CN105197245A - System for accurately controlling width of atomizing disc and method - Google Patents
System for accurately controlling width of atomizing disc and method Download PDFInfo
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- CN105197245A CN105197245A CN201510609633.7A CN201510609633A CN105197245A CN 105197245 A CN105197245 A CN 105197245A CN 201510609633 A CN201510609633 A CN 201510609633A CN 105197245 A CN105197245 A CN 105197245A
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- atomizing disk
- droplet
- head unit
- fabric width
- lower computer
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Abstract
The invention relates to the technical field of agricultural pesticide application, in particular to a system for accurately controlling the width of an atomizing disc and a method. According to the system for accurately controlling the width of the atomizing disc, the information of the blasting capacity around a spraying head unit is detected through an anemorumbometer and fed back to an upper computer, and the upper computer makes an amount-variable pesticide applying decision according to the feedback information of the blasting capacity and feeds a made decision signal back to a lower computer. The spraying head unit comprises a direct current motor, a pull rod, a driver, a steering engine and the atomizing disc. The lower computer is in communication with the direct current motor and the steering engine. The direct current motor is connected with the atomizing disc and used for driving the atomizing disc to rotate. The steering engine is movably installed on the pull rod. The pull rod is located above the atomizing disc. The driver is arranged on the steering engine and used for generating droplets at different flows. The steering engine is used for adjusting falling points of the droplets on the atomizing disc. The atomizing disc is used for scattering the falling droplets outwards in an accelerated mode.
Description
Technical field
The present invention relates to agriculture pesticide application technology field, particularly relate to a kind of atomizing disk fabric width precisely controlling system and method.
Background technology
At present, the accuracy pesticide applying technical development of China is very fast, relies on that the spraying equipment of unmanned plane is very fast to grow up, and unmanned plane adopts atomizing disk to carry out spraying and have the advantages that fabric width is large, droplet anti-drift ability is strong.But traditional approach does not consider the impact of around meteorologic parameter and unmanned plane height, adopt fixing fabric width or simply regulated atomizing disk fabric width control technology, constrain precision and the efficiency of dispenser to a great extent.And the accurate control technology of improvement does not study breakthrough at present, need a kind of apparatus and method for solving above-mentioned bottleneck problem badly.
Summary of the invention
(1) technical matters that will solve
The technical problem to be solved in the present invention there is provided a kind of atomizing disk fabric width precisely controlling system and method, makes precisely to control the fabric width of atomizing disk, is beneficial to the precision and efficiency that improve dispenser.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of atomizing disk fabric width precisely controlling system, it comprises: anemoclinograph, upper computer, lower computer and the medicine-chest be communicated with successively, unidirectional flow pump, high-frequency electromagnetic valve, ejection head unit; Described anemoclinograph for detecting the air quantity information around described ejection head unit, and feeds back to described upper computer, and described upper computer carries out the decision-making of variable farm chemical applying according to the air quantity information of feedback, and decision signal is fed back to described lower computer;
Described ejection head unit comprises: DC machine, drawbar, actuator and steering wheel and atomizing disk; Described lower computer is connected with described DC machine and steering wheel communication respectively; Described DC machine is connected with atomizing disk, rotates for driving described atomizing disk; Described steering wheel is arranged on described drawbar movably, and described drawbar is positioned at the top of described atomizing disk; Described actuator is arranged on described steering wheel, for generation of the droplet of different flow; Described steering wheel is for regulating the drop point of droplet on described atomizing disk; Described atomizing disk is used for the droplet fallen outwards to accelerate to shed.
Wherein, described ejection head unit also comprises position transduser, and described position transduser for detecting the movement position of described steering wheel, and feeds back to described lower computer.
Wherein, described ejection head unit also comprises flow counter, and described flow counter for measuring the actual flow of droplet, and feeds back to described lower computer.
Wherein, described ejection head unit also comprises protective cover, and described protective cover is arranged on outside described DC machine.
Wherein, described protective cover is fixed on the bottom spray boom of unmanned plane.
Wherein, the quantity of described ejection head unit is multichannel, and the protective cover of ejection head unit described in each road respectively compartment of terrain is fixed on described spray boom.
Wherein, the output shaft of described DC machine is connected with the center of circle of described atomizing disk, and carries out speed adjustment by the mode of PWM to described atomizing disk.
