CN117598272A - Agricultural unmanned aerial vehicle centrifugal nozzle spacing adjustment control method - Google Patents
Agricultural unmanned aerial vehicle centrifugal nozzle spacing adjustment control method Download PDFInfo
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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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/007—Metering or regulating systems
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G7/00—Botany in general
- A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
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- Environmental Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Aviation & Aerospace Engineering (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
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Abstract
The application provides an agricultural unmanned aerial vehicle centrifugal nozzle spacing adjustment control method, which mainly relates to the unmanned aerial vehicle control field. The method is used for adjusting the distance between the spray heads of the unmanned aerial vehicle in spraying operation, and comprises the steps of determining the initial speed and the air resistance coefficient of the fog drops according to the rotating speed of the atomizing disk, the particle size of the fog drops, the density of the medicament and the like; determining a first wind speed of a downward wind field generated by the rotor according to a first load amount of the unmanned aerial vehicle, the number of the rotors and the diameter of the rotors; determining the landing time of the fogdrops according to the operation height of the agricultural unmanned aerial vehicle; determining a first interval of the centrifugal spray heads according to the falling time length; according to the first interval, the relative position between the centrifugal spray heads of the agricultural unmanned aerial vehicle is adjusted. The application can improve the operation efficiency of the agricultural unmanned aerial vehicle, reduce the medicament waste and the labor cost, and provide new technical support for agricultural production in an environment-friendly and efficient spraying mode.
Description
Technical Field
The application relates to the field of unmanned aerial vehicle control, and more particularly relates to an agricultural unmanned aerial vehicle centrifugal nozzle spacing adjustment control method.
Background
The agricultural unmanned aerial vehicle has wide application prospect in agricultural spraying, and is now commonly used for crop protection, crop nutrition regulation and the like. The agricultural unmanned aerial vehicle can carry out accurate spraying, evenly sprays chemical agents, nutritional agents and the like on the surfaces of crops, achieves crop protection, adjusts crops, reduces loss rate and increases yield. For example, pesticide spraying on crops such as fruit trees, vegetables, corns, rice and the like; can also be sprayed with liquid fertilizer, microelements and other hormones, etc. to improve the constitution and growth efficiency of crops.
Most unmanned aerial vehicles adopt a nozzle with a fixed interval to realize agricultural operation in the spraying operation process. However, such a fixed-pitch spray head arrangement may result in poor working efficiency, waste of chemicals, or inconvenience in use due to different crop growth conditions and growth environments. On the other hand, the flying height of the unmanned aerial vehicle also affects the spacing between the spray heads. If unmanned aerial vehicle flight height is higher, then need great shower nozzle interval to guarantee that the liquid medicine can evenly spray at the target area in the flight in-process. And if the flying height is low, a smaller nozzle spacing is required to ensure that the sprayed medicament can be evenly distributed in the coverage area.
How to enable the distance between the spray heads to be finely and quantitatively adjusted according to actual operation conditions provides a more flexible, efficient and controllable scheme for agricultural operation, and is a popular direction of research in recent years.
Disclosure of Invention
The application provides an agricultural unmanned aerial vehicle centrifugal nozzle spacing adjustment control method. Through collecting and analyzing information such as spray agent kind, atomizing disk rotational speed, unmanned aerial vehicle flight altitude, the wind field speed of unmanned aerial vehicle rotor and carrying out real-time operation to calculate and obtain the centrifugal shower nozzle interval of best unmanned aerial vehicle, in order to ensure that spray agent sprays evenly and no dead angle. The application can improve the operation efficiency of the agricultural unmanned aerial vehicle, reduce the medicament waste and the labor cost, and provide new technical support for agricultural production in an environment-friendly and efficient spraying mode.
In a first aspect, a centrifugal nozzle pitch adjustment control method for an agricultural unmanned aerial vehicle is provided, the centrifugal nozzle comprises an atomizing disk, teeth are arranged on the edge of the atomizing disk, the atomizing disk rotates to enable the teeth to strike a medicament, and the medicament is atomized into mist drops to be sprayed out of the centrifugal nozzle. The adjusting method specifically comprises the following steps of acquiring operation data of the agricultural unmanned aerial vehicle, wherein the operation data comprise particle sizes of fog drops, rotating speeds of atomizing discs, radiuses of teeth, density of medicines, number of rotary wings of the agricultural unmanned aerial vehicle and diameters of the rotary wings; determining the initial speed of the fog drops along a first direction according to the rotating speed of the atomizing disk and the radius of the tooth, wherein the first direction is tangential to the atomizing disk and is perpendicular to the gravity direction; determining the air resistance coefficient of the fog drops according to the particle size of the fog drops and the density of the medicament; acquiring a first load quantity of the agricultural unmanned aerial vehicle at a first moment, and determining a first wind speed of a downward wind field generated by the rotor according to the first load quantity, the number of the rotor wings of the unmanned aerial vehicle and the diameter of the rotor wings; acquiring a first operation height of the agricultural unmanned aerial vehicle at a first moment, and determining a first falling duration of fog drops according to the first operation height, a first wind speed and an air resistance coefficient; determining a first distance for spraying the fog drops along a first direction according to a first falling duration, an initial speed and an air resistance coefficient; determining a first distance of the centrifugal spray heads at a first moment according to the first distance; according to the first interval, the relative position between the centrifugal spray heads of the agricultural unmanned aerial vehicle is adjusted.
