CN107318813A - The control method and control device quantitatively sprayed in a kind of flight course - Google Patents
The control method and control device quantitatively sprayed in a kind of flight course Download PDFInfo
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- CN107318813A CN107318813A CN201710615019.0A CN201710615019A CN107318813A CN 107318813 A CN107318813 A CN 107318813A CN 201710615019 A CN201710615019 A CN 201710615019A CN 107318813 A CN107318813 A CN 107318813A
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- Prior art keywords
- spray pump
- real
- opening amount
- unit area
- fountain height
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Classifications
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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
-
- 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
Abstract
The present invention provides the control method quantitatively sprayed in a kind of flight course, and it is used for the sprinkling control for the aircraft for loading spray pump, comprises the following steps：A. unit area fountain height A of the spray pump in unit area B is determined；B. unit area B and unit area fountain height A and the real-time flight speed V and spraying swath L of the aircraft based on the spray pump sets the expection opening amount S of the spray pump；C. the real-time opening amount of the spray pump is gathered；D. calibrate the spray pump to reach the expected opening amount based on the real-time opening amount.The present invention realizes uniform, accurate, accurately spray modes, and not limited by water pump type, operating power etc..
Description
Technical field
The invention belongs to aerial sprays technical field of operation, particularly relate to carry the flight sprinkling control of the unmanned plane of spray pump
System, and in particular to the control method and control device quantitatively sprayed in a kind of flight course.
Background technology
With the development of agricultural modernization, aircraft has been widely used in pesticide spraying, to improve to farming
The efficiency that thing is sprayed insecticide；And aircraft is when spraying insecticide, the uniformity of its pesticide spraying to crops be grown with focus on
The influence wanted.Plant protection unmanned plane is as a kind of novel agricultural plant protection equipment, and it mainly carries spray appliance by unmanned plane and constituted, should
Task is sprayed for the agricultural chemicals plant protection to farmland, forest land and urban afforestation ground.
The working method of plant protection unmanned plane spray appliance directly influences the final effect of pesticide spraying.At present, agricultural is planted
The sprinkling system for protecting unmanned plane is substantially to control the opening and closing of shower nozzle, and a constant sprinkling is kept in flight course
Speed carries out operation.It is unalterable due to the influence that manipulated hand is artificially manipulated during dispenser of agricultural plant protection unmanned plane
Pesticide spraying speed can not ensure effective adhesion amount of the pesticide droplet on crop and be uniformly distributed rate, and then influence the effect of dispenser
Really.
In actual application, influenceed by factors such as meteorological condition, ambient conditions, manipulator's levels of skill, nothing
Man-machine flying speed is difficult to keep constant, especially entering operating area initial stage, the link speed transformation range such as turn around of turning
It is larger, now, when carrying out spraying operation according to fixed flow, medicine liquid spray can be caused uneven, generation is excessively sprayed and opened
Measure not enough situation.Some plant protection unmanned planes are detected and feedback control using miniature turbine flow sensor to flow, but
Turbine flowmeter, lag output is more serious, when flying speed changes, and sprinkling flow concussion change is easily caused, therefore, in reality
Also it is difficult to the requirement of real-time for meeting flow control in operation.
At present there is also some control programs, these existing control programs mainly include：1) opening amount of water pump passes through people
For the input equipment input such as manipulation remote control；2) opening amount of control water pump and the speed formation linear relationship of aircraft.Above-mentioned
1) defect for planting scheme is that Consumer's Experience is poor, easily causes spray and drain spray, spray effect is poor, does not embody agricultural
" hommization " and " intellectuality " of plant protection；The defect for 2) planting scheme is that different water pumps (include type, the work of water pump
The differences such as power) spray effect it is inconsistent.
The content of the invention
The technological deficiency existed for prior art, there is provided fixed in a kind of flight course according to an aspect of the present invention
The control method of sprinkling is measured, it is used for the sprinkling control for the aircraft for loading spray pump, comprises the following steps：
A. unit area fountain height A of the spray pump in unit area B is determined；
B. unit area B and the real-time flight of unit area fountain height A and the aircraft based on the spray pump
Speed V and spraying swath L sets the expection opening amount S of the spray pump；
C. the real-time opening amount of the spray pump is gathered；
D. calibrate the spray pump to reach the expected opening amount based on the real-time opening amount.
Preferably, the expected opening amount is obtained based on equation below：S=(3A/2B) * L*V.
