CN104914885A - Self-gravity-type material-box-flow uniform control device and control method - Google Patents
Self-gravity-type material-box-flow uniform control device and control method Download PDFInfo
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- CN104914885A CN104914885A CN201510164752.6A CN201510164752A CN104914885A CN 104914885 A CN104914885 A CN 104914885A CN 201510164752 A CN201510164752 A CN 201510164752A CN 104914885 A CN104914885 A CN 104914885A
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- flow control
- control board
- steering wheel
- feed tank
- body feed
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 239000000463 material Substances 0.000 claims abstract description 28
- 230000005484 gravity Effects 0.000 claims description 23
- 238000007599 discharging Methods 0.000 claims description 6
- 238000010030 laminating Methods 0.000 claims description 5
- 230000000452 restraining effect Effects 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 238000009331 sowing Methods 0.000 description 8
- 235000013339 cereals Nutrition 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 230000007480 spreading Effects 0.000 description 2
- 235000001674 Agaricus brunnescens Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000010152 pollination Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 230000000576 supplementary effect Effects 0.000 description 1
Abstract
The invention discloses a self-gravity-type material-box-flow uniform control device and a control method. The device comprises a first flow adjusting plate, a second flow adjusting plate, a third flow adjusting plate, a first steering engine with a first mechanical arm, a second steering engine with a second mechanical arm, a third steering engine with a third mechanical arm, a steering engine controller and a fixing frame. The first flow adjusting plate is connected to the first steering engine through the first mechanical arm. The second flow adjusting plate is connected to the second steering engine through the second mechanical arm. The third flow adjusting plate is connected to the third steering engine through the third mechanical arm. The first, second and third adjusting plates are arranged in an upper portion, a middle portion and a lower portion and are distributed on a lower portion of the material box. The first, second and third steering engines are installed on the fixing frame respectively and are controlled by the steering engine controller installed on the fixing frame. Through adjusting open and close of the first, second and third adjusting plates, the material flow is discharged uniformly. By using the device and the method of the invention, a problem that a seed broadcasting area of low level working of a current multi-rotor type aircraft is not uniform is solved.
Description
Technical field
The present invention relates to the technical field of the low idle job of agricultural unmanned vehicle, refer in particular to a kind of from gravity type body feed tank uniform flow control device and control method thereof.
Background technology
Agricultural unmanned vehicle low latitude field of operation mainly comprises the operation of spray medicine, supple-mentary pollination operation, broadcasts sowing the aspect such as operation and the operation of agriculture feelings information monitoring.The application of current all kinds of unmanned plane in above-mentioned field just in mushroom development, but not yet reaches the degree of ripe application.Affecting unmanned plane has a lot in the reason that agriculture field is applied, and operation effectiveness is not good is one of them key factor.The such as agricultural unmanned plane of current impact broadcast sowing operation effectiveness because have vehicle flight speeds and height, the course line of aircraft, flow uniformity, the density of spreading gear and broadcasting sowing fabric width etc.Wherein broadcasting sowing uniformity coefficient is determine the whole important parameter broadcasting sowing operation effectiveness.Consider the present situation that unmanned vehicle load-carrying is less than normal, carry device needs to reduce volume and weight as much as possible, and relying on material self gravitation to be got rid of from body feed tank by material is light, simple working method; But ubiquitous problem is the reduction gradually along with material in body feed tank, the mode of material self gravitation is relied on to cause the non-linear minimizing of body feed tank base pressure, make streams output uneven, and then cause the spreading gear amount of broadcasting sowing uneven, thus affect the effect of unmanned plane sowing.If simple flow regulator can be designed, make body feed tank exit mass flow even, raising will be conducive to and broadcast sowing uniformity coefficient, and improve operation effectiveness.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide that a kind of compact conformation is reliable, practical, lightweight, control mode easy adjustable material case uniform flux from gravity type body feed tank uniform flow control device and control method thereof.
