CN103869821B - Onboard automatic pesticide balancing system of agricultural unmanned aerial vehicle - Google Patents
Onboard automatic pesticide balancing system of agricultural unmanned aerial vehicle Download PDFInfo
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- CN103869821B CN103869821B CN201410128286.1A CN201410128286A CN103869821B CN 103869821 B CN103869821 B CN 103869821B CN 201410128286 A CN201410128286 A CN 201410128286A CN 103869821 B CN103869821 B CN 103869821B
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- medicine
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- electrodynamic pump
- aerial vehicle
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Abstract
The invention discloses an onboard automatic pesticide balancing system of an agricultural unmanned aerial vehicle. The onboard automatic pesticide balancing system of the agricultural unmanned aerial vehicle comprises an unmanned aerial vehicle body, a pesticide tank set, an electric pump set and a balance control system, wherein the pesticide tank set, the electric pump set and the balance control system are fixed to the unmanned aerial vehicle body, pesticide tanks are fixed in front of a lifting force focus O of the unmanned aerial vehicle body and behind the lifting force focus O of the unmanned aerial vehicle body, the balance control system comprises a PLC, a signal acquisition module, a data processing module and an execution module, weight sensors and an acceleration sensor are connected with the signal acquisition module, and the electric pump set is connected with the execution module. According to the onboard automatic pesticide balancing system of the agricultural unmanned aerial vehicle, data of the weight sensors installed on the bottoms of the pesticide tanks are measured in real time, input into the PLC, and calculated through the data processing module, the execution module controls the electric pump set to distribute liquid in each pesticide tank according to a balance formula, and thus automatic balancing is achieved; compared with the prior art, the onboard automatic pesticide balancing system of the agricultural unmanned aerial vehicle has the advantages that the pesticide loading capacity is improved under the condition that the cabin space is limited, the pesticide loading frequency of the unmanned aerial vehicle is reduced, and working efficiency is improved.
Description
[technical field]
The present invention relates to civil aviation technical field, particularly a kind of agricultural unmanned aerial vehicle onboard agricultural chemicals automatic-balancing system.
[background technology]
Utilize unmanned plane to implement spray medicine and fertilising work to large-area farmland, decrease cost in work, improve operating efficiency, had some agriculture rich anies influential family to start to be equipped with this equipment at present, popularized especially abroad.But the situation that unmanned plane effective drug loading is little at present exists always, increasingly mature along with engine technology, working continuously of long period can realize, but fuel only consumes half often, agricultural chemicals has sprayed, must return airport filling agricultural chemicals, drugloading rate has become a bottleneck of unmanned plane agricultural operation.
Unmanned plane, because there is certain singularity in its structure, in order to the basic aerodynamic demands of satisfied flight, so a lot of position structure that must be necessary and support, but these structures are very responsive to weight with support, so seem very large unmanned plane cabin, be difficult to must make good use of reasonable for these spaces, equally, drugloading rate be strengthened and neither do large aircraft ground volume simply.The present invention will solve exactly and by automatic-balancing system, agricultural chemicals be filled many as much as possible in limitedly cabin space, and unmanned plane during flying, meet longitudinally, laterally lift, gravity must balance, namely so-called lift focus and gravity focus.General aircraft obtains lift focus all on the crossbeam of wing, that is the lift that aircraft wing produces is concentrated and is acted on the crossbeam of wing, on aircraft, the gravity of all objects also acts on crossbeam, liquid can Free Slosh in a larger space, equilibrium problem during aircraft flight can be destroyed like this, so the container which limits dress agricultural chemicals can not be too large, but also on centre of lift position, the drugloading rate of aircraft must be which limits.
[summary of the invention]
Object of the present invention solves the problems of the prior art exactly, proposes a kind of agricultural unmanned aerial vehicle onboard agricultural chemicals automatic-balancing system, can strengthen agricultural chemicals charging capacity, reduce reciprocal time, improve unmanned plane work efficiency in limitedly cabin space.