Preferably, the step a comprises the following steps：
A1. the history flying distance of the aircraft and the history fountain height of the spray pump are transferred；
A2. unit distance fountain height is determined based on the history flying distance and the history fountain height；
A3. expection flight path and the unit distance fountain height based on the aircraft determines the unit area
Fountain height.
Preferably, the step a1 comprises the following steps：
A11. the identification information on the vehicle searches ground, the history of the aircraft is transferred based on the identification information
The history fountain height of flying distance and the spray pump.
Preferably, in the step a, voluntarily determine that the spray pump sprays in unit area B unit area by user
Measure A.
Preferably, the step d comprises the following steps：
D1. the data difference of the real-time opening amount and the expected opening amount is calculated；
D2. the power output of the spray pump is adjusted based on the data difference.
Control method according to claim 4, it is characterised in that the step d2 comprises the following steps：
D21. real-time output voltage of the aircraft to the spray pump, the real-time output voltage and the reality are obtained
Shi Kailiang is corresponding；
D22. the compensation output voltage of the spray pump is determined based on the data difference and calculates the real-time output voltage
With it is described compensation output voltage and obtain anticipated output voltage；
D23. anticipated output voltage is exported to the spray pump.
According to another aspect of the present invention, the control device quantitatively sprayed in a kind of flight course is also provided, it is used to hold
Control method described in the foregoing any one of row, including：
First determining device, its unit area B for being used to determine the spray pump and unit area fountain height A；
Setting device, it is used for unit area B and unit area fountain height A based on the spray pump and described flown
The real-time flight speed V and spraying swath L of row device set the expection opening amount S of the spray pump；
Harvester, it is used for the real-time opening amount for gathering the spray pump；
Calibrating installation, it is used to calibrate the spray pump to reach the expected opening amount based on the real-time opening amount.
Preferably, first determining device includes：
Searcher, it is used for the identification information for searching for ground；
Device is transferred, it is used to transfer the history flying distance of the aircraft and the spray based on the identification information
Spill the history fountain height of pump；
Second determining device, it is used to determine unit distance based on the history flying distance and the history fountain height
Fountain height；
3rd determining device, it is used for expection flight path and the unit distance fountain height based on the aircraft
Determine the unit area fountain height.
Preferably, first determining device includes user interaction means, and the user interaction means are used for user voluntarily
Determine unit area fountain height A of the spray pump in unit area B.
Control device according to claim 7, it is characterised in that the calibrating installation includes：
First arithmetic unit, it is used for the data difference for calculating the real-time opening amount and the expected opening amount；
Adjusting apparatus, it is used for the power output that the spray pump is adjusted based on the data difference.
Preferably, the adjusting apparatus includes：
Acquisition device, it is used to obtain real-time output voltage of the aircraft to the spray pump, the real-time output
Voltage is corresponding with the real-time opening amount；
4th determining device, it is used for the compensation output voltage that the spray pump is determined based on the data difference；
Second arithmetic unit is that it is used to calculating the real-time output voltage and the compensation output voltage and be expected
Output voltage；
Output device, it is used to export anticipated output voltage to the spray pump.
The present invention is calibrated to spray pump, reached by setting expected opening amount and gathering real-time opening amount on this basis
The function of quantitatively spraying, realizes uniform, accurate, accurately spray modes, and not by the limit of water pump type, operating power etc.
System.Meanwhile, unit area fountain height of the spray pump in unit area is voluntarily determined by user, user is enhanced and uses body
Test, also can be compatible for different crops and different decoction characteristics, expansion is stronger.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 shows the first embodiment of the present invention, the control method quantitatively sprayed in a kind of flight course
Flow chart；
Fig. 2 shows the first embodiment of the present invention, the stream for the control method quantitatively sprayed in another flight course
Cheng Tu；
Fig. 3 shows the second embodiment of the present invention, the stream for the control method quantitatively sprayed in another flight course
Cheng Tu；
Fig. 4 shows one embodiment of the present of invention, and the flow chart of the power output of spray pump is adjusted based on data difference；
Fig. 5 shows the second embodiment of the present invention, the control device quantitatively sprayed in a kind of flight course
Functional block diagram；
Fig. 6 shows a kind of function of the control device quantitatively sprayed in one embodiment of the present of invention, flight course
Module map；And
Fig. 7 shows a kind of functional module of the control device quantitatively sprayed in one embodiment of the present of invention, flight course
Figure.
