CN105197245B - A kind of atomizing disk fabric width precisely controlling system and method - Google Patents
A kind of atomizing disk fabric width precisely controlling system and method Download PDFInfo
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- CN105197245B CN105197245B CN201510609633.7A CN201510609633A CN105197245B CN 105197245 B CN105197245 B CN 105197245B CN 201510609633 A CN201510609633 A CN 201510609633A CN 105197245 B CN105197245 B CN 105197245B
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Abstract
The present invention relates to agriculture pesticide application technology field, more particularly to a kind of atomizing disk fabric width precisely controlling system and method.The atomizing disk fabric width precisely controlling system detects the air quantity information around the ejection head unit using anemoclinograph, and feed back to the host computer, the host 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 the slave computer；The ejection head unit includes direct current generator, drawbar, driver and steering wheel and atomizing disk；The slave computer is connected with the direct current generator and steering wheel communication respectively；The direct current generator is connected with atomizing disk, for driving the atomizing disk to be rotated；The steering wheel is movably mounted on the drawbar, and the drawbar is located at the top of the atomizing disk；The driver is arranged on the steering wheel, for producing the droplet of different flow；The steering wheel is used to adjust drop point of the droplet on the atomizing disk；The atomizing disk is for by the droplet for falling, outwards acceleration is shed.
Description
Technical field
The present invention relates to agriculture pesticide application technology field, more particularly to a kind of atomizing disk fabric width precisely controlling system and method.
Background technology
At present, China accuracy pesticide applying technology development it is very fast, rely on unmanned plane spraying equipment quickly send out
Exhibition is got up, and unmanned plane carries out spraying using atomizing disk and has the characteristics of fabric width is big, droplet anti-drift ability is strong.But, tradition side
Formula does not consider the impact of meteorologic parameter around and unmanned plane height, using fixed fabric width or simply regulated atomizing disk fabric width control
Technology processed, largely constrains the precision and efficiency of dispenser.And, the improved technology that is precisely controlled is dashed forward currently without research
It is broken, need a kind of apparatus and method for for solving above-mentioned bottleneck problem badly.
The content of the invention
(1) technical problem to be solved
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 so that can
The fabric width of atomizing disk is precisely controlled, beneficial to the precision and efficiency that improve dispenser.
(2) technical scheme
In order to solve above-mentioned technical problem, the present invention provides a kind of atomizing disk fabric width precisely controlling system, and which includes：Wind speed
Anemoscope, host computer, slave computer and the medicine-chest being sequentially communicated, straightway pump, high-frequency electromagnetic valve, ejection head unit；The wind speed and direction
Instrument is used to detect the air quantity information around the ejection head unit, and feeds back to the host computer, and the host computer is according to feedback
Air quantity information carries out the decision-making of variable farm chemical applying, and decision signal is fed back to the slave computer；
The ejection head unit includes：Direct current generator, drawbar, driver and steering wheel and atomizing disk；The slave computer respectively with
The direct current generator and steering wheel communication connection；The direct current generator is connected with atomizing disk, for driving the atomizing disk to be revolved
Turn；The steering wheel is movably mounted on the drawbar, and the drawbar is located at the top of the atomizing disk；The driver sets
Put on the steering wheel, for producing the droplet of different flow；The steering wheel is used to adjust droplet falling on the atomizing disk
Point；The atomizing disk is for by the droplet for falling, outwards acceleration is shed.
Wherein, the ejection head unit also includes position sensor, and the position sensor is used for the fortune for detecting the steering wheel
Dynamic position, and feed back to the slave computer.
Wherein, the ejection head unit also includes effusion meter, and the effusion meter is used for the actual flow for measuring droplet, and feeds back
To the slave computer.
Wherein, the ejection head unit also includes protective cover, and the protective cover is arranged on outside the direct current generator.
Wherein, the protective cover is fixed on the bottom spray boom of unmanned plane.
Wherein, the quantity of the ejection head unit be multichannel, the protective cover of ejection head unit described in each road be respectively separated it is fixed
On the spray boom.
Wherein, the output shaft of the direct current generator is connected with the center of circle of the atomizing disk, and the control mode pair by PWM
The atomizing disk carries out rotational speed regulation.
