CN105882969A

CN105882969A - Automatic profile-modeling spraying device and angle adjustment method of agricultural aviation crop protection machine

Info

Publication number: CN105882969A
Application number: CN201610192065.XA
Authority: CN
Inventors: 祁力钧; 吴亚垒; 杨知伦; 高春花; 杜政伟; 曹军琳
Original assignee: China Agricultural University
Current assignee: China Agricultural University
Priority date: 2016-03-30
Filing date: 2016-03-30
Publication date: 2016-08-24
Anticipated expiration: 2036-03-30
Also published as: CN105882969B

Abstract

The invention belongs to the field of agricultural aviation crop protection and relates to an automatic profile-modeling spraying device and angle adjustment method of an agricultural aviation crop protection machine. The automatic profile-modeling spraying device and the angle adjustment method aim at solving the problem that crops are in gradient type inclined distribution due to biological contour characteristics of inclination of a crop crown and the terrain, and a machine body is inclined when turning, so that spraying is not conducted uniformly. By means of the automatic spray boom angle adjustment method of the aviation crop protection machine, a mathematic model with the inclination angle of the machine body equal to the reverse deflection angle of adjustment of a spray boom or with included angle between the surface of a profile-modeling crop and the ground equal to the reverse deflection angle of adjustment of the spray boom is established, and the angle of the spray boom is adjusted automatically through the model, so that the automatic profile-modeling spraying device achieves the effects of conducting profile-modeling on the contour of the crop crown and improving spraying uniformity. By detecting such factors as biological characteristics, geographical factors and machine body inclination, spray boom angle adjustment applicable to the complex environmental condition is instructed to be designed, the effects of applying less pesticide and applying pesticide better are achieved, spraying uniformity is improved, the coverage rate is raised, and the utilization rate of pesticide is raised.

Description

A kind of agricultural aviation fog machine automatic profiling flusher and angle adjusting method thereof

Technical field

The invention belongs to agricultural aviation plant protection field, particularly to a kind of agricultural aviation fog machine automatic profiling flusher And angle adjusting method.

Background technology

Affect a variety of because have of aerial sprays uniformity.For current aviation plant protection spraying machine fixes spray boom, In the case of following certainly will to Spray Uniformity produce extreme influence: first, the crop that physical features causes in " gradient type " or the gradient (with Under be collectively referred to as gradient) tilt distribution.Owing to there is the crop Gradient distribution that the gradient caused on ground, if agricultural aviation fog machine Spray boom angle is non-adjustable, necessarily causes agricultural aviation fog machine to cause Pcnten-1 yne-4 uneven when operation.Second, different works Profile nature biology of thing.When agricultural aviation fog machine is in orchard or tea place operation, tree crown has inclined plane clearly, example Such as mandarin tree, Camellia sinensis etc..In the case of agricultural aviation fog machine fuselage not run-off the straight, if spray boom angle is non-adjustable Property, only from the dispenser of tree crown top, then can cause serious dispenser non-uniform phenomenon.3rd, the fuselage of agricultural aviation fog machine Tilt.Agricultural aviation fog machine is in dispenser operation, and the fuselage tilt phenomenon that aircraft causes during turning in field can not be kept away Exempt from, or the fuselage tilt phenomenon that operator's misoperation causes often occurs, if agricultural aviation fog machine spray boom can not Adjusting, dispenser uniformity can be by strong influence.

Summary of the invention

It is an object of the invention to provide a kind of automatic profiling flusher improving agricultural aviation plant protection Spray Uniformity.

It is a further object to provide a kind of Spray Uniformity and coverage rate of improving, the utilization of raising chemical pesticide The angle adjusting method of the agricultural aviation plant protection automatic profiling flusher of rate.

To achieve these goals, the technical scheme is that

The present invention provides a kind of agricultural aviation fog machine automatic profiling flusher, including body rack 1 and spray boom 13, and should Flusher also includes "T"-shaped bending lever arm 12, spray boom angular adjustment apparatus, data acquisition unit and control device；Body props up Frame 1 is provided with upper backup pad 2 and lower supporting plate 14；"T"-shaped bending lever arm 12 has horizontal part, vertical portion and bending point, its In, the lower end of "T"-shaped bending lever arm 12 vertical portion is vertical with spray boom 13 affixed；One end of upper arm 10 is vertically fixed in upper backup pad In the middle part of in the of 2, the other end of upper arm 10 is flexibly connected with the bending point of "T"-shaped bending lever arm 12 by active pin shaft 11；Spray boom angle Adjusting apparatus includes motor 3, shaft coupling 4, leading screw 5, slide block 6, square tube slide block 7, movable bolt 8 and guide post 9；Described step Entering motor 3 to be fixedly connected on upper backup pad 2, the outfan of motor 3 is connected with one end of leading screw 5 by shaft coupling 4, silk The other end of thick stick 5 is arranged on lower supporting plate 14 by bearing assembly；Described guide post 9 is double-rod structure, be parallel to leading screw 5, It is vertically installed between upper backup pad 2 and lower supporting plate 14；Described slide block 6 in the vertical direction is provided with three arranged side by side running through Elongated hole；Wherein, the elongated hole that runs through of central authorities is provided with female thread, and leading screw 5 sets female central authorities and runs through elongated hole from described and pass, and Constitute with slide block 6 and threaded；The elongated hole that runs through of both sides passes for guide post 9, and guide post 9 is slidably connected with slide block 6 composition；Sliding The outer side center position of block 6 is provided with blind screw hole 61；Described square tube slide block 7 is hollow square tube；Described "T"-shaped bending lever arm The horizontal part of 12 passes square tube slide block 7, and is slidably connected with square tube slide block 7 composition, the tube wall of square tube slide block 7 medial center position On be provided with connecting hole；Described movable bolt 8 is arranged between slide block 6 and square tube slide block 7, one end of movable bolt 8 and slide block 6 Blind screw hole 61 threaded, the other end with on square tube slide block 7 connecting hole constitute be rotationally connected；Described data acquisition packaging Put and include left laser sensor 16, right laser sensor 17, angle displacement sensor 19 and velocity sensor 20；Left laser sensing Device 16 and right laser sensor 17 are arranged at the two ends, left and right of spray boom 13；Angle displacement sensor 19 is arranged on "T"-shaped bending bar On the bending point of arm 12；Velocity sensor 20 is arranged on spray boom 13；Control the data that device gathers according to data acquisition unit, Control the operating of motor 3.

Preferably, between vertical portion and the spray boom 13 of described "T"-shaped bending lever arm 12, it is symmetrically arranged with two reinforcing plates 15, One end of reinforcing plate 15 is affixed with the vertical portion of "T"-shaped bending lever arm 12 by bolt 18, and the other end is affixed by fixing card 21 On spray boom 13.

The initial position of described slide block 6 is positioned at 1/2nd of leading screw 5 and guide post 9.

Preferably, described flusher also includes left limit lever switch 33 and right limit lever switch 32, left limit lever switch 33 and right limit lever switch 32 be respectively perpendicular the left and right sides being fixed in upper arm 10, and left limit lever switch 33 and right limit bar are opened Close 32 to be located on the same line.

Described control device includes controller 31, output end unit 30, right laser sensor unit 26, left laser sensor Unit 28, angle displacement sensor unit 25, speed sensor units 27 and test cell 29；Right laser sensor unit 26 with Right laser sensor 17 connects；Left laser sensor unit 28 is connected with left laser sensor 16；Angle displacement sensor unit 25 are connected with angle displacement sensor 19；Speed sensor units 27 is connected with velocity sensor 20；Described controller 31 defeated Enter end to pass with right laser sensor unit 26, left laser sensor unit 28, angle displacement sensor unit 25 and speed respectively Sensor cell 27 connects, and outfan is connected with output end unit 30；Output end unit 30 is connected with motor 3；Described test Unit 29 is connected with controller 31.

