CN103777652A - Intelligent pesticide applying control system based on unmanned helicopter - Google Patents
Intelligent pesticide applying control system based on unmanned helicopter Download PDFInfo
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- CN103777652A CN103777652A CN201410032811.XA CN201410032811A CN103777652A CN 103777652 A CN103777652 A CN 103777652A CN 201410032811 A CN201410032811 A CN 201410032811A CN 103777652 A CN103777652 A CN 103777652A
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Abstract
The invention discloses an intelligent pesticide applying control system based on an unmanned helicopter. The system comprises a pesticide applying controller and a pesticide spraying executing device, wherein the pesticide applying controller and the pesticide spraying executing device are fixedly arranged on the top of the unmanned helicopter, the pesticide applying controller comprises a microprocessor, a barrier device, a power driving module and an interface converting device, the microprocessor is in wiring connection with both the interface converting device and the barrier device, the output end of the barrier device is in wiring connection with the power driving module, and the output end of the power driving module is in wiring connection with the input end of a water pump. The system has the advantages of being compact in structure, small in size, light, long in service life, high in control accuracy, high in output power, adaptive to different spray heads, high in reliability and the like. Furthermore, the flow is adaptive to flying speed, and the functions are easy to expand.
Description
Technical field
The invention provides a kind of topworks of depopulated helicopter, i.e. a kind of Intelligent pesticide application control system based on depopulated helicopter, can effectively carry out pesticide spraying operation.This system can be arranged on depopulated helicopter easily, and in flight course, 8 grades of capacity of sprinkler are controlled, and carries out adaptive change with flying speed; After landing, can carry out fast dosing flight again, belong to the technical field that agricultural plant protection is relevant.
Technical background
In the plant protection field of control diseases and pests of agronomic crop, artificial mark spraying medicine is a kind of traditional approach, but the shortcoming that its efficiency is low, expense is high is also fairly obvious, in cannot meeting, the pesticide spraying operation in extensive farmland, therefore mechanization spray medicine has replaced artificial mark spraying medicine becomes a kind of important dispenser means.Progressively grow up in recent years take depopulated helicopter as basic pesticide spraying operation, but there is equally distinct disadvantage: be mainly because dispenser system cannot be carried out adaptive change medicinal liquid flow, in the time giving aircraft dosing, directly pour liquid into medicine-chest simultaneously, mode is single, what causes medicine liquid spray inhomogeneous from, the defects such as dosing process time length.Therefore traditional dispenser system has seriously reduced effect and the efficiency of pesticide spraying.
Summary of the invention
In view of the defect of above-mentioned prior art existence, the object of the invention is to propose a kind of convenience of installing, change dressings, and with the efficient depopulated helicopter Intelligent pesticide application control system of flying speed adaptively changing capacity of sprinkler, this system by the steering order of reception flight control computer, the sprinkling flow of application equipment is regulated and this Intelligent pesticide application control system provides model selection function to different shower nozzles.This dispenser control mode is pure digi-tal control, is characterized in that precision is high, dirigibility is strong, control mode is advanced, reliability is higher.
For addressing the above problem, the technical solution used in the present invention is a kind of Intelligent pesticide application control system based on depopulated helicopter, comprise dispenser controller and pesticide spraying actuating unit, described dispenser controller and pesticide spraying topworks are fixedly installed on unmanned plane top.
Described dispenser controller comprises microprocessor, isolating device, power driver module and interface conversion device; Described microprocessor is connected with interface conversion device and isolating device wiring simultaneously, and the output terminal of described isolating device is connected with described power driver module wiring.
Described pesticide spraying actuating unit comprises pesticide box and flusher, and described pesticide box comprises medicine-chest body and rapid-acting coupling female end, and described flusher comprises rapid-acting coupling male end, liquid pipeline, water pump and shower nozzle.
Described pesticide box and flusher are circulated to water pump through liquid pipeline after being flexibly connected by rapid-acting coupling male and female end.
The output terminal of described power driver module is connected with the input end wiring of described water pump.
The technical scheme that the present invention further limits is:
Further, be provided with the Linear Control module of parameter in described water pump, controlled frequency is 19.2KHZ.
Further, described shower nozzle be 8 grades controlled, no-load power consumption is less than 22W, rated disspation is 70W.
Further, this system weight is not more than 7kg, liquid laden weight 24kg, and when operation, flow is at 1.2 ~ 2.6L/min.
Further, described microprocessor selects dsPIC30F6011A, isolating device to select HCPL0601, power driver module to select WSA54, interface conversion device to select MAX3160.
Dispenser controller reception depopulated helicopter flies to control the serial ports instruction of device, and the voltage of controlled loading on water pump, by the rotating speed of regulation voltage and then adjusting water pump, drives the liquid in medicine-chest to spray by shower nozzle.