Based on this technical scheme, through the data of obtaining unmanned aerial vehicle's settlement parameter and/or the sensor transmission that sets up on the unmanned aerial vehicle, thereby the landing time of the fogdrop of spraying under the effort of unmanned aerial vehicle rotor wind field etc. is judged to the accessible perception unmanned aerial vehicle flight to calculate the diffusion distance of fogdrop in the initial velocity direction according to the landing time to adjust the interval between the unmanned aerial vehicle centrifugation shower nozzle according to the diffusion distance. The application can improve the operation efficiency of the agricultural unmanned aerial vehicle, reduce the medicament waste and the labor cost, and provide new technical support for agricultural production in an environment-friendly and efficient spraying mode.
With reference to the first aspect, in certain implementations of the first aspect, determining a first drop length of the mist droplets includes:
wherein H is the first working height, V S And (3) for the first wind speed, mu is an air resistance coefficient, and the first landing time t of the fog drops is determined by acquiring the first operation height H of the agricultural unmanned aerial vehicle at the first moment.
Based on the technical scheme, the landing time of sprayed fogdrops under the acting force of the unmanned aerial vehicle rotor wing wind field and the like can be calculated by calculating and/or detecting the flying height of the unmanned aerial vehicle, and the landing time is known to be related to the flying height of the unmanned aerial vehicle, the wind speed of the downward-pressure wind field generated by the rotor wing and the air resistance coefficient suffered by the fogdrops. And calculating the diffusion distance of the fog drops in the initial speed direction according to the landing time, and adjusting the distance between the centrifugal spray heads of the unmanned aerial vehicle according to the diffusion distance. The application can improve the operation efficiency of the agricultural unmanned aerial vehicle, reduce the medicament waste and the labor cost, and provide new technical support for agricultural production in an environment-friendly and efficient spraying mode.
With reference to the first aspect, in certain implementations of the first aspect, determining the first distance of the mist droplets includes:
wherein R is f For a first distance of spraying of mist droplets in a first direction, V X The initial velocity of the fog drops is mu, the air resistance coefficient is mu, t is the first drop time of the fog drops, and the first drop time of the fog drops is usedThe value of the length t determines a first distance R for spraying the mist drops along a first direction f Is a value of (2).
Based on the technical scheme, the movement distance of the fog drops along the initial speed direction can be calculated by calculating the dripping time of the obtained fog drops, and the spraying distance of the fog drops along the initial speed direction is related to the initial speed of the fog drops and the air resistance coefficient suffered by the fog drops. And adjusting the distance between the centrifugal spray heads of the unmanned aerial vehicle according to the calculated diffusion distance. The application can improve the operation efficiency of the agricultural unmanned aerial vehicle, reduce the medicament waste and the labor cost, and provide new technical support for agricultural production in an environment-friendly and efficient spraying mode.
With reference to the first aspect, in certain implementations of the first aspect, determining the first spacing of the centrifugal spray heads includes:
N≤2R f
wherein N is the first interval of unmanned aerial vehicle shower nozzle, R f A first distance for the mist droplets to spray in a first direction.
Based on the technical scheme, the distance between the two spray heads is set by calculating the spraying distance of the obtained mist drops in the first direction. According to the method and the device, the distance between the spray heads can be adjusted according to different heights during unmanned aerial vehicle operation, and the operation height of unmanned aerial vehicle operation can be set according to the height of crops, so that the distance between the pan heads can be automatically adjusted; the application can improve the operation efficiency of the agricultural unmanned aerial vehicle, reduce the medicament waste and the labor cost, and provide new technical support for agricultural production in an environment-friendly and efficient spraying mode.
With reference to the first aspect, in certain implementations of the first aspect, determining the particle size of the mist droplets includes:
d＝An+Bf+C
wherein d is the particle size of the fog drops, n is the rotating speed of the atomizing disk, f is the flow rate of the atomizing disk, and A, B, C is the coefficient to be determined; determining the coefficient of uncertainty includes fitting by measuring the value of the particle size d of the droplet.