For achieving the above object, the present invention proposes a kind of agricultural unmanned aerial vehicle onboard agricultural chemicals automatic-balancing system, comprise unmanned plane body and be fixed on medicine-chest group, electrodynamic pump group and the balance control system on unmanned plane body, described medicine-chest group is made up of front medicine-chest group and rear medicine-chest group, described front medicine-chest group is fixed on the front of the lift focus O of unmanned plane body, and rear medicine-chest group is fixed on the rear of the lift focus O of unmanned plane body; In front medicine-chest group, the weight of each medicine-chest and described medicine-chest equal the weight of each medicine-chest in rear medicine-chest group and the described medicine-chest distance product sum to lift focus O to the distance product sum of lift focus O; Medicine-chest group described in electrodynamic pump group drives, described medicine-chest group is fixed with weight sensor, described unmanned plane body is fixed with acceleration transducer, described balance control system is connected with electrodynamic pump group, described balance control system comprises PL controller, signal acquisition module, data processing module and execution module, weight sensor is connected described signal acquisition module with acceleration transducer, and described electrodynamic pump group connects execution module.
As preferably, described front medicine-chest group comprises the first medicine-chest and the second medicine-chest, rear medicine-chest group comprises the 3rd medicine-chest and the 4th medicine-chest, divide equally cloth bottom described first medicine-chest, the second medicine-chest, the 3rd medicine-chest and the 4th medicine-chest and be provided with weight sensor, described first medicine-chest and the second medicine-chest are positioned at the front of the lift focus O of unmanned plane body, and the 3rd medicine-chest and the 4th medicine-chest are positioned at the rear of the lift focus O of unmanned plane body.
As preferably, described first medicine-chest and the second medicine-chest lay respectively at the left and right sides of unmanned plane body, and the 3rd medicine-chest and the 4th medicine-chest lay respectively at the left and right sides of unmanned plane body.
As preferably, described first medicine-chest, the second medicine-chest, between the 3rd medicine-chest and the 4th medicine-chest, meet following formula:
G
1L
1+G
2L
2=G
3L
3+G
4L
4
In above-mentioned formula: L
1it is the distance of the first medicine-chest A to lift focus O; L
2it is the distance of the second medicine-chest B to lift focus O; L
3it is the distance of the 3rd medicine-chest C to lift focus O; L
4it is the distance of the 4th medicine-chest D to lift focus O; G
1be the weight of the first medicine-chest A; G
2be the weight of the second medicine-chest B; G
3be the weight of the 3rd medicine-chest C; G
4be the weight of the 4th medicine-chest D.
As preferably, described electrodynamic pump group comprises the first electrodynamic pump, the second electrodynamic pump, the 3rd electrodynamic pump and the 4th electrodynamic pump, and the first electrodynamic pump drives the first medicine-chest, and the second electrodynamic pump drives the second medicine-chest, 3rd electrodynamic pump drives the 3rd medicine-chest, and the 4th electrodynamic pump drives the 4th medicine-chest.
As preferably, described first medicine-chest, the second medicine-chest, the 3rd medicine-chest and the 4th medicine-chest communicate with each other through passage, facilitate electrodynamic pump group to regulate agricultural chemicals in each medicine-chest.
As preferably, in described medicine-chest group, each medicine-chest is provided with anti-wobble mechanism, described anti-wobble mechanism comprises floating plate and some floating seats, described floating seat and floating plate are connected and fixed, floating seat has buoyancy, thus make floating plate float on the liquid level of medicine-chest, prevent liquid level from producing violent rocking.
As preferably, in described medicine-chest group each medicine-chest inwall on offer the groove corresponding with the quantity of floating seat, described floating seat embeds and is fixed in groove, groove is made to have positioning action to floating seat, facilitate floating plate to follow the motion of liquid level in the vertical direction, prevent liquid level from producing violent rocking.
As preferably, in described medicine-chest group, each medicine-chest is provided with backstay, floating plate offers the pilot hole corresponding with backstay position, backstay runs through described pilot hole, backstay is made to have positioning action to floating plate, facilitate floating plate to follow the motion of liquid level in the vertical direction, prevent liquid level from producing violent rocking.