Embodiment
Application of the rotor class unmanned plane in agricultural plant protection field is relatively broad, further subdivision again can be divided into single rotor and
Many rotor agricultural plant protection unmanned planes.Single rotor agricultural plant protection unmanned plane generally uses the engine of Aviation Fuel power, when taking off
Unmanned plane fuel and agricultural plant protection chemicals are carried simultaneously, and agricultural plant protection task is completed within the limited flight time.Many rotations
Wing agricultural plant protection unmanned plane provides moment of torsion frequently with motor for rotor, needs to carry high capacity cell and agricultural plant protection when taking off
Length of schooling agent.
The plant protection unmanned plane of current main-stream implements control generally by the way of wireless remote control, that is to say, that operator
Member is often by certain communication, and remote control unmanned vehicle is completed in the range of the field of one piece of particular area
Operation, existing unmanned vehicle, will in order to complete plant protection task, it is necessary to be provided for providing pressure to decoction on board the aircraft
Its pressure apparatus sprayed out, or the centrifugal device that decoction is thrown away using centrifugal force is installed.For example, patent
A kind of unmanned vehicle disclosed in CN104512551 A spills medicine device and is loaded in including aircraft body, carrier and fixation
Medicine liquid spray device is mounted with Sheng explosive barrel, decoction conveying assembly and battery on the carrier, the aircraft body,
The decoction conveying assembly includes loading hose, decoction transmission pump and automatic hose reel, and the Sheng explosive barrel bottom is provided with discharge opeing
Pipe, the discharging tube is connected to the inlet that the decoction transmits pump, and the loading hose is coiled on the automatic hose reel,
It is described to store and the two ends of the loading hose can be connected in the pump liquid outlet and medicine liquid spray device of the decoction transmission pump
Battery is respectively that the aircraft body and decoction transmission pump are powered, removable between the battery and the aircraft body
That unloads is electrically connected with the electric power connection line of flexibility.
Fig. 1 shows the control method quantitatively sprayed in a kind of flight course, and it is used for the aircraft for loading spray pump
Sprinkling control, comprises the following steps：
Step S101 is first carried out, unit area fountain height A of the spray pump in unit area B is determined.Specifically, institute
Stating unit area and the unit area fountain height has corresponding relation, and the unit area can be square metre, mu, hectare
Deng, the unit area fountain height mutually should be rise/square metre, liter/mu, liter/hectare etc..More specifically, the unit area
Fountain height can be empirical data, can also be manually set data, for example, for the field of a certain particular area, if the field
Once a certain specific decoction was repeatedly sprayed in ground, then a more objective unit area spray can be obtained by historical data
The amount of spilling, it is preferable that aircraft during the medicine liquid spray field to total spray area and total opening amount every time using also recording, base
Unit area fountain height can be calculated in these records.In another example, sprinkling work was had not carried out before, then unit area
Fountain height is then more subjective, i.e., user determines corresponding single according to the issuable loss of agriculture general knowledge and aircraft sprinkling institute
Plane accumulates fountain height.In another example, user can be combined with both the above mode and determine unit area fountain height.
Further, perform step S102, unit area B and unit area fountain height A based on the spray pump and
The real-time flight speed V and spraying swath L of the aircraft set the expection opening amount S of the spray pump.Specifically, in actual use
During, it is determined that after the flying distance of aircraft, the flight time that aircraft is spent can be determined by flying speed, tied
The total amount of liquid medicine sprayed can be determined by closing the opening amount of flight time and spray pump, can also be determined always with reference to spraying swath and flying distance
Spray area, at this moment, the interim achievement of the aircraft are determined, i.e. total amount of liquid medicine and total spray area.
Further, before the purpose of this step is that achievement has not yet been formed, it is first determined an expected opening amount, i.e.
Achievement can preferably be completed according to expected opening amount, therefore, the principle of the determination achievement based on more than, we are first
A preferable achievement can first be set, i.e. determine the unit area B and unit area fountain height A of the spray pump, so
Afterwards, the spraying swath of aircraft is certain, and the current flight speed of aircraft can in real time be gathered by sensor, it is determined that above
After element, you can to obtain the expection opening amount of a spray pump.