Based on the technical scheme, the value of the coefficient to be determined of the fitting formula is determined by fitting the two dependent variables of the particle size value of the fog drops, the rotating speed of the atomizing disk and the flow of the atomizing disk, which are obtained through experimental tests, so that the calculation formula of the particle size of the fog drops is obtained, and the particle size of the fog drops can be determined according to the rotating speed of the atomizing disk and the flow of the atomizing disk in the operation process of the unmanned aerial vehicle, thereby determining the drop time of the fog drops and the corresponding spraying distance. The application can improve the operation efficiency of the agricultural unmanned aerial vehicle, reduce the medicament waste and the labor cost, and provide new technical support for agricultural production in an environment-friendly and efficient spraying mode.
With reference to the first aspect, in certain implementations of the first aspect, determining an air resistance coefficient of the mist droplets includes:
where μ is the air resistance coefficient, d is the particle size of the droplets, ρ is the density of the medicament.
Based on this technical scheme, calculate the air resistance coefficient that centrifugal nozzle sprayed droplet itself received through the particle diameter of droplet and the density of spraying medicament, at unmanned aerial vehicle operation in-process, can confirm the air resistance coefficient of droplet self according to different grade type medicament to further refine the interval between the regulation shower nozzle. The application can improve the operation efficiency of the agricultural unmanned aerial vehicle, reduce the medicament waste and the labor cost, and provide new technical support for agricultural production in an environment-friendly and efficient spraying mode.
With reference to the first aspect, in certain implementations of the first aspect, determining a first wind speed of a depressed wind field generated by the rotor includes:
wherein V is S For the first wind speed, M is the quantity of unmanned aerial vehicle rotor, D is the diameter of rotor, L is unmanned aerial vehicle's first load volume, g is gravitational acceleration.
Based on this technical scheme, through unmanned aerial vehicle's rotor quantity, diameter, unmanned aerial vehicle's load volume calculation unmanned aerial vehicle operation in-process rotor produced wind speed of pushing down the wind field to confirm the droplet landing speed of spraying under the wind field effort, further finely adjust the interval between the shower nozzle. The application can improve the operation efficiency of the agricultural unmanned aerial vehicle, reduce the medicament waste and the labor cost, and provide new technical support for agricultural production in an environment-friendly and efficient spraying mode.
With reference to the first aspect, in certain implementations of the first aspect, when the agricultural unmanned aerial vehicle is at the second moment, further comprising obtaining a second load amount of the agricultural unmanned aerial vehicle at the second moment, and a second work height of the agricultural unmanned aerial vehicle; determining a second landing duration of the fog drops according to the second operation height; according to the second landing duration, determining a second distance of spraying the fog drops along the first direction and a second interval of the centrifugal spray heads, and adjusting the relative position between the centrifugal spray heads of the agricultural unmanned aerial vehicle according to the second interval. The second moment is a moment after the first moment, and the second moment comprises a moment when the load of the agricultural unmanned aerial vehicle and/or the operation height of the agricultural unmanned aerial vehicle change.
In a second aspect, a computer readable storage medium is provided, comprising a computer program which, when run on a computer device, causes a processing unit in the computer device to perform the method of the first aspect or the various implementations of the first aspect.
In a third aspect, a chip is provided, the chip comprising a processor and a data interface, the processor reading instructions stored on a memory via the data interface to perform the method of the first aspect or various implementations of the first aspect.
In a fourth aspect, a control system for adjusting a centrifugal nozzle spacing is provided, the control system being installed in an agricultural unmanned aerial vehicle, the agricultural unmanned aerial vehicle further comprising a rotor, a liquid storage tank, and at least one set of centrifugal nozzles. Wherein the rotor is for controlling the flight operation of the agricultural unmanned aerial vehicle by rotation, the liquid storage tank is for storing the medicament to be sprayed, the centrifugal spray head is for spraying the medicament, and the control system is for executing the method of the first aspect or various implementation forms of the first aspect.
In a fifth aspect, an agricultural unmanned aerial vehicle is provided that includes a rotor, a tank, at least one set of centrifugal spray heads, and a controller. Wherein the rotor is through rotary control agricultural unmanned aerial vehicle flight operation, and the liquid reserve tank is used for storing the medicament that is to spray, and the centrifugal spray head is used for spraying the medicament, and the controller is used for carrying out the method of the various implementation manners of first aspect or first aspect, and the controller is still used for adjusting the relative position between at least one group of centrifugal spray heads according to the first interval of first aspect or the various implementation manners of first aspect determination.
Drawings
Fig. 1 is a schematic structural diagram of a conventional agricultural unmanned aerial vehicle according to an embodiment of the present application.
Fig. 2 is a schematic view of a spraying operation scene of an agricultural unmanned aerial vehicle according to an embodiment of the present application.
Fig. 3 is a schematic flow chart of a method for adjusting a centrifugal nozzle spacing of an agricultural unmanned aerial vehicle according to an embodiment of the present application.
Fig. 4 is a schematic diagram of a method for generating mist droplets sprayed by an agricultural unmanned aerial vehicle according to an embodiment of the present application.
Fig. 5 is a schematic diagram of stress analysis of droplets during spraying operation of an agricultural unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.
