Experimental Setup and Modeling Method for Near-Canopy Wind and Fog Fields Using Boom Sprayers

Abstract

This invention relates to the field of plant protection machinery technology, and discloses a test device and modeling method for a near-canopy wind and fog field using a boom sprayer. The aforementioned test device for a near-canopy wind and fog field using a boom sprayer includes a spraying device, a wind-driven component, a simulated crop, a sensing and detection component, a three-dimensional movement component, and a control module. The spraying device includes a height adjustment component, a boom, and a nozzle. The wind-driven component provides an adjustable environmental wind field with adjustable wind speed and direction, and the sprayed pesticide solution forms a near-canopy wind and fog field under the action of the wind. The sensing and detection component detects the boom height, canopy density, wind speed, and wind direction. The three-dimensional movement component is connected to a lidar and a three-dimensional anemometer. The control module is electrically connected to the spraying device, the wind-driven component, the sensing and detection component, and the three-dimensional movement component. This invention can study the influence of environmental wind field, spraying parameters, and crop information on droplet drift through the test device, thus providing a theoretical basis for establishing a near-canopy wind and fog field.

Description

Technical Field

[0001] This invention relates to the field of plant protection machinery technology, and in particular to a test device and modeling method for near-canopy wind and fog fields of boom sprayers. Background Technology

[0002] Chemical pesticides are essential for controlling pests, diseases, and weeds, ensuring the healthy growth of grain crops. Pesticide drift is one of the biggest factors affecting the safe application of pesticides. Boom sprayers are the most widely used ground-based pesticide spraying equipment in field operations. Improving their anti-drift performance is crucial for enhancing safe pesticide application and reducing pesticide pollution, harm to crops outside the designated area, and the lives of humans and livestock.

[0003] Currently, research on anti-drift simulation of boom sprayers mainly focuses on the simulation of anti-drift spraying under the action of a single nozzle and a single wind field. There is no research on the near-canopy simulation model of a full-size boom sprayer. This makes it impossible to study anti-drift data under multi-variable parameter conditions, which makes it difficult to assess and calculate pesticide drift risk and affects the simulation and experimental verification of anti-drift performance of boom sprayers. Summary of the Invention

[0004] This invention provides a test device and modeling method for near-canopy wind and fog fields of boom sprayers, which solves the current problem of difficulty in effectively assessing the drift risk of boom sprayers under multivariable parameter conditions.

[0005] In a first aspect, the present invention provides a near-canopy wind and fog field test device for a boom sprayer, comprising: a spraying device, a wind delivery component, a simulated crop, a sensing and detection component, a three-dimensional movement component, and a control module;

[0006] The spraying device includes a height adjustment component, a spray bar, and nozzles; the height adjustment component is connected to the spray bar; the spray bar is located on the upper side of the simulated crop; multiple nozzles are provided, and the multiple nozzles are arranged along the extension direction of the spray bar;

[0007] The wind delivery component is used to provide an environmental wind field with adjustable wind speed and direction. Under the wind delivery effect of the environmental wind field on the pesticide sprayed by the nozzle, a near-canopy wind and fog field is formed in the area where the simulated crop is located.

[0008] The sensing and detection components include a height detection sensor, a lidar, and a three-dimensional anemometer. The height detection sensor is used to detect the height of the spray boom relative to the simulated crop; the lidar is used to detect the canopy density of the simulated crop; and the three-dimensional anemometer is used to detect the wind speed and direction of the environmental wind field.

[0009] The three-dimensional moving component is connected to the lidar and the three-dimensional anemometer respectively, and the three-dimensional moving component is used to adjust the position of the lidar and the three-dimensional anemometer in the near-canopy wind and fog field;

[0010] The sensing and detection component and the control module are electrically connected, and the control module is electrically connected to the spraying device, the air delivery component and the three-dimensional moving component respectively.

[0011] According to the present invention, a boom sprayer near-canopy wind and mist field test device is provided, wherein the near-canopy wind and mist field forms a rectangular space surrounding the simulated crop;

[0012] Wherein, the height direction of the near-canopy fog field is along the vertical direction, the width direction of the near-canopy fog field is along the extension direction of the spray boom, and the length direction of the near-canopy fog field is along the length direction of the spray boom sprayer.

[0013] According to the present invention, a test device for a boom sprayer near the canopy fog field is provided, wherein the air delivery component includes a mobile vehicle and multiple axial flow fans;

[0014] The angle between the traveling direction of the mobile vehicle and the traveling direction of the boom sprayer is adjustable, and the air volume of the axial flow fan can be adjusted under the control of the control module.

[0015] Multiple axial flow fans are mounted on the mobile vehicle, and the multiple axial flow fans are arranged in an array on a vertical plane.

[0016] According to the present invention, a near-canopy wind and fog field test device for a boom sprayer is provided, wherein the three-dimensional moving component includes a lifting mechanism, a first moving mechanism, and a second moving mechanism;

[0017] The first moving mechanism is mounted on the lifting mechanism, and the second moving mechanism is mounted on the first moving mechanism; the lidar and the three-dimensional anemometer are mounted on the second moving mechanism.

[0018] The first moving mechanism is used to drive the second moving mechanism to move along the length of the body of the boom sprayer, and the second moving mechanism is used to drive the lidar and the three-dimensional anemometer to move along the extension direction of the boom.

[0019] According to the present invention, a test device for a boom sprayer near the canopy fog field is provided, wherein the sensing and detection component further includes a drift measuring instrument;

[0020] The three-dimensional moving component is connected to the drift measuring instrument, and the three-dimensional moving component is used to adjust the position of the drift measuring instrument in the near-canopy wind and fog field.

[0021] The drift measuring instrument is used to detect the amount of drug solution deposited at the location of the drift measuring instrument.

