CN114489115A - Spraying amplitude detection method based on unmanned aerial vehicle particle throwing - Google Patents
Spraying amplitude detection method based on unmanned aerial vehicle particle throwing Download PDFInfo
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- CN114489115A CN114489115A CN202111600100.4A CN202111600100A CN114489115A CN 114489115 A CN114489115 A CN 114489115A CN 202111600100 A CN202111600100 A CN 202111600100A CN 114489115 A CN114489115 A CN 114489115A
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- 239000002245 particle Substances 0.000 title claims abstract description 71
- 238000005507 spraying Methods 0.000 title claims abstract description 28
- 238000001514 detection method Methods 0.000 title abstract description 12
- 238000005070 sampling Methods 0.000 claims abstract description 55
- 238000009826 distribution Methods 0.000 claims abstract description 27
- 238000000034 method Methods 0.000 claims abstract description 19
- 238000010586 diagram Methods 0.000 claims abstract description 7
- 230000008021 deposition Effects 0.000 claims description 15
- 239000002390 adhesive tape Substances 0.000 claims description 7
- 239000004816 latex Substances 0.000 claims description 6
- 229920000126 latex Polymers 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 5
- 238000007664 blowing Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 abstract description 6
- 239000007921 spray Substances 0.000 abstract description 5
- 239000008187 granular material Substances 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000002474 experimental method Methods 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 229920002799 BoPET Polymers 0.000 description 1
- 235000011293 Brassica napus Nutrition 0.000 description 1
- 240000002791 Brassica napus Species 0.000 description 1
- 239000005041 Mylar™ Substances 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- XSQUKJJJFZCRTK-UHFFFAOYSA-N Urea Chemical compound NC(N)=O XSQUKJJJFZCRTK-UHFFFAOYSA-N 0.000 description 1
- 239000004202 carbamide Substances 0.000 description 1
- 230000004720 fertilization Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 239000007790 solid phase Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- 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
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Insects & Arthropods (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention provides a spraying amplitude detection method based on unmanned aerial vehicle particle throwing, which is used for solving the problem of low detection precision of the existing solid particle throwing detection method. A method for detecting spray amplitude based on unmanned aerial vehicle particle throwing comprises the following steps: s1, placing a plurality of supports on the ground in parallel, and horizontally and uniformly clamping a plurality of sampling plates on each support; s2, operating the unmanned aerial vehicle spraying mechanism to throw the granular medium; s3, collecting the sampling plates in sequence, and numbering the sampling plates; s4, obtaining the effective spraying width; and step S5, observing the position distribution quantity of the particle medium in unit area through the position distribution diagram of the particle medium on each printed sampling plate, and comparing the position distribution quantity with the ideal average value. The method can give a certain reference value to the throwing of the solid particles and improve the throwing precision.
Description
Technical Field
The invention relates to the technical field of solid particle throwing, in particular to a spraying amplitude detection method based on unmanned aerial vehicle particle throwing.
Background
Along with the promotion of agricultural modernization, agricultural mechanization degree is higher and higher, and unmanned aerial vehicle's rate of utilization is also higher and higher, generally is used for seeding, fertilization, application of pesticide etc. through installing the granule throwing device on the inorganic person at present. Before the shedding, in order to guarantee the effect that the material acts on the farmland, need carry out the experiment to the shedding mechanism and detect, for better agreeing with the production requirement, do not have fixed standard to the shedding detection method of solid particle at present, generally refer to the standard that liquid sprays, then it is even to cooperate on-the-spot eye to observe that unmanned aerial vehicle shed, whether this shedding mechanism is suitable to confirm, this method is comparatively crude, and because the density of liquid, the quality is than great with solid phase difference, the speed of whereabouts and the orbit of moving in the air are different, the result that has led to detect is accurate inadequately, so that can not carry out effectual regulation to the shedding mechanism according to the testing result, thereby the production quality in farmland has been influenced.
Disclosure of Invention
The invention provides a spraying amplitude detection method based on unmanned aerial vehicle particle throwing, which solves the problem of low detection precision of the existing solid particle throwing detection method.
