CN112776985B - 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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- CN112776985B CN112776985B CN202110083913.4A CN202110083913A CN112776985B CN 112776985 B CN112776985 B CN 112776985B CN 202110083913 A CN202110083913 A CN 202110083913A CN 112776985 B CN112776985 B CN 112776985B
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- 239000000575 pesticide Substances 0.000 title claims abstract description 65
- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000003814 drug Substances 0.000 claims abstract description 25
- 239000007788 liquid Substances 0.000 claims abstract description 16
- 238000013178 mathematical model Methods 0.000 claims abstract description 16
- 230000001419 dependent effect Effects 0.000 claims abstract description 10
- 230000008859 change Effects 0.000 claims abstract description 5
- 239000007921 spray Substances 0.000 claims description 36
- 238000004364 calculation method Methods 0.000 claims description 13
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 239000002245 particle Substances 0.000 claims description 3
- 230000008569 process Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 238000005507 spraying Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000001647 drug administration Methods 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000012377 drug delivery Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010914 pesticide waste Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT 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
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a variable pesticide application control method for a forestry aviation helicopter, which comprises the following steps: s1, setting the sailing height, the sailing speed and the hectare application rate as independent variables, and setting the valve opening as dependent variables; s2, determining the relation between the dependent variable and hectare application amount; s3, determining the relation between the navigational speed and the hectare application rate; s4, determining the relation between the navigational altitude and the hectare application amount; s5, establishing an aviation variable pesticide application mathematical model through the steps S2, S3 and S4; s6, acquiring the altitude, the navigational 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 navigational height, navigational speed and flow rate change, the opening of the valve is timely adjusted to ensure that the applied medicine amount of hectare is unchanged.
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 prevention and control effect of forestry diseases and insect pests, pesticide application operation is required to be carried out on a forestry area. When the pesticide is applied, the purpose of plant protection cannot be achieved due to the fact that the pesticide application amount is too small, pesticide waste and environmental pollution are caused due to the fact that the pesticide application amount in unit area is controlled within a certain range, but the pesticide application effect is difficult to master due to the fact that the flying speed of a helicopter is high, the flying height of the helicopter is high, and the like. At present, the drug administration is mainly carried out by relying on the feeling of operators, so that certain subjectivity and randomness exist, the operation quality is difficult to ensure, and the development of forestry aviation drug administration technology in China is affected.
Disclosure of Invention
The invention aims to solve the problems and provides a variable pesticide application control method of a forestry aviation helicopter for improving pesticide spraying uniformity.
In order to achieve the above object, the technical scheme of the present invention is as follows:
a variable pesticide application control method for a forestry aviation helicopter comprises the following steps:
s1, setting the sailing height, the sailing speed and the hectare application rate as independent variables, and setting the valve opening as dependent variables;
s2, determining the relation between the dependent variable and hectare application amount;
s3, determining the relation between the navigational speed and the hectare application rate;
s4, determining the relation between the navigational altitude and the hectare application amount;
s5, establishing an aviation variable pesticide application mathematical model through the steps S2, S3 and S4;
s6, acquiring the altitude, the navigational 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 navigational height, navigational speed and flow rate change, the opening of the valve is timely adjusted to ensure that the applied medicine amount of hectare is unchanged.