For achieving the above object, technical scheme provided by the present invention its from gravity type body feed tank uniform flow control device, the fixed mount including first flow adjustable plate, the second flow control board, the 3rd flow control board, the first steering wheel with the first mechanical arm, the second steering wheel with the second mechanical arm, the 3rd steering wheel with three-mechanical arm, steering engine controller and be loaded on body feed tank, wherein, described body feed tank is the casing of upper and lower opening, its upper shed is charging aperture, and under shed is discharging opening, described first flow adjustable plate is connected with the first steering wheel by the first mechanical arm, described second flow control board is connected with the second steering wheel by the second mechanical arm, described 3rd flow control board is connected with the 3rd steering wheel by three-mechanical arm, this first flow adjustable plate, second flow control board, 3rd flow control board is presented, in, under be distributed in the bottom of body feed tank, its shape size and body feed tank lower lumen match, and by restraining mass material in respective corresponding this body feed tank of steering wheel drive realization insertion or this body feed tank can be pulled out, and after inserting, this first flow adjustable plate, the first compartment is formed between second flow control board and body feed tank, this second flow control board, 3rd is formed with the second compartment between flow control board and body feed tank, described first steering wheel, the second steering wheel, the 3rd steering wheel, steering engine controller are loaded on fixed mount respectively, this first steering wheel, the second steering wheel, the 3rd steering wheel are controlled by steering engine controller, by regulating the folding of first flow adjustable plate, the second flow control board, the 3rd flow control board, mass flow are evenly discharged.
Described first steering wheel, the second steering wheel, the 3rd steering wheel are controlled by steering engine controller output pwm signal, represent the pwm control signal of first, second and third steering wheel with PWM1, PWM2, PWM3 respectively; When PWM is 0, servos control flow control board is separately the state sealing body feed tank bottom completely; When PWM is 100%, represent that servos control baffle plate is separately the state opening body feed tank bottom completely; When PWM is at 0-100%, represent that the aperture of flow control board changes in corresponding percentage.
The lower sides of described body feed tank offers the interspersed mouth inserting for first flow adjustable plate and the second flow control board level or extract out; Described 3rd flow control board laminating shutoff or laminating detach the discharging opening of body feed tank bottom.
The top of described body feed tank is tubular, and in funnel-form in the middle part of it, its underpart is pipe-like.
The shape of described first flow adjustable plate, the second flow control board, the 3rd flow control board is that a rectangle splices a semicircle; Described interspersed mouth is annular opening.
Control method from gravity type body feed tank uniform flow control device of the present invention, comprises the following steps:
1) after body feed tank loaded material, initialization, the PWM of the first steering wheel, the second steering wheel, the 3rd steering wheel is 0, represents that three servos control flow control board is separately complete closure state;
2) time delay a second, PWM1 is 100%, PWM2, PWM3 is 0, and after interval b second, PWM1 is 0, PWM2 be 100%, PWM3 is 0; Wherein, a is common time delay, and b is the time that the first compartment filled by material under natural gravity;
3) after interval c second, PWM2 is 0, PWM3 is n%, and PWM1 is 100% simultaneously; Wherein, c is material flows into the second compartment under natural gravity time from the first compartment; N is the percent travel of flow control board, needs free adjustment according to flow, to guarantee that material evenly flows out;
4) material whether emptying is judged, if there is no emptying, then circulation above-mentioned steps 2) and 3), if emptying, then resetting PWM1, PWM2, PWM3 is 0, closes flow control board.
Compared with prior art, tool has the following advantages and beneficial effect in the present invention:
1, the present invention can make material flow out evenly, uninterrupted can adjust along with the aperture of the 3rd flow control board, and then make the mass flow in body feed tank exit even, solve the low idle job of current multi-rotor aerocraft and to scatter seeds the problem of region inequality.
2, apparatus of the present invention principle is simple, structure is dexterous, operation and maintenance is easy, is suitable for drying, mobility is strong, material operation that particle volume is little, and effect is better.
Accompanying drawing explanation
Fig. 1 is the front view from gravity type body feed tank uniform flow control device of the present invention.