The technical scheme of the invention is realized as follows:
a method for detecting a spray width based on unmanned aerial vehicle particle throwing comprises the following steps:
step S1, placing a plurality of supports on the ground in parallel, horizontally and uniformly clamping a plurality of sampling plates on each support, wherein the sampling plates are rectangular, double-sided adhesive tapes are adhered on the sampling plates, granular media with rated capacity are filled in the unmanned aerial vehicle granule throwing mechanism, and the total number of the sampling plates is recorded as n;
step S2, setting the initial flying position of the unmanned aerial vehicle at the midpoint of a plurality of supports, controlling the unmanned aerial vehicle to fly from one end of the supports to the other end at a constant speed, and operating the unmanned aerial vehicle particle throwing device to throw particle media while flying;
step S3, after the throwing is finished and the sampling plates are waited for a plurality of minutes, collecting the sampling plates in sequence, numbering the sampling plates, weighing the sampling plates to obtain the particle medium deposition amount on each sampling plate, recording the particle medium deposition amount as q1 and q2 … …, rubbing the particle medium position distribution diagram on each sampling plate from the sampling plates, and observing whether the particle medium position distribution diagram is uniform or not;
step S4, determining an ideal spraying amplitude boundary according to the ideal deposition amount b, calculating a variation coefficient V according to the total number n of the sampling plates 2 in the boundary and the deposition amounts q1 and q2 … … on each sampling plate 2, if the variation coefficient is less than or equal to 20%, determining two boundaries of effective spraying amplitude, wherein the interval is the effective spraying amplitude width, repeating the test for multiple times, and taking an average value;
step S5, observing the position distribution quantity of the particle medium in unit area through the position distribution graph of the particle medium on each printed sampling plate, and comparing the position distribution quantity with an ideal average value;
and step S6, obtaining a result.
Wherein, the surface of the double faced adhesive tape is coated with a latex layer.
Wherein the interval of each support is less than 0.5m, and the distance between adjacent sampling plates is 10-25 cm.
Wherein, the waiting time for the end of the throwing in the step S3 is 3-5 minutes.
Wherein, the connecting rod of the lower end of the bracket is a lifting rod.
Advantageous effects
The invention provides an effective detection method aiming at the throwing of solid particles, brings data reference to the adjustment of the throwing structure of the unmanned aerial vehicle, can effectively adjust the throwing structure of the unmanned aerial vehicle, and improves the accuracy of the fixed particle throwing detection result, so that the throwing work of the unmanned aerial vehicle can be matched with the actual production, and the production quality of a farmland is improved; because the double-sided adhesive has low viscosity, the instant adhesive capacity of particles is poor when the unmanned aerial vehicle flies and is thrown, the particles are not easy to bond, and the particles can be well bonded by coating a white latex layer; when the deinsectization granule is shed, the condition of shedding of the crops of different heights can be detected through the lifting connecting rod.
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, 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 the drawings without creative efforts.
FIG. 1 is a sample plate profile of the present invention;
FIG. 2 is a schematic representation of a latex layer.
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 obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Example 1
As shown in fig. 1, a method for detecting a spray width based on unmanned aerial vehicle particle throwing comprises the following steps:
step S1, placing a plurality of supports 1 on the ground in parallel, horizontally and uniformly clamping a plurality of sampling plates 2 on each support 1, wherein the sampling plates 2 are rectangular, double-faced adhesive tapes 3 are adhered on the sampling plates 2, granular media with rated capacity are filled in the unmanned aerial vehicle granule throwing mechanism, and the total number of the sampling plates 2 is recorded as n;
step S2, setting the initial flying position of the unmanned aerial vehicle at the midpoint of a plurality of supports 1, controlling the unmanned aerial vehicle to fly from one end of the support to the other end at a constant speed, and operating the unmanned aerial vehicle particle throwing device to throw particle media while flying;
step S3, after the throwing is finished and the sampling plates 2 are waited for a plurality of minutes, collecting the sampling plates 2 in sequence, numbering the sampling plates 2, weighing the sampling plates 2 to obtain the particle medium deposition amount on each sampling plate 2, recording the particle medium deposition amount as q1 and q2 … …, rubbing the particle medium position distribution map on each sampling plate 2 from the sampling plates 2, and observing whether the particle medium position distribution map is uniform or not;
step S4, determining an ideal spraying amplitude boundary according to the ideal deposition amount b, calculating a variation coefficient V according to the total number n of the sampling plates 2 in the boundary and the deposition amounts q1 and q2 … … on each sampling plate 2, if the variation coefficient is less than or equal to 20%, determining two boundaries of effective spraying amplitude, wherein the interval is the effective spraying amplitude width, repeating the test for multiple times, and taking an average value;
step S5, observing the position distribution quantity of the particle medium in unit area through the position distribution map of the particle medium printed on each sampling plate 2, and comparing the position distribution quantity with an ideal average value;
and step S6, obtaining a result.