Further, the step S2 specifically includes the following steps:
s21, calculating the hectare application amount, wherein the calculation formula is as follows:
wherein Q is flow; c is the hectare application rate; s is S 0 Is the application area;
the flow calculation formula is:
wherein S is 1 Is the sectional area of the valve outlet; v 1 Is the flow rate of the liquid medicine; t is the time of administration;
s22, calculating the sectional area of the valve outlet, wherein the calculation formula is as follows:
wherein S is 1 Is the section of the valve outlet; θ is the valve opening; r is the radius of a pipeline of the spherical electromagnetic valve;
s23, combining the formula (1), the formula (2) and the formula (3), and obtaining the relation between the valve opening and hectare application amount as follows:
further, the step S3 specifically includes the following steps:
s31, deducing a calculation formula of the application area through a particle motion formula, wherein the calculation formula is as follows:
wherein Y is spray width; v 2 Is the navigational speed;
s32, combining the formula (4) and the formula (5) to obtain a relation formula of the navigational speed and the hectare application rate, wherein the relation formula is as follows:
further, the step S4 specifically includes the following steps:
s41, the relation between the voyage height and the spray width is as follows:
wherein H is the altitude; g is gravity acceleration; v x Is the horizontal velocity of the liquid medicine when leaving the spray head; l (L) 0 Is the length of the spray boom;
s42, an air-driven rotary cage type aviation spray nozzle is used for aviation pesticide application, and the relation between the rotating speed and the wind speed of the aviation spray nozzle is as follows:
n＝44.08v 3 -673.3 (8)；
wherein n is the rotation speed of the spray head; v 3 Wind speed of the spray head;
s43, neglecting the influence of natural wind, so that the navigational speed can be converted into the wind speed of the nozzle, namely v 2 ＝v 3 ；
S44, the relation between the rotating speed of the spray head and the linear speed is as follows:
v x ＝2πrn； (9)；
wherein r is the radius of the spray head;
the relation between the altitude and the spray width obtained by combining the formula (7), the formula (8) and the formula (9) is as follows:
the relationship between the altitude and hectare application rate obtained by combining the formula (6) and the formula (10) is as follows:
further, in the step S5, a calculation formula of the aviation variable administration mathematical model is:
wherein a, b and c are compensation values set by parameters of the device during the administration.
Compared with the prior art, the invention has the advantages and positive effects that:
the invention discloses a variable pesticide application control method of a forestry aviation helicopter, which can monitor the aviation pesticide application condition in real time in the pesticide application process, and adjust the opening of a valve in real time according to the altitude, the navigational speed and the hectare pesticide application amount required by a forest area of the helicopter operation so as to ensure that the pesticide application amount in unit area is unchanged in the aviation pesticide application process, and 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, thereby achieving the effect of pesticide application according to requirements and the purpose of accurate pesticide application; the invention has simple operation, lower cost and wider adaptability, and brings convenience to agricultural pesticide application work.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a block diagram of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, modifications, equivalents, improvements, etc., which are apparent to those skilled in the art without the benefit of this disclosure, are intended to be included within the scope of this invention.
As shown in figure 1, the invention discloses a variable pesticide application control method of a forestry aviation helicopter, and the method for controlling pesticide application is a mode of adjusting the opening of a flow valve.
According to practical helicopter pesticide application operation experience, the operation height (aerial altitude), the operation speed (aerial speed) and the pesticide application flow rate can all influence the pesticide application rate (hectare pesticide application rate) in unit area. Therefore, the opening of the valve needs to be adjusted according to the working height, the working speed and the hectare pesticide application rate so as to realize the forestry aviation accurate pesticide application.
The opening degree of the flow valve is regulated according to a forestry aviation variable pesticide application mathematical model. The forestry aviation variable pesticide application mathematical model is a mathematical relation formula between the altitude, the navigational speed, the hectare pesticide application amount and the pesticide application flow.
The construction steps of the forestry aviation variable pesticide application mathematical model are as follows:
1. and determining independent variables and dependent variables. The independent variables include: aerial height (H), aerial speed (V), 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) Relationship of dependent variable to hectare application rate;
the hectare application rate, namely the application rate per unit area, is the ratio of the total amount of liquid medicine to the application area in a certain time, and is shown as a formula (1):
wherein Q is flow, L; c is hectare application rate, L/hm 2 ；S 0 To apply area hm 2 。
The flow rate is calculated as shown in the following formula (2):
wherein S is 1 For valve outlet cross section, m 2 ；v 1 Is the flow rate of the liquid medicine (obtained by a flow sensor), m/min; t is the administration time, min.