It will be appreciated by those skilled in the art that the accuracy of expected opening amount determined by step S102 and unit area fountain height
The accuracy of accuracy and current flight speed is directly related, and the accuracy of unit area fountain height can be by prior
Meticulous computing is controlled, and the accuracy of flying speed can be controlled by the accuracy of sensor, therefore, by this step
The accuracy for the expection opening amount that rapid mode is obtained can be well controlled, and in the prior art, or using a spy
Fixed spray modes are completed, or by the randomness operational control of user, i.e. prior art can not control sprinkling well
The opening amount of pump.Preferably, the expected opening amount is obtained based on equation below：S=(3A/2B) * L*V.
Further, step S103 is performed, the real-time opening amount of the spray pump is gathered.Specifically, can be by described
A flowmeter is set up on aircraft, and step S103 is realized by supporting harvester.The flowmeter can be rotor
Flowmeter, electromagnetic flowmeter or ultrasonic flowmeter, the signal that the harvester can collect the flowmeter turn
Turn to the real-time opening amount of data format.
Further, step S104 is performed, calibrates the spray pump to reach that the expection is opened based on the real-time opening amount
Amount.Specifically, the real-time opening amount of the spray pump collected can be sent to calibrating installation or control by the harvester
Device processed, the difference of the calibrating installation or controller based on the real-time opening amount and the expected opening amount is calibrated.Ability
Field technique personnel understand, to complete calibration steps, at least need a data to be calibrated and a target data, this step
In, the real-time opening amount is i.e. as data to be calibrated, and the expected opening amount is used as the target data.More specifically, it is complete
It can pass through two ways into calibration steps：First way is the difference for determining the real-time opening amount and the expected opening amount,
And the power output of the spray pump is compensated based on the difference；The second way is, according to the real-time opening amount correspondence
Power output determine the unit capacity of the spray pump, the expected opening amount pair is determined based on the unit capacity
The power output answered, directly switches to the corresponding power output of the expected opening amount by the power output of the spray pump.Ability
Field technique personnel understand, compared to the second way, when being calibrated using first way, spray the conversion of pump power output more
Gently, it can not only extend the service life of spray pump, can also be more uniformly distributed the spouting velocity of decoction.
As the first embodiment of the present invention, Fig. 2 shows the control method quantitatively sprayed in another flight course
Flow chart, comprises the following steps：
Step S201 is first carried out, the history flying distance of the aircraft and the history sprinkling of the spray pump is transferred
Amount.Specifically, the aircraft every time perform task during, can use the flight of cmf record every time away from
From and each fountain height, and the flying distance and the fountain height can gradually add up and ultimately form history flight
Distance and history fountain height.Although it will be appreciated by those skilled in the art that the spraying swath of fountain height and the aircraft, flying speed with
And spray pump opening amount is relevant, but this step is to transfer two recapitulative data, including history flying distance and history sprinkling
Amount, the history flying distance and history fountain height are capable of the situation of aircraft completion task described in general reaction.It is preferred that
Ground, the history flying distance and history fountain height are for a certain specific field, for example, each field is provided with
Special identification information, the aircraft is then based on the mark by recognizing that specific identification information determines corresponding field
Know information and transfer corresponding history flying distance and history fountain height.In another example, can be for different field and different
Decoction kind sets up independent database, and user directly selects the history flight in correspondence database before execution task is started
Distance and history fountain height.
Further, step S202 is performed, unit is determined based on the history flying distance and the history fountain height
Apart from fountain height.With reference to described in step S201, the purpose of the present embodiment is to be：It is more objective, accurately reflect be directed to certain
The achievement in one specific field.Correspondingly, in this step, some particular point in time or period are not limited to, and
It is the data that an equalization is obtained based on history achievement, i.e. unit distance fountain height, the unit distance fountain height is made
Reflect operating efficiency of the aircraft when specific field overhead performs sprinkling task for the objective data of a synthesization.
Further, step S203 is performed, expection flight path and unit distance spray based on the aircraft
The amount of spilling determines the unit area fountain height.It will be appreciated by those skilled in the art that the aircraft is before sprinkling task is performed, user
Expected flight path can be set, or the aircraft can automatically generate expected flight rail according to starting point and destination
Mark, no matter using which kind of mode, the expected flight path once it is determined that, the flying distance of the aircraft is to determine, afterwards
It is that can determine that the aircraft completes total fountain height that task is sprayed in this time, and this spray with reference to the unit distance fountain height
The field of a certain particular area of task correspondence is spilt, in fact, total fountain height is that is, unit area fountain height, unit area spray
The corresponding unit area of the amount of spilling is that is, the area in field, those skilled in the art can further manage with reference to step S101
Solution.