The particle media position profile is rubbed from the sampling plate 2 in this example by using a transparent mylar sheet.
The weight of the sampling plate 2 and the double-sided adhesive tape 3 is constant, the weight of the sampling plate 2 after being sprinkled minus the weight before being sprinkled is the deposition amount q1 and q2 … … of the granular medium, and when an experiment is started, the flight line, the operation parameters and the model of the sprinkling structure spray head of the unmanned aerial vehicle need to be recorded.
Analyzing whether the position distribution of the particle medium is uniform or not by rubbing the particle position distribution diagram on each sampling plate 2, and basically judging whether the particle medium is qualified or not according to the experience of a person skilled in the art; the particle distribution amount in the unit area is compared with the ideal average value, the particle medium distribution amount in the unit area is 2 according to the production experience and the test, namely, the particle medium distribution amount in the unit area is qualified if more than or equal to two particle media in the unit area are obtained, meanwhile, the particle distribution amount in 80% of the unit area on each sampling plate 2 is more than or equal to 2, the sampling plate 2 is qualified, the sampling plate 2 exceeding 80% is qualified, and the particle deposition amount thrown in this time is qualified.
Through the granule deposit volume of whole throwing, confirm two boundaries of ideal effective range of spouting earlier, find out the biggest deposit a from all sampling plates 2, then ideal deposit b takes 80% of a, then two hypothesis boundary points of effective range of spouting are more than or equal to b, find two sampling plates 2 that accord with along the both ends with a plurality of support 1 vertical direction, confirm the number of sampling plates 2 in the boundary, mark as measurement station total number n, then calculate coefficient of variation (%), coefficient of variation (%)'s calculation mode is as follows:
(1)
wherein Q is the average value of the throwing amount of the particles and has the unit of gram (g);
q is the amount of the particles deposited by throwing at each measuring point, and the unit is gram (g);
n is the total number of the measuring points in the range of the spraying width;
(2)
wherein S is the standard deviation of the throwing amount of the particles and has the unit of gram (g);
(3)
wherein V is the variation coefficient of the distribution uniformity of the scattering amount of the particles.
After the coefficient of variation is calculated, if the calculated coefficient of variation is less than or equal to 20%, the ideal effective spraying width is the effective spraying width detected this time, and the spraying width sprayed this time is qualified.
Wherein the ideal jet width of different particles is also different, for example: the spraying width of the red granules with the diameter of 0.5mm at least reaches 4m, the spraying width of the rape seeds at least reaches 6m, the spraying width of the urea at least reaches 8m, the spraying width of the rice seeds at least reaches 4m, and the like, and the setting width of the sampling plate 2 is set according to 1.5 times of the ideal spraying width.
Example 2
Preferably, a white latex layer 4 is coated on the surface of the double-sided tape 3.
Because the viscosity of the double faced adhesive tape 3 is low, the instant adhesion capability of particles is poor when the unmanned aerial vehicle flies and is thrown, the particles are not easy to adhere, and the particles can be well adhered by coating the white latex layer 4.
Other structures of this embodiment are the same as those of embodiment 1.
Example 3
Preferably, the interval of each bracket 1 is less than 0.5m, and the distance between adjacent sampling plates 2 is 10-25 cm.
Because the furrows are arranged between the crops which are not arranged in the farmland, the distance is also arranged between the adjacent crops in the same row, and the distances are arranged between the brackets 1 and between the sampling plates 2, so that the experiment is closer to the reality.
Other structures of this embodiment are the same as those of embodiment 1.
Example 4
Preferably, the waiting time for the end of the throwing in step S3 is 3 to 5 minutes.
After the throwing is stopped, the particles may be retained in the air, and if an operator enters the field, the falling trajectory of the particles is affected.
Other structures of this embodiment are the same as those of embodiment 1.
Example 5
Preferably, the connecting rod (5) at the lower end of the bracket (1) is a lifting rod.