The present invention also provides a kind of method using above-mentioned atomizing disk fabric width precisely controlling system, and which comprises the steps：
S1, the air quantity information that anemoclinograph is gathered by host computer, and decision-making computing is carried out according to the air quantity information, and
Decision signal is fed back to slave computer carries out online dynamic regulation；
S2, slave computer and then control the rotating speed of atomizing disk according to decision signal to control the rotating speed of direct current generator, so as to reality
The initial velocity of the droplet for falling into atomizing disk is adjusted now；
S3, according to atomization fabric width need control steering wheel move, realize contact drop point position of the droplet on atomizing disk
Put and change, and by the movement position of the position sensor real-time detection steering wheel, and feed back to slave computer；
S4, by the actual flow of effusion meter real time measure droplet, and feed back to the slave computer, by the tune to flow
The atomizing effect of section control droplet.
(3) beneficial effect
The above-mentioned technical proposal of the present invention has the advantages that：The present invention provides a kind of atomizing disk fabric width and is precisely controlled
System, by adjusting the drop point of atomizing disk rotating speed, droplet size and droplet on atomizing disk, so as to realize that unmanned plane dispenser is atomized
Disk spray fabric width is precisely controlled, beneficial to the precision and efficiency that improve dispenser.
Description of the drawings
Structural representations of the Fig. 1 for embodiment of the present invention atomizing disk fabric width precisely controlling system；
Structural representations of the Fig. 2 for embodiment of the present invention ejection head unit；
Working state figures of the Fig. 3 for embodiment of the present invention unmanned plane.
Wherein, 1：Medicine-chest；2：Straightway pump；3：Slave computer；4：Host computer；8：High-frequency electromagnetic valve；9：Ejection head unit；10：Wind
Fast anemoscope；11：Unmanned plane；91：Protective cover；92：Direct current generator；93：Drawbar；94：Driver；95：Steering wheel；96：Position passes
Sensor；97：Effusion meter；98：Atomizing disk.
Specific embodiment
With reference to the accompanying drawings and examples embodiments of the present invention are described in further detail.Following examples are used for
The present invention is illustrated, but can not be used for limiting the scope of the present invention.
In describing the invention, it should be noted that unless otherwise stated, " multiple " be meant that two or two with
On；Term " on ", D score, "left", "right", " interior ", " outward ", " front end ", " rear end ", " head ", the orientation of the instruction such as " afterbody "
Or position relationship is, based on orientation shown in the drawings or position relationship, to be for only for ease of the description present invention and simplify description, and
Be not indicate or imply indication device or element must have specific orientation, with specific azimuth configuration and operation, therefore
It is not considered as limiting the invention.Additionally, term " first ", " second ", " the 3rd " etc. are only used for describing purpose, and can not
It is interpreted as indicating or implies relative importance.
In describing the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " installation ",
" being connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or integratedly connect
Connect；Can be mechanically connected, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary.It is right
For one of ordinary skill in the art, visual concrete condition 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 is provided, which includes：Wind speed and direction
Instrument 10, host computer 4, slave computer 3 and the medicine-chest 1 being sequentially communicated, straightway pump 2, high-frequency electromagnetic valve 8, ejection head unit 9；Wherein, wind speed
Anemoscope 10 is used to detect the air quantity information around ejection head unit 9, and feeds back to host computer 4, air quantity of the host computer 4 according to feedback
Information carries out the decision-making of variable farm chemical applying, and decision signal is fed back to slave computer 3；
Meanwhile, the ejection head unit 9 includes：Direct current generator 92, drawbar 93, driver 94 and steering wheel 95 and atomizing disk 98；Under
Position machine 3 is connected with direct current generator 92 and the communication of steering wheel 95 respectively, for carrying out Based Intelligent Control to direct current generator 92 and steering wheel 95；Directly
Stream motor 92 is connected with atomizing disk 98, for driving atomizing disk 98 to be rotated；Steering wheel 95 is movably mounted on drawbar 93,
And drawbar 93 is located at the top of atomizing disk 98；Driver 94 is arranged on steering wheel 95, for producing the droplet of different flow；Steering wheel
95 move under the control of slave computer 3, and for adjusting drop point of the droplet on atomizing disk 98, drop point is different, mist after rotation
The acceleration of drop is different, and the initial velocity of droplet is different；Atomizing disk 98 under the drive of direct current generator 92, for by the droplet for falling
Outwards accelerate to shed.
Additionally, ejection head unit 9 also includes position sensor 96, position sensor 96 is used for the motion bit for detecting steering wheel 95
Put, and feed back to slave computer 3.That is, position sensor 96 is used for the position for feeding back drop point, position is realized by PID modes
Put being accurately positioned for regulation.
Further, ejection head unit 9 also includes effusion meter 97, and effusion meter 97 is used to measuring the actual flow of droplet, and instead
Feed slave computer 3, for feeding back