CN109329252A - Both arms trellis type vineyard aerial pesticide operational method based on the fusion of agricultural machinery agronomy - Google Patents
Both arms trellis type vineyard aerial pesticide operational method based on the fusion of agricultural machinery agronomy Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000004927 fusion Effects 0.000 title claims abstract description 24
- 239000000575 pesticide Substances 0.000 title claims abstract description 19
- 235000014787 Vitis vinifera Nutrition 0.000 claims abstract description 85
- 241000219095 Vitis Species 0.000 claims abstract description 84
- 235000009754 Vitis X bourquina Nutrition 0.000 claims abstract description 84
- 235000012333 Vitis X labruscana Nutrition 0.000 claims abstract description 84
- 241000196324 Embryophyta Species 0.000 claims abstract description 83
- 238000005507 spraying Methods 0.000 claims abstract description 63
- 239000003814 drug Substances 0.000 claims abstract description 33
- 239000007921 spray Substances 0.000 claims abstract description 25
- 238000009423 ventilation Methods 0.000 claims abstract description 8
- 239000012530 fluid Substances 0.000 claims abstract description 6
- 239000010808 liquid waste Substances 0.000 claims abstract description 6
- 238000003900 soil pollution Methods 0.000 claims abstract description 6
- 230000002265 prevention Effects 0.000 claims description 22
- 238000013507 mapping Methods 0.000 claims description 18
- 238000005259 measurement Methods 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 6
- 241000607479 Yersinia pestis Species 0.000 claims description 4
- 241000238631 Hexapoda Species 0.000 claims description 2
- 239000003795 chemical substances by application Substances 0.000 claims description 2
- 230000006806 disease prevention Effects 0.000 claims description 2
- 230000036544 posture Effects 0.000 description 21
- KRKNYBCHXYNGOX-UHFFFAOYSA-N citric acid Chemical compound OC(=O)CC(O)(C(O)=O)CC(O)=O KRKNYBCHXYNGOX-UHFFFAOYSA-N 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 244000298715 Actinidia chinensis Species 0.000 description 1
- 235000009434 Actinidia chinensis Nutrition 0.000 description 1
- 235000009436 Actinidia deliciosa Nutrition 0.000 description 1
- 240000001008 Dimocarpus longan Species 0.000 description 1
- 235000000235 Euphoria longan Nutrition 0.000 description 1
- 244000157072 Hylocereus undatus Species 0.000 description 1
- 235000018481 Hylocereus undatus Nutrition 0.000 description 1
- 240000006365 Vitis vinifera Species 0.000 description 1
- 235000021028 berry Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000009746 freeze damage Effects 0.000 description 1
- 239000003630 growth substance Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protecting plants
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- Human Resources & Organizations (AREA)
- Environmental Sciences (AREA)
- Economics (AREA)
- Strategic Management (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
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- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
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- Catching Or Destruction (AREA)
Abstract
The present invention provides a kind of both arms trellis type vineyard aerial pesticide operational method based on the fusion of agricultural machinery agronomy, compared with prior art: (1) present invention ensure that plant protection drone its effective spraying swath in single course line operation flight course is just covered or is averaged breadth slightly beyond the grape in adjacent two pairs of both arms hedge frame width direction from technical standpoint, it meets farmer and does not want the current demand for causing liquid waste and soil pollution between making medical fluid be sprayed on wider hedge frame too much in ventilation and lighting row, realize accurate, province's medicine, green operation；(2) it is corresponding to be carried out collaboration with the both arms trellis type grape cultivation posture that Yellow River basin generallys use by the present invention for effective spraying swath of the plant protection drone under different work height, the agricultural machinery agronomy fusion during plant protection drone spray is realized, general requirement of the country to the fusion of agricultural machinery agronomy is met.
Description
Technical field
The present invention relates to one kind to vineyard carry out aerial pesticide during by plant protection drone in different work height
Effective spraying swath carries out cooperateing with corresponding operational method with vinegrowing posture down, to realize the essence on the basis of the fusion of agricultural machinery agronomy
Quasi-, province's medicine, green operation.More particularly, refer to that a kind of both arms trellis type vineyard aviation based on the fusion of agricultural machinery agronomy is applied
Medicine operational method.