[0022] According to the present invention, a near-canopy wind and fog field test device for a boom sprayer is provided, wherein the simulated crop includes multiple individual plants, and the number of individual plants per unit volume is used to characterize the canopy density of the simulated crop.

[0023] The individual plant includes multiple plant types, and each plant type includes seedling plants, growing plants, and mature plants.

[0024] Secondly, the present invention provides a method for modeling near-canopy wind and fog fields based on the above-mentioned boom sprayer near-canopy wind and fog field test device, comprising:

[0025] Based on the experimental simulation requirements, the wind speed and direction of the environmental wind field formed by the air delivery component, the height of the spray boom, and the type and density of the crop were adjusted.

[0026] Based on the location information of each nozzle, multiple wind field acquisition points are set in a rectangular three-dimensional space to obtain wind force information at each wind field acquisition point.

[0027] Based on the location and wind information of each wind field acquisition point, a wind field distribution model of the nozzle spray within a rectangular three-dimensional space is obtained;

[0028] By integrating the wind field distribution model and the discrete phase model of each nozzle, a near-canopy wind and fog field model of the boom sprayer is established.

[0029] The rectangular three-dimensional space has its height along the vertical direction, its width along the extension direction of the spray boom, and its length along the length of the spray boom sprayer's body.

[0030] According to the modeling method for near-canopy wind and fog fields provided by the present invention, the step of setting up multiple wind field acquisition points in a rectangular three-dimensional space based on the location information of each nozzle distribution, and acquiring wind force information of each wind field acquisition point, further includes:

[0031] Based on the location information of each nozzle, the environmental wind field is divided into multiple cuboid wind field regions;

[0032] Multiple wind field acquisition points are set up along each edge of each cuboid wind field region;

[0033] Multiple cross-sections are taken sequentially along the length of the cuboid wind field region to obtain the three-dimensional wind speed equations relative to the vertical height for different height regions within each cross-section.

[0034] According to the modeling method for near-canopy wind and fog fields provided by the present invention, the step of obtaining a wind field distribution model of the nozzle spray within a rectangular three-dimensional space based on the location information and wind force information of each wind field acquisition point further includes:

[0035] The section closest to the spray bar is selected as the entry point for the simulated wind field. Based on the location information of the wind field acquisition point, the three-dimensional wind speed equations corresponding to each section in the same cuboid wind field area are fitted to obtain the wind field distribution model of the same cuboid wind field area.

[0036] The wind field distribution models corresponding to each cuboid wind field region are combined and optimized using a turbulence model to obtain the wind field distribution model of the nozzle spray within a rectangular three-dimensional space.

[0037] The near-canopy wind and fog field modeling method provided by the present invention further includes:

[0038] Based on the spraying parameters set by the boom sprayer, droplet deposition distribution information of simulated crops at different heights was obtained in a windless environment.

[0039] Based on the droplet deposition distribution information, a simulated crop droplet deposition model at different heights was established;

[0040] Based on the fog deposition model, the amount of fog droplet drift between two cross sections of a rectangular three-dimensional space is determined, and the near-canopy wind and fog field model is verified based on the amount of fog droplet drift.

[0041] The spraying parameters include the height of the spray boom, the spray pressure, the working distance between the nozzles, and the spray angle of the nozzles.

[0042] The present invention provides a near-canopy wind and mist field test device and modeling method for boom sprayers. By setting up a spraying device, a wind-carrying component, a simulated crop, a sensing and detection component, a three-dimensional movement component, and a control module, the control module adjusts the height of the boom, spray pressure, nozzle working distance, spray angle, ambient wind speed, and wind direction. After the wind-carrying component is turned on, the sprayed liquid forms a near-canopy wind and mist field in the area where the simulated crop is located under the action of wind. The control module controls the three-dimensional movement component, which drives the lidar, drift measuring instrument, and three-dimensional anemometer to reach the designated position, and can complete the data measurement of simulated crop density, liquid deposition, ambient wind speed, and wind direction.

[0043] As can be seen from the above, the boom sprayer near-canopy wind and fog field test device provided by the present invention can effectively solve the current problem of difficulty in effectively assessing the drift risk of boom sprayer spray by studying the influence of environmental wind field, spraying parameters and operation information on droplet drift, and establish a boom sprayer near-canopy wind and fog field model based on this. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the structure of a near-canopy wind and fog field test device for a boom sprayer provided by the present invention;

[0046] Figure 2 A schematic flowchart illustrating the modeling method for near-canopy wind and fog fields based on the above-mentioned boom sprayer near-canopy wind and fog field test device provided by the present invention;

[0047] Figure 3 This is a schematic diagram showing the distribution of multiple wind field collection points based on a rectangular three-dimensional space constructed in the direct spray area of ​​a boom sprayer, as provided by the present invention.

[0048] Figure 4 Provided by the present invention Figure 3 A schematic diagram showing the distribution of wind field data collection points in wind field region A1.

[0049] Figure label:

[0050] 11. Spraying device; 111. Height adjustment assembly; 112. Spray boom; 113. Nozzle;

[0051] 12. Pneumatic conveying assembly; 121. Mobile trolley; 122. Axial flow fan;

[0052] 13. Simulated crops;

[0053] 14. Sensing and detection components; 141. Altitude detection sensor; 142. LiDAR; 143. Drift measuring instrument; 144. 3D anemometer;

[0054] 15. Three-dimensional moving component; 151. First moving rod; 152. Second moving rod;

[0055] 16. Control module;

[0056] 31. Wind field sampling point; 32. Wind speed at the wind field sampling point; A1. First rectangular wind field region;

[0057] S1, First section; S2, Second section; S3, Third section; S4, Fourth section; S5, Fifth section; S6, Sixth section. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0059] The following is combined Figures 1 to 4 The present invention provides a detailed description of the near-canopy wind and fog field test device and modeling method for boom sprayers provided by the present invention through specific embodiments and application scenarios.