When the deinsectization granule is shed, the condition of shedding of the crops of different heights can be detected through the lifting connecting rod.
Other structures of this embodiment are the same as those of embodiment 1.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A method for detecting the spraying amplitude based on unmanned aerial vehicle particle throwing is characterized by comprising the following steps:
s1, placing a plurality of supports (1) on the ground in parallel, horizontally and uniformly clamping a plurality of sampling plates (2) on each support (1), wherein each sampling plate (2) is rectangular, a double-sided adhesive tape (3) is adhered to each sampling plate (2), a particle medium with a rated capacity is filled in the unmanned aerial vehicle particle throwing device, and the total number of the sampling plates (2) is recorded as n;
step S2, setting the initial flying position of the unmanned aerial vehicle at the midpoint of a plurality of supports (1), controlling the unmanned aerial vehicle to fly from one end of the support to the other end at a constant speed, and operating the unmanned aerial vehicle particle throwing device to throw particle media while flying;
step S3, after the throwing is finished and the sample plates (2) are sequentially collected after a plurality of minutes are waited, the sample plates (2) are numbered and the sample plates (2) are weighed, the particle medium deposition amount on each sample plate (2) is obtained and recorded as q1 and q2 … …, and meanwhile, the particle medium position distribution diagram on each sample plate (2) is rubbed from the sample plates (2) and whether the particle medium position distribution diagram is uniform or not is observed;
step S4, determining an ideal spraying amplitude boundary according to the ideal deposition amount b, calculating a variation coefficient V according to the total number n of the sampling plates (2) in the boundary and the deposition amounts q1 and q2 … … on each sampling plate (2), determining two boundaries of effective spraying amplitude if the variation coefficient is less than or equal to 20%, wherein the interval is the effective spraying amplitude width, repeating the test for multiple times, and taking an average value;
step S5, observing the position distribution quantity of the particle medium in unit area through the position distribution diagram of the particle medium printed on each sampling plate (2), and comparing the position distribution quantity with an ideal average value;
and step S6, obtaining a result.
2. The method of claim 1, wherein the method comprises the following steps: and a latex layer (4) is coated on the surface of the double-sided adhesive tape (3).
3. The method of claim 1, wherein the method comprises the following steps: the interval of each support (1) is less than 0.5m, and the distance between adjacent sampling plates (2) is 10-25 cm.
4. The method of claim 1, wherein the method comprises the following steps: and the waiting time for the completion of the throwing in the step S3 is 3-5 minutes.
5. The method of claim 1, wherein the method comprises the following steps: the connecting rod (5) at the lower end of the bracket (1) is a lifting rod.
6. The method for detecting the spraying amplitude based on unmanned aerial vehicle particle throwing according to claim 1, characterized in that: the ideal average value is that the distribution quantity of the granular media in a unit area is 2, namely that the granular media in the unit area is more than or equal to two, and the granular media are qualified.
7. The method of claim 1, wherein the method comprises the following steps: when the maximum deposition amount a is found from all the sampling plates 2, the ideal deposition amount b is 80% of a, and two assumed boundary points of the effective blowing width are equal to or greater than b.
8. The method of claim 1, wherein the method comprises the following steps: the coefficient of variation V is calculated as follows:
(1)
wherein Q is the average value of the throwing amount of the particles and has the unit of gram (g);
q is the amount of the particles deposited by throwing at each measuring point, and the unit is gram (g);
n is the total number of the measuring points in the range of the spraying width;
(2)
wherein S is the standard deviation of the throwing amount of the particles and the unit is gram (g);
(3)
wherein V is the variation coefficient of the distribution uniformity of the scattering amount of the particles.
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| CN202111600100.4A CN114489115B (en) | 2021-12-24 | 2021-12-24 | Unmanned aerial vehicle particle throwing-based spray width detection method |
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| CN202111600100.4A CN114489115B (en) | 2021-12-24 | 2021-12-24 | Unmanned aerial vehicle particle throwing-based spray width detection method |
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- 2021-12-24 CN CN202111600100.4A patent/CN114489115B/en active Active
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| CN107907162A (en) * | 2017-11-15 | 2018-04-13 | 成都天麒科技有限公司 | A kind of unmanned plane spraying swath and spray effect detection method and operational method |
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