Background technique
Grape at home and abroad has large area plant as a kind of high added value fruit.In the selection of vinegrowing posture,
It should generally be determined according to breediness, local climate feature and local plant habit.Generally in China Great Wall northern area
Mostly use frame greatly, to there is wider line-spacing, take soil for winter plant is cold-proof, and make root system not reason largely take soil and it is exposed
By freeze injury；There is horizontal frame using more in China Huaihe River areas to the south, i.e., sets up crossbeam, crossbeam on vertical pillar
Upper traction iron wire, forms a level frame face, and line-spacing is mostly 4.0m~6.0m.And the grape on the south Great Wall to Yellow River basin produces
Area mostly uses hedge frame, and with the most use in producing is single wall hedge frame, it has convenient for management, and ventilation and penetrating light condition is preferably etc. excellent
Point.In the selection of grape line-spacing, the line-spacing of grape is different because of posture, kind and weather conditions difference.When being transplanted using shed frame type,
Line-spacing is mostly in 4.0m~10.0m etc., and wherein growth potential extra-heavy, the kind such as longan easily shaped, can take 6.0m~10.0m's
The kind of wide row space, the general growth potential golden mean of the Confucian school all uses the line-spacing of 4.0m~6.0m.When being transplanted using trellis type, line-spacing is wide not
Conducive to frame face and effective frame face per acre is improved, in the area Bu Maitu or the slight area Mai Tu, the line-spacing of single hedge frame is to be equal to or slightly greater than
Be advisable between frame height, that is, 2.0m~2.5m, the generally appropriate space out in soil area is buried to 2.5m~3m in the north, frame height with 1.8m~
2.0m being advisable.
Currently, it is found in carrying out the application operation of grape pest and disease damage plant protection drone using plant protection drone, operating personnel
It tends not to that development aviation is gone to spray operation from the angle that agricultural machinery agronomy merges.For example, flying hand is determining that plant protection drone is winged
When row height, the job parameters such as course width, often it is not intended that effective spraying swath of the selected type under different work height and
Whether grape cultivation posture used mutually agrees with, and domestic different wine-growing region such as Yellow River basin, Basin of Huaihe River, the Northeasts
Etc. mostly using different cultivation postures.By taking trellis type grape cultivation posture as an example, trellis type cultivation posture be divided into again single armed hedge frame,
Both arms hedge frame and V-arrangement trellis type, such as both arms trellis type vineyard farmer are often desirable to plant protection drone in single course line operation
The effective spraying swath of its in flight course can just be covered or is averaged slightly beyond the grape in adjacent two pairs of both arms hedge frame width direction
Breadth, so that liquid waste and soil pollution are caused in ventilation and lighting row between not causing medical fluid to be sprayed on wider hedge frame too much,
This is also consistent with the accurate of national promotion, province's medicine, green type job requirements.Therefore, in vineyard pest and disease damage aerial pesticide mistake
Effective spraying swath and vinegrowing posture by plant protection drone under different work height is needed to carry out collaboration in journey corresponding, in turn
Realize accurate, the province's medicine, green operation on the basis of the fusion of agricultural machinery agronomy.
Summary of the invention
The object of the present invention is to provide a kind of both arms trellis type vineyard aerial pesticide works based on the fusion of agricultural machinery agronomy
Industry method, to solve the above technical problems.The operational method by effective spraying swath of the plant protection drone under different work height with
The both arms trellis type grape cultivation posture that Yellow River basin generallys use carries out collaboration correspondence, and then realizes both arms trellis type vineyard
Accurate, province's medicine, green operation during prevention and control medicament aviation sprays on the basis of the fusion of agricultural machinery agronomy.
Technical problem solved by the invention can be realized using following technical scheme: based on the double of agricultural machinery agronomy fusion
Arm trellis type vineyard aerial pesticide operational method, includes the following steps.
Plant height, adjacent two pairs of both arms hedge frame width side step 1: the grape under determining both arms trellis type cultivation posture is averaged
Upward grape is averaged breadth
(A) according to the cultivar of grape and growth cycle on operation plot, using sampling measurement and the method for averaged,
The grape on operation plot is calculated to be averaged plant height；
(B) posture is cultivated according to the both arms trellis type of grape on operation plot, using sampling measurement and the method for averaged,
The grape in adjacent two pairs of both arms hedge frame width direction is calculated to be averaged breadth.