The terminology used in the description section of the present application is for the purpose of describing particular embodiments of the present application only and is not intended to be limiting of the present application.
The terms "first," "second," "third," and the like in this application are used for distinguishing between similar elements or similar elements having substantially the same function and function, and it should be understood that there is no logical or chronological dependency between "first," "second," and "third," and that there is no limitation on the amount and order of execution.
In the embodiments of the present application, words such as "exemplary," "for example," and the like are used to indicate by way of example, illustration, or description. Any embodiment or design described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, the term use of an example is intended to present concepts in a concrete fashion.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
In the present application, "at least one" means one or more, and "a plurality" means two or more.
It should be understood that the specific examples herein are intended only to facilitate a better understanding of the embodiments of the present application by those skilled in the art and are not intended to limit the scope of the embodiments of the present application.
It should also be understood that the various embodiments described in this specification may be implemented alone or in combination, and that the examples herein are not limited in this regard.
Unless defined otherwise, all technical and scientific terms used in the examples of this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
In the spraying operation process of agricultural unmanned aerial vehicles in the current market, most unmanned aerial vehicles adopt a nozzle with a fixed interval to realize agricultural operation. Fig. 1 is a schematic view of a common unmanned aerial vehicle structure according to an embodiment of the present application, as shown in fig. 1. In fig. 1, a coordinate system is established with gravity Y as a reference direction, and a side view of the agricultural unmanned aerial vehicle on the plane of the X-Y direction is drawn. Wherein unmanned aerial vehicle that uses always has 4 rotor 1, and rotor 1 is through the flight condition of control unmanned aerial vehicle such as control is rotatory, and secondly, still has liquid reserve tank 2, and the liquid reserve tank is used for holding the medicament of waiting to spray, can set up agitating unit in the liquid reserve tank 2, makes and waits to spray the medicament and keep even at unmanned aerial vehicle operation in-process. The liquid storage tank 2 and the rotor 1 are arranged on a bearing frame 5, and the bearing frame 5 is further provided with 4 floor frames 4 for assisting the unmanned aerial vehicle to stably land on the ground. A spraying device is fixed under the liquid storage tank 2, wherein the spraying device comprises at least one group of spray heads 3, each group of spray heads comprises at least two spray heads, the spray heads 3 are fixed on a spraying support 6 through mounting arms 7, and a liquid guide tube 8 is used for reversing the spraying agent in the liquid storage tank 2 in the spray heads 3.
However, such a fixed-pitch spray head arrangement may result in poor working efficiency, waste of chemicals, or inconvenience in use due to different crop growth conditions and growth environments.
Meanwhile, the demand of the market for agricultural unmanned aerial vehicle with adjustable nozzle spacing is continuously improved. Therefore, in recent years, a spray technology aiming at adjustable spray head spacing becomes one of research hot spots, so that the spacing between spray heads can be automatically adjusted according to actual conditions, and a more flexible, efficient and controllable scheme is provided for agricultural operation.
The spray head structure of the agricultural unmanned aerial vehicle is generally composed of components such as a spray nozzle, a liquid pipe, a sealing ring and the like. The spray head mainly plays a role in spraying the medicament into the air, and the spraying effect and the medicament spraying quality of the spray head have great relation with the designed spray head structure. Examples of commonly used nozzles include fan-shaped nozzles, spherical nozzles, dual-flow nozzles, quad-flow nozzles, etc., which have different spraying effects and coverage areas.
The fan-shaped spray head has a simpler structure and is suitable for occasions with a larger spraying range, such as farmlands, orchards, olive forests and the like. The spherical spray head can be used for 360-degree rotary spraying, and is suitable for small fruit trees with irregular shapes and other scenes. The double-flow spray head and the four-flow spray head can simultaneously carry out mixed spraying of liquid and air, have better spraying effect and medicament utilization efficiency, but have higher manufacturing cost and maintenance difficulty.
The application focuses on research and provides a centrifugal nozzle spacing adjustment method of an agricultural unmanned aerial vehicle, and the centrifugal nozzle is widely applied to the fields of agriculture, gardens, fire protection and the like. The centrifugal spray head mainly comprises a fixed block, a centrifugal rotating mechanism, an atomizing disk and other parts. The principle of spraying is to use centrifugal force to send liquid into nozzle to make it become exciting flow and produce atomized spray. The centrifugal rotating mechanism and the atomizing disc in the internal structure form a central shaft and a rotating part respectively, and when the atomizing disc rotates, the centrifugal force can send liquid to the nozzle to form atomized spray.
The spray effect of a centrifugal spray head is affected by many factors, such as the flow rate of the liquid, gravity, the speed and angle at which the spray head rotates, etc. The application of the fertilizer in agriculture can be used for spraying and fertilizing crops, and has good effect under the condition that the spraying liquid is viscous. The centrifugal spray head is a spray head model with strong practicability, the spray effect is stable, the spray head angle and range are adjustable, the maintenance and management are convenient, the application range is wide, and the spray efficiency in the fields of agriculture, gardens and the like is improved.