[0060] In some embodiments, such as Figure 1 As shown, this embodiment provides a near-canopy wind and fog field test device for a boom sprayer, including: a spraying device 11, a wind delivery component 12, a simulated crop 13, a sensing and detection component 14, a three-dimensional movement component 15, and a control module 16.

[0061] The spraying device 11 includes a height adjustment component 111, a spray bar 112, and a nozzle 113; the height adjustment component 111 is connected to the spray bar 112; the spray bar 112 is located on the upper side of the simulated crop 13; multiple nozzles 113 are provided, and the multiple nozzles are arranged along the extension direction of the spray bar 112.

[0062] The wind delivery component 12 is used to provide an environmental wind field with adjustable wind speed and direction. Under the wind delivery effect of the environmental wind field on the pesticide sprayed by the nozzle 113, a near-canopy wind and fog field is formed in the area where the simulated crop 13 is located.

[0063] The sensing and detection assembly 14 includes a height detection sensor 141, a lidar 142, and a three-dimensional anemometer 144. The height detection sensor 141 is used to detect the height of the spray boom 112 relative to the simulated crop 13; the lidar 142 is used to detect the canopy density of the simulated crop 13; and the three-dimensional anemometer 144 is used to detect the wind speed and direction of the ambient wind field.

[0064] The three-dimensional moving component 15 is connected to the lidar 142 and the three-dimensional anemometer 144 respectively. The three-dimensional moving component 15 is used to adjust the position of the lidar 142 and the three-dimensional anemometer 144 in the near-canopy wind and fog field.

[0065] The sensing and detection component 14 and the control module 16 are electrically connected. The control module 16 is electrically connected to the spray device 11, the air delivery component 12 and the three-dimensional movement component 15 respectively.

[0066] It is understood that the spraying device 11 in this embodiment can be set on the front side of the body of the boom sprayer or on a fixed platform, as long as the boom 112 is set on the upper side of the simulated crop 13 so as to form a near-canopy wind and fog field in the near-canopy layer of the simulated crop 13.

[0067] The height adjustment component 111 can be either a parallel four-bar linkage or a multi-degree-of-freedom robotic arm.

[0068] The parallel four-bar linkage includes a first link, a second link, a third link, a fourth link, and a telescopic drive component. The first, second, third, and fourth links are hinged end-to-end sequentially. The first and third links are parallel in the vertical direction, and the second and fourth links are also parallel. The first link is mounted on the body of the boom sprayer. One end of the telescopic drive component is hinged to the first link, and the other end is hinged to the second link. The boom 112 is connected to the fourth link. The telescopic drive component is electrically connected to the control module 16. By changing the telescopic stroke of the drive component through the control module 16, the angle between the first and second links is changed, thereby achieving height adjustment of the boom 112. The height adjustment range can be from 0.4m to 1.6m.

[0069] Multiple mounting seats can be provided on the spray bar 112 along its extension direction, and a nozzle 113 is provided on each mounting seat. The spacing of the nozzle 113 can be adjusted by adjusting the spacing between any two adjacent mounting seats.

[0070] Furthermore, a servo motor can be installed on the mounting base. The output end of the servo motor is connected to the nozzle 113. The servo motor is electrically connected to the control module 16. The control module 16 sends control signals according to the input instructions, thereby controlling the servo motor to rotate, thereby realizing the adjustment of the spraying angle of the nozzle 113.

[0071] Optionally, a hydraulic sensor and a flow regulating valve are installed on the infusion line of the nozzle 113. The hydraulic sensor is electrically connected to the control module 16, which can acquire the pressure data of the infusion line passing through the nozzle 113 to realize the pressure sensing function. The flow regulating valve is electrically connected to the control module 16, which can change the flow rate and velocity of the liquid passing through the infusion line of the nozzle 113 by controlling the valve opening of the flow regulating valve, thereby realizing the adjustment of the spray pressure.

[0072] In this embodiment, the air delivery component 12 can be either an array of axial fans or an array of centrifugal fans. The air delivery component 12 is electrically connected to the control module 16. The control module 16 controls the voltage and current of the air delivery component 12 to change the rotation speed of the motor inside the fan, thereby achieving wind speed regulation. The air delivery component 12 is mounted on a mobile vehicle, and the wind direction is adjusted by changing the angle between the traveling direction of the mobile vehicle and the traveling direction of the boom sprayer.

[0073] The sensing and detection component 14 in this embodiment includes a height detection sensor 141, a lidar 142, and a three-dimensional anemometer 144. The height detection sensor 141 is mounted on the spray bar 112, and the lidar 142 and the three-dimensional anemometer 144 are mounted on the three-dimensional moving component 15. The sensing and detection component 14 is electrically connected to the control module 16.

[0074] The height detection sensor 141 can be an ultrasonic ranging sensor or a barometric height sensor, without specific limitations. The height detection sensor 141 is used to detect the height of the spray boom 112 relative to the canopy of the simulated crop 13.

[0075] The lidar 142 can be a two-dimensional laser sensor. It divides the near-canopy wind and fog field space into grids, sends laser signals to the ground, and then collects and processes the returned laser signals to obtain point cloud data. The point cloud data is then processed by the control module 16 to detect the canopy density of the simulated crop 13.

[0076] The three-dimensional anemometer 144 can be a three-dimensional anemometer 144 that uses the influence of air flow on the propagation speed of ultrasonic waves in the air to measure wind speed and direction, and is used to detect the wind speed and direction of the environment in which the simulated crop 13 is located.