Further, perform step S204, unit area B and unit area fountain height A based on the spray pump and
The real-time flight speed V and spraying swath L of the aircraft set the expection opening amount S of the spray pump.Afterwards, step S205 is performed,
Gather the real-time opening amount of the spray pump.Afterwards, perform step S206, based on the real-time opening amount calibrate the spray pump with up to
To the expected opening amount.Those skilled in the art can understand above-mentioned steps with reference to step S102, S103, S104, refuse herein
Repeat.
As the second embodiment of the present invention, Fig. 3 shows the control method quantitatively sprayed in another flight course
Flow chart, comprises the following steps：
Step S301 is performed, unit area fountain height A of the spray pump in unit area B is determined.Specifically, this step
Step S101 and step S201 to step S203 can be combined to understand.
Perform step S302, unit area B and unit area fountain height A and the flight based on the spray pump
The real-time flight speed V and spraying swath L of device set the expection opening amount S of the spray pump, and specifically, this step can combine step
S102 understands.
Step S303 is performed, the real-time opening amount of the spray pump is gathered.Specifically, this step can combine step S103 reasons
Solution.
Step S304 is performed, the data difference of the real-time opening amount and the expected opening amount is calculated.Specifically, with reference to step
S104 description, for example, the real-time opening amount and the expected opening amount exist with binary data format, calibrating installation or
Principle of the controller based on binary minus operation completes the computing of this step.Step S305 is performed on this basis, based on institute
The power output that data difference adjusts the spray pump is stated, specifically, calibrating installation or controller can use PWM control modes
The power output of the spray pump is adjusted based on the data difference, correspondingly, if the data difference is on the occasion of increase is described
The power output of spray pump, if the data difference is negative value, reduces the power output of the spray pump.
As one kind change, the step S305 is achieved by the steps of：
Step S3051 is performed, real-time output voltage of the aircraft to the spray pump, the real-time output electricity is obtained
Pressure is corresponding with the real-time opening amount.It will be appreciated by those skilled in the art that during plant protection unmanned plane sprinkling decoction, for spray
The control for the amount of spilling is the considerations of one side, meanwhile, the response speed of adjustment water pump opening amount is also one important in real time
Considerations.In actual application, compareing for spray pump opening amount (unit is typically milliliters/second) and output voltage can be set up
The content that database, calibrating installation or controller can be read in contrasting data storehouse at any time determines that the real-time opening amount is corresponding
Implement output voltage.
Further, step S3052 is performed, the compensation output voltage of the spray pump is determined based on the data difference and counted
Calculate the real-time output voltage and the compensation output voltage and obtain anticipated output voltage.Specifically, the step S3051
In the form in contrasting data storehouse can be：The output voltage of water pump opening amount one unit of correspondence of one unit (is usually milli
Volt), correspondingly, as long as the data difference is determined, you can determine that the corresponding compensation of the data difference is defeated by contrasting data storehouse
Go out voltage, can calculate the anticipated output voltage afterwards.
Further, step S3053 is performed, anticipated output voltage is exported to the spray pump.Specifically, expection is obtained defeated
Go out after voltage, the magnitude of voltage exported to the spray pump can be adjusted by calibrating installation or controller, for example, the calibration
Device or the controller are realized in the control to the output voltage of spray pump, the analog circuit by analog circuit can be with
Adjustable resistance is set, the adjustment of output voltage can be achieved by adjusting the resistance of adjustable resistance.
As the second embodiment of the present invention, the control device quantitatively sprayed in a kind of flight course is also provided,
Applied it will be appreciated by those skilled in the art that the present invention is more in many rotor agricultural plant protection unmanned planes, the control device can be
An independent control device on plant protection unmanned plane, can be integrated in a control device of flight controller.Specifically,
The realization of the control function of the controller can be hardware, software or combination by computing device.If
Realized, can be arrived by the memory module of advance burning program to the controller, or by software installation by software module
In preset system；If realized by hardware, corresponding function is fixed using field programmable gate array (FPGA)
Change and realize.
Further, the memory module can be RAM memory, it is flash memory, ROM memory, eprom memory, hard
The storage medium of disk or any other form known in the art.By the way that the storage medium is coupled into processor, so that
The processor can read information from the storage medium, and can write information to the storage medium.It is used as one
Kind of change, the storage medium can be the part of processor, or the processor and the storage medium are respectively positioned on
On application specific integrated circuit (ASIC).