The application focuses on research and provides an agricultural unmanned aerial vehicle centrifugal spray head spacing adjusting method, which is used for realizing intelligent adjustment and control of spray head spacing by collecting and analyzing relevant information such as crops, spraying agents, unmanned aerial vehicle parameters and the like, carrying out real-time operation and outputting operation results. The application can improve the operation efficiency of the agricultural unmanned aerial vehicle, reduce the medicament waste and the labor cost, and provide new technical support for agricultural production through an environment-friendly and efficient spraying mode.
In order to better understand the solution of the embodiment of the present application, a possible operation scenario of the embodiment of the present application will be briefly described with reference to fig. 2.
Fig. 2 is a schematic view of a spraying operation scene of an agricultural unmanned aerial vehicle according to an embodiment of the present application. In the figure, the unmanned aerial vehicle can generate a downward-pressed wind field by rotating the rotor wing in the flight operation process, and the direction parallel to the ground and the X direction are set by taking the gravity direction Y as a reference.
It should be understood that the X direction includes all directions parallel to the ground and perpendicular to the gravitational direction Y, and that only one X direction is schematically shown in the drawings, and does not limit the scope of the present application in any way.
It should be understood that the mist droplets ejected by the centrifugal nozzle are 360-degree encircling, and the drawings are only two-dimensional schematic plan views, and do not limit the protection scope of the application in any way.
The fog drops sprayed by the centrifugal nozzle have an initial velocity V in the X direction X The fog drops do parabolic motion under the combined action of the initial speed in the X direction and the acting force of the wind field superimposed by the gravity of the fog drops. Defining the spraying height of the fog drop as H, and the radius of the fog drop sprayed by the spray head as breadth R f As can be seen from fig. 2, if the agricultural unmanned aerial vehicle is to be ensured to have no spraying dead angle in the spraying process, the spraying uniformity and comprehensiveness are ensured, and the distance N between the two spray heads is less than or equal to twice the width R f N.ltoreq.2R f 。
Fig. 3 is a schematic flow chart of a method for adjusting a centrifugal nozzle spacing of an agricultural unmanned aerial vehicle according to an embodiment of the present application. The method of confirming the centrifugal nozzle spacing of the present application will be explained below in conjunction with fig. 3.
When the centrifugal spray head sprays, the liquid medicine is atomized and thrown out by the high-speed rotating atomizing disk. The thrown fogdrop has the initial velocity V in the horizontal direction X And is acted by a rotor wing down-pressure wind field to be brought to the ground. The centrifugal atomizing disk rotates at a high speed, so that teeth on the outer edge of the atomizing disk collide with the liquid medicine, and the liquid is crashed and atomized under the high-speed collision. Here, the broken droplets are approximated to spheres, and the particle diameter of the droplets is defined as d, the rotational speed of the atomizing disk is n, and the flow rate of the chemical is f. The particle diameter d of the mist droplets which are atomized by impact is related to the rotating speed n of the atomizing disk and the flow f of the medicament, and the relation formula is as follows:
d＝An+Bf+C (1)
wherein A, B, C is the coefficient to be determined. The rotating speed n of the atomizing disk and the flow f of the medicament are known quantities which can be obtained through the machine setting of the unmanned aerial vehicle, the specific value of the undetermined coefficient of A, B, C can be determined through multiple experiments before the actual operation of the unmanned aerial vehicle, the value of the undetermined coefficient can be fitted according to the value of the particle size d which is actually measured and the set rotating speed n and the flow f, and the more accurate value of the undetermined coefficient A, B, C can be obtained after the multiple experiments and the multiple fitting average.
S201: determining the initial velocity V of fog drops along a first direction according to the rotating speed n of the atomizing disk and the radius R of the tooth X 。
The centrifugal atomizing disk rotates at a high speed, so that teeth on the outer edge of the atomizing disk collide with the liquid medicine, the liquid is crashed and atomized under the high-speed collision, and fog drops are sprayed at an initial speed in the horizontal direction. It can be approximately understood here that the initial velocity V of droplet ejection X The same as the speed of movement of the teeth at the rim of the atomizer disk. The initial velocity V for mist droplets will be described below in conjunction with fig. 4 X Is described with respect to the determination and calculation of (a).
Fig. 4 is a schematic diagram of a method for generating mist droplets sprayed by an agricultural unmanned aerial vehicle according to an embodiment of the present application. Defining the rotation radius of the teeth on the atomizing disk as R and the rotation speed as n; wherein the unit of the radius R is millimeter mm, the unit of the rotating speed n is rpm, the rotation of the atomizing disk can be approximately uniform circular motion, and the initial speed V of mist spraying can be obtained according to a linear speed calculation formula of uniform circular motion X (i.e., the linear velocity of the teeth on the atomizing disk) is:
the mist drops, when being sprayed from the teeth on the atomizing disk in a rotating manner, have an initial velocity V parallel to the ground X The mist is also subjected to air resistance in the horizontal direction, so that the movement speed of the mist in the X direction is also gradually reduced. The movement trace and the stress condition of the mist drop are analyzed with reference to fig. 5.