[0077] The three-dimensional moving component 15 in this embodiment can be a three-dimensional moving platform or a robotic arm, and no specific limitation is made here. The lidar 142 and the three-dimensional anemometer 144 are mounted on the three-dimensional moving component 15, which can drive the lidar 142 and the three-dimensional anemometer 144 to a designated position to realize the detection of the canopy density of the simulated crop 13 and the wind speed and wind direction at the wind field collection point.

[0078] The control module 16 in this embodiment can be any one of an industrial computer, a central processing unit (CPU), or a microcontroller. The control module 16 is electrically connected to the spray device 11, the air delivery component 12, the sensing and detection component 14, and the three-dimensional movement component 15 to realize the height adjustment of the spray bar 112, the spray volume adjustment of the nozzle 113, the wind speed and direction adjustment of the ambient wind field, and the position adjustment of the sensing and detection component 14.

[0079] Meanwhile, the control module 16 is also used to receive information collected by the sensing and detection component 14, and after calculation and processing, output the height data of the boom sprayer 112, the spray flow and pressure data of the nozzle 113, the wind speed and wind direction data, and the crop density data. Based on this, the control module 16 establishes a near-canopy wind and fog field model to conduct a drift risk assessment of the boom sprayer spray.

[0080] The complete experimental apparatus of the present invention, by setting up a spraying device 11, a wind-carrying component 12, a simulated crop 13, a sensing and detection component 14, a three-dimensional moving component 15, and a control module 16, can perform liquid spraying operations of a boom sprayer under different working conditions of the spraying device 11 and the wind-carrying component 12. The three-dimensional moving component 15 drives the lidar 142 and the three-dimensional anemometer 144 to reach the designated position to detect the density of the simulated crop 13 and the wind speed and direction of the environmental wind field.

[0081] As can be seen from the above, the near-canopy wind and fog field test device for boom sprayers provided by the present invention studies the problem of effectively assessing the drift risk of boom sprayers by changing the environmental wind field, spraying parameters and operation information, and then establishes a near-canopy wind and fog field model.

[0082] In some embodiments, the near-canopy wind and fog field of this embodiment forms a rectangular space surrounding the simulated crop 13.

[0083] The height of the near-canopy fog field is along the vertical direction, the width of the near-canopy fog field is along the extension direction of the spray boom 112, and the length of the near-canopy fog field is along the length of the spray boom sprayer.

[0084] Understandably, the height of the near-canopy fog field can be the height of the boom 112 from the ground, the length can be the body length of the boom sprayer, and the width can be the length of the direct spray area of ​​the boom 112.

[0085] The wind-carrying component 12 can be set on the circumference of a circle with the center point of the rectangular space formed by the near-canopy wind and fog field as the center, and the three-dimensional moving component 15 can be set inside the rectangular space formed by the near-canopy wind and fog field.

[0086] After receiving the control command, the control module 16 starts the air delivery component 12 and controls the nozzle 113 to spray the pesticide. Under the action of air delivery, the pesticide forms a near-canopy fog field surrounding the simulated crop 13.

[0087] This embodiment effectively utilizes the movement range of the three-dimensional moving component 15 by setting up a rectangular space for the wind and fog field, and uses this as a basis to measure the data within the rectangular space for the wind and fog field.

[0088] In some embodiments, such as Figure 1 As shown, the air delivery assembly 12 in this embodiment includes a mobile vehicle 121 and multiple axial flow fans 122.

[0089] The angle between the traveling direction of the mobile vehicle 121 and the traveling direction of the boom sprayer is adjustable, and the air volume of the axial flow fan 122 can be adjusted under the control of the control module 16.

[0090] Multiple axial flow fans 122 are mounted on a mobile vehicle 121, and the multiple axial flow fans 122 are arranged in an array on a vertical plane.

[0091] Understandably, the mobile vehicle 121 includes omnidirectional wheels, a first plate and a second plate. The four omnidirectional wheels are symmetrically arranged on both sides of the first plate in an "H" shape. The second plate is perpendicular to the first plate and is set on the first plate. Multiple axial flow fans 122 are set on the second plate. The multiple axial flow fans 122 are arranged in an array in the horizontal and vertical directions of the second plate. The mobile vehicle 121 is electrically connected to the control module 16. The control module 16 adjusts the angle between the travel direction of the mobile vehicle 121 and the travel direction of the boom sprayer by controlling the travel direction of the omnidirectional wheels, thereby realizing the adjustment of the wind direction of the environmental wind field.

[0092] The flow area of ​​the axial flow fan 122 can be 0.5m². 2 The minimum distance between adjacent axial flow fans 122 is no more than 0.1m. The axial flow fans 122 are electrically connected to the control module 16. The control module 16 controls the current and voltage of the axial flow fans 122 to adjust the wind speed of the environmental wind field. The wind speed adjustment range can be from 4000 to 10000 m. 3 / s.

[0093] In this embodiment, by setting up a mobile vehicle 121 and multiple axial flow fans 122, the control module 16 can realize the adjustment of the wind speed and direction of the environmental wind field.

[0094] In some embodiments, such as Figure 1 As shown, the three-dimensional moving component 15 in this embodiment includes a lifting mechanism, a first moving mechanism, and a second moving mechanism.

[0095] The first moving mechanism is mounted on the lifting mechanism, and the second moving mechanism is mounted on the first moving mechanism; the lidar 142 and the three-dimensional anemometer 144 are mounted on the second moving mechanism;

[0096] The first moving mechanism is used to drive the second moving mechanism to move along the length of the body of the boom sprayer, and the second moving mechanism is used to drive the lidar 142 and the three-dimensional anemometer 144 to move along the extension direction of the boom.