Described angular adjustment apparatus also includes left laser sensor motor 23 and right laser sensor motor 24； Left laser sensor motor 23 and right laser sensor motor 24 are respectively arranged at the two ends, left and right of spray boom 13, and divide It is not connected with left laser sensor 16 and right laser sensor 17.

Described left laser sensor 16 and right laser sensor 17 all can be replaced by ultrasonic sensor.

The present invention provides the angle adjusting method of a kind of agricultural aviation fog machine automatic profiling flusher, and the method includes Fuselage tilts profiling pattern, and comprises the steps:

A, adjust left laser sensor 16 and right laser sensor 17 so that it is be each perpendicular to ground 22, i.e. make left laser Sensor 16 and angle beta=0 that turns forward of right laser sensor 17；

B, left laser sensor 16 and right laser sensor 17 real-time data collection, and transfer data to test cell 29, data are processed and judges；If M≤| L₁| then carry out spray boom adjustment during≤W, the most do not carry out spray boom adjustment, its In, L₁Being left laser sensor 16 and right laser sensor 17 difference that arrives its subpoint distance respectively, M and W is L₁Lower limit And higher limit；Meanwhile, opening angle displacement transducer 19；

C, pass through L₃＞ L₄Judgement determine the Adjusted Option of spray boom, if L₃＞ L₄, it is judged that it is ramp-like that fuselage is in Right deviation State, then carry out fuselage right bank spray boom and adjust, if L₃＜ L₄, it is judged that fuselage is in left bank state, then carry out fuselage left bank Spray boom adjusts；Test cell 29 sends control signal, control unit 31 drive stepping motor 3 band movable wire to control unit 31 subsequently Thick stick 5 rotates, and makes thread slider 6 move；Meanwhile, square tube slide block 7 drives "T"-shaped bending lever arm 12 to rotate；Wherein, L₃For a left side Laser sensor 16 is to its subpoint distance；L₄For right laser sensor 17 to its subpoint distance；

After d, opening angle displacement transducer 19, initializing angle displacement sensor 19, angle counting sets to 0, and starts to gather Angle displacement data；According to the mathematical model set up, calculate the angle parameter of spray boom recognizer, then utilize angle displacement Sensor 19 constantly detects and revises, and rotates so that controller 31 controls motor 3 by output end unit 30；

Above-mentioned mathematical model is:

L₁=| L₃-L₄|

&angle; α_{1} = arc t a n \frac{L_{1}}{L_{2}}

∠α₁=∠ α₂

Wherein,

L₁The difference of its subpoint distance is arrived respectively for left laser sensor 16 and right laser sensor 17；

L₂Length for spray boom 13；

L₃For left laser sensor 16 to its subpoint distance；

L₄For right laser sensor 17 to its subpoint distance；

∠α₁For fuselage inclination angle；

∠α₂The reverse-biased corner adjusted for spray boom 13；

E, angle displacement sensor 19 carry out ∠ α after constantly detecting and revising₁=∠ α₂Judgement, as ∠ α₁≠∠α₂ Time, motor 3 is rotated further, and angle displacement sensor 19 continues acquisition angles displacement data, until ∠ α₁=∠ α₂Till； As ∠ α₁=∠ α₂Time, a fuselage tilts profiling to be terminated, and motor 3 stops operating, with "T"-shaped this machine of bending lever arm 12 Body tilts the position after profiling terminates and tilts the angle displacement datum mark of profiling as fuselage next time.

The present invention provides the angle adjusting method of a kind of agricultural aviation fog machine automatic profiling flusher, and the method includes Crop profiling pattern, and comprise the steps:

A, adjust left laser sensor 16 and right laser sensor 17 so that it is all turn forward so that left laser sensor 16 and the angle beta ＞ 0 that turns forward of right laser sensor 17；

B, left laser sensor 16 and right laser sensor 17 real-time data collection, and transfer data to test cell 29, data are processed and judges；If M≤| L₀| then carry out tilt adjustments during≤W, the most do not carry out tilt adjustments, its In, L₀The high-end vertical dimension to low side of profiling crop, M and W is L₀Lower limit and higher limit；Meanwhile, opening angle displacement passes Sensor 19；

C, pass through L₃＞ L₄Judgement determine the Adjusted Option of spray boom, if L₃＞ L₄, it is judged that crop tree crown is right high left low, Then carry out spray boom left bank adjustment, if L₃＜ L₄, it is judged that crop tree crown right low left high, then carry out spray boom right bank adjustment；Subsequently Test cell 29 sends control signal to control unit 31, and control unit 31 drive stepping motor 3 drives leading screw 5 to rotate, makes spiral shell Stricture of vagina slide block 6 moves；Meanwhile, square tube slide block 7 drives "T"-shaped bending lever arm 12 to rotate；Wherein, L₃For left laser sensor 16 Distance to its subpoint；L₄Distance for right laser sensor 17 to its subpoint；

After d, opening angle displacement transducer 19, initializing angle displacement sensor 19, angle counting sets to 0, and starts acquisition angle Degree displacement data；According to the mathematical model set up, calculate the angle parameter of spray boom recognizer, then utilize angle displacement to pass Sensor 19 constantly detects and revises, and rotates so that controller 31 controls motor 3 by output end unit 30；

Mathematical model is:

L₀=| L₃-L₄|×cosβ

L₀=L₁×cosβ

&angle; α_{3} = a r c t a n \frac{L_{0}}{L_{2}}

H=Min (L₃cosβ,L₄cosβ)

T_{1} = \frac{h \times t a n β}{ν}

T₁=T₂

∠α₃=∠ α₂

L₀For the high-end vertical dimension to low side of profiling crop；

L₂Length for spray boom 13；

L₃Distance for left laser sensor 16 to its subpoint；

L₄Distance for right laser sensor 17 to its subpoint；

H is the shortest sprinkling distance of crop；

∠α₃Angle for profiling crop Yu ground；

∠α₂The reverse-biased corner adjusted for spray boom 13；

T₁The time delay processed for laser sensor collection and spray boom adjustment；

T₂The time is processed for laser sensor collection and spray boom adjustment；

E, angle displacement sensor 19 carry out ∠ α after constantly detecting and revising₃=∠ α₂Judgement, as ∠ α₃≠∠α₂ Time, motor 3 is rotated further, and angle displacement sensor 19 continues acquisition angles displacement data, until ∠ α₃=∠ α₂Till； As ∠ α₃=∠ α₂Time, a crop profiling terminates, and motor 3 stops operating, and imitates with "T"-shaped this crop of bending lever arm 12 Shape terminate after position as the angle displacement datum mark of crop profiling next time.

Compared with prior art, the beneficial effects of the present invention is:

Utilizing method disclosed by the invention can in time, automatically adjust the angle of spray boom, to adapt to ground line gradient, fuselage inclines Tiltedly or top fruit sprayer feature etc., improve Pcnten-1 yne-4 uniformity, also imitative for going to instruct further combined with spray boom angle adjusting method Shape spray concept provides theoretical foundation.

One important feature of the present invention is the condition proposing to adjust spray boom level, according to fuselage inclination angle ∠ α₁It is equal to The reverse-biased corner ∠ α that spray boom adjusts₂Angle ∠ α with profiling crop Yu ground₃The reverse-biased corner ∠ α adjusted equal to spray boom₂Number Learn thought, in conjunction with laser sensor range measurement principle and angle displacement sensor Real-time Feedback and the mechanism of correction, utilize ∠ α₁= ∠α₂With ∠ α₃=∠ α₂So that spray boom has function timely, automatic, adjustable, adapts to multiple complex environment, thus carries out The spraying being more uniformly distributed.