Step 2: determining that grape is averaged breadth to plant in adjacent two pairs of both arms hedge frame width direction according to vinegrowing information
Protect the accurate spraying swath demand of unmanned plane
(A) according on operation plot grape both arms trellis type cultivate posture, consider prevent medical fluid be sprayed on too much width compared with
Between big hedge frame in ventilation and lighting row to cause liquid waste and soil pollution in the case where, determine plant protection drone in single course line
The coverage area of the effective spraying swath of its in operation flight course；
(B) according to the covering of identified plant protection drone its effective spraying swath in single course line operation flight course in step (A)
Range, according to formulaIt calculates plant protection drone under both arms trellis type cultivation posture and implements the spray of grape prevention and control medicament
Apply accurate spraying swath W when industryS, W in formulaPIt is averaged breadth for the grape in adjacent two pairs of both arms hedge frame width direction, WAIt is additional
Adjust spraying swath.
Step 3: carrying out getting mapping and plant protection drone flight course planning ready to operation vineyard plot
(A) the record point at the boundary of land block of operation vineyard is carried out getting mapping ready using surveying and mapping rod, to guarantee all record points
Area defined can completely first will when getting operation ready in overwrite job plot to avoid drain spray phenomenon occur in boundary
It is put in order respectively to plot outer expandable certain distance, then using all intersection points as record on the boundary in operation vineyard plot
It carries out getting mapping ready；
(B) second step is calculated as operating area for all record point area defined for getting step (A) ready mapping
Both arms trellis type cultivation posture under plant protection drone implement accurate spraying swath W when grape prevention and control medicament sprays operationSIt is set as
Course width, in the premise for guaranteeing that plant protection drone line center coincides with two neighboring independent plantation row center line always
Under, the course line that plant protection drone is completed in earth station is planned automatically.
Step 4: determining that it is accurate to grape canopy height according to the flying height under plant protection drone over the ground effective spraying swath
Flying height under spraying swath
(A) the plant protection drone type that grape prevention and control medicament sprays operation is implemented in selection, according to the arrangement shape of the type upper nozzle
It is various to surface effective spraying swath and it is high to earth's surface theoretical flight to specify the type for the transaction capabilities that formula and the type are demarcated
The corresponding relationship of degree；
(B) from selected plant protection drone to selection in surface effective spraying swath and accurate spraying swath W described in second stepSConsistent number
Value, so it is various to surface effective spraying swath and its corresponding relationship to earth's surface theoretical flight height with reference to the type in step (A),
The determining and accurate spraying swath WSIt is corresponding to earth's surface theoretical flight height HR, then according to formulaCalculate institute
Select plant protection drone to the accurate flying height H under the accurate spraying swath of grape canopy heightS, H in formulaPIt is collected for the first step
Grape on operation plot is averaged plant height.
Step 5: the plant protection drone aviation for carrying out grape prevention and control medicament sprays operation
By the 4th selected plant protection drone of step, mapping and flight course planning feelings are got ready according to the operation plot that third step is completed
Condition, with plant protection drone selected by four-step calculation gained to the accurate flying height H under the accurate spraying swath of grape canopy heightSAs
Practical operation height over the ground buries direction along both arms hedge frame according to certain flying speed and carries out flight operation, fulfils assignment ground
The aviation of grape prevention and control medicament sprays on block.
The coverage area of the plant protection drone its effective spraying swath in single course line operation flight course, refer to plant protection nobody
Effective spraying swath of machine is just covered or is averaged breadth slightly beyond the grape in adjacent two pairs of both arms hedge frame width direction.
The additional adjustment spraying swath WANumberical range be 0~0.4m.
It is described when getting operation ready by the boundary in operation vineyard plot respectively to plot outer expandable certain distance, should be away from
From numberical range be 0.2m~0.4m.
The flying speed range of the plant protection drone is 2.0m/s~4.5m/s.
The plant protection drone is one of electronic more rotors, electronic single rotor, the dynamic single rotor of oil.
The grape prevention and control medicament is grape disease prevention and control medicament, grape insect pest prevention and control medicament, grape growth regulating agent
One or more of combination.