[0097] It is understood that the structure of the three-dimensional moving component 15 can be a three-axis displacement platform. The length of the three-dimensional moving component 15 is determined by the stroke range of the first moving mechanism. The length should be greater than the length of the boom sprayer body and can extend 0.5m beyond the front and rear of the boom sprayer body. The width of the three-dimensional moving component 15 is determined by the stroke range of the second moving mechanism. The width should be greater than the distance from the wheel of the boom sprayer to the end of the boom 112 and can extend 0.5m beyond the end of the boom 112. The height of the three-dimensional moving component 15 is determined by the stroke range of the lifting mechanism and can be 1.5m.

[0098] The lifting mechanism can be a ball screw mechanism. The first moving mechanism is set on the lifting mechanism, and the second moving mechanism is set on the first moving mechanism. The lifting mechanism is electrically connected to the control module 16. The control module 16 controls the displacement of the lifting mechanism to realize the movement of the first moving mechanism and the second moving mechanism in the vertical direction.

[0099] The first moving mechanism can be a synchronous belt drive mechanism. The moving direction of the first moving mechanism is consistent with the length direction of the body of the boom sprayer. The first moving mechanism is electrically connected to the control module 16. The control module 16 controls the displacement of the first moving mechanism to realize the movement of the second moving mechanism along the length direction of the body of the boom sprayer.

[0100] The second moving mechanism can be a synchronous belt drive mechanism. The second moving mechanism is equipped with a first moving rod 151, a second moving rod 152, a three-dimensional anemometer 144 on the first moving rod 151, and a lidar 142 on the second moving rod 152. The moving direction of the second moving mechanism is consistent with the extension direction of the spray bar 112. The control module 16 is electrically connected to the second moving mechanism. The control module 16 controls the displacement of the second moving mechanism to make the lidar 142 and the three-dimensional anemometer 144 move along the extension direction of the spray bar 112.

[0101] This embodiment enables the lidar 142 and the three-dimensional anemometer 144 to move within the rectangular space surrounding the simulated crop 13 near the canopy wind and fog field by setting up a lifting mechanism, a first moving mechanism and a second moving mechanism, thereby achieving the measurement of canopy density, wind speed and wind direction at a specified location.

[0102] In some embodiments, the sensing and detection component 14 of this embodiment further includes a drift measuring instrument 143.

[0103] The three-dimensional moving component 15 is connected to the drift measuring instrument 143, and the three-dimensional moving component 15 is used to adjust the position of the drift measuring instrument 143 in the near-canopy wind and fog field.

[0104] Among them, the drift measuring instrument 143 is used to detect the amount of drug liquid deposited at the location where the drift measuring instrument 143 is located.

[0105] Understandably, the three-dimensional moving component 15 includes a lifting mechanism, a first moving mechanism, and a second moving mechanism. The principle of the three-dimensional moving component 15 to achieve movement will not be elaborated here. The drift measuring instrument 143 is set on the second moving mechanism to adjust the position of the drift measuring instrument 143 in the near-canopy wind and fog field.

[0106] The drift measuring instrument 143 can be a droplet deposition sensor based on the principle of a variable dielectric constant capacitor, which uses the change in characteristic impedance of the sensor acquisition board probe to represent the change in droplet deposition amount.

[0107] In this embodiment, a drift measuring instrument 143 is set up and connected to a three-dimensional moving component 15 to measure the amount of drug deposition at a specified position by moving the drift measuring instrument 143.

[0108] In some embodiments, such as Figure 1 As shown, the simulated crop 13 in this embodiment includes multiple individual plants, and the number of individual plants per unit volume is used to characterize the canopy density of the simulated crop.

[0109] A single plant includes multiple plant types, and each plant type includes seedlings, growing plants, and mature plants.

[0110] It is understood that the simulated crop 13 can be any one or more of wheat, rice, and corn, without specific limitations. The individual plants within the simulated crop 13 are arranged in an array, forming a rectangular area. The length of the rectangular area is aligned with the length of the boom sprayer, and its length does not exceed the length of the boom sprayer. The width of the rectangular area is aligned with the extension direction of the boom 112, and its width does not exceed the length of the boom 112. The canopy density of the simulated crop 13 can be adjusted manually by changing the distance between the individual plants within the simulated crop 13, and the type of simulated crop 13 can also be changed manually.

[0111] In this embodiment, by setting up a simulated crop 13, the canopy density and type of the simulated crop 13 are adjusted manually.

[0112] In some embodiments, such as Figure 2 As shown, this embodiment also provides a modeling method for the near-canopy wind and fog field of a boom sprayer near-canopy wind and fog field test device, including:

[0113] Step 210: Adjust the wind speed and direction of the environmental wind field formed by the air delivery component, the height of the spray boom, and the type and density of the crop according to the experimental simulation requirements.

[0114] Step 220: Based on the location information of each nozzle distribution, set up multiple wind field acquisition points in a rectangular three-dimensional space to obtain wind force information of each wind field acquisition point.

[0115] Step 230: Based on the location information and wind force information of each wind field collection point, obtain the wind field distribution model of the nozzle spray within a rectangular three-dimensional space.

[0116] Step 240: Combine the wind field distribution model and the discrete phase model of each nozzle to establish a near-canopy wind and fog field model for the boom sprayer.

[0117] In this rectangular three-dimensional space, the height direction is along the vertical direction, the width direction is along the extension direction of the spray boom, and the length direction is along the length direction of the spray boom sprayer body.

[0118] Understandably, firstly, this example adjusts the wind speed and direction within the rectangular three-dimensional space and the height of the spray bar 112 through the control module 16. The specific implementation method will not be elaborated here. The type and density of the simulated crop 13 are adjusted manually.