Meanwhile, first the present invention sends control device in view of two laser sensor real-time data collections, then can make Control device and ceaselessly send a signal to output device, extremely easily cause spray boom and the most ceaselessly carry out left bank and Right deviation Skew adjustment, causes spraying distribution more uneven, and must ensure that spray boom does not interferes with wing.In view of the situation, In fuselage tilts profiling pattern, setting program specifies that the condition that spray boom is adjusted is: M≤| L₁| carry out during≤W tilting to adjust Whole, the most do not carry out tilt adjustments, wherein, L₁Being two laser sensors differences of arriving subpoint distance respectively, M and W is L₁'s Lower limit and higher limit, (lower limit is not the most 0), the amplitude that concrete value is rocked according to length the comprehensive fuselage of spray boom 13 Set with surface crops canopy fluctuating quantity.In crop profiling pattern, setting program specifies that the condition that spray boom is adjusted is: M≤|L₀| then carry out tilt adjustments during≤W, the most do not carry out tilt adjustments, wherein, L₀--it is that profiling crop is high-end to low side Vertical dimension, M and W is L₀Lower limit and higher limit (lower limit is not the most 0), concrete value is according to the length of spray boom 13 also Amplitude and surface crops canopy fluctuating quantity that comprehensive fuselage rocks set.

Secondly, utilize three groups of data of two up-to-date collections of laser sensor to be averaged calculation process, show that one group is put down All these group data are carried out process by mathematical algorithm model and try to achieve ∠ α by data₃, recycle an angle displacement sensor Carry out Real-time Feedback to controlling device and revise displacement.Finally, it is contemplated that during profile modeling spray, laser sensor collection and place T time delay of reason₁, therefore make the angle beta that turns forward of laser sensor, passed by left and right laser sensor 16,17 and speed Sensor 20 measures the shortest sprinkling distance h and the air speed v of crop respectively, brings formula in the lump intoT₁=T₂, Calculate the time T that spray boom adjusts₂, set the angle beta that turns forward accordingly, to guarantee that spray boom is automatically regulated to be level, Its conclusion is the most accurate, reliable.

Accompanying drawing explanation

Fig. 1 is the structural representation of agricultural aviation fog machine automatic profiling flusher of the present invention；

Fig. 2 is the structural representation of present invention slider 6；

The view of spray boom 13 when Fig. 3 a is fuselage left bank in fuselage inclination profiling pattern；

Fig. 3 b is that in fuselage inclination profiling pattern, fuselage left bank spray boom 13 adjusts level schematic diagram；

The view of spray boom 13 when Fig. 3 c is fuselage left bank-recovery level in fuselage inclination profiling pattern；

Fig. 3 d is that in fuselage inclination profiling pattern, fuselage left bank-horizontal spray boom of recovery 13 adjusts level schematic diagram；

The view of spray boom 13 when Fig. 4 a is fuselage right bank in fuselage inclination profiling pattern；

Fig. 4 b is that in fuselage inclination profiling pattern, fuselage right bank spray boom 13 adjusts level schematic diagram；

The view of spray boom 13 when Fig. 4 c is fuselage right bank-recovery level in fuselage inclination profiling pattern；

When Fig. 4 d is fuselage right bank-recovery level in fuselage inclination profiling pattern, spray boom 13 adjusts level signal Figure；

The view of spray boom 13 when Fig. 5 a is crop tree crown right low left high in crop profiling pattern；

The profiling view of spray boom 13 when Fig. 5 b is crop tree crown right low left high in crop profiling pattern；

Fig. 6 a be in crop profiling pattern the right height of crop tree crown left low time spray boom 13 view；

Fig. 6 b be in crop profiling pattern the right height of crop tree crown left low time spray boom 13 profiling view；

Fig. 7 a is that the spray boom of fuselage of the present invention inclination profiling pattern adjusts flow chart automatically；

Fig. 7 b is that the spray boom of crop profiling pattern of the present invention adjusts flow chart automatically.

Reference therein is:

1 body rack 2 upper backup pad

3 motor 4 shaft couplings

5 leading screw 6 slide blocks

61 blind screw hole 7 square tube slide blocks

8 movable bolt 9 guide posts

10 upper arm 11 active pin shafts

12 "T"-shaped bending lever arm 13 spray booms

14 lower supporting plate 15 reinforcing plates

The 16 left right laser sensors of laser sensor 17

18 bolt 19 angle displacement sensors

The 20 fixing cards of velocity sensor 21

22 ground 23 left laser sensor motors

24 right laser sensor motor 25 angle displacement sensor unit

26 right laser sensor unit 27 speed sensor units

28 left laser sensor unit 29 test cells

30 output end unit 31 controllers

32 right limit lever switch 33 left limit lever switch

The left laser sensor of β 16 and the oblique angle that turns forward of right laser sensor 17

L₀--the high-end vertical dimension to low side of profiling crop

L₁Left laser sensor 16 and right laser sensor 17 arrive the difference of its subpoint distance respectively

L₂The length of spray boom 13

L₃Left laser sensor 16 is to its subpoint distance

L₄Right laser sensor 17 is to its subpoint distance

The shortest sprinkling distance of h crop

The gait of march of ν aircraft

∠α₁Fuselage inclination angle

∠α₂The reverse-biased corner that spray boom 13 adjusts

∠α₃Profiling crop and the angle on ground 22

The end points of the left laser sensor of E 16

The subpoint of the left laser sensor of E ' 16

The end points of the right laser sensor of F 17

The subpoint of the right laser sensor of F ' 17

A, B, C, D, G, H, A ', B ', C ', D ', G ', H ' mapping auxiliary magnet (mathematical symbol)

Detailed description of the invention

The present invention is directed to profile nature biology because crop tree crown tilts, the crop caused of physical features tilts in " gradient type " The spraying problem of non-uniform that the features such as distribution and fuselage inclination cause, automatically adjusts the side of angle by aviation plant protection machine spray boom Method, sets up fuselage inclination angle respectively and is equal to spray boom equal to the reverse-biased corner of spray boom adjustment and the angle on profiling crop surface and ground The mathematical model of reverse-biased corner adjusted, applies this model cootrol spray boom angle to be automatically adjusted, and makes designed to be automatically adjusted spray Bar angle device reaches to improve the effect of Spray Uniformity.

The invention discloses a kind of crop Gradient distribution caused based on crop profile nature biology itself, physical features and machine The agricultural unmanned plane automatic profiling spray boom of the relative slope that body causes when tilting.During agricultural unmanned plane aerial sprays due to The relative slope that crop profile nature biology itself, crop Gradient distribution and fuselage cause when tilting etc. are uniform to Pcnten-1 yne-4 Property has considerable influence, and the present invention can in time, effectively solve the spraying problem of non-uniform that above-mentioned reason is caused, for making up agriculture Guidance is proposed by aviation field pesticide application technology defect.

With embodiment, the present invention is further described below in conjunction with the accompanying drawings.

Fig. 1 is the structural representation of the agricultural aviation fog machine automatic profiling flusher of the present invention.This flusher bag Include body rack 1, "T"-shaped bending lever arm 12, spray boom 13, spray boom angular adjustment apparatus, data acquisition unit and control device.

Body rack 1 is fixed in agricultural aviation fog machine fuselage chassis (not shown), and body rack 1 is provided with upper backup pad 2 and lower supporting plate 14.

"T"-shaped bending lever arm 12 has horizontal part, vertical portion and bending point, wherein, "T"-shaped bending lever arm 12 vertical portion Lower end vertical with spray boom 13 affixed.One end of upper arm 10 is vertically fixed in the middle part of upper backup pad 2, and the other end of upper arm 10 passes through Active pin shaft 11 is flexibly connected with the bending point of "T"-shaped bending lever arm 12.

Preferably, between vertical portion and the spray boom 13 of "T"-shaped bending lever arm 12, it is symmetrically arranged with two reinforcing plates 15, strengthens One end of plate 15 is affixed with the vertical portion of "T"-shaped bending lever arm 12 by bolt 18, and the other end is fixed in spray by fixing card 21 On bar 13.