Fig. 2 is the side view from gravity type body feed tank uniform flow control device of the present invention.
Fig. 3 is the A-A cut-open view of Fig. 2.
Fig. 4 is the B-B cut-open view of Fig. 2.
Fig. 5 is the control flow chart from gravity type body feed tank uniform flow control device of the present invention.
Embodiment
Below in conjunction with specific embodiment, the invention will be further described.
As shown in Figures 1 to 4, described in the present embodiment from gravity type body feed tank uniform flow control device, be exclusively used in the low idle job of multi-rotor aerocraft from the airborne body feed tank of gravity type, the fixed mount 12 that it includes first flow adjustable plate 1, second flow control board 2, the 3rd flow control board 3, the first steering wheel 5 with the first mechanical arm 4, the second steering wheel 7 with the second mechanical arm 6, the 3rd steering wheel 9 with three-mechanical arm 8, steering engine controller 10 and is loaded on outside body feed tank 11.
Described body feed tank 11 is the casing of upper and lower opening, and its upper shed is charging aperture, and its under shed is discharging opening; This body feed tank 11 material used is plastics, and its top is tubular, and in funnel-form in the middle part of it, its underpart is pipe-like; The cylindrical upper part radius of this body feed tank 11 is 20-30cm, and length is 10-25cm; In the middle part of the funnel-form of this body feed tank 11, length is 10-30cm; The pipe-like lower radius of this body feed tank 11 is 1-5cm, and length is 10-30cm.
Described first flow adjustable plate 1 is connected with the first steering wheel 5 by the first mechanical arm 4, described second flow control board 2 is connected with the second steering wheel 7 by the second mechanical arm 6, described 3rd flow control board 3 is connected with the 3rd steering wheel 9 by three-mechanical arm 8, this first flow adjustable plate 1, second flow control board 2, the 3rd flow control board 3 are distributed in the pipe-like bottom of body feed tank 11 in upper, middle and lower, its shape size and body feed tank lower lumen match; The shape of described first flow adjustable plate 1, second flow control board 2, the 3rd flow control board 3 is that a rectangle splices a semicircle, and material used is plastics or plank; The lower sides of body feed tank 11 offers the interspersed mouth inserting for first flow adjustable plate 1 and the second flow control board 2 level or extract out, interspersed mouth is annular opening, and fit shutoff or the laminating of described 3rd flow control board 3 detaches the discharging opening of body feed tank bottom; Described first flow adjustable plate 1, second flow control board 2, the 3rd flow control board 3 drive the level that realizes to insert in this body feed tank 11 restraining mass material by respective corresponding steering wheel or pull out this body feed tank 11 (steering wheel makes mechanical arm seesaw by rotating a certain angle, and then pull flow control board to insert or extract out), and after inserting, be formed with the first compartment between this first flow adjustable plate 1, second flow control board 2 and body feed tank 11, this second flow control board 2, between the 3rd flow control board 3 and body feed tank 11, be formed with the second compartment; Described first steering wheel 5, second steering wheel 7, the 3rd steering wheel 9, steering engine controller 10 are loaded on fixed mount 12 by fixed screw respectively, described steering engine controller 10 is by lead-in wire connection first steering wheel 5, second steering wheel 7, the 3rd steering wheel 9, this the first steering wheel 5, second steering wheel 7, the 3rd steering wheel 9 are controlled by steering engine controller 10 output pwm signal, represent the pwm control signal of first, second and third steering wheel with PWM1, PWM2, PWM3 respectively; When PWM is 0, servos control flow control board is separately the state sealing body feed tank bottom completely; When PWM is 100%, represent that servos control baffle plate is separately the state opening body feed tank bottom completely; When PWM is at 0-100%, represent that the aperture of flow control board changes in corresponding percentage.By the folding of adjustment first flow adjustable plate 1, second flow control board 2, the 3rd flow control board 3, mass flow is evenly discharged.