[0119] Next, taking the horizontal plane where the spray boom 112 is located as the top surface of the cuboid environmental wind field, the height direction of the cuboid environmental wind field is along the vertical direction, the width direction is along the extension direction of the spray boom 112, and the length direction is along the length direction of the spray boom sprayer body. The length of the cuboid environmental wind field is not less than the length of the spray boom sprayer body, the width is not greater than the length of the spray boom 112, and the height is not greater than the height of the spray boom 112.

[0120] Based on the vertical planes where each nozzle 113 is located, and each vertical plane is perpendicular to the extension direction of the spray bar 112, the environmental wind field is divided into multiple cuboid wind field regions as several sections of the cuboid environmental wind field.

[0121] like Figure 3 As shown, along the edge of each of the multiple cuboid wind field regions, multiple nozzles 113 are used as starting points, and wind field acquisition points are set at certain intervals in the length and height directions. The control module 16 controls the three-dimensional moving component 15 to drive the three-dimensional anemometer 144 to each wind field acquisition point according to the location information of the wind field acquisition points, thereby obtaining the wind force information of each wind field acquisition point.

[0122] Then, based on the location and wind information of each wind field acquisition point, a wind field distribution model of the nozzle spray within a rectangular three-dimensional space is obtained.

[0123] Finally, based on the structural characteristics of nozzle 113, a simulation model of nozzle 113 was obtained using 3D design software. The discrete phase model is a trajectory calculation model of particles, droplets, and bubbles in a Lagrange reference frame. The relative positional relationship between nozzle 113 and boom 112, finite element mesh generation, and boundary settings were configured in the simulation software to obtain the liquid film breakup discrete phase model of the nozzle. The wind field distribution model and the discrete phase models of each nozzle were fused using a weighted average method, a simple voting method, or a sorting fusion method to finally obtain the near-canopy wind and mist field model of the boom sprayer.

[0124] This embodiment obtains a large amount of experimental data by adjusting wind speed, wind direction, nozzle height, crop type and density to ensure the accuracy of the near-canopy wind and fog field model. Wind field collection points are set up in a rectangular three-dimensional space according to the nozzle position to obtain a large amount of wind field data. Then, a wind field distribution model of the nozzle spray within the rectangular three-dimensional space is established. The wind field distribution model is fused with the discrete phase model of each nozzle to obtain the near-canopy wind and fog field model, thereby enabling the prediction of the drift risk of the nozzle spray in the current environment.

[0125] Furthermore, in some embodiments, combined with Figure 3 and Figure 4 Based on the location information of each nozzle 113, multiple wind field acquisition points are set up in a rectangular three-dimensional space to obtain wind force information at each wind field acquisition point, including:

[0126] Based on the location information of each nozzle 113, the environmental wind field is divided into multiple cuboid wind field regions;

[0127] Multiple wind field acquisition points are set up along each edge of each cuboid wind field region;

[0128] Multiple cross-sections are taken sequentially along the length of the cuboid wind field region to obtain the three-dimensional wind speed equations relative to the vertical height for different height regions within each cross-section.

[0129] It is understandable that, firstly, the cross-section of the environmental wind field is the various vertical planes where the nozzle 113 is located, and each vertical plane is perpendicular to the extension direction of the spray bar 112. The multiple cuboid wind field regions are divided by the cross-section of the environmental wind field.

[0130] Then, along each edge of the cuboid wind field region, such as the long side, wide side, and high side, with nozzle 113 as the starting point of each edge, wind field collection points are set at certain intervals along the direction of edge extension.

[0131] Finally, one of the multiple cuboid wind field regions is selected, which can be the first cuboid wind field region A1. Multiple cross sections are set at certain intervals along the length direction of the first cuboid wind field region A1. The multiple cross sections include the first cross section S1, the second cross section S2, the third cross section S3, the fourth cross section S4, the fifth cross section S5, and the sixth cross section S6. The multiple cross sections are parallel to each other and perpendicular to the long side direction of the first cuboid wind field region A1.

[0132] Within the first section S1, the second section S2, the third section S3, the fourth section S4, the fifth section S5, and the sixth section S6, each section has a first wind field sampling point and a second wind field sampling point in the height direction. The measured data of the first wind field sampling point and the second wind field data, each wind field sampling point data includes wind direction, wind speed, and coordinate position information. The wind speeds of the first wind field sampling point data and the second wind field sampling point data in the x, y, and z directions are obtained by arithmetic averaging, as shown in formula (1):

[0133]

[0134] In the formula, This represents the x-component of the wind speed at a height of k. This represents the component of the wind speed in the y-direction at a height of k. This represents the z-component of the wind speed at a height of k.

[0135] The wind speed and height data in the first section S1, the second section S2, the third section S3, the fourth section S4, the fifth section S5, and the sixth section S6 were subjected to regression fitting analysis using the polynomial method. The optimal fitting method was used to obtain the optimal equation of the three-dimensional wind speed with respect to height for all sections, as shown in formula (2):

[0136]

[0137] In the formula, S represents n The three-dimensional wind speed component in the x-direction of the cross section; S represents n The y-component of the three-dimensional wind speed at the cross section; S represents n The three-dimensional wind speed component in the z-direction of the cross section.

[0138] This embodiment divides the environmental wind field into multiple cuboid wind field regions by distributing nozzles. Then, wind field acquisition points are set along each edge of each cuboid wind field region to collect environmental wind field data. By dividing the cross-section of the cuboid wind field region, the wind field data at the midpoint between two wind field acquisition points is obtained using the arithmetic average method based on the collected environmental wind field data. This increases the amount of wind field data and can optimize the three-dimensional wind speed equation to the greatest extent, making the calculation results of the three-dimensional wind speed equation closer to the actual data.