The present invention also provides a kind of method adopting above-mentioned atomizing disk fabric width precisely controlling system, and it comprises the steps:
S1, gather the air quantity information of anemoclinograph by upper computer, and carry out decision-making computing according to this air quantity information, and decision signal is fed back to lower computer and carry out online dynamic adjustments;
S2, lower computer to control the rotating speed of DC machine, and then control the rotating speed of atomizing disk according to decision signal, thus realize regulating the initial velocity falling into the droplet of atomizing disk;
S3, according to atomization fabric width need control steering wheel move, realize the contact drop point site of droplet on atomizing disk and change, and detect the movement position of this steering wheel in real time by position transduser, and feed back to lower computer;
S4, actual flow by flow counter real time measure droplet, and feed back to described lower computer, by the atomizing effect of the regulable control droplet to flow.
(3) beneficial effect
Technique scheme of the present invention has following beneficial effect: the invention provides a kind of atomizing disk fabric width precisely controlling system, by regulating atomizing disk rotating speed, droplet size and the drop point of droplet on atomizing disk, thus realize the accurate control of unmanned plane dispenser atomizing disk spray medicine fabric width, be beneficial to the precision and efficiency that improve dispenser.
Accompanying drawing explanation
Fig. 1 is the structural representation of embodiment of the present invention atomizing disk fabric width precisely controlling system;
Fig. 2 is the structural representation of embodiment of the present invention ejection head unit;
Fig. 3 is the working state figure of embodiment of the present invention unmanned plane.
Wherein, 1: medicine-chest; 2: unidirectional flow pump; 3: lower computer; 4: upper computer; 8: high-frequency electromagnetic valve; 9: ejection head unit; 10: anemoclinograph; 11: unmanned plane; 91: protective cover; 92: DC machine; 93: drawbar; 94: actuator; 95: steering wheel; 96: position transduser; 97: flow counter; 98: atomizing disk.
Detailed description of the invention
Below in conjunction with drawings and Examples, embodiments of the present invention are described in further detail.Following examples for illustration of the present invention, but can not be used for limiting the scope of the invention.
In describing the invention, it should be noted that, except as otherwise noted, the implication of " multiple " is two or more; Term " on ", D score, "left", "right", " interior ", " outward ", " front end ", " rear end ", " head ", the orientation of the instruction such as " afterbody " or position relationship be based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as limitation of the present invention.In addition, term " first ", " second ", " the 3rd " etc. only for describing object, and can not be interpreted as instruction or hint relative importance.
In describing the invention, also it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary.For the ordinary skill in the art, visual particular case understands above-mentioned term concrete meaning in the present invention.
As Figure 1-3, a kind of atomizing disk fabric width precisely controlling system that the present embodiment provides, it comprises: anemoclinograph 10, upper computer 4, lower computer 3 and the medicine-chest 1 be communicated with successively, unidirectional flow pump 2, high-frequency electromagnetic valve 8, ejection head unit 9; Wherein, anemoclinograph 10 for detecting the air quantity information around ejection head unit 9, and feeds back to upper computer 4, and upper computer 4 carries out the decision-making of variable farm chemical applying according to the air quantity information of feedback, and decision signal is fed back to lower computer 3;
Meanwhile, this ejection head unit 9 comprises: DC machine 92, drawbar 93, actuator 94 and steering wheel 95 and atomizing disk 98; Lower computer 3 is connected with DC machine 92 and steering wheel 95 communication respectively, for carrying out Based Intelligent Control to DC machine 92 and steering wheel 95; DC machine 92 is connected with atomizing disk 98, rotates for driving atomizing disk 98; Steering wheel 95 is arranged on drawbar 93 movably, and drawbar 93 is positioned at the top of atomizing disk 98; Actuator 94 is arranged on steering wheel 95, for generation of the droplet of different flow; Steering wheel 95 moves under the control of lower computer 3, and for regulating the drop point of droplet on atomizing disk 98, drop point is different, and after rotating, the acceleration/accel of droplet is different, and the initial velocity of droplet is different; Atomizing disk 98 under the drive of DC machine 92, for the droplet fallen outwards is accelerated to shed.
In addition, ejection head unit 9 also comprises position transduser 96, and position transduser 96 for detecting the movement position of steering wheel 95, and feeds back to lower computer 3.That is, position transduser 96 is used for feeding back the position of drop point, is realized the accurate location of position adjustments by PID mode.
