靶向灭草机器人药液喷洒空气动力学模型建立与验证

发布时间：2018-06-23 00:12

  本文选题：机器人 + 模型　； 参考：《农业工程学报》2017年15期

【摘要】：为提高除草剂的有效利用率、降低环境污染,该文研制了一种靶向灭草机器人,建立机器人的药液喷洒动力学模型是提高对靶施药精度的关键。在综合考虑多种影响因素前提下,采用空气动力学原理建立了液滴在喷洒过程中的动力学模型,并推导出液滴的落地点公式;在此基础上通过计算机数值模拟得出了液滴群的落地覆盖区域,同时分析了液滴阻力特性及各工作参数对运动过程的影响;在室内无风条件下,应用高速摄像技术进行了喷洒试验,将液滴群的实际落地覆盖区域与理论覆盖区域比对,相对误差为8%~13%,同时采用吸水纸称质量法分析了药液有效覆盖区域的沉积量分布特性。研究结果表明:借由药液喷洒动力学模型得出的理论药液覆盖区域与试验结果具有一定的吻合性,验证了模型的适用性。该研究可为搭建相关靶向喷洒系统提供参考。
[Abstract]:In order to improve the effective utilization of herbicides and reduce environmental pollution, a targeted herbicide robot was developed in this paper. Based on the aerodynamics principle, the dynamic model of droplet in spraying process was established, and the drop location formula was deduced. On this basis, the drop coverage area of droplet group is obtained by computer numerical simulation, and the influence of droplet resistance characteristics and working parameters on the motion process is analyzed. The spray test was carried out by using high speed camera technology. The relative error of the actual drop coverage area was compared with that of the theoretical coverage area, and the relative error was 8%. At the same time, the distribution characteristics of the deposition amount in the effective coverage area of the liquid was analyzed by using the water-absorbing paper weighing method. The results show that the theoretical coverage area obtained from the spray kinetic model is consistent with the experimental results, and the applicability of the model is verified. This study can be used as a reference for setting up a related target spraying system.
【作者单位】： 东北农业大学工程学院;
【基金】：国家自然科学基金资助项目(51405078) 黑龙江省博士后基金(LBH-Z13022) 黑龙江省普通高等学校青年创新人才培养计划(LR-356214) 东北农业大学“青年才俊”项目(518020)
【分类号】：S224.1;TP242
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本文编号：2054842