S202: the air resistance coefficient mu of the mist drops is determined according to the particle diameter d of the mist drops and the density rho of the medicament.
Fig. 5 is a schematic diagram of stress analysis of droplets during spraying operation of an agricultural unmanned aerial vehicle according to an embodiment of the present application. Here, the mist is approximately regarded as a sphere, the diameter of the mist is d, and the mist has an initial velocity V in the X direction when the mist is sprayed from the nozzle X And receives an air resistance f in a direction opposite to the initial speed X Is effective in (1). In the gravity direction Y, the fog drops are subjected to self gravity mg and acting force f of wind field generated by unmanned plane rotor wing Y Under the combined action of the two components, the fog drops drop to the ground, the initial velocity of the fog drops in the Y direction is V Y At the moment when the mist drops are just sprayed, i.e. t=0, the initial velocity V of the mist drops in the Y direction Y ＝0。
The fog drops are approximately spherical, the diameter of the fog drops is defined as d, and the liquid density of the spraying agent is ρ; then the air resistance coefficient μ of the mist droplets can be calculated as:
s203: acquiring a first load L of an agricultural unmanned aerial vehicle at a first moment, and determining a first wind speed V of a downward wind field generated by a rotor according to the first load L, the number M of the rotor wings of the unmanned aerial vehicle and the diameter D of the rotor wings S 。
Defining the speed of a downward wind field of a rotor wing of the unmanned aerial vehicle as V S The load of the unmanned aerial vehicle is L, the number of the unmanned aerial vehicle rotors is M, and the diameter of the unmanned aerial vehicle rotors is D, so that the wind degree V of a down-draft wind field of the unmanned aerial vehicle can be calculated under the conditions of the temperature of 25 ℃ and standard atmospheric pressure S The method comprises the following steps:
wherein g is gravitational acceleration.
The fog drops do parabolic motion under the action of the wind field, and the initial velocity V in the horizontal direction X direction X At air resistance f X Is reduced under the action of (2)Slow, do the deceleration movement; initial velocity in gravity direction Y is 0, acting force f in wind field Y And under the action of self gravity mg, making acceleration movement; the overall fog drop makes parabolic motion. If the air resistance coefficient is μ, the mist drops receive an air resistance f in the horizontal direction X X The method comprises the following steps:
f X ＝μmV X 2 (5)
in the gravity direction Y, the initial velocity V of the mist drops Y =0, under the action of the downward wind field, the mist drops receive air resistance f Y The method comprises the following steps:
f Y ＝μm·(V S -V Y ) 2 (6)
wherein m is the mass of the fog drops.
Due to the air resistance f of the mist drops under the action of the downward wind field in actual condition Y Much greater than the own weight, so in order to simplify the calculation effort, the influence of the own weight acceleration to which the mist drops are subjected is neglected here. Therefore, a parameter equation of the flight trajectory of the fog drops under the action of the wind field can be obtained:
as can be seen in connection with FIG. 2, R f The width of spray for the fog drops, H is the drop height of the fog drops.
S204: acquiring a first operation height H of the agricultural unmanned aerial vehicle at a first moment, and pressing down a first wind speed V of a wind field according to the first operation height H S And determining the first drop time t of the fog drops according to the air resistance coefficient mu.
And (3) acquiring a flight height parameter H of the unmanned aerial vehicle, bringing the acquired H value into a formula (8), and combining the previous formulas (1) to (6), so that the movement time t from spraying to landing of the fog drops to the ground can be calculated when the operation height is H.
S205: according to the first drop time t of the fog drops and the initial velocity V of the fog drops X Determining a first distance R of spray of mist drops along a first direction by an air resistance coefficient mu f 。
Substituting the calculated t value into the formula (7) can obtain the distance R of the fog drop spreading in the horizontal direction f 。
S206: a first distance R sprayed according to a first direction f And determining a first interval N of centrifugal spray heads of the agricultural unmanned aerial vehicle at a first moment.
As can be seen from fig. 2, in order to ensure that the agent sprayed by the unmanned aerial vehicle is uniform and has no dead angle, the distance N between the spray heads of the unmanned aerial vehicle should satisfy the diffusion distance R of the mist droplets less than or equal to two times f N.ltoreq.2R f 。
It is understood that in unmanned aerial vehicle operation process, unmanned aerial vehicle can adjust the fly height according to factors such as the height of crops, planting density, and unmanned aerial vehicle will be according to the interval of fly height adjustment centrifugal nozzle, guarantee that the fogdrop that the medicament sprayed is even, no dead angle.