Beneficial effect of the present invention: the motion being changed to " z " axle defining aircraft flight height in the present invention, when acceleration transducer detects that z-axis acceleration is 0, just can measure the data being arranged on each medicine-chest bottom heaviness sensor in real time, and input in PLC, by data processing module computing, the result generated, control electrodynamic pump group by execution module the liquid in each medicine-chest is distributed according to equation of equilibrium, reach self-poise, compared with prior art, the present invention increases agricultural chemicals charging capacity in limitedly cabin space, decrease the reciprocal powder charge number of times of unmanned plane, improve work efficiency.
Feature of the present invention and advantage will be described in detail by reference to the accompanying drawings by embodiment.
[accompanying drawing explanation]
Fig. 1 is structural representation of the present invention;
Fig. 2 is balance control system framework in the present invention;
Fig. 3 is the structural representation of fuel tank in the present invention.
In figure: medicine-chest group, 4-first electrodynamic pump, 5-second electrodynamic pump, 6-the 3rd electrodynamic pump, 7-the 4th electrodynamic pump, 8-acceleration transducer, 9-weight sensor, 11-floating plate, the floating seat of 12-, 13-groove, 14-backstay, 15-pilot hole, A-first medicine-chest, B-second medicine-chest, C-the 3rd medicine-chest, D-the 4th medicine-chest after medicine-chest group, 3-before 1-unmanned plane body, 2-.
[embodiment]
Consult Fig. 1, Fig. 2 and Fig. 3, the present invention includes unmanned plane body 1 and be fixed on medicine-chest group, electrodynamic pump group and the balance control system on unmanned plane body 1, described medicine-chest group is made up of front medicine-chest group 2 and rear medicine-chest group 3, described front medicine-chest group 2 is fixed on the front of the lift focus O of unmanned plane body 1, and rear medicine-chest group 3 is fixed on the rear of the lift focus O of unmanned plane body 1, in front medicine-chest group 2, the weight of each medicine-chest and described medicine-chest equal the weight of each medicine-chest in rear medicine-chest group 3 and the described medicine-chest distance product sum to lift focus O to the distance product sum of lift focus O, medicine-chest group described in electrodynamic pump group drives, described medicine-chest group is fixed with weight sensor 9, described unmanned plane body 1 is fixed with acceleration transducer 8, described balance control system is connected with electrodynamic pump group, described balance control system comprises PLC, signal acquisition module, data processing module and execution module, weight sensor 9 is connected described signal acquisition module with acceleration transducer 8, described electrodynamic pump group connects execution module, described front medicine-chest group 2 comprises the first medicine-chest A and the second medicine-chest B, rear medicine-chest group 3 comprises the 3rd medicine-chest C and the 4th medicine-chest D, described first medicine-chest A, second medicine-chest B, divide equally cloth bottom 3rd medicine-chest C and the 4th medicine-chest D and be provided with weight sensor 9, described first medicine-chest A and the second medicine-chest B is positioned at the front of the lift focus O of unmanned plane body 1, 3rd medicine-chest C and the 4th medicine-chest D is positioned at the rear of the lift focus O of unmanned plane body 1, described first medicine-chest A and the second medicine-chest B lays respectively at the left and right sides of unmanned plane body 1, 3rd medicine-chest C and the 4th medicine-chest D lays respectively at the left and right sides of unmanned plane body 1, described first medicine-chest A, second medicine-chest B, following formula is met between 3rd medicine-chest C and the 4th medicine-chest D:
G
1L
1+G
2L
2=G
3L
3+G
4L
4
In above-mentioned formula: L
1it is the distance of the first medicine-chest A to lift focus O; L
2it is the distance of the second medicine-chest B to lift focus O; L
3it is the distance of the 3rd medicine-chest C to lift focus O; L
4it is the distance of the 4th medicine-chest D to lift focus O; G
1be the weight of the first medicine-chest A; G
2be the weight of the second medicine-chest B; G
3be the weight of the 3rd medicine-chest C; G
4be the weight of the 4th medicine-chest D.