Wherein, spray boom angular adjustment apparatus includes motor 3, shaft coupling 4, leading screw 5, slide block 6, square tube slide block 7, activity Bolt 8 and guide post 9.Described motor 3 is fixedly connected on upper backup pad 2, and the outfan of motor 3 passes through shaft coupling 4 are connected with one end of leading screw 5, and the other end of leading screw 5 is arranged on lower supporting plate 14 by bearing assembly, and leading screw 5 has self-locking Characteristic.Described guide post 9 is double-rod structure, is parallel to leading screw 5, is vertically installed between upper backup pad 2 and lower supporting plate 14.

As in figure 2 it is shown, described slide block 6 in the vertical direction is provided with three arranged side by side runs through elongated hole.Wherein, central authorities pass through Wearing elongated hole and be provided with female thread, leading screw 5 sets female central authorities and runs through elongated hole from described and pass, and constitutes screw thread even with slide block 6 Connect；The elongated hole that runs through of both sides passes for guide post 9, and guide post 9 is slidably connected with slide block 6 composition.The outer side center position of slide block 6 It is provided with blind screw hole 61.Described square tube slide block 7 is hollow square tube.The horizontal part of described "T"-shaped bending lever arm 12 is through side Pipe slide block 7, and be slidably connected with square tube slide block 7 composition.It is provided with connecting hole on the tube wall of square tube slide block 7 medial center position.

Described movable bolt 8 is arranged between slide block 6 and square tube slide block 7, one end of movable bolt 8 and the interior spiral shell of slide block 6 Stricture of vagina blind hole 61 is threaded, and the other end is rotationally connected with the connecting hole composition on square tube slide block 7.

When motor 3 drives leading screw 5 screw, slide block 6 drives square tube slide block 7 to do along guide post 9 length direction Linear motion；Meanwhile, square tube slide block 7 rotates with movable bolt 8 for rotary shaft, thus "T"-shaped bending lever arm 12 passes through Active pin shaft 11 rotates around upper arm 10.Meanwhile, fixing with the vertical portion of "T"-shaped bending lever arm 12 it is connected, further through reinforcing plate 15 The spray boom 13 that auxiliary connects tilts rotation under the rotarily driving of "T"-shaped bending lever arm 12, has reached profiling and fuselage inclines The purpose adjusted after tiltedly.

Preferably, described flusher also includes left limit lever switch 33 and right limit lever switch 32, left limit bar 33 He Right limit bar 32 is respectively perpendicular the left and right sides being fixed in upper arm 10, and left limit bar 33 and right limit bar 32 to be positioned at same straight On line.

When the mechanical contact of left limit lever switch 33 and right limit lever switch 32 connects with the horizontal part of T-shape bending lever arm 12 When touching, motor 3 stops operating, without damage to protect motor 3 to switch.

Described data acquisition unit, including left laser sensor 16, right laser sensor 17, angle displacement sensor 19 and Velocity sensor 20.

Left laser sensor 16 and right laser sensor 17 are arranged at the two ends, left and right of spray boom 13.

Angle displacement sensor 19 is arranged on the bending point of "T"-shaped bending lever arm 12.

Angle displacement sensor 19 is used for acquisition angles displacement data, and it is arranged on the bending point of "T"-shaped bending lever arm 12 On, when bending point often turns over 1 °, and angle displacement sensor 19 is with regard to counting once.During initialization angle displacement sensor 19, Its count value is arranged to 0, and set angle displacement transducer 19 forward or when rotating backward, counting is all in programming Along with the angle turned over increases regularly.

Velocity sensor 20 is arranged on spray boom 13.

Described control device, including controller 31, output end unit 30, right laser sensor unit 26, left laser sensing Device unit 28, angle displacement sensor unit 25, speed sensor units 27 and test cell 29.

Right laser sensor unit 26 is connected with right laser sensor 17；Left laser sensor unit 28 and left laser sensing Device 16 connects；Angle displacement sensor unit 25 is connected with angle displacement sensor 19；Speed sensor units 27 passes with speed Sensor 20 connects.

The input of described controller 31 respectively with right laser sensor unit 26, left laser sensor unit 28, angle Displacement sensor unit 25 and speed sensor units 27 connect, and outfan is connected with output end unit 30；Output end unit 30 It is connected with motor 3.

Test cell 29 is connected with controller 31, and test cell 29 swashs according to left laser sensor 16 and the right side of Real-time Collection Optical sensor 17 measurement data, according to the mathematical model set up, calculates the angle parameter of spray boom recognizer, then utilizes angle Degree displacement transducer 19 constantly detects and revises, so that controller 31 controls motor 3 turns by output end unit 30 Dynamic, make spray boom 13 tilt to adjust to fuselage, different crop profile biological characteristicses is carried out profiling, reach ground is made The effect of thing even spraying.

Preferably, the two ends, left and right of spray boom 13 are also respectively provided with left laser sensor motor 23 and right laser sensing Device motor 24, and be connected with left laser sensor 16 and right laser sensor 17 respectively.

Described control device also includes laser sensor step motor control unit (not shown), controls left laser sensor Motor 23 and the rotation of right laser sensor motor 24, adjust laser sensor and turn forward angle beta, angle adjustment Scope is 0 °≤β≤45 °.

Laser sensor in the present invention is the one in distance measuring sensor, the most left laser sensor 16 and right laser Sensor 17 all can be replaced by ultrasonic sensor.

The present invention provides the angle adjusting method of a kind of agricultural aviation fog machine automatic profiling flusher, inclines including fuselage Tiltedly profiling pattern and crop profiling pattern.

Profile nature biology that tilts according to crop tree crown, the crop caused of physical features in " gradient type " tilt distribution and The feature that fuselage tilts selects automatic profiling pattern: when working area is less, agricultural aviation plant protection during turning in field When machine needs frequently to do fuselage tilting action；Or crop tree crown is time profile is the most smooth biology, fuselage is selected to tilt profiling Pattern.In fuselage tilts profiling pattern, during the normal unbiased flight of aviation plant protection machine, heading is parallel to ground 22, fuselage Turning left and be defined as fuselage left bank, fuselage is turned right and is defined as fuselage right bank；When working area is relatively big, and agricultural aviation fog machine can Long period held stationary flies, and crop tree crown time profile is uneven biology, selects crop profiling pattern.In crop profiling In pattern, during crop tree crown right low left high, the downward-sloping profiling of spray boom right-hand member is defined as spray boom right bank；The right Gao Zuo of crop tree crown Time low, the downward-sloping profiling of spray boom left end is defined as spray boom left bank.

1, as shown in Figure 7a, when elected body of selecting a good opportunity tilts profiling pattern, agricultural aviation fog machine automatic profiling flusher Angle adjusting method comprise the steps:

B, left laser sensor 16 and right laser sensor 17 real-time data collection, and transfer data to test cell 29, data are processed and judges；If M≤| L₁| then carry out spray boom adjustment during≤W, the most do not carry out spray boom adjustment, its In, L₁Being left laser sensor 16 and right laser sensor 17 difference that arrives its subpoint distance respectively, M and W is L₁Lower limit And higher limit, amplitude and surface crops canopy that the concrete value of M and W is rocked according to length the comprehensive fuselage of spray boom 13 rise and fall Degree sets；Meanwhile, opening angle displacement transducer 19；

After d, opening angle displacement transducer 19, initializing angle displacement sensor 19, angle counting sets to 0, and starts to gather Angle displacement data, according to the mathematical model set up, calculate the angle parameter of spray boom recognizer, then utilize angle displacement Sensor 19 constantly detects and revises, and rotates so that controller 31 controls motor 3 by output end unit 30；

Mathematical model is:

L₁=| L₃-L₄|

&angle; α_{1} = arc t a n \frac{L_{1}}{L_{2}}

∠α₁=∠ α₂

Wherein,

L₂Length for spray boom 13；

L₃For left laser sensor 16 to its subpoint distance；

L₄For right laser sensor 17 to its subpoint distance；

∠α₁For fuselage inclination angle；

∠α₂The reverse-biased corner adjusted for spray boom 13；

2, as shown in Figure 7b, when selecting crop profiling pattern, the angle of agricultural aviation fog machine automatic profiling flusher Degree method of adjustment comprises the steps:

B, left laser sensor 16 and right laser sensor 17 real-time data collection, and transfer data to test cell 29, data are processed and judges；If M≤| L₀| then carry out tilt adjustments during≤W, the most do not carry out tilt adjustments, its In, L₀The high-end vertical dimension to low side of profiling crop, M and W is L₀Lower limit and higher limit, concrete value is according to spray boom 13 Length and the amplitude rocked of comprehensive fuselage and surface crops canopy fluctuating quantity set；Meanwhile, opening angle displacement transducer 19；

After d, opening angle displacement transducer 19, initializing angle displacement sensing 19, angle counting sets to 0, and starts acquisition angles Displacement data, according to the mathematical model set up, calculates the angle parameter of spray boom recognizer, then utilizes angle displacement to sense Device 19 constantly detects and revises, and rotates so that controller 31 controls motor 3 by output end unit 30；

Mathematical model is:

L₀=| L₃-L₄|×cosβ

L₀=L₁×cosβ

&angle; α_{3} = a r c t a n \frac{L_{0}}{L_{2}}

H=Min (L₃cosβ,L₄cosβ)

T_{1} = \frac{h \times t a n β}{ν}

T₁=T₂

∠α₃=∠ α₂

L₀For the high-end vertical dimension to low side of profiling crop；

L₂Length for spray boom 13；

L₃Distance for left laser sensor 16 to its subpoint；

L₄Distance for right laser sensor 17 to its subpoint；

H is the shortest sprinkling distance of crop；

∠α₃Angle for profiling crop Yu ground；

∠α₂The reverse-biased corner adjusted for spray boom 13；

The present invention provides a kind of method that two kinds of profiling patterns mutually switch, and the method comprises the steps:

Left laser sensor motor 23 and right laser sensing is controlled by laser sensor step motor control unit Device motor 24 rotates, make left laser sensor 16 and right laser sensor 17 turn forward angle beta scope 0 °～45 ° it Between adjust；When β=0 °, then tilt profiling pattern for fuselage；As β ＞ 0 °, then it it is crop profiling pattern.

Below in conjunction with the accompanying drawings automatic profiling principle of the present invention is described in detail.

Fuselage inclination profiling pattern:

Based on the analysis that fuselage is tilted mathematical model.First, left laser sensor 16 and right laser sensor 17 to Time delay is not affected by top rake angle, therefore during given fuselage run-off the straight, left laser sensor 16 and right laser sensing Angle beta=0 that turns forward of device 17.In view of prolonging of left laser sensor 16 and right laser sensor 17 data acquisition and processing (DAP) Time late, for this on the basis of known leading screw 5 is changeless with the spacing of upper arm 10, improve the rotating speed of motor 3, make Adjusting angle in obtaining the unit interval and become big, spray boom 13 regulating time shortens, to guarantee that spray boom 13 is quickly adjusted to level.The Two, left laser sensor 16 and right laser sensor 17 real-time data collection send control device to, then can make controller 31 not Send a signal to output end unit 30 with stopping, easily cause spray boom 13 the most ceaselessly to carry out left bank and right bank adjusts, Cause spraying distribution more uneven, and must ensure that spray boom 13 does not interferes with wing.In view of the situation, it is stipulated that M≤|L₁|≤W, L₁Being left laser sensor 16 and right laser sensor 17 difference that arrives its subpoint distance respectively, M and W is L₁ Lower limit and higher limit, amplitude and surface crops that the concrete value of M and W is rocked according to length the comprehensive fuselage of spray boom 13 are preced with Layer fluctuating quantity sets.Three groups of data of the up-to-date collection of controller 31 are averaged calculation process, draw a class mean evidence, logical Cross mathematical algorithm model these group data are carried out process to try to achieve ∠ α₁；3rd, pass through L₃＞ L₄Judgement determine the adjustment of spray boom Scheme, if L₃＞ L₄, it is judged that fuselage is in right bank state, then carry out fuselage right bank spray boom and adjust；If L₃＜ L₄, sentence Off line is in left bank state, then carry out fuselage left bank spray boom and adjust；4th, angle displacement sensor 19 is arranged on " T " On the bending point of shape bending lever arm 12, during continuous fuselage tilts profiling, angle displacement sensor 19 is with "T"-shaped bending bar This fuselage of arm 12 tilts the position after profiling terminates and tilts the angle displacement datum mark of profiling, opening angle as fuselage next time Degree displacement transducer 19, makes angle displacement sensing 19 initialization, and angle counting sets to 0, and starts acquisition angles displacement data, then angle Degree displacement transducer 19 can go out, with real-time detection, the angle ∠ α that "T"-shaped bending lever arm 12 turns over₂.Angle displacement sensor 19 is right Control device and carry out Real-time Feedback angle correction displacement then.

As shown in Figure 3 a, when fuselage is tilted to the left, left laser sensor 16 and right laser sensor 17 are adopted in real time Collection data, the distance of left laser sensor 16 to its subpoint E ' is L₃, the distance of right laser sensor 17 its subpoint F ' is L₄, it is known that the difference of left laser sensor 16 and right laser sensor 17 to the distance of respective subpoint is L₁, spray boom 13 a length of L₂, do one by the subpoint E ' of left laser sensor 16 and be perpendicular to line between right laser sensor 17 and subpoint F ' Straight line, this straight line is parallel to again spray boom 13 simultaneously, now, the antitrigonometric function character of right angled triangle can obtain: this straight line Angle with ground 22

As shown in Figure 3 b, during fuselage is tilted to the left spray boom adjustment level, angle displacement sensor 19 is real Time gather data.The data that angle displacement sensor 19 gathers when being airframe left bank "T"-shaped bending lever arm 12 and its Angular displacement data are recorded on the basis of the position of secondary beginning.Motor 3 drives leading screw 5 to rotate forward, and makes slide block 6 move downward, and carries Dynamic "T"-shaped bending lever arm 12 makes spray boom 13 regulate to level, and angle displacement sensor 19 records this "T"-shaped bending lever arm 12 Angle ∠ α on the basis of the position started with its this₂.Condition according to spray boom adjustment level: fuselage inclination angle ∠ α₁Equal to spray The reverse-biased corner ∠ α that bar adjusts₂Mathematical principle, set up corresponding mathematical model:

L₁=| L₃-L₄|…………………………①

∠α₁=∠ α₂…………………………③

L₁--left laser sensor 16 and right laser sensor 17 arrive the difference of its subpoint E ' and F ' distance respectively.

L₂--the length of spray boom 13.

L₃--left laser sensor 16 is to its subpoint E ' distance.

L₄--right laser sensor 17 is to its subpoint F ' distance.

∠α₁--fuselage inclination angle.

∠α₂--the reverse-biased corner that spray boom 13 adjusts.

According to 1. and 2. obtaining fuselage angle of inclination ∠ α₁With ∠ α₂Angle parameter, substitute into fuselage inclination angle ∠ α₁It is equal to Spray boom reverse-biased corner ∠ α₂Mathematical model in 3. in.The position after profiling terminates is tilted with "T"-shaped this fuselage of bending lever arm 12 Put the angle displacement datum mark as crop profiling next time, then angle displacement sensor can detect the most "T"-shaped folding The ∠ α that knee arm 12 rotates₂, and Real-time Collection ∠ α₂, carry out Real-time Feedback and correction angle displacement to controlling device.