Compared with the prior art, the invention has the following advantages: (1) is proposed by the present invention based on the double of agricultural machinery agronomy fusion
Arm trellis type vineyard aerial pesticide operational method ensure that plant protection drone in single course line operation flight course from technical standpoint
In its effective spraying swath just cover or be averaged breadth slightly beyond the grape in adjacent two pairs of both arms hedge frame width direction, meet
Farmer does not want to cause showing for liquid waste and soil pollution in ventilation and lighting row between so that medical fluid is sprayed on wider hedge frame too much
Real demand realizes accurate, province's medicine, green operation；(2) the both arms trellis type Portugal proposed by the present invention based on the fusion of agricultural machinery agronomy
Grape garden aerial pesticide operational method generallys use effective spraying swath of the plant protection drone under different work height with Yellow River basin
Both arms trellis type grape cultivation posture carry out collaboration correspondence, realize plant protection drone spray during agricultural machinery agronomy melt
It closes, meets general requirement of the country to the fusion of agricultural machinery agronomy；(3) the both arms hedge frame proposed by the present invention based on the fusion of agricultural machinery agronomy
Formula vineyard aerial pesticide operational method, for Kiwi berry, dragon fruit etc., other use the fruit of both arms trellis type planting type, open
The aviation for opening up related prevention and control medicament sprays, and provides a kind of referential job specification.
Detailed description of the invention
Fig. 1 is that the present invention is based on the both arms trellis type vineyard aerial pesticide operational method flow chart elements of agricultural machinery agronomy fusion
Figure.
Fig. 2 is the plant protection drone of the invention essence when both arms trellis type vineyard implementation prevention and control medicament sprays operation
Quasi- spraying swath WS, grape is averaged breadth WP, additional adjustment spraying swath WA, accurate flying height HS, to earth's surface theoretical flight height HR, grape
Average plant height HPBetween relation schematic diagram.
In figure: 1, ventilation and lighting row 4 between grapevine seedling 2, both arms hedge frame 3, hedge frame, precisely spray region 5, plant protection without
It is man-machine.
Specific embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
Referring to shown in Fig. 1, Fig. 2, the present invention is that the both arms trellis type vineyard aerial pesticide based on the fusion of agricultural machinery agronomy is made
Industry method includes the following steps.
Plant height, adjacent two pairs of both arms hedge frame width side step 1: the grape under determining both arms trellis type cultivation posture is averaged
Upward grape is averaged breadth
(A) grape variety of certain operation grape child-care center plant is Vidal Blanc ice grape, which is cultivated using both arms trellis type
Posture, wherein line-spacing is 3.0m, stem height 1.8m, double hedge base portion spacing are 0.6m, spacing is 1.2m at the top of double hedges, is used
The method of sampling measurement and averaged calculates the grape on operation plot and is averaged plant height as 1.6m；
(B) posture is cultivated according to the both arms trellis type of grape on operation plot, using sampling measurement and the method for averaged,
It calculates the grape in adjacent two pairs of both arms hedge frame width direction and is averaged breadth as 4.8m.
Step 2: determining that grape is averaged breadth to plant in adjacent two pairs of both arms hedge frame width direction according to vinegrowing information
Protect the accurate spraying swath demand of unmanned plane
(A) according on operation plot grape both arms trellis type cultivate posture, consider prevent medical fluid be sprayed on too much width compared with
Between big hedge frame in ventilation and lighting row to cause liquid waste and soil pollution in the case where, determine plant protection drone in single course line
The grape that the effective spraying swath of its in operation flight course slightly exceeds in adjacent two pairs of both arms hedge frame width direction is averaged breadth
0.4m；
(B) according to the covering of identified plant protection drone its effective spraying swath in single course line operation flight course in step (A)
Range, according to formulaIt calculates plant protection drone under both arms trellis type cultivation posture and implements the spray of grape prevention and control medicament
Apply accurate spraying swath W when industrySFor 4.8m, the grape in formula on two neighboring independent plantation line width direction is averaged breadth WPFor
4.8m adds adjustment spraying swath WAFor 0m.