Further, the hardware can be that by the general processor of concrete function, digital signal processor
(DSP), application specific integrated circuit (ASIC), field programmable gate array (FPGA) or other PLDs, discrete gate or
The combination of transistor logic, discrete hardware components or more these hardware.As one kind change, it can also be set by calculating
Standby combination realizes, for example, the combination of DSP and microprocessor, the combination of multi-microprocessor, one of the combination that communicates with DSP
Or the combination of multi-microprocessor etc..
Further, as shown in figure 4, the control device includes following device：
First determining device 10, its unit area B for being used to determine the spray pump and unit area fountain height A.Setting
Device 20, it is used for unit area B and unit area fountain height A and the real-time of the aircraft based on the spray pump and flown
Scanning frequency degree V and spraying swath L sets the expection opening amount S of the spray pump.Harvester 40, it is used to gather the real-time of the spray pump
Opening amount.Calibrating installation 30, it is used to calibrate the spray pump to reach the expected opening amount based on the real-time opening amount.Specifically
Ground, first determining device 10 is determined after the unit area B and unit area fountain height A of the spray pump, will be described
The unit area B and unit area fountain height A of spray pump are sent to the setting device 20, and the setting device 20 also receives biography
The real-time flight speed V and spraying swath L for the aircraft that sensor 50 is sent, the setting device 20 set the expected opening amount S
Afterwards, the expected opening amount S is sent to the calibrating installation 30, meanwhile, harvester 40 is by the real-time opening amount of the spray pump
The calibrating installation 30 is also sent to, it is described to reach that the calibrating installation 30 is based on the real-time opening amount calibration spray pump
It is expected that opening amount, realizing for each device concrete function can be combined previously with regard in the control method quantitatively sprayed in flight course
Appearance is understood.
In a preferred embodiment, as shown in figure 5, first determining device 10 includes：Searcher 101, it is used
Identification information in search ground；Device 102 is transferred, it is used to fly based on the history that the identification information transfers the aircraft
The history fountain height of row distance and the spray pump；Second determining device 103, its be used for based on the history flying distance with
And the history fountain height determines unit distance fountain height；3rd determining device 104, it is used for the expection based on the aircraft
Flight path and the unit distance fountain height determine the unit area fountain height.Specifically, the searcher 101 is searched
Rope transfers device 102 to sending the identification information to described after the identification information on ground, and the device 102 of transferring is based on institute
State identification information and determine corresponding field, so transfer aircraft performed on the field history flight of sprinkling task away from
From and history fountain height, the device 102 of transferring sends the history flying distance and history fountain height to described
After two determining devices 103, second determining device 103 determines unit distance fountain height, and the second determining device 103 will be single afterwards
Position is sent to the 3rd determining device 104 apart from fountain height, and the 3rd determining device 104 receives flight controller transmission
Expection flight path determine unit area fountain height.It will be appreciated by those skilled in the art that in the present embodiment, the described 3rd determines
Device 104 is interacted with the setting device 20 with the setting device 20.The realization of each device concrete function can be combined
Content previously with regard to the control method quantitatively sprayed in flight course is understood.
Further, the calibrating installation 30 includes：First arithmetic unit 401, its be used to calculating the real-time opening amount with
The data difference of the expected opening amount；Adjusting apparatus, it is used for the power output that the spray pump is adjusted based on the data difference.This
Art personnel understand that first arithmetic unit 401 is handed over the setting device 20 and the harvester 40
Mutually, the adjusting apparatus controls the spray pump.More specifically, the adjusting apparatus includes：Acquisition device 404, it is used for
Real-time output voltage of the aircraft to the spray pump is obtained, the real-time output voltage is relative with the real-time opening amount
Should；4th determining device 402, it is used for the compensation output voltage that the spray pump is determined based on the data difference；Second computing
Device 403 is that it is used to calculating the real-time output voltage and the compensation output voltage and obtain anticipated output voltage；Output
Device 405, it is used to export anticipated output voltage to the spray pump.The realization of each device concrete function can combine foregoing
The content of control method on quantitatively being sprayed in flight course is understood.
As a change in Fig. 5 embodiments, as shown in fig. 6, first determining device 10 is filled including user mutual
105 are put, the user interaction means voluntarily determine unit area fountain height A of the spray pump in unit area B for user.