As shown in Figure 3 c, when fuselage recovers level, spray boom 13 is inclined relative to ground 22, needs to carry out Horizontal adjustment: motor 3 drives leading screw 5 to invert, makes slide block 6 move upward, and drives "T"-shaped bending lever arm 12 to make spray boom 13 Regulate to level, as shown in Figure 3 d.

As shown in fig. 4 a, when fuselage is tilted to the right, the distance of left laser sensor 16 its subpoint E ' is L₃, right The distance of laser sensor 17 its subpoint F ' is L₄, left laser sensor 16 and right laser sensor 17 are to respective subpoint The difference of distance is L₁, a length of L of spray boom 13₂, do one by the subpoint F ' of right laser sensor 17 and be perpendicular to left laser The straight line of line between sensor 16 and subpoint E ', this straight line is parallel to again spray boom 13 simultaneously, now, by right angled triangle Antitrigonometric function character can obtain: this straight line and the angle on ground 22

As shown in Figure 4 b, during fuselage is tilted to the right spray boom adjustment level, angle displacement sensor 19 is real Time gather data.Motor 3 drives leading screw 5 to invert, and makes slide block 6 move upward, and drives "T"-shaped bending lever arm 12 to make spray boom 13 regulate to level, and angle displacement sensor 19 records position when this "T"-shaped bending lever arm 12 starts with its this and is The angle ∠ α of benchmark₂.According to 1. and 2. obtaining fuselage angle of inclination ∠ α₁With ∠ α₂Angle parameter, substitute into fuselage inclination angle ∠ α₁Equal to spray boom reverse-biased corner ∠ α₂Mathematical model 3. in.Given "T"-shaped this fuselage of bending lever arm 12 tilts what profiling started Position is the datum mark of angular displacement, then angle displacement sensor can detect the ∠ that the most "T"-shaped bending lever arm 12 rotates α₂, and Real-time Collection ∠ α₂, carry out Real-time Feedback and correction angle displacement to controlling device.

As illustrated in fig. 4 c, when fuselage recovers horizontal level, spray boom 13 is inclined relative to ground 22, needs to carry out Horizontal adjustment: motor 3 drives leading screw 5 to rotate forward, makes slide block 6 move downward, and drives "T"-shaped bending lever arm 12 to make spray boom 13 Regulate to level, as shown in figure 4d.

Crop profiling pattern:

Based on the analysis to profile modeling spray mathematical model.First, left laser sensor 16 and right laser sensor 17 to Top rake angle has bigger meaning to time delay, therefore during given profile modeling spray, left laser sensor 16 and right laser The angle beta ＞ 0 that turns forward of sensor 17；Secondly, left laser sensor 16 and right laser sensor 17 real-time data collection transmission Give and control device, then controller 31 can be made ceaselessly to send a signal to output end unit 30, easily cause spray boom 13 the most not Carry out left bank with stopping and right bank adjusts, cause spraying distribution more uneven, and spray boom 13 and wing must be ensured Do not interfere.In view of the situation, set program in specify M≤| L₀| then carry out tilt adjustments during≤W, do not enter Line tilt adjusts, wherein, and L₀For the high-end vertical dimension to low side of profiling crop, M and W is L₀Lower limit and higher limit, specifically Amplitude and surface crops canopy fluctuating quantity that value is rocked according to length the comprehensive fuselage of spray boom 13 set.Controller 31 is The new 3 groups of data gathered are averaged calculation process, draw a class mean evidence, by mathematical algorithm model to these group data Carry out process and try to achieve ∠ α₃；3rd, pass through L₃＞ L₄Judgement determine the Adjusted Option of spray boom 13, if L₃＞ L₄, it is judged that front Crop tree crown is right high left low, then carry out spray boom left bank adjustment；If L₃＜ L₄, it is judged that front crop tree crown right low left high, carry out Spray boom right bank adjusts；4th, angle displacement sensor 19 is arranged on "T"-shaped bending lever arm 12 bending point, given "T"-shaped folding The datum mark that position is angle displacement that this crop profiling of knee arm 12 starts, during continuous crop profiling, angle position Displacement sensor 19 terminate using this crop profiling of "T"-shaped bending lever arm 12 after position as the angle position of crop profiling next time Moving datum mark, opening angle displacement transducer 19, make angle displacement sensing 19 initialization, angle counting sets to 0, and starts acquisition angles Displacement data, then angle displacement sensor 19 can go out, with real-time detection, the angle ∠ α that "T"-shaped bending lever arm 12 turns over₂.Angle Displacement transducer 19 carries out Real-time Feedback angle correction displacement then to controlling device；5th, velocity sensor 20 is arranged on spray On bar 13, it is used for gathering air speed ν in aircraft profile modeling spray.Adopt in view of left laser sensor 16 and right laser sensor 17 Collection and process and all have certain T time delay, turns forward angle beta at the shortest sprinkling distance h and the laser sensor of crop for this On the basis of measured front horizontal distance, gait of march ν of aircraft need to be measured, try to achieve aircraft by this section of horizontal range Time T₁, and combine the shortest sprinkling distance h of crop and before left laser sensor 16 and right laser sensor 17 tilt measured by β Side's horizontal range, calculates spray boom 13 and adjusts time T₂.Set corresponding left laser sensor 16 and right laser sensor 17 forward Angle of inclination beta, thus after crop arrives immediately below spray boom 13, it is achieved targeting/spraying, it is ensured that medicinal liquid can spray equably In target.

Different crop profile biological characteristicses is carried out the principle of profiling and potential gradient causes over the ground crop gradient The profile modeling of distribution is consistent with the principle adjusting spray boom 13 in Fig. 3 a-3d and Fig. 4 a-4d.

As shown in Fig. 5 a, 5b, crop tree crown right low left high, left laser sensor 16 and right laser sensor 17 Real-time Collection Data, a length of L of spray boom 13₂, measurement distance L of left laser sensor 16 to (profiling crop tree crown is high-end) subpoint E '₃For EE ' in figure, measurement distance L of right laser sensor 17 to (profiling crop tree crown low side) subpoint F '₄For FF ' in figure, Zuo Ji Optical sensor 16 and right laser sensor 17 arrive difference L of the distance that subpoint gathers respectively₁For E ' G in figure, profiling crop is high-end Vertical dimension L to low side₀Being D for E ' vertical point on the ground in AC in figure, Fig. 5 a, line segment E ' D is parallel and is equal to line segment AC, from the character of corresponding angles: between E ' G and AC, angle is also β, then L₀=L₁×cosβ.In figure, shadow surface is crop The schematic diagram of inclined plane, from mathematics geometrical relationship: crop inclined plane and the angle ∠ α on ground₃Equal to ∠ CBA in figure, this Time, the antitrigonometric function character of right angled triangle can obtain: crop inclined plane and the angle on ground 22

But based on the analysis to profile modeling spray mathematical model, time delay is had by the angle beta that turns forward of laser sensor There is a bigger meaning, therefore angle beta ≠ 0 that turns forward of laser sensor during given profile modeling spray；0°<β≤45°.Imitate according to spray boom The condition that shape adjusts: profiling crop and the angle ∠ α on ground₃The reverse-biased corner ∠ α adjusted equal to spray boom₂Mathematical principle, set up Corresponding mathematical model:

L₀=| L₃-L₄|×cosβ…………………………④

L₀=L₁×cosβ…………………………⑤

H=Min (L₃cosβ,L₄cosβ)…………………………⑦

T₁=T₂…………………………⑨

∠α₃=∠ α₂…………………………⑩

L₀--the high-end vertical dimension to low side of profiling crop is AC in figure.

L₁--left laser sensor 16 and right laser sensor 17 respectively to the difference of the distance of subpoint collection be E ' in figure G。

L₂--the length of spray boom 13.

L₃--the measurement distance of left laser sensor 16 to (profiling crop tree crown is high-end) subpoint E ' is EE ' in figure.