The formula (2) shows that the flow is determined by the opening size of the electromagnetic valve, the flow rate of the liquid medicine and the medicine application time, and the larger the valve opening is, the larger the flow is on the premise that the flow rate of the liquid medicine and the medicine application time are unchanged. Because the electromagnetic valves are all spherical electromagnetic valves, when the valve angle theta is between 0 and 90 degrees, the calculation formula of the sectional area of the valve outlet is as follows:
by combining the formulas (1), (2) and (3), the relation between the opening angle of the electromagnetic valve and the hectare application rate can be deduced, and the relation is shown in the following formulas (4-11):
from the formula (4), the hectare application rate and the valve angle have an overrun function relationship under the condition that the application area, the liquid medicine flow rate, the cross section of the medicine conveying pipe and the application time are unchanged.
(2) Relationship between navigational speed and hectare application rate;
as can be seen from equation (1), the application area is inversely proportional to the hectare application rate, but the application area is affected by the speed, spray width and application time, so equation (5) can be derived from the particle motion correlation equation:
wherein Y is spray width and m; v 2 For speed, km/h.
And (3) combining the relation (6) of the navigational speed and hectare application rate of the formula (4) and the formula (5):
from formula (6), it can be seen that the hectare application rate is inversely proportional to the speed of the ship without changing the spray width, the flow rate of the liquid medicine, the cross section of the medicine delivery pipe and the application time.
(3) Relationship between the altitude and the hectare application rate;
the altitude mainly affects the size of the spray pattern, so that the relation between the altitude and the spray pattern needs to be determined first. The mist is subjected to the combined action of various forces in the movement process after being sprayed, but the invention omits some smaller acting forces and only analyzes the gravity.
The relation between the altitude and the spray amplitude can be deduced through a related formula as shown in a formula (7):
wherein H is the altitude, m; g is gravity acceleration, m/s 2 ；v x The horizontal direction speed (namely the linear speed) is m/min when the liquid medicine leaves the spray head; l (L) 0 And m is the length of the spray boom.
The forestry aviation is applied medicine and is used pneumatics rotating cage aviation shower nozzle more, and the formula between this shower nozzle rotational speed and the wind speed is:
n＝44.08v 3 -673.3 (8)
wherein n is the rotating speed of the spray head, and r/min; v 3 Is wind speed, km/h.
Because the forest aviation pesticide application operation is generally selected below the secondary wind speed and can be ignored compared with the operation speed of a helicopter, the navigational speed can be converted into the operation speed, namely v 2 ＝v 3 。
The rotational speed and the linear speed of the spray head are shown in the formula (9):
v x ＝2πrn (9)
wherein r is the radius of the spray nozzle and m.
And (3) combining the formula (7), the formula (8) and the formula (9) to obtain the relationship between the navigational altitude and the spraying width, wherein the relationship is shown in the formula (10):
the relation between the navigational altitude and hectare application rate is obtained by combining the formula (6) and the formula (10), and is shown as the formula (11):
from the formula (11), the altitude and the hectare application rate are in a power function relationship under the condition that the spraying width, the liquid medicine flow rate, the cross section of the medicine conveying pipe, the navigational speed and the liquid medicine outlet horizontal speed are all unchanged.
Since the flow rate should not vary significantly during actual administration. Therefore, a compensation value needs to be added to the mathematical model to obtain the formula (12), namely the aviation variable drug delivery mathematical model:
wherein a, b, c are compensation values, which depend on the parameters of the device during the actual administration.
As known from the aviation variable pesticide application mathematical model, when the hectare pesticide application rate C, the altitude H and the navigational speed v are set 2 And then, the system automatically calculates the opening degree theta of the electromagnetic valve. The variables in the formula (12) are all instantaneous variables, and the obtained hectare application rate is the instantaneous hectare application rate.
3. The specific operation steps are as follows:
before the application operation: and the sensor is calibrated before taking off, so that the accuracy of multi-element information acquisition is ensured.