It should be understood that the present application may be applied to a multi-nozzle unmanned aerial vehicle, and the present application may be used to determine a distance between two nozzles in any horizontal direction, and the specific protection scope should be set forth in the claims, which is not particularly limited in this application.
S207: according to the first interval N, the relative position between the centrifugal spray heads of the agricultural unmanned aerial vehicle is adjusted.
When the agricultural unmanned aerial vehicle is at the second moment, a second load of the agricultural unmanned aerial vehicle at the second moment and a second working height of the agricultural unmanned aerial vehicle can be obtained; determining a second landing duration of the fog drops according to the second operation height; according to the second landing duration, determining a second distance of spraying the fog drops along the first direction and a second interval of the centrifugal spray heads, and adjusting the relative position between the centrifugal spray heads of the agricultural unmanned aerial vehicle according to the second interval. The second moment is a moment after the first moment, and the second moment comprises a moment when the load of the agricultural unmanned aerial vehicle and/or the operation height of the agricultural unmanned aerial vehicle change.
It should be understood that in the operation process, the time interval between the first moment and the second moment can be automatically adjusted by a method of timing sampling, the actual load quantity and the operation height of the unmanned aerial vehicle at the second moment are obtained by timing sampling, and the interval between the centrifugal spray heads is adjusted according to the actual operation data; the sampling can be controlled by the terminal equipment, and the load quantity and the operation height at the moment when the terminal equipment sends the sampling instruction are adjusted, so that the application is not particularly limited, and the specific protection scope is as defined in the claims.
As a non-limiting example, in one possible embodiment, the speed of the atomizing disk is in the range of 1000rpm to 16000rpm, the radius R of the atomizing disk is 42mm, the drone has 6 rotors, and the diameter of the rotors is 1030mm. The total flying load of the unmanned aerial vehicle is 120kg. After the coefficients are measured and fitted experimentally, the values of the coefficients to be determined A, B, C can be determined. For example, after determining the value of the undetermined coefficient A, B, C, when the flying height of the unmanned aerial vehicle is 3m, the breadth R can be calculated f In order to avoid the situation of incomplete coverage of fog drops and missed spraying, R with the distance between two spray heads in the horizontal direction being twice can be arranged at the moment f The value, that is, the pitch N of the spray heads is set to 1500 mm.
The method in the embodiments of the present application, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer readable storage medium, and based on such understanding, the technical solution or part of the technical solution of the present application may be embodied in the form of a software product stored in a storage medium, where the computer software product includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present application. The storage medium includes at least: a U-disk, a removable hard disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The embodiment of the application also provides an agricultural unmanned aerial vehicle, and the agricultural unmanned aerial vehicle includes rotor, liquid reserve tank, at least a set of centrifugal shower nozzle and controller. The rotary wing is used for controlling the agricultural unmanned aerial vehicle to fly through rotation, the liquid storage tank is used for storing the medicament to be sprayed, and the centrifugal spray head is used for spraying the medicament. The controller is used to perform the method as described in fig. 2 to 5, and the controller is used to perform the calculation steps comprised in fig. 2 to 5.
It should be understood that the controller may further include a sensor device for acquiring the load L of the unmanned aerial vehicle and the working height H of the unmanned aerial vehicle, which is not particularly limited in this application.
It should be understood that, according to the calculation result of the formula (7), the controller determines the interval N between a set of centrifugal sprayers and drives at least one set of centrifugal sprayers to adjust the interval N between sprayers, and the specific protection scope shall be based on the claims, which are not limited in particular in this application.
The agricultural unmanned aerial vehicle comprises at least one group of centrifugal spray heads, the spray head distance between the group of centrifugal spray heads can be calculated through the formulas (1) to (7), the agricultural unmanned aerial vehicle can comprise a plurality of groups of centrifugal spray heads, the distance between each group of centrifugal spray heads and the distance between two centrifugal spray heads in the group of centrifugal spray heads can be determined through the method, the controller can adjust the distance between the two spray heads in the group of centrifugal spray heads according to the calculated spray head distance N, and the controller can adjust the distance between the plurality of groups of centrifugal spray heads according to the calculated spray head distance N, so that the specific protection scope is subject to the claims and is not limited in particular.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (12)
1. The utility model provides an agricultural unmanned aerial vehicle centrifugal nozzle interval regulation control method, centrifugal nozzle includes the atomizing dish, atomizing dish edge is provided with the tooth, the atomizing dish makes through the rotation the tooth striking medicament, the medicament is atomized into the droplet and is followed centrifugal nozzle sprays out, its characterized in that includes:
acquiring operation data of the agricultural unmanned aerial vehicle, wherein the operation data comprise the particle size of the fog drops, the rotating speed of the atomizing disk, the radius of the tooth, the density of the medicament, the number of the rotary wings of the agricultural unmanned aerial vehicle and the diameter of the rotary wings;
determining an initial speed of the mist droplets along a first direction according to the rotating speed of the atomizing disk and the radius of the tooth, wherein the first direction is tangential to the atomizing disk, and the first direction is perpendicular to the gravity direction;
determining the air resistance coefficient of the fog drops according to the particle size of the fog drops and the density of the medicament;
acquiring a first load quantity of the agricultural unmanned aerial vehicle at a first moment, and determining a first wind speed of a downward wind field generated by the rotor wing according to the first load quantity, the number of the rotor wings of the unmanned aerial vehicle and the diameter of the rotor wings;
acquiring a first operation height of the agricultural unmanned aerial vehicle at a first moment, and determining a first falling duration of the fog drops according to the first operation height, the first wind speed and the air resistance coefficient;
determining a first distance of spraying the fog drops along the first direction according to the first falling duration, the initial speed and the air resistance coefficient;
determining a first distance between the centrifugal spray heads at the first moment according to the first distance;
according to the first interval, the relative position between the centrifugal spray heads of the agricultural unmanned aerial vehicle is adjusted.