The invention has the beneficial effects as follows: the present invention has that compact conformation, volume are little, lightweight, long service life, and control accuracy is high, output power large,, function higher with flying speed self-adaptation, reliability to different shower nozzle self-adaptations, flow is easy to the advantages such as expansion.
Accompanying drawing explanation
Fig. 1 is pesticide spraying device structural representation of the present invention.
Fig. 2 is medicine spraying tube of the present invention road system diagram.
Fig. 3 is dispenser controller principle figure of the present invention.
Fig. 4 is dispenser control program process flow diagram of the present invention.
In accompanying drawing: 1-chemical spraying device; 2-pesticide box.
Embodiment
A kind of Intelligent pesticide application control system based on depopulated helicopter that the present embodiment provides, as shown in Figures 1 to 4, comprises dispenser controller and pesticide spraying actuating unit, and dispenser controller and pesticide spraying topworks are fixedly installed on unmanned plane top; Pesticide spraying actuating unit is made up of pesticide box 2, flusher 1, liquid pipeline; Pesticide box 2 is made up of medicine-chest body, jointing clip, slot sheet, stay pipe and rapid-acting coupling female end, is the carrier that liquid is provided for flusher; Flusher 1 comprise link, water pump, dispenser controller module, spray boom, shower nozzle, rapid-acting coupling male end and and liquid pipeline, it is driven and is realized spray medicine by water pump under the control of control module; Liquid pipeline refers to that liquid imports in water pump after rapid-acting coupling is flowed out jointly from two pesticide box 2, then flows to each shower nozzle by water pump, and wherein rapid-acting coupling can realize the connected sum disconnection of liquid at medicine-chest and flusher 1.
Dispenser controller is made up of microprocessor dsPIC30F6011A, isolating device HCPL0601, power driver module WSA54 and interface conversion device MAX3160, as shown in Figure 2.
Serial ports TXD pin, the RXD pin of microprocessor dsPIC30F6011A are connected with serial ports RXD pin, the TXD pin of interface convertor MAX3160 respectively, PWM pin is connected with isolating device HCPL0601, the output of isolating device HCPL0601 is connected with the INPUT pin of power driver module WSA54, and the power stage AOUT1 pin of power driver module WSA54 is connected with 2 input terminals of water pump respectively with BOUT1 pin.
When work, first two bearing pins of flusher 1 are inserted to undercarriage, fastening two screws, are installed on depopulated helicopter simultaneously; Again pesticide box 2 is connected with flusher 1 with helicopter, aim at and fly to control case stay pipe and slot sheet, slightly firmly press down and can install and fastening, again the male end and female end of rapid-acting coupling is connected, realize the connection of liquid, liquid drives by water pump the sprinkling that realizes liquid under the control of dispenser controller.
In the time that needs are changed dressings, can by rapid-acting coupling male and female separately, unplug medicine-chest assembly; Change again another group medicine-chest, and adopt aforesaid way again medicine-chest to be installed on helicopter and to carry out operation, quick and convenient, significantly improve the efficiency of changing dressings.
The control of the present embodiment dispenser controller separates with drive part, water pump controlled frequency 19.2KHZ, and the Linear Control that control mode is built-in parameter, 8 grades, shower nozzle is controlled, and no-load power consumption is less than 22W, and rated disspation is 70W.
Accompanying drawing 3,4 is dispenser controller principle figure and the software realization flow figure of Intelligent pesticide application control system.The inside and outside circuit part of control circuit is isolated mutually, adopts the driver module of full H bridge.
Principle of work: dispenser controller receives depopulated helicopter flight control computer flying speed value by serial ports, this flying speed value is as a part for the pwm signal dutyfactor value of pump speed control, this flying speed value is sent into power driver module as pwm signal dutyfactor value after regulating by corresponding control parameter and is carried out after power transfer, can drive water pump to carry out speed governing campaign, realize the control of dispenser uninterrupted.
In addition to the implementation, the present invention can also have other embodiments.All employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection domain of requirement of the present invention.
Claims (5)
1. the Intelligent pesticide application control system based on depopulated helicopter, comprises dispenser controller and pesticide spraying actuating unit, and described dispenser controller and pesticide spraying topworks are fixedly installed on unmanned plane top; It is characterized in that:
Described dispenser controller comprises microprocessor, isolating device, power driver module and interface conversion device; Described microprocessor is connected with interface conversion device and isolating device wiring simultaneously, and the output terminal of described isolating device is connected with described power driver module wiring;
Described pesticide spraying actuating unit comprises pesticide box and flusher, and described pesticide box comprises medicine-chest body and rapid-acting coupling female end, and described flusher comprises rapid-acting coupling male end, liquid pipeline, water pump and shower nozzle;
Described pesticide box and flusher are circulated to water pump through liquid pipeline after being flexibly connected by rapid-acting coupling male end and rapid-acting coupling female end;
The output terminal of described power driver module is connected with the input end wiring of described water pump.