Described electrodynamic pump group comprises the first electrodynamic pump 4, second electrodynamic pump 5, 3rd electrodynamic pump 6 and the 4th electrodynamic pump 7, first electrodynamic pump 4 drives the first medicine-chest A, second electrodynamic pump 5 drives the second medicine-chest B, 3rd electrodynamic pump 6 drives the 3rd medicine-chest B, 4th electrodynamic pump 7 drives the 4th medicine-chest B, described first medicine-chest A, second medicine-chest B, 3rd medicine-chest C and the 4th medicine-chest D communicates with each other through passage, in described medicine-chest group, each medicine-chest is provided with anti-wobble mechanism, described anti-wobble mechanism comprises floating plate 11 and some floating seats 12, described floating seat 12 is connected and fixed with floating plate 11, in described medicine-chest group each medicine-chest inwall on offer the groove 13 corresponding with the quantity of floating seat 12, described floating seat 12 embeds and is fixed in groove 13, in described medicine-chest group, each medicine-chest is provided with backstay 14, floating plate 11 offers the pilot hole 15 corresponding with backstay 14 position, backstay 15 runs through described pilot hole 15.
Principle of work of the present invention: the center of gravity of aircraft is each several part centers of gravity " conjunction center of gravity " such as wing, fuselage, empennage, and after the model of an airplane is devised and creates, the position of center of gravity just determines.Aircraft is the aircraft overweighting air, aloft will fly and must have lift.Lift is mainly produced by wing and tailplane, and making a concerted effort of this two parts lift is the total life of the model of an airplane, and its application point is lift focus, and whether its position is appropriately one of key factor determining aeroplane performance.Owing to spraying the singularity of operation, great changes have taken place with weight meeting during landing when taking off for unmanned plane, because dose is in continuous minimizing, so the load of flying aircraft is constantly in reduction.We define the motion being changed to " z " axle of aircraft flight height.In PLC, input computing formula: 4 medicine-chest A/B/C/D, medicine-chest is L to the distance of lift focus O, and medicine-chest A and B is in the front of lift focus O, and medicine-chest C and D, at the rear of lift focus O, namely obtains formula G
1l
1+ G
2l
2=G
3l
3+ G
4l
4, when acceleration transducer detects that z-axis acceleration is 0, the data being arranged on each medicine-chest bottom heaviness sensor just can be measured constantly.And input in PLC, by data processing module computing.The result generated, control electrodynamic pump group by execution module the liquid in each medicine-chest is distributed according to equation of equilibrium, reach self-poise, compared with prior art, the present invention increases agricultural chemicals charging capacity in limitedly cabin space, decrease the reciprocal powder charge number of times of unmanned plane, improve work efficiency.
Above-described embodiment is to explanation of the present invention, is not limitation of the invention, anyly all belongs to protection scope of the present invention to the scheme after simple transformation of the present invention.
Claims (1)
1. an agricultural unmanned aerial vehicle onboard agricultural chemicals automatic-balancing system, it is characterized in that: comprise unmanned plane body (1) and be fixed on medicine-chest group, electrodynamic pump group and the balance control system on unmanned plane body (1), described medicine-chest group is made up of front medicine-chest group (2) and rear medicine-chest group (3), described front medicine-chest group (2) is fixed on the front of the lift focus (O) of unmanned plane body (1), and rear medicine-chest group (3) is fixed on the rear of the lift focus (O) of unmanned plane body (1), in front medicine-chest group (2), the weight of each medicine-chest and described medicine-chest equal the weight of each medicine-chest in rear medicine-chest group (3) and the described medicine-chest distance product sum to lift focus (O) to the distance product sum of lift focus (O), medicine-chest group described in electrodynamic pump group drives, described medicine-chest group is fixed with weight sensor (9), described unmanned plane body (1) is fixed with acceleration transducer (8), described balance control system is connected with electrodynamic pump group, described balance control system comprises PLC, signal acquisition module, data processing module and execution module, weight sensor (9) is connected