[0139] Furthermore, in some embodiments, combined with Figure 3 and Figure 4Based on the location and wind information of each wind field acquisition point, a wind field distribution model of the nozzle spray within a rectangular three-dimensional space is obtained, including:

[0140] The section near the spray bar 112 is selected as the entry point for the simulated wind field. Based on the location information of the wind field acquisition point, the three-dimensional wind speed equations corresponding to each section in the same cuboid wind field area are fitted to obtain the wind field distribution model of the same cuboid wind field area.

[0141] The wind field distribution models corresponding to each cuboid wind field region are combined and optimized using a turbulence model to obtain the wind field distribution model of the nozzle spray within a rectangular three-dimensional space.

[0142] Understandably, the first cuboid wind field region A1 is first divided by the first section S1, the second section S2, the third section S3, the fourth section S4, the fifth section S5, and the sixth section S6. The specific implementation method will not be elaborated here. The first section S1, which is close to the spray bar 112, is selected as the entry point for the simulated wind field of the first cuboid wind field region A1. Based on the location information of the wind field acquisition points in the first cuboid wind field region A1, the optimal equation of the three-dimensional wind speed with respect to height corresponding to all sections in the first cuboid wind field region A1 is input into the control module 16. The control module 16 repeats step 230 through Cartesian coordinate transformation to obtain the wind field distribution model of different cuboid wind field regions.

[0143] Finally, by using a simple weighting method, the wind field distribution models corresponding to all different cuboid wind field regions are combined, and then optimized using a turbulence model, a wind field distribution model of the nozzle spray within the environmental wind field range is obtained, realizing the prediction of wind field data at any location within the cuboid wind field region.

[0144] In some embodiments, the modeling method for near-canopy wind and fog fields further includes:

[0145] Based on the spraying parameters set by the boom sprayer, droplet deposition distribution information of simulated crops at different heights was obtained in a windless environment.

[0146] Based on the droplet deposition distribution information, a simulated crop droplet deposition model at different heights was established;

[0147] Based on the fog deposition model, the amount of fog droplet drift between two cross sections of a rectangular three-dimensional space is determined, and the near-canopy wind and fog field model is verified based on the amount of fog droplet drift.

[0148] The spraying parameters include the height of the spray boom 112, the spray pressure, the working distance of the nozzles 113, and the spray angle of the nozzles 113.

[0149] Understandably, firstly, the spraying parameters of the boom sprayer are set through the control module 16, and a pesticide spraying test is conducted in a windless environment. The height data of the top, upper middle, middle, lower middle and bottom of the simulated crop 13 are measured manually and input into the control module 16. The control module 16 outputs the corresponding coordinate data and controls the drift measuring instrument 143 on the three-dimensional moving component 15 to reach different height positions of the simulated crop 13. The drift measuring instrument 143 measures the droplet deposition distribution information of the simulated crop 13 at different height positions in a windless environment.

[0150] Then, the spraying parameters were adjusted, the experiment was repeated, and the droplet deposition distribution information of the simulated crop 13 under different spraying parameter conditions was measured. The response surface methodology (RSM) was used to perform regression analysis to obtain the mathematical relationship between the droplet deposition amount at different locations and the spraying parameters, i.e., the droplet deposition model, as shown in formula (3):

[0151]

[0152] In the formula, H represents the height of the spray boom 112; P represents the spray pressure; D represents the working distance of the nozzle 113; Angle represents the spray angle of the nozzle 113; Q Top Q represents the amount of droplet deposition at the top of the simulated crop 13; Upper Q represents the amount of fog droplet deposition in the upper part of the simulated crop 13; Middle Q represents the amount of fog droplet deposition in the middle of the simulated crop 13; Lower Q represents the amount of droplet deposition in the lower part of the simulated crop 13; Ground This indicates the amount of droplet deposition at the bottom of the simulated crop 13.

[0153] Finally, the spraying parameters of the boom sprayer are set by the control module 16 and the wind delivery component 12 is started. The wind speed does not exceed level 3 (3.4~5.4m / s). Steps 220 and 230 are performed to obtain the wind field distribution model in a windy environment. The three-dimensional moving component 15 is controlled by the control module 16. The three-dimensional moving component 15 drives the drift measuring instrument 143 to different height positions of the simulated crop 13. The drift measuring instrument 143 measures the droplet deposition distribution information of the simulated crop 13 at different height positions in a windy environment.

[0154] Comparing the droplet deposition distribution of simulated crop 13 in a windy environment with that in a windless environment, the difference between the droplet deposition distribution in a windless environment and the droplet deposition distribution in a windy environment is the drift amount at any cross section within the environmental wind field, as shown in formula (4):

[0155] Drift (i,j,k) =Q ( 'i,j,k) -Q (i,j,k) (4)

[0156] In the formula, Drift (i,j,k) Q' represents the drift at any cross section. (i,j,k) Q represents the amount of fog droplets deposited at any cross-section in a windless environment; (i,j,k) This represents the amount of fog droplets deposited at any cross section in a windy environment.

[0157] This embodiment establishes simulated crop droplet deposition models under windless and windy conditions. By using the difference in droplet deposition amount at the same cross section in a rectangular three-dimensional space between the two models, i.e., droplet drift amount, the near-canopy wind and fog field model is verified, thereby achieving the purpose of verifying pesticide drift risk.

