the solenoid valve and the applied dosage per hectare can be derived, as shown in the following equations (4-11):
according to the formula (4), under the condition that the application area, the flow rate of the liquid medicine, the cross section of the medicine conveying pipe and the application time are not changed, the application amount of hectare and the angle of the valve form a transcendental function relationship.
(2) The relationship between navigational speed and the applied dosage of hectare;
as can be seen from the formula (1), the application area is inversely proportional to the application rate of hectare, but the application area is influenced by the speed, the spray width and the application time, so that the formula (5) can be derived by the particle motion correlation formula:
in the formula, Y is the spray amplitude m; v. of2The speed is km/h.
The relation (6) of the navigational speed and the drug application rate of hectare combined by the formula (4) and the formula (5):
according to the formula (6), under the condition that the spraying amplitude, the flow rate of the liquid medicine, the cross section of the medicine conveying pipe and the medicine application time are not changed, the medicine application amount of hectare and the navigational speed are in an inverse proportional function relationship.
(3) The relationship between voyage height and hectare application rate;
the height mainly affects the size of the spray width, so the relational expression between the height and the spray width needs to be determined first. The fog drops are subjected to the combined action of various forces in the movement process after being sprayed out, but the invention only analyzes the gravity force by neglecting some smaller acting forces.
The relation between the flight height and the spray amplitude can be deduced through a correlation formula as shown in the formula (7):
in the formula, H is the altitude, m; g is the acceleration of gravity, m/s2；vxThe horizontal direction speed (namely linear speed) when the liquid medicine leaves the spray head is m/min; l0Is the length of the spray bar, m.
Forestry aviation pesticide application uses pnematic rotating cage formula aviation shower nozzle more, and the formula between this shower nozzle rotational speed and the wind speed is:
n＝44.08v3-673.3 (8)
in the formula, n is the rotating speed of the spray head and r/min; v. of3The wind speed is km/h.
As the forestry aviation pesticide application operation is generally selected below the secondary wind speed and can be neglected compared with the operation speed of a helicopter, the navigation speed can be converted into the operation speed, namely v2＝v3。
The rotating speed and the linear speed of the spray head are shown as the formula (9):
vx＝2πrn (9)
wherein r is the radius of the nozzle, m.
The relation between the flight height and the spray width is obtained by combining the formula (7), the formula (8) and the formula (9), and the formula (10) is shown as follows:
the relation between the voyage height and the applied dosage of hectare is obtained by combining the formula (6) and the formula (10), and is shown as the formula (11):
from the formula (11), the flight height and the hectare application rate are in a power function relationship under the condition that the spraying amplitude, the flow rate of the liquid medicine, the cross section of the medicine delivery pipe, the flight speed and the horizontal speed of the outlet of the liquid medicine are not changed.
Because the flow rate change amplitude is not large in the actual drug application process. Therefore, compensation values need to be added to the mathematical model, and equation (12) is the aviation variable pesticide application mathematical model:
wherein a, b and c are compensation values and are determined by equipment parameters in the actual application process.
According to the aviation variable pesticide application mathematical model, when the pesticide application rate C, the aviation height H and the aviation speed v are set for hectare2Then, the system can automatically calculate the opening theta of the electromagnetic valve. The variables in formula (12) are all instantaneous variables, and the obtained application rate of hectare is the instantaneous application rate of hectare.
3. The specific operation steps are as follows:
before the pesticide application operation: the sensor is calibrated before taking off, so that the accuracy of multi-element information acquisition is ensured.
The invention adopts 2 valves with 2-inch pipe diameter to respectively control a left spray rod and a right spray rod, the total length of the spray rods is 10m, the radius of the spray head is 5cm, and the compensation value is as follows: 1183486.3, 6220925.7 and 2.
And (3) pesticide application operation: the system collects information such as navigation height, navigation speed, flow and valve opening in real time through the sensor. And determining the opening of the valve according to the forestry aviation variable pesticide application mathematical model, and adjusting the opening of the valve in time through the forestry aviation variable pesticide application mathematical model when the operation parameters change so as to ensure that the pesticide application amount of hectare is not changed.