Further, ejection head unit 9 also comprises flow counter 97, and flow counter 97 for measuring the actual flow of droplet, and feeds back to lower computer 3, be used for feed back droplet control accuracy rate.
Certainly, ejection head unit 9 also comprises protective cover 91, and protective cover 91 is arranged on outside DC machine 92.And protective cover 91 is fixed on the bottom spray boom of unmanned plane 11.The quantity of ejection head unit 9 is multichannel, and the protective cover 91 of each road ejection head unit 9 is fixed on spray boom compartment of terrain respectively.
And the output shaft of DC machine 92 is connected with the center of circle of atomizing disk 98, and by the mode of PWM, speed adjustment is carried out to atomizing disk 98.
Specifically, droplet is shed away by the movement of droplet on atomizing disk 98 by ejection head unit 9, the speed of atomizing disk 98 is regulated by lower computer 3, upper computer 4 gathers the information that anemoclinograph 10 (air velocity transducer signal and fuselage wind speed wind direction sensor signal) obtains crosswind information and unmanned plane wind direction respectively, then decision-making computing is carried out by upper computer 4 according to air quantity information, and according to drift simulation model complete wind on droplet impact after drop point estimate, then control signal is sent to lower computer 3 according to the result of decision, lower computer 3 changes the rotating speed of DC machine 92 according to signal, and move according to the control steering wheel 95 that needs of atomization fabric width, realize the contact drop point site of droplet on atomizing disk 98 to change, thus the particle diameter changing droplet realizes anti-drift, the fabric width changing droplet realizes the change adjustment in drop point region.
The present invention also provides a kind of method adopting atomizing disk fabric width precisely controlling system described in above-mentioned any one, and it comprises the steps:
S1, gather the air quantity information of anemoclinograph by upper computer, and carry out decision-making computing according to this air quantity information, and decision signal is fed back to lower computer and carry out online dynamic adjustments;
S2, lower computer to control the rotating speed of DC machine, and then control the rotating speed of atomizing disk according to decision signal, thus realize regulating the initial velocity falling into the droplet of atomizing disk;
S3, according to atomization fabric width need control steering wheel move, realize the contact drop point site of droplet on atomizing disk and change, and detect the movement position of this steering wheel in real time by position transduser, and feed back to lower computer;
S4, actual flow by flow counter real time measure droplet, and feed back to lower computer, by the atomizing effect of the regulable control droplet to flow.
The inventive method changes according to the size variation of crosswind during dispenser and unmanned plane wind field the variable adjustment that atomizing disk job parameter realizes droplet and fabric width.Utilize sensor signal to obtain the information of wind speed and direction, regulate rotating speed and the drop point of liquid on atomizing disk of atomizing disk according to wind field real-time change situation, thus change the characteristic of droplet and the fabric width of covering, realize the change of unmanned plane dispenser fabric width.Meanwhile, by the height change on airborne lidar measurement unmanned plane distance ground, the change according to altitude signal regulates best fabric width, the poisoning avoiding droplet sprinkling overlap to bring and the problem of agricultural chemicals waste.
In sum, the present invention is based on aviation plant protection technology and a kind of atomizing disk fabric width precisely controlling system is provided, realizing by adopting intelligent control method regulating droplet size and the drop point of droplet on atomizing disk, changing by dutycycle the accurate control that atomizing disk rotating speed realizes unmanned plane dispenser atomizing disk spray medicine fabric width simultaneously.
Embodiments of the invention provide in order to example with for the purpose of describing, and are not exhaustively or limit the invention to disclosed form.Many modifications and variations are apparent for the ordinary skill in the art.Selecting and describing embodiment is in order to principle of the present invention and practical application are better described, and enables those of ordinary skill in the art understand the present invention thus design the various embodiments with various amendment being suitable for special-purpose.
Claims (8)
1. an atomizing disk fabric width precisely controlling system, is characterized in that, comprising: anemoclinograph, upper computer, lower computer and the medicine-chest be communicated with successively, unidirectional flow pump, high-frequency electromagnetic valve, ejection head unit; Described anemoclinograph for detecting the air quantity information around described ejection head unit, and feeds back to described upper computer, and described upper computer carries out the decision-making of variable farm chemical applying according to the air quantity information of feedback, and decision signal is fed back to described lower computer;
Described ejection head unit comprises: DC machine, drawbar, actuator and steering wheel and atomizing disk; Described lower computer is connected with described DC machine and steering wheel communication respectively; Described DC machine is connected with atomizing disk, rotates for driving described atomizing disk; Described steering wheel is arranged on described drawbar movably, and described drawbar is positioned at the top of described atomizing disk; Described actuator is arranged on described steering wheel, for generation of the droplet of different flow; Described steering wheel is for regulating the drop point of droplet on described atomizing disk; Described atomizing disk is used for the droplet fallen outwards to accelerate to shed.