L₄--the measurement distance of right laser sensor 17 to (profiling crop tree crown low side) subpoint F ' is FF ' in figure.

The shortest sprinkling distance of h--crop.

The gait of march of v--aircraft.

∠α₃--profiling crop is ∠ CBA in figure with the angle on ground.

∠α₂--the reverse-biased corner that spray boom 13 adjusts.

T₁--laser sensor collection and spray boom adjustment process all certain time delay.

T₂--laser sensor collection and spray boom adjustment process the time.

According to the most 6. obtaining profiling crop and ground angle ∠ α₃Angle parameter, substitute into the folder on profiling crop and ground Angle ∠ α₃The reverse-biased corner ∠ α adjusted equal to spray boom₂Mathematical model 10. in.Given this crop profiling of "T"-shaped bending lever arm 12 The datum mark that position is angular displacement started, motor 3 drives leading screw 5 to rotate forward, and makes slide block 6 move downward, and drives "T"-shaped Bending lever arm 12 makes spray boom 13 be tilted to the right adjustment, then angle displacement sensor can detect the most "T"-shaped bending lever arm The 12 ∠ α rotated₂, and Real-time Collection ∠ α₂, carry out Real-time Feedback and correction angle displacement to controlling device.In view of laser sensing Device collection and process all have certain T time delay, tilt β institute for this at the shortest sprinkling distance h and the laser sensor of crop On the basis of recording front horizontal distance, gait of march ν of aircraft need to be measured, try to achieve aircraft in substituting into 8. by this section of level The time T of distance₁, and combine the shortest sprinkling distance h of crop and laser sensor tilts front horizontal distance measured by β, count Calculate spray boom 13 and adjust time T₂.Set the angle beta that turns forward accordingly, thus after crop arrives immediately below spray boom 13, it is achieved Targeting/spraying, it is ensured that medicinal liquid can spray in target equably.

As shown in Fig. 6 a, 6b, crop tree crown is right high left low, left laser sensor 16 and right laser sensor 17 Real-time Collection Data, a length of L of spray boom 13₂, measurement distance L of left laser sensor 16 to (profiling crop tree crown low side) subpoint E '₃For EE ' in figure, measurement distance L of right laser sensor 17 to (profiling crop tree crown is high-end) subpoint F '₄For FF ' in figure, Zuo Ji Optical sensor 16 and right laser sensor 17 arrive difference L of the distance that subpoint gathers respectively₁For F ' H in figure, profiling crop is high-end Vertical dimension L to low side₀Being D for F ' vertical point on the ground in AC in figure, Fig. 6 a, line segment F ' D is parallel and is equal to line segment AC, from the character of corresponding angles: between F ' H and AC, angle is also β, then L₀=L₁×cosβ.In figure, shadow surface is crop The schematic diagram of inclined plane, from mathematics geometrical relationship: crop inclined plane and the angle ∠ α on ground₃Equal to ∠ CBA in figure, this Time, the antitrigonometric function character of right angled triangle can obtain: crop inclined plane and the angle on ground 22

According to the most 6. obtaining profiling crop and ground angle ∠ α₃Angle parameter, substitute into the folder on profiling crop and ground Angle ∠ α₃The reverse-biased corner ∠ α adjusted equal to spray boom₂Mathematical model 10. in.Given this crop profiling of "T"-shaped bending lever arm 12 The datum mark that position is angular displacement started, motor 3 drives leading screw 5 to invert, and makes slide block 6 move upward, and drives "T"-shaped Bending lever arm 12 makes spray boom 13 be tilted to the left adjustment, then angle displacement sensor can detect the most "T"-shaped bending lever arm The 12 ∠ α rotated₂, and Real-time Collection ∠ α₂, carry out Real-time Feedback and correction angle displacement to controlling device.In view of laser sensing Device collection and process all have certain T time delay, tilt β institute for this at the shortest sprinkling distance h and the laser sensor of crop On the basis of recording front horizontal distance, gait of march ν of aircraft need to be measured, try to achieve aircraft in substituting into 8. by this section of level The time T of distance₁, and combine crop the shortest sprinkling distance h and laser sensor turn forward front horizontal measured by angle beta away from From, calculate spray boom 13 and adjust time T₂.Set corresponding laser sensor to turn forward angle beta, thus when crop arrives spray boom 13 After Zheng Xiafang, it is achieved targeting/spraying, it is ensured that medicinal liquid can spray in target equably.

Claims

1. an agricultural aviation fog machine automatic profiling flusher, including body rack (1) and spray boom (13), its feature exists In: this flusher also includes "T"-shaped bending lever arm (12), spray boom angular adjustment apparatus, data acquisition unit and control device；

Body rack (1) is provided with upper backup pad (2) and lower supporting plate (14)；

"T"-shaped bending lever arm (12) has horizontal part, vertical portion and bending point, wherein, "T"-shaped bending lever arm (12) vertical portion Lower end vertical affixed with spray boom (13)；One end of upper arm (10) is vertically fixed in upper backup pad (2) middle part, upper arm (10) another One end is flexibly connected with the bending point of "T"-shaped bending lever arm (12) by active pin shaft (11)；

Spray boom angular adjustment apparatus includes motor (3), shaft coupling (4), leading screw (5), slide block (6), square tube slide block (7), lives Dynamic bolt (8) and guide post (9)；

Described motor (3) is fixedly connected on upper backup pad (2), the outfan of motor (3) by shaft coupling (4) with One end of leading screw (5) connects, and the other end of leading screw (5) is arranged on lower supporting plate (14) by bearing assembly；Described guide post (9) it is double-rod structure, is parallel to leading screw (5), is vertically installed between upper backup pad (2) and lower supporting plate (14)；

Described slide block (6) in the vertical direction is provided with three and arranged side by side runs through elongated hole；Wherein, the elongated hole that runs through of central authorities is provided with interior Screw thread, leading screw (5) sets female central authorities and runs through elongated hole from described and pass, and constitutes with slide block (6) and threaded；Both sides Running through elongated hole to pass for guide post (9), guide post (9) is slidably connected with slide block (6) composition；The outer side center position of slide block (6) It is provided with blind screw hole (61)；

Described square tube slide block (7) is hollow square tube；The horizontal part of described "T"-shaped bending lever arm (12) passes square tube slide block (7), and Constitute with square tube slide block (7) and be slidably connected, the tube wall of square tube slide block (7) medial center position is provided with connecting hole；

Described movable bolt (8) is arranged between slide block (6) and square tube slide block (7), one end of movable bolt (8) and slide block (6) Blind screw hole (61) threaded, the other end with on square tube slide block (7) connecting hole constitute be rotationally connected；

Described data acquisition unit includes left laser sensor (16), right laser sensor (17), angle displacement sensor (19) With velocity sensor (20)；

Left laser sensor (16) and right laser sensor (17) are arranged at the two ends, left and right of spray boom (13)；

Angle displacement sensor (19) is arranged on the bending point of "T"-shaped bending lever arm (12)；

Velocity sensor (20) is arranged on spray boom (13)；

Control the data that device gathers according to data acquisition unit, control the operating of motor (3).

Agricultural aviation fog machine automatic profiling flusher the most according to claim 1, it is characterised in that: described "T"-shaped Being symmetrically arranged with two reinforcing plates (15) between vertical portion and the spray boom (13) of bending lever arm (12), one end of reinforcing plate (15) leads to Crossing bolt (18) affixed with the vertical portion of "T"-shaped bending lever arm (12), the other end is fixed in spray boom (13) by fixing card (21) On.

Agricultural aviation fog machine automatic profiling flusher the most according to claim 1, it is characterised in that: described slide block (6) initial position is positioned at 1/2nd of leading screw (5) and guide post (9).