2. The method of claim 1, wherein determining the first drop length of the mist droplets comprises:
wherein H is the first working height, V S And for the first wind speed, mu is the air resistance coefficient, and the first landing duration t is determined by acquiring the first operation height H of the agricultural unmanned aerial vehicle at the first moment.
3. The method of claim 1, wherein determining the first distance of the mist droplets comprises:
wherein R is f V being the first distance of the mist droplets X For the initial speed, mu is the air resistance coefficient, t is the first landing duration, and the first distance R is determined according to the value of the first landing duration t f Is a value of (2).
4. The method of claim 1, wherein determining the first spacing of the centrifugal spray head comprises:
N≤2R f
wherein N is the first spacing, R f Is the first distance.
5. The method of any one of claims 1 to 4, wherein determining the particle size of the mist droplets comprises:
d＝An+Bf+C
wherein d is the particle size of the fog drops, n is the rotating speed of the atomizing disk, f is the flow rate of the atomizing disk, and A, B, C is the coefficient to be determined; determining the undetermined coefficient comprises fitting by actually measuring the value of the particle diameter d of the fog drops.
6. The method of any one of claims 1 to 4, wherein determining the air resistance coefficient of the mist droplets comprises:
wherein μ is the air resistance coefficient, d is the particle diameter of the mist droplets, and ρ is the density of the agent.
7. The method of any one of claims 1 to 4, wherein determining the first wind speed of a down-wind field generated by the rotor comprises:
wherein V is S For the first wind speed, M is the number of the rotors, D is the diameter of the rotors, L is the first load amount, and g is the gravitational acceleration.
8. The method according to any one of claims 1 to 4, further comprising:
when the agricultural unmanned aerial vehicle is at a second moment, acquiring a second load of the agricultural unmanned aerial vehicle at the second moment and a second operation height of the agricultural unmanned aerial vehicle;
determining a second landing duration of the fog drops according to the second operation height;
determining a second distance of spraying the fog drops along the first direction and a second interval of the centrifugal spray heads according to the second landing time length, and adjusting the relative positions among the centrifugal spray heads of the agricultural unmanned aerial vehicle according to the second interval;
the second moment is a moment after the first moment, and the second moment comprises a moment when the load of the agricultural unmanned aerial vehicle and/or the operation height of the agricultural unmanned aerial vehicle change.
9. A computer readable storage medium comprising a computer program which, when run on a computer device, causes a processing unit in the computer device to perform the method of any of claims 1 to 8.
10. A chip comprising a processor and a data interface, the processor reading instructions stored on a memory via the data interface to perform the method of any one of claims 1 to 8.
11. A control system for adjusting the distance between centrifugal spray heads of an agricultural unmanned aerial vehicle is characterized by being arranged in the agricultural unmanned aerial vehicle, the agricultural unmanned aerial vehicle further comprises a rotor wing, a liquid storage tank and at least one group of centrifugal spray heads, wherein,
the rotor controls the agricultural unmanned aerial vehicle flight operations by rotation, the liquid storage tank is used for storing the medicament to be sprayed, the centrifugal spray head is used for spraying the medicament, and the control system is used for executing the method as claimed in any one of claims 1 to 8.
12. An agricultural unmanned aerial vehicle, comprising: the rotor wing, the liquid storage tank, at least one group of centrifugal spray heads and a controller, wherein,
the rotor controls the agricultural unmanned aerial vehicle flight operation by rotation, the liquid storage tank is used for storing the medicament to be sprayed, the centrifugal spray head is used for spraying the medicament, and the controller is used for executing the method as claimed in any one of claims 1 to 8.
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| CN202311608511.7A CN117598272A (en) | 2023-11-28 | 2023-11-28 | Agricultural unmanned aerial vehicle centrifugal nozzle spacing adjustment control method |
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