Step 3: carrying out getting mapping and plant protection drone flight course planning ready to operation vineyard plot
(A) the record point at the boundary of land block of operation vineyard is carried out getting mapping ready using surveying and mapping rod, to guarantee all record points
Area defined can completely first will when getting operation ready in overwrite job plot to avoid drain spray phenomenon occur in boundary
The boundary in operation vineyard plot carries out in order respectively to plot outer expandable 0.4m, then using all intersection points as record point
Get mapping ready；
(B) second step is calculated as operating area for all record point area defined for getting step (A) ready mapping
Both arms trellis type cultivation posture under plant protection drone implement accurate spraying swath W when grape prevention and control medicament sprays operationSThat is 4.8m
It is set as course width, is guaranteeing what plant protection drone line center coincided with two neighboring independent plantation row center line always
Under the premise of, the course line that plant protection drone is completed in earth station is planned automatically.
Step 4: determining that it is accurate to grape canopy height according to the flying height under plant protection drone over the ground effective spraying swath
Flying height under spraying swath
(A) select extremely fly the electronic more rotor plant protection drones of P20 as implementation grape prevention and control medicament spray operation plant protection nobody
It is various right to specify the type according to the transaction capabilities that the arrangement form of the type upper nozzle and the type are demarcated for machine type
Surface effective spraying swath and its linear corresponding relation to earth's surface theoretical flight height are as follows: the type is to earth's surface theoretical flight height point
Not Wei 1.0m, 1.5m, 2.0m, 2.5m, 3.0m, 3.5m when it is corresponding to surface effective spraying swath be respectively 2.0m, 2.5m,
3.0m,3.5m,4.0m,4.5m；
(B) from selected plant protection drone to selection in surface effective spraying swath and accurate spraying swath W described in second stepSConsistent number
Value, so with reference to the type in step (A) it is various to surface effective spraying swath with it to the linear corresponding of earth's surface theoretical flight height
Relationship, the determining and accurate spraying swath WSIt is corresponding to earth's surface theoretical flight height H for 4.8mRFor 3.8m, then according to formulaSelected plant protection drone is calculated to the accurate flying height H under the accurate spraying swath of grape canopy heightSFor 5.4m, formula
The middle first step grape on collected operation plot be averaged plant height HPFor 1.6m.
Step 5: the plant protection drone aviation for carrying out grape prevention and control medicament sprays operation
By the 4th selected plant protection drone of step, mapping and flight course planning feelings are got ready according to the operation plot that third step is completed
Condition, with plant protection drone selected by four-step calculation gained to the accurate flying height H under the accurate spraying swath of grape canopy heightSI.e.
5.4m buries direction along both arms hedge frame according to the flying speed according to 3.5m/s and carries out flight work as reality operation height over the ground
Industry, using grape growth regulator citric acid chelating water solution as medicament is sprayed, grape prevention and control medicament on the plot that fulfils assignment
Aviation spray.
Claims (7)
1. the both arms trellis type vineyard aerial pesticide operational method based on the fusion of agricultural machinery agronomy, which is characterized in that under including
Column step:
Step 1: the grape for determining under both arms trellis type cultivation posture is averaged plant height, in adjacent two pairs of both arms hedge frame width direction
Grape be averaged breadth
(A) according to the cultivar of grape and growth cycle on operation plot, using sampling measurement and the method for averaged,
The grape on operation plot is calculated to be averaged plant height；
(B) posture is cultivated according to the both arms trellis type of grape on operation plot, using sampling measurement and the method for averaged,
The grape in adjacent two pairs of both arms hedge frame width direction is calculated to be averaged breadth；
Step 2: according to vinegrowing information determine in adjacent two pairs of both arms hedge frame width direction grape be averaged breadth to plant protection without
Man-machine accurate spraying swath demand
(A) according on operation plot grape both arms trellis type cultivate posture, consider prevent medical fluid be sprayed on too much width compared with
Between big hedge frame in ventilation and lighting row to cause liquid waste and soil pollution in the case where, determine plant protection drone in single course line
The coverage area of the effective spraying swath of its in operation flight course；
(B) according to the covering of identified plant protection drone its effective spraying swath in single course line operation flight course in step (A)
Range, according to formulaIt calculates plant protection drone under both arms trellis type cultivation posture and implements the spray of grape prevention and control medicament