described signal acquisition module with acceleration transducer (8), described electrodynamic pump group connects execution module, described front medicine-chest group (2) comprises the first medicine-chest (A) and the second medicine-chest (B), rear medicine-chest group (3) comprises the 3rd medicine-chest (C) and the 4th medicine-chest (D), described first medicine-chest (A), second medicine-chest (B), 3rd medicine-chest (C) and the 4th medicine-chest (D) bottom are divided equally cloth and are provided with weight sensor (9), described first medicine-chest (A) and the second medicine-chest (B) are positioned at the front of the lift focus (O) of unmanned plane body (1), 3rd medicine-chest (C) and the 4th medicine-chest (D) are positioned at the rear of the lift focus (O) of unmanned plane body (1), described first medicine-chest (A) and the second medicine-chest (B) lay respectively at the left and right sides of unmanned plane body (1), 3rd medicine-chest (C) and the 4th medicine-chest (D) lay respectively at the left and right sides of unmanned plane body (1), described first medicine-chest (A), second medicine-chest (B), following formula is met: G between 3rd medicine-chest (C) and the 4th medicine-chest (D)
1l
1+ G
2l
2=G
3l
3+ G
4l
4, in above-mentioned formula: L1 is the distance of the first medicine-chest (A) to lift focus (O), L2 is the distance of the second medicine-chest (B) to lift focus (O), L3 is the distance of the 3rd medicine-chest (C) to lift focus (O), L4 is the distance of the 4th medicine-chest (D) to lift focus (O), G1 is the weight of the first medicine-chest (A), G2 is the weight of the second medicine-chest (B), G
3be the weight of the 3rd medicine-chest (C), G
4be the weight of the 4th medicine-chest (D), described electrodynamic pump group comprises the first electrodynamic pump (4), second electrodynamic pump (5), 3rd electrodynamic pump (6) and the 4th electrodynamic pump (7), first electrodynamic pump (4) drives the first medicine-chest (A), second electrodynamic pump (5) drives the second medicine-chest (B), 3rd electrodynamic pump (6) drives the 3rd medicine-chest (B), 4th electrodynamic pump (7) drives the 4th medicine-chest (B), described first medicine-chest (A), second medicine-chest (B), 3rd medicine-chest (C) and the 4th medicine-chest (D) communicate with each other through passage, in described medicine-chest group, each medicine-chest is provided with anti-wobble mechanism, described anti-wobble mechanism comprises floating plate (11) and some floating seats (12), described floating seat (12) and floating plate (11) are connected and fixed, in described medicine-chest group each medicine-chest inwall on offer the groove (13) corresponding with the quantity of floating seat (12), the embedding of described floating seat (12) is fixed in groove (13), in described medicine-chest group, each medicine-chest is provided with backstay (14), floating plate (11) offers the pilot hole (15) corresponding with backstay (14) position, backstay (15) runs through described pilot hole (15).
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| CN201410128286.1A CN103869821B (en) | 2014-04-01 | 2014-04-01 | Onboard automatic pesticide balancing system of agricultural unmanned aerial vehicle |
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| CN103869821B true CN103869821B (en) | 2015-02-11 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US11464168B2 (en) * | 2016-10-12 | 2022-10-11 | Kyndryl, Inc. | Automated vegetation removal |
| CN106545102B (en) * | 2016-10-28 | 2019-03-01 | 同济大学 | Kickboard type Tuned Liquid |
| CN106873588B (en) * | 2017-02-10 | 2020-06-12 | 中国东方电气集团有限公司 | Hazardous chemical solution extraction method based on mobile robot |
| CN107466995A (en) * | 2017-07-10 | 2017-12-15 | 许昌农科种业有限公司 | A kind of agricultural unmanned aerial vehicle onboard agricultural chemicals automatic-balancing system |
| CN108036849A (en) * | 2017-12-29 | 2018-05-15 | 中国农业科学院农业信息研究所 | A kind of aquatic products monitoring device and method based on unmanned plane |
| CN108557061A (en) * | 2018-01-05 | 2018-09-21 | 深圳市贝优通新能源技术开发有限公司 | A kind of bridge intelligent detection equipment with defencive function |
| CN113291479B (en) * | 2021-07-22 | 2021-09-21 | 江苏南瓯物联网科技有限公司 | Unmanned aerial vehicle scram detecting instrument |
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| CN103213683A (en) * | 2010-03-16 | 2013-07-24 | 北京航空航天大学 | Small multipurpose unmanned plane with oil tank embedded into blended wing body |
| CN203849616U (en) * | 2014-04-01 | 2014-09-24 | 绍兴卓群航空科技有限公司 | Airborne pesticide automatic balance system of agricultural unmanned plane |
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