Agricultural aviation fog machine automatic profiling flusher the most according to claim 1, it is characterised in that: described sprinkling fills Put and also include left limit lever switch (33) and right limit lever switch (32), left limit lever switch (33) and right limit lever switch (32) It is respectively perpendicular the left and right sides being fixed in upper arm (10), and left limit lever switch (33) and right limit lever switch (32) are positioned at same On bar straight line.

Agricultural aviation fog machine automatic profiling flusher the most according to claim 1, it is characterised in that:

Described control device includes controller (31), output end unit (30), right laser sensor unit (26), left laser sensing Device unit (28), angle displacement sensor unit (25), speed sensor units (27) and test cell (29)；Right laser sensing Device unit (26) is connected with right laser sensor (17)；Left laser sensor unit (28) is connected with left laser sensor (16)； Angle displacement sensor unit (25) is connected with angle displacement sensor (19)；Speed sensor units (27) and velocity sensor (20) connect；

The input of described controller (31) respectively with right laser sensor unit (26), left laser sensor unit (28), angle Degree displacement sensor unit (25) and speed sensor units (27) connect, and outfan is connected with output end unit (30)；Output End unit (30) is connected with motor (3)；

Described test cell (29) is connected with controller (31).

Agricultural aviation fog machine automatic profiling flusher the most according to claim 1, it is characterised in that: described angle is adjusted Engagement positions also includes left laser sensor motor (23) and right laser sensor motor (24)；Left laser sensor walks Enter motor (23) and right laser sensor motor (24) is respectively arranged at the two ends, left and right of spray boom (13), and swash with a left side respectively Optical sensor (16) and right laser sensor (17) connect.

Agricultural aviation fog machine automatic profiling flusher the most according to claim 1, it is characterised in that: described left laser Sensor (16) and right laser sensor (17) all can be replaced by ultrasonic sensor.

8. the angle adjustment side according to the agricultural aviation fog machine automatic profiling flusher one of claim 1-7 Suo Shu Method, it is characterised in that: the method includes that fuselage tilts profiling pattern, and comprises the steps:

A, adjust left laser sensor (16) and right laser sensor (17) so that it is be each perpendicular to ground (22), i.e. make left to swash Optical sensor (16) and angle beta=0 that turns forward of right laser sensor (17)；

B, left laser sensor (16) and right laser sensor (17) real-time data collection, and transfer data to test cell (29), data processed and judge；If M≤| L₁| then carry out spray boom adjustment during≤W, the most do not carry out spray boom adjustment, Wherein, L₁Being left laser sensor (16) and right laser sensor (17) difference that arrives its subpoint distance respectively, M and W is L₁'s Lower limit and higher limit；Meanwhile, opening angle displacement transducer (19)；

C, pass through L₃>L₄Judgement determine the Adjusted Option of spray boom, if L₃>L₄, it is judged that fuselage is in right bank state, then carry out Fuselage right bank spray boom adjusts, if L₃<L₄, it is judged that fuselage is in left bank state, then carry out fuselage left bank spray boom and adjust； Test cell (29) sends control signal, control unit (31) drive stepping motor (3) band movable wire to control unit (31) subsequently Thick stick (5) rotates, and makes thread slider (6) mobile；Meanwhile, square tube slide block (7) drives "T"-shaped bending lever arm (12) to rotate；Its In, L₃For left laser sensor (16) to its subpoint distance；L₄For right laser sensor (17) to its subpoint distance；

After d, opening angle displacement transducer (19), initializing angle displacement sensor (19), angle counting sets to 0, and starts to gather Angle displacement data；According to the mathematical model set up, calculate the angle parameter of spray boom recognizer, then utilize angle displacement Sensor (19) constantly detects and revises, so that controller (31) controls motor (3) by output end unit (30) Rotate；

Above-mentioned mathematical model is:

L₁=| L₃-L₄|

&angle; α_{1} = a r c t a n \frac{L_{1}}{L_{2}}

∠α₁=∠ α₂

Wherein,

L₁The difference of its subpoint distance is arrived respectively for left laser sensor (16) and right laser sensor (17)；

L₂Length for spray boom (13)；

L₃For left laser sensor (16) to its subpoint distance；

L₄For right laser sensor (17) to its subpoint distance；

∠α₁For fuselage inclination angle；

∠α₂The reverse-biased corner adjusted for spray boom (13)；

E, angle displacement sensor (19) carry out ∠ α after constantly detecting and revising₁=∠ α₂Judgement, as ∠ α₁≠∠α₂Time, Motor (3) is rotated further, and angle displacement sensor (19) continues acquisition angles displacement data, until ∠ α₁=∠ α₂Till； As ∠ α₁=∠ α₂Time, a fuselage tilts profiling to be terminated, and motor (3) stops operating, with "T"-shaped bending lever arm (12) originally Secondary fuselage tilts the position after profiling terminates and tilts the angle displacement datum mark of profiling as fuselage next time.

9. the angle adjustment side according to the agricultural aviation fog machine automatic profiling flusher one of claim 1-7 Suo Shu Method, it is characterised in that: the method includes crop profiling pattern, and comprises the steps:

A, adjust left laser sensor (16) and right laser sensor (17) so that it is all turn forward so that left laser sensor And the angle beta ＞ 0 that turns forward of right laser sensor (17) (16)；

B, left laser sensor (16) and right laser sensor (17) real-time data collection, and transfer data to test cell (29), data processed and judge；If M≤| L₀| then carry out tilt adjustments during≤W, the most do not carry out tilt adjustments, Wherein, L₀The high-end vertical dimension to low side of profiling crop, M and W is L₀Lower limit and higher limit；Meanwhile, opening angle displacement Sensor (19)；

C, pass through L₃>L₄Judgement determine the Adjusted Option of spray boom, if L₃>L₄, it is judged that crop tree crown is right high left low, then spray Bar left bank adjusts, if L₃<L₄, it is judged that crop tree crown right low left high, then carry out spray boom right bank adjustment；Test cell subsequently (29) sending control signal to control unit (31), control unit (31) drive stepping motor (3) drives leading screw (5) to rotate, and makes Thread slider (6) is mobile；Meanwhile, square tube slide block (7) drives "T"-shaped bending lever arm (12) to rotate；Wherein, L₃For left laser Sensor (16) is to the distance of its subpoint；L₄Distance for right laser sensor (17) to its subpoint；

After d, opening angle displacement transducer (19), initializing angle displacement sensor (19), angle counting sets to 0, and starts acquisition angle Degree displacement data；According to the mathematical model set up, calculate the angle parameter of spray boom recognizer, then utilize angle displacement to pass Sensor (19) constantly detects and revises, and turns so that controller (31) controls motor (3) by output end unit (30) Dynamic；

Above-mentioned mathematical model is:

L₀=| L₃-L₄|×cosβ

L₀=L₁×cosβ

&angle; α_{3} = a r c t a n \frac{L_{0}}{L_{2}}

H=Min (L₃cosβ,L₄cosβ)

T_{1} = \frac{h \times t a n β}{ν}

T₁=T₂

∠α₃=∠ α₂

L₀For the high-end vertical dimension to low side of profiling crop；

L₂Length for spray boom (13)；

L₃Distance for left laser sensor (16) to its subpoint；

L₄Distance for right laser sensor (17) to its subpoint；

H is the shortest sprinkling distance of crop；

∠α₃Angle for profiling crop Yu ground；

∠α₂The reverse-biased corner adjusted for spray boom (13)；

E, angle displacement sensor (19) carry out ∠ α after constantly detecting and revising₃=∠ α₂Judgement, as ∠ α₃≠∠α₂Time, Motor (3) is rotated further, and angle displacement sensor (19) continues acquisition angles displacement data, until ∠ α₃=∠ α₂Till； As ∠ α₃=∠ α₂Time, a crop profiling terminates, and motor (3) stops operating, and with "T"-shaped bending lever arm (12), this is made Thing profiling terminate after position as the angle displacement datum mark of crop profiling next time.