Specifically, the difference of this change case is, the need for the user's operating experience long-term based on its or personalization voluntarily
Set unit area B unit area fountain height A.So user can realize according to different crops and different pharmaceutical characteristic
Custom feature, correspondingly, the user interaction means are interacted with the setting device 20, coordinate the collection again afterwards
Device 40 and calibrating installation 30 realize purpose of the invention.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (12)
1. the control method quantitatively sprayed in a kind of flight course, it is used for the sprinkling control for the aircraft for loading spray pump, its
It is characterised by, comprises the following steps：
A. unit area fountain height A of the spray pump in unit area B is determined；
B. unit area B and unit area fountain height A and the real-time flight speed V of the aircraft based on the spray pump
The expection opening amount S of the spray pump is set with spraying swath L；
C. the real-time opening amount of the spray pump is gathered；
D. calibrate the spray pump to reach the expected opening amount based on the real-time opening amount.
2. control method according to claim 1, it is characterised in that the expected opening amount is obtained based on equation below：S=
(3A/2B)*L*V。
3. control method according to claim 1, it is characterised in that the step a comprises the following steps：
A1. the history flying distance of the aircraft and the history fountain height of the spray pump are transferred；
A2. unit distance fountain height is determined based on the history flying distance and the history fountain height；
A3. expection flight path and the unit distance fountain height based on the aircraft determines the unit area sprinkling
Amount.
4. control method according to claim 3, it is characterised in that the step a1 comprises the following steps：
A11. the identification information on the vehicle searches ground, the history flight of the aircraft is transferred based on the identification information
The history fountain height of distance and the spray pump.
5. control method according to claim 1, it is characterised in that in the step a, the spray is voluntarily determined by user
Spill unit area fountain height A of the pump in unit area B.
6. control method according to claim 1, it is characterised in that the step d comprises the following steps：
D1. the data difference of the real-time opening amount and the expected opening amount is calculated；
D2. the power output of the spray pump is adjusted based on the data difference.
7. control method according to claim 6, it is characterised in that the step d2 comprises the following steps：
D21. real-time output voltage of the aircraft to the spray pump is obtained, the real-time output voltage is opened in real time with described
Amount is corresponding；
D22. the compensation output voltage of the spray pump is determined based on the data difference and calculates the real-time output voltage and institute
State compensation output voltage and obtain anticipated output voltage；
D23. anticipated output voltage is exported to the spray pump.
8. the control device quantitatively sprayed in a kind of flight course, it is used for the control any one of perform claim requirement 1 to 7
Method processed, it is characterised in that including：
First determining device, its unit area B for being used to determine the spray pump and unit area fountain height A；
Setting device, it is used for unit area B and unit area fountain height A based on the spray pump and the aircraft
Real-time flight speed V and spraying swath L sets the expection opening amount S of the spray pump；
Harvester, it is used for the real-time opening amount for gathering the spray pump；
Calibrating installation, it is used to calibrate the spray pump to reach the expected opening amount based on the real-time opening amount.
9. control device according to claim 8, it is characterised in that first determining device includes：
Searcher, it is used for the identification information for searching for ground；
Device is transferred, it is used for history flying distance and the spray pump that the aircraft is transferred based on the identification information
History fountain height；
Second determining device, it is used to determine that unit distance is sprayed based on the history flying distance and the history fountain height
Amount；
3rd determining device, it is used for expection flight path and the unit distance fountain height based on the aircraft and determined
The unit area fountain height.
10. control device according to claim 8, it is characterised in that first determining device is filled including user mutual
Put, the user interaction means voluntarily determine unit area fountain height A of the spray pump in unit area B for user.
11. control device according to claim 8, it is characterised in that the calibrating installation includes：
First arithmetic unit, it is used for the data difference for calculating the real-time opening amount and the expected opening amount；
Adjusting apparatus, it is used for the power output that the spray pump is adjusted based on the data difference.
12. control device according to claim 11, it is characterised in that the adjusting apparatus includes：
Acquisition device, it is used to obtain real-time output voltage of the aircraft to the spray pump, the real-time output voltage
It is corresponding with the real-time opening amount；
4th determining device, it is used for the compensation output voltage that the spray pump is determined based on the data difference；
Second arithmetic unit is that it is used to calculating the real-time output voltage and the compensation output voltage and obtain anticipated output
Voltage；
Output device, it is used to export anticipated output voltage to the spray pump.
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