The invention adopts 2 valves with the pipe diameter of 2 inches to respectively control the left and right spray bars, the total length of the spray bars is 10m, and the radius of the spray head is 5cm, thereby obtaining the compensation value as follows: a=1183486.3, b=6220925.7, c=2.
And (3) pesticide application operation: the system collects information such as altitude, speed, flow, valve opening and the like 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 working parameters are changed so as to ensure that the pesticide application rate of hectares is unchanged.
The invention discloses a variable pesticide application control method of a forestry aviation helicopter, which can monitor the aviation pesticide application condition in real time in the pesticide application process, and adjust the opening of a valve in real time according to the altitude, the navigational speed and the hectare pesticide application amount required by a forest area of the helicopter operation so as to ensure that the pesticide application amount in unit area is unchanged in the aviation pesticide application process, and 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, thereby achieving the effect of pesticide application according to requirements and the purpose of accurate pesticide application; the invention has simple operation, lower cost and wider adaptability, and brings convenience to agricultural pesticide application work.
Claims (1)
1. A variable pesticide application control method for a forestry aviation helicopter is characterized by comprising the following steps of: the method comprises the following steps:
s1, setting the sailing height, the sailing speed and the hectare application rate as independent variables, and setting the valve opening as dependent variables;
s2, determining the relation between the dependent variable and hectare application amount;
s3, determining the relation between the navigational speed and the hectare application rate;
s4, determining the relation between the navigational altitude and the hectare application amount;
s5, establishing an aviation variable pesticide application mathematical model through the steps S2, S3 and S4;
s6, acquiring the altitude, the navigational 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 navigational height, navigational speed and flow rate change, the opening of the valve is timely adjusted to ensure that the applied medicine amount of hectare is unchanged;
the step S2 specifically includes the following steps:
s21, calculating the hectare application amount, wherein the calculation formula is as follows:
wherein Q is flow; c is the hectare application rate; s is S 0 Is the application area;
the flow calculation formula is:
wherein S is 1 Is the sectional area of the valve outlet; v 1 Is the flow rate of the liquid medicine; t is the time of administration;
s22, calculating the sectional area of the valve outlet, wherein the calculation formula is as follows:
wherein S is 1 Is the section of the valve outlet; θ is the valve opening; r is the radius of a pipeline of the spherical electromagnetic valve;
s23, combining the formula (1), the formula (2) and the formula (3), and obtaining the relation between the valve opening and hectare application amount as follows:
the step S3 specifically comprises the following steps:
s31, deducing a calculation formula of the application area through a particle motion formula, wherein the calculation formula is as follows:
wherein Y is spray width; v 2 Is the navigational speed;
s32, combining the formula (4) and the formula (5) to obtain a relation formula of the navigational speed and the hectare application rate, wherein the relation formula is as follows:
the step S4 specifically includes the following steps:
s41, the relation between the voyage height and the spray width is as follows:
wherein H is the altitude; g is gravity acceleration; v x Is the horizontal velocity of the liquid medicine when leaving the spray head; l (L) 0 Is the length of the spray boom;
s42, an air-driven rotary cage type aviation spray nozzle is used for aviation pesticide application, and the relation between the rotating speed and the wind speed of the aviation spray nozzle is as follows:
n＝44.08v 3 -673.3 (8)；
wherein n is the rotation speed of the spray head; v 3 Wind speed of the spray head;
s43, neglecting the influence of natural wind, so that the navigational speed can be converted into the wind speed of the nozzle, namely v 2 ＝v 3 ；
S44, the relation between the rotating speed of the spray head and the linear speed is as follows:
v x ＝2πrn； (9)；
wherein r is the radius of the spray head;
the relation between the altitude and the spray width obtained by combining the formula (7), the formula (8) and the formula (9) is as follows:
the relationship between the altitude and hectare application rate obtained by combining the formula (6) and the formula (10) is as follows:
in the step S5, the calculation formula of the aviation variable administration mathematical model is as follows:
wherein a, b and c are compensation values set by parameters of the device during the administration.
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