[0158] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A near-canopy wind-mist field testing apparatus for a boom sprayer, characterized by, The application relates to a spraying device, a wind sending assembly, a simulated crop, a sensing and detecting assembly, a three-dimensional moving assembly and a control module. The spraying device comprises a height adjusting assembly, a spraying rod and a plurality of spraying heads; the height adjusting assembly is connected with the spraying rod; the spraying rod is arranged on the upper side of the simulated crop; the spraying heads are arranged in an array along the extending direction of the spraying rod. The wind sending assembly is used for providing an environmental wind field with adjustable wind speed and wind direction; under the wind sending effect of the environmental wind field on the spraying heads, a near-crown wind and mist field is formed in the area where the simulated crop is located. The sensing and detecting assembly comprises a height detecting sensor, a laser radar and a three-dimensional anemograph; the height detecting sensor is used for detecting the height of the spraying rod relative to the simulated crop; the laser radar is used for detecting the crown density of the simulated crop. The three-dimensional anemograph is used for detecting the wind speed and wind direction of the environmental wind field. The three-dimensional moving assembly is connected with the laser radar and the three-dimensional anemograph respectively; the three-dimensional moving assembly is used for adjusting the positions of the laser radar and the three-dimensional anemograph in the near-crown wind and mist field. The sensing and detecting assembly and the control module are electrically connected; the control module is electrically connected with the spraying device, the wind sending assembly and the three-dimensional moving assembly. The three-dimensional moving assembly comprises a lifting mechanism, a first moving mechanism and a second moving mechanism; the first moving mechanism is arranged on the lifting mechanism, and the second moving mechanism is arranged on the first moving mechanism; the laser radar and the three-dimensional anemograph are arranged on the second moving mechanism; wherein the first moving mechanism is used for driving the second moving mechanism to move along the length direction of the machine body of the spraying rod; and the second moving mechanism is used for driving the laser radar and the three-dimensional anemograph to move along the extending direction of the spraying rod. The simulated crop comprises a plurality of single plants; the number of the single plants in a unit volume is used for representing the crown density of the simulated crop; wherein the single plants comprise a plurality of plant types; each plant type comprises seedling stage plants, growth stage plants and mature stage plants. The near-crown wind and mist field forms a rectangular space surrounding the simulated crop.

2. The near-crown- layer wind-fog-field test apparatus for a spray boom sprayer according to claim 1, characterized in that, The height direction of the near-crown wind and mist field is along the vertical direction; the width direction of the near-crown wind and mist field is along the extending direction of the spraying rod; and the length direction of the near-crown wind and mist field is along the length direction of the machine body of the spraying rod. The wind sending assembly comprises a moving vehicle and a plurality of axial flow fans.

3. The near-crown- layer wind-mist field testing device for a spray boom sprayer of claim 1, wherein, The angle between the advancing direction of the moving vehicle and the advancing direction of the spraying rod is adjustable; and the axial flow fans can be controlled by the control module to adjust the air volume. The axial flow fans are arranged on the moving vehicle in an array in the vertical plane. The sensing and detecting assembly further comprises a drift measuring instrument.

4. The near-crown test apparatus of any of claims 1 to 3, wherein, The three-dimensional moving assembly is connected with the drift measuring instrument; and the three-dimensional moving assembly is used for adjusting the position of the drift measuring instrument in the near-crown wind and mist field. The drift measuring instrument is used for detecting the liquid deposition amount of the position where the drift measuring instrument is located. The application relates to a spraying device, a wind sending assembly, a simulated crop, a sensing and detecting assembly, a three-dimensional moving assembly and a control module.

5. A method of modeling a near-crown wind-fog field of a near-crown wind-fog field test device of a boom sprayer according to any one of claims 1 to 4, characterized in that, ​ According to the simulation requirements, the wind speed and direction of the wind field formed by the air-assisted assembly, the height of the spray boom, the type and density of the crops are adjusted; According to the position information of each spray head, a plurality of wind field collection points are set in the rectangular three-dimensional space, and wind force information of each wind field collection point is obtained; According to the position information and wind force information of each wind field collection point, a wind field distribution model of the spray head spray in the rectangular three-dimensional space range is obtained; The wind field distribution model and the discrete phase model of each spray head are fused to establish a near-crown wind and mist field model of the spray boom sprayer. The height direction of the rectangular three-dimensional space is along the vertical direction, the width direction is along the extension direction of the spray boom, and the length direction is along the length direction of the body of the spray boom sprayer.

6. The method of modeling a near-crown wind fog field according to claim 5, wherein, The rectangular three-dimensional space is further divided into a plurality of cuboid wind field regions according to the position information of each spray head; Along each edge of each cuboid wind field region, a plurality of wind field collection points are set; A plurality of cross sections are sequentially taken along the length direction of the cuboid wind field region, and a three-dimensional wind speed equation of the three-dimensional wind speed in each cross section with respect to the vertical height is obtained. The wind field distribution model of the spray head spray in the rectangular three-dimensional space range is further obtained according to the position information and wind force information of each wind field collection point, and the wind field distribution model of the spray head spray in the rectangular three-dimensional space range is further obtained according to the position information and wind force information of each wind field collection point.

7. The method of modeling a near-crown wind fog field according to claim 6, wherein, The three-dimensional wind speed equations corresponding to each cross section in the same cuboid wind field region are fitted according to the position information of the wind field collection points, and the wind field distribution model of the same cuboid wind field region is obtained. The wind field distribution models corresponding to each cuboid wind field region are combined, a turbulence model is used for optimization, and the wind field distribution model of the spray head spray in the rectangular three-dimensional space range is obtained. Further comprising:

8. The method of modeling a near-coroil wind fog field according to any one of claims 6 or 7, wherein, Based on the spraying parameters set by the spray boom sprayer, the deposition distribution information of the simulated crop at different height positions in a windless environment is obtained; According to the deposition distribution information of the droplets, a droplet deposition model of the simulated crop at different height positions is established; According to the droplet deposition model, the droplet drift amount between two cross sections of the rectangular three-dimensional space is determined, and the near-crown wind and mist field model is verified according to the droplet drift amount. The spraying parameters include the height of the spray boom, the spray pressure, the working distance of the spray head, and the spray angle of the spray head. ​

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