The invention discloses a variable pesticide application control method for a forestry aviation helicopter, which can monitor the aviation pesticide application condition in real time in the pesticide application process, and adjust the valve opening in real time according to the navigational height, the navigational speed and the hectare pesticide application amount required by the helicopter operation, so as to ensure that the pesticide application amount in unit area is not changed in the aviation pesticide application process, avoid the phenomenon of unbalanced pesticide application amount in unit area caused by the change of pesticide application parameters in the aviation pesticide application process, and achieve the pesticide application effect as required and the aim of precise pesticide application; the method is simple to operate, low in cost and wide in adaptability, and brings convenience to agricultural pesticide application work.
Claims (5)
1. A variable pesticide application control method for forestry aviation helicopters is characterized by comprising the following steps: the method comprises the following steps:
s1, setting the application rates of the altitude, the speed and the hectare as independent variables, and setting the opening of the valve as dependent variables;
s2, determining the relation between the dependent variable and the application rate of hectare;
s3, determining the relation between the navigational speed and the drug application rate of hectare;
s4, determining the relation between the voyage height and the application amount of hectare;
s5, establishing an aviation variable pesticide application mathematical model through the steps S2, S3 and S4;
s6, acquiring the flight height, the flight speed and the flow data of the liquid medicine of the helicopter in real time, and calculating to obtain the valve opening through an aviation variable pesticide application mathematical model; when the data of the navigation height, the navigation speed and the flow rate change, the opening of the valve is adjusted in time to ensure that the application amount of hectare is not changed.
2. A forestry aviation helicopter variable pesticide application control method as claimed in claim 1, wherein: the step S2 specifically includes the following steps:
s21, solving the application rate of hectare, wherein the calculation formula is as follows:
wherein Q is the flow rate; c is the application amount of hectare; s0The application area is;
the flow is calculated by the formula:
in the formula, S1Is the sectional area of the valve outlet; v. of1The flow rate of the liquid medicine is shown; t is the application time;
s22, calculating the sectional area of the valve outlet, wherein the calculation formula is as follows:
in the formula, S1Is the cross section of the valve outlet; theta is the valve opening; r is the pipeline radius of the spherical electromagnetic valve;
s23, combining the formula (1), the formula (2) and the formula (3), obtaining the relation between the valve opening and the applied dosage of hectare as follows:
3. a forestry aviation helicopter variable pesticide application control method as claimed in claim 2, wherein: the step S3 specifically includes the following steps:
s31, deducing a calculation formula of the medicine application area through a particle motion formula as follows:
in the formula, Y is a spray amplitude; v. of2Is the speed of the ship;
s32, combining the formula (4) and the formula (5), the relation between the navigational speed and the applied dosage of hectare is as follows:
4. a forestry aviation helicopter variable pesticide application control method as claimed in claim 3, wherein: the step S4 specifically includes the following steps:
s41, the relation between the flight height and the spray width is as follows:
in the formula, H is the altitude; g is the acceleration of gravity; v. ofxThe horizontal direction speed of the liquid medicine when leaving the spray head; l0The length of the spray rod;
s42, applying the aerial pesticide by using a pneumatic rotary cage type aerial sprayer, wherein the relation between the rotating speed and the wind speed of the aerial sprayer is as follows:
n＝44.08v3-673.3 (8)；
in the formula, n is the rotating speed of the spray head; v. of3The wind speed of the nozzle;
s43, neglecting the influence of natural wind, therefore, the speed can be converted into the wind speed of the spray head, namely v2＝v3；
S44, the relation between the rotating speed and the linear speed of the spray head is as follows:
vx＝2πrn； (9)；
in the formula, r is the radius of the spray head;
the relational expression of the altitude and the spray width obtained by combining the formula (7), the formula (8) and the formula (9) is as follows:
the relation between the voyage height and the applied dosage of hectare obtained by combining the formula (6) and the formula (10) is as follows:
5. a forestry aviation helicopter variable pesticide application control method as claimed in claim 4, wherein: in step S5, the calculation formula of the aviation variable pesticide application mathematical model is:
in the formula, a, b and c are compensation values and are set by equipment parameters in the pesticide application process.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117814203A (en) * | 2024-03-05 | 2024-04-05 | 江苏宁翔通用航空有限公司 | Online accurate mixing method of forestry aviation plant protection mixture based on jet flow |
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