2. a kind of Intelligent pesticide application control system based on depopulated helicopter according to claim 1, is characterized in that: in described water pump, be provided with the Linear Control module of parameter, controlled frequency is 19.2KHZ.
3. a kind of Intelligent pesticide application control system based on depopulated helicopter according to claim 1, is characterized in that: described shower nozzle be 8 grades controlled, no-load power consumption is less than 22W, rated disspation is 70W.
4. a kind of Intelligent pesticide application control system based on depopulated helicopter according to claim 1, is characterized in that: this system weight is not more than 7kg, medicine company laden weight 24kg, and when operation, flow is at 1.2 ~ 2.6L/min.
5. a kind of Intelligent pesticide application control system based on depopulated helicopter according to claim 1, is characterized in that: described microprocessor selects dsPIC30F6011A, isolating device to select HCPL0601, power driver module to select WSA54, interface conversion device to select MAX3160.
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| CN201410032811.XA CN103777652A (en) | 2014-01-23 | 2014-01-23 | Intelligent pesticide applying control system based on unmanned helicopter |
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| CN201410032811.XA CN103777652A (en) | 2014-01-23 | 2014-01-23 | Intelligent pesticide applying control system based on unmanned helicopter |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104750126A (en) * | 2015-03-27 | 2015-07-01 | 广西田园生化股份有限公司 | Intelligent control method and device for unmanned rotor wing pesticide applying machine |
| CN105067484A (en) * | 2015-07-22 | 2015-11-18 | 国网河南省电力公司濮阳供电公司 | Unmanned plane based live-line test apparatus for hydrophobicity of composite insulator of power transmission line |
| CN106640689A (en) * | 2016-12-23 | 2017-05-10 | 上海俏动智能化科技有限公司 | Method for controlling spray pump in flight process |
| CN108473203A (en) * | 2015-11-02 | 2018-08-31 | 脉冲航空有限责任公司 | Distribution system for unmanned vehicle |
| JPWO2018012129A1 (en) * | 2016-07-12 | 2019-04-25 | ヤンマーアグリ株式会社 | Scattering processor |
| CN110672937A (en) * | 2019-09-18 | 2020-01-10 | 北京农业智能装备技术研究中心 | Atomization efficiency evaluation method and device of electric atomizer |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104750126A (en) * | 2015-03-27 | 2015-07-01 | 广西田园生化股份有限公司 | Intelligent control method and device for unmanned rotor wing pesticide applying machine |
| CN105067484A (en) * | 2015-07-22 | 2015-11-18 | 国网河南省电力公司濮阳供电公司 | Unmanned plane based live-line test apparatus for hydrophobicity of composite insulator of power transmission line |
| CN105067484B (en) * | 2015-07-22 | 2018-01-26 | 国网河南省电力公司濮阳供电公司 | Hydrophobicity of composite insulator of power transmission line live testing device based on unmanned plane |
| CN108473203A (en) * | 2015-11-02 | 2018-08-31 | 脉冲航空有限责任公司 | Distribution system for unmanned vehicle |
| US11130573B2 (en) | 2015-11-02 | 2021-09-28 | Aerovironment, Inc. | Disbursement system for an unmanned aerial vehicle |
| US11338921B2 (en) | 2015-11-02 | 2022-05-24 | Aerovironment, Inc. | Disbursement system for an unmanned aerial vehicle |
| JPWO2018012129A1 (en) * | 2016-07-12 | 2019-04-25 | ヤンマーアグリ株式会社 | Scattering processor |
| JP2020073386A (en) * | 2016-07-12 | 2020-05-14 | ヤンマーアグリ株式会社 | Spray performing device |
| CN106640689A (en) * | 2016-12-23 | 2017-05-10 | 上海俏动智能化科技有限公司 | Method for controlling spray pump in flight process |
| CN106640689B (en) * | 2016-12-23 | 2018-04-20 | 上海俏动智能化科技有限公司 | The control method of spray pump in a kind of flight course |
| CN110672937A (en) * | 2019-09-18 | 2020-01-10 | 北京农业智能装备技术研究中心 | Atomization efficiency evaluation method and device of electric atomizer |
| CN110672937B (en) * | 2019-09-18 | 2021-08-03 | 北京农业智能装备技术研究中心 | Atomization efficiency evaluation method and device of electric atomizer |
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