Apply accurate spraying swath W when industryS, W in formulaPIt is averaged breadth for the grape in adjacent two pairs of both arms hedge frame width direction, WAIt is additional
Adjust spraying swath；
Step 3: carrying out getting mapping and plant protection drone flight course planning ready to operation vineyard plot
(A) the record point at the boundary of land block of operation vineyard is carried out getting mapping ready using surveying and mapping rod, to guarantee all record points
Area defined can completely first will when getting operation ready in overwrite job plot to avoid drain spray phenomenon occur in boundary
It is put in order respectively to plot outer expandable certain distance, then using all intersection points as record on the boundary in operation vineyard plot
It carries out getting mapping ready；
(B) second step is calculated as operating area for all record point area defined for getting step (A) ready mapping
Both arms trellis type cultivation posture under plant protection drone implement accurate spraying swath W when grape prevention and control medicament sprays operationSIt is set as
Course width, in the premise for guaranteeing that plant protection drone line center coincides with two neighboring independent plantation row center line always
Under, the course line that plant protection drone is completed in earth station is planned automatically；
Step 4: determining it to the accurate spraying swath of grape canopy height according to the flying height under plant protection drone over the ground effective spraying swath
Under flying height
(A) the plant protection drone type that grape prevention and control medicament sprays operation is implemented in selection, according to the arrangement shape of the type upper nozzle
It is various to surface effective spraying swath and it is high to earth's surface theoretical flight to specify the type for the transaction capabilities that formula and the type are demarcated
The corresponding relationship of degree；
(B) from selected plant protection drone to selection in surface effective spraying swath and accurate spraying swath W described in second stepSConsistent number
Value, so it is various to surface effective spraying swath and its corresponding relationship to earth's surface theoretical flight height with reference to the type in step (A),
The determining and accurate spraying swath WSIt is corresponding to earth's surface theoretical flight height HR, then according to formulaCalculate institute
Select plant protection drone to the accurate flying height H under the accurate spraying swath of grape canopy heightS, H in formulaPIt is collected for the first step
Grape on operation plot is averaged plant height；
Step 5: the plant protection drone aviation for carrying out grape prevention and control medicament sprays operation
By the 4th selected plant protection drone of step, mapping and flight course planning feelings are got ready according to the operation plot that third step is completed
Condition, with plant protection drone selected by four-step calculation gained to the accurate flying height H under the accurate spraying swath of grape canopy heightSAs
Practical operation height over the ground buries direction along both arms hedge frame according to certain flying speed and carries out flight operation, fulfils assignment ground
The aviation of grape prevention and control medicament sprays on block.
2. the both arms trellis type vineyard aerial pesticide operational method according to claim 1 based on the fusion of agricultural machinery agronomy,
It is characterized by: the coverage area of the plant protection drone its effective spraying swath in single course line operation flight course, refers to plant protection
Effective spraying swath of unmanned plane is just covered or is averaged breadth slightly beyond the grape in adjacent two pairs of both arms hedge frame width direction.
3. the both arms trellis type vineyard aerial pesticide operational method according to claim 1 based on the fusion of agricultural machinery agronomy,
It is characterized by: the additional adjustment spraying swath WANumberical range be 0~0.4m.
4. the both arms trellis type vineyard aerial pesticide operational method according to claim 1 based on the fusion of agricultural machinery agronomy,
It is characterized by: it is described when getting operation ready by the boundary in operation vineyard plot respectively to plot outer expandable certain distance,
The numberical range of the distance is 0.2m~0.4m.
5. the both arms trellis type vineyard aerial pesticide operational method according to claim 1 based on the fusion of agricultural machinery agronomy,
It is characterized by: the flying speed range of the plant protection drone is 2.0m/s~4.5m/s.
6. the both arms trellis type vineyard aerial pesticide operational method according to claim 1 based on the fusion of agricultural machinery agronomy,
It is characterized by: the plant protection drone is one of electronic more rotors, electronic single rotor, the dynamic single rotor of oil.
7. the both arms trellis type vineyard aerial pesticide operational method according to claim 1 based on the fusion of agricultural machinery agronomy,
It is characterized by: the grape prevention and control medicament is grape disease prevention and control medicament, grape insect pest prevention and control medicament, grape growth adjusting medicine
The combination of one or more of agent.
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