2. atomizing disk fabric width precisely controlling system according to claim 1, it is characterized in that, described ejection head unit also comprises position transduser, and described position transduser for detecting the movement position of described steering wheel, and feeds back to described lower computer.
3. atomizing disk fabric width precisely controlling system according to claim 1, it is characterized in that, described ejection head unit also comprises flow counter, and described flow counter for measuring the actual flow of droplet, and feeds back to described lower computer.
4. atomizing disk fabric width precisely controlling system according to claim 1, it is characterized in that, described ejection head unit also comprises protective cover, and described protective cover is arranged on outside described DC machine.
5. atomizing disk fabric width precisely controlling system according to claim 4, it is characterized in that, described protective cover is fixed on the bottom spray boom of unmanned plane.
6. atomizing disk fabric width precisely controlling system according to claim 5, is characterized in that, the quantity of described ejection head unit is multichannel, and the protective cover of ejection head unit described in each road respectively compartment of terrain is fixed on described spray boom.
7. atomizing disk fabric width precisely controlling system according to claim 1, is characterized in that, the output shaft of described DC machine is connected with the center of circle of described atomizing disk, and carries out speed adjustment by the mode of PWM to described atomizing disk.
8. adopt a method for the atomizing disk fabric width precisely controlling system according to any one of claim 1-7, it is characterized in that, comprise the steps:
S1, gather the air quantity information of anemoclinograph by upper computer, and carry out decision-making computing according to this air quantity information, and decision signal is fed back to lower computer and carry out online dynamic adjustments;
S2, lower computer to control the rotating speed of DC machine, and then control the rotating speed of atomizing disk according to decision signal, thus realize regulating the initial velocity falling into the droplet of atomizing disk;
S3, according to atomization fabric width need control steering wheel move, realize the contact drop point site of droplet on atomizing disk and change, and detect the movement position of this steering wheel in real time by position transduser, and feed back to lower computer;
S4, actual flow by flow counter real time measure droplet, and feed back to lower computer, by the adjustment of flow to control the atomizing effect of droplet.
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Cited By (8)
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| CN105711869A (en) * | 2016-04-18 | 2016-06-29 | 广州极飞电子科技有限公司 | Liquid amount transmission system, liquid filling device, unmanned aerial vehicle and liquid container |
| CN105984588A (en) * | 2016-06-15 | 2016-10-05 | 武同昆 | Novel variable mist spraying system based on unmanned rotorcraft |
| WO2017181929A1 (en) * | 2016-04-18 | 2017-10-26 | Guangzhou Xaircraft Technology Co., Ltd. | Liquid volume transfer system, liquid infusion device, unmanned aerial vehicle and liquid container |
| CN109077046A (en) * | 2018-09-17 | 2018-12-25 | 苏州极目机器人科技有限公司 | A kind of atomizing flusher and sprinkling control method |
| CN109631834A (en) * | 2018-12-19 | 2019-04-16 | 北京农业智能装备技术研究中心 | A kind of aerial pesticide system and method |
| WO2019104687A1 (en) * | 2017-11-30 | 2019-06-06 | 深圳市大疆创新科技有限公司 | Spraying apparatus and unmanned aircraft |
| WO2020107324A1 (en) * | 2018-11-29 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Electromagnetic flowmeter and plant-protecting unmanned aerial vehicle having same |
| CN112295065A (en) * | 2020-09-30 | 2021-02-02 | 广州迈普再生医学科技股份有限公司 | Full-automatic self-adaptive medical glue spraying device |
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| CN105711869A (en) * | 2016-04-18 | 2016-06-29 | 广州极飞电子科技有限公司 | Liquid amount transmission system, liquid filling device, unmanned aerial vehicle and liquid container |
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| CN112295065A (en) * | 2020-09-30 | 2021-02-02 | 广州迈普再生医学科技股份有限公司 | Full-automatic self-adaptive medical glue spraying device |
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