As shown in Figure 5, be the above-mentioned control flow from gravity type body feed tank uniform flow control device of the present embodiment, its concrete condition is as follows:
1) after body feed tank loads onto appropriate cereal seed, initialization, the PWM of the first steering wheel 5, second steering wheel 7, the 3rd steering wheel 9 is 0, represent that three servos control flow control board is separately complete closure state, namely first flow adjustable plate 1, second flow control board 2, the 3rd flow control board 3 are all in the state of complete closure hopper pipe-like bottom.
2) time delay a second, PWM1 is 100%, PWM2, PWM3 is 0, and after interval b second, PWM1 is 0, PWM2 be 100%, PWM3 is 0; Wherein, a is common time delay, and b is the time that the first compartment filled by material under natural gravity.
3) after interval c second, PWM2 is 0, PWM3 is n%, and PWM1 is 100% simultaneously; Wherein, c is material flows into the second compartment under natural gravity time from the first compartment; N is the percent travel of flow control board, free adjustment is needed according to flow, suitably open the 3rd flow control board 3, to guarantee that material evenly flows out, because the distance between flow control board is less, so it is uneven to ignore the flow velocity that between flow control board, the weight of cereal seed causes, the cereal seed amount of outflow roughly evenly flows out.
4) material whether emptying is judged, if there is no emptying, then circulation above-mentioned steps 2) and 3), if emptying, then resetting PWM1, PWM2, PWM3 is 0, closes flow control board.
The examples of implementation of the above are only the preferred embodiment of the present invention, not limit practical range of the present invention with this, therefore the change that all shapes according to the present invention, principle are done, all should be encompassed in protection scope of the present invention.
Claims (6)
1. one kind from gravity type body feed tank uniform flow control device, it is characterized in that: include first flow adjustable plate (1), second flow control board (2), 3rd flow control board (3), with first steering wheel (5) of the first mechanical arm (4), with second steering wheel (7) of the second mechanical arm (6), with the 3rd steering wheel (9) of three-mechanical arm (8), steering engine controller (10) and the fixed mount (12) be loaded on body feed tank (11), wherein, described body feed tank (11) is for upper, the casing of under shed, its upper shed is charging aperture, under shed is discharging opening, described first flow adjustable plate (1) is connected with the first steering wheel (5) by the first mechanical arm (4), described second flow control board (2) is connected with the second steering wheel (7) by the second mechanical arm (6), described 3rd flow control board (3) is connected with the 3rd steering wheel (9) by three-mechanical arm (8), this first flow adjustable plate (1), second flow control board (2), 3rd flow control board (3) is presented, in, under be distributed in the bottom of body feed tank (11), its shape size and body feed tank lower lumen match, and realization can be driven to insert this body feed tank (11) interior restraining mass material or pull out this body feed tank (11) by respective corresponding steering wheel, and after inserting, this first flow adjustable plate (1), the first compartment is formed between second flow control board (2) and body feed tank (11), this second flow control board (2), the second compartment is formed between 3rd flow control board (3) and body feed tank (11), described first steering wheel (5), the second steering wheel (7), the 3rd steering wheel (9), steering engine controller (10) are loaded on fixed mount (12) respectively, this first steering wheel (5), the second steering wheel (7), the 3rd steering wheel (9) are controlled by steering engine controller (10), by regulating the folding of first flow adjustable plate (1), the second flow control board (2), the 3rd flow control board (3), mass flow are evenly discharged.
2. one according to claim 1 is from gravity type body feed tank uniform flow control device, it is characterized in that: described first steering wheel (5), the second steering wheel (7), the 3rd steering wheel (9) are controlled by steering engine controller (10) output pwm signal, represent the pwm control signal of first, second and third steering wheel with PWM1, PWM2, PWM3 respectively; When PWM is 0, servos control flow control board is separately the state sealing body feed tank bottom completely; When PWM is 100%, represent that servos control baffle plate is separately the state opening body feed tank bottom completely; When PWM is at 0-100%, represent that the aperture of flow control board changes in corresponding percentage.
3. one according to claim 1 is from gravity type body feed tank uniform flow control device, it is characterized in that: the lower sides of described body feed tank (11) offers the interspersed mouth inserting for first flow adjustable plate (1) and the second flow control board (2) level or extract out; Described 3rd flow control board (3) laminating shutoff or laminating detach the discharging opening of body feed tank bottom.
4. one according to claim 1 is from gravity type body feed tank uniform flow control device, it is characterized in that: the top of described body feed tank (11) is tubular, and in funnel-form in the middle part of it, its underpart is pipe-like.
5. one according to claim 3 is from gravity type body feed tank uniform flow control device, it is characterized in that: the shape of described first flow adjustable plate (1), the second flow control board (2), the 3rd flow control board (3) is that a rectangle splices a semicircle; Described interspersed mouth is annular opening.
6. the control method from gravity type body feed tank uniform flow control device described in claim 1 or 2, is characterized in that, comprise the following steps:
1) after body feed tank loaded material, initialization, the PWM of the first steering wheel, the second steering wheel, the 3rd steering wheel is 0, represents that three servos control flow control board is separately complete closure state;
2) time delay a second, PWM1 is 100%, PWM2, PWM3 is 0, and after interval b second, PWM1 is 0, PWM2 be 100%, PWM3 is 0; Wherein, a is common time delay, and b is the time that the first compartment filled by material under natural gravity;
3) after interval c second, PWM2 is 0, PWM3 is n%, and PWM1 is 100% simultaneously; Wherein, c is material flows into the second compartment under natural gravity time from the first compartment; N is the percent travel of flow control board, needs free adjustment according to flow, to guarantee that material evenly flows out;
4) material whether emptying is judged, if there is no emptying, then circulation above-mentioned steps 2) and 3), if emptying, then resetting PWM1, PWM2, PWM3 is 0, closes flow control board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510164752.6A CN104914885B (en) | 2015-04-07 | 2015-04-07 | It is a kind of from gravity type body feed tank uniform flow control device and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510164752.6A CN104914885B (en) | 2015-04-07 | 2015-04-07 | It is a kind of from gravity type body feed tank uniform flow control device and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104914885A true CN104914885A (en) | 2015-09-16 |
| CN104914885B CN104914885B (en) | 2017-07-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510164752.6A Expired - Fee Related CN104914885B (en) | 2015-04-07 | 2015-04-07 | It is a kind of from gravity type body feed tank uniform flow control device and its control method |
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| CN (1) | CN104914885B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112715508A (en) * | 2020-12-15 | 2021-04-30 | 广州极飞科技有限公司 | Method and device for determining position of feed opening |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011240961A (en) * | 2010-05-18 | 2011-12-01 | Hinode Shiki Kogyo Kk | Box body and box material |
| CN202232091U (en) * | 2011-10-15 | 2012-05-30 | 金华职业技术学院 | Seeding fertilizer |
| CN104176254A (en) * | 2014-08-06 | 2014-12-03 | 华南农业大学 | Onboard device suitable for sowing job of unmanned aerial vehicle and sowing method |
-
2015
- 2015-04-07 CN CN201510164752.6A patent/CN104914885B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011240961A (en) * | 2010-05-18 | 2011-12-01 | Hinode Shiki Kogyo Kk | Box body and box material |
| CN202232091U (en) * | 2011-10-15 | 2012-05-30 | 金华职业技术学院 | Seeding fertilizer |
| CN104176254A (en) * | 2014-08-06 | 2014-12-03 | 华南农业大学 | Onboard device suitable for sowing job of unmanned aerial vehicle and sowing method |
Non-Patent Citations (1)
| Title |
|---|
| 李继宇，等: "四旋翼飞行器农田位置信息采集平台设计与实验", 《农业机械学报》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112715508A (en) * | 2020-12-15 | 2021-04-30 | 广州极飞科技有限公司 | Method and device for determining position of feed opening |
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| CN104914885B (en) | 2017-07-11 |
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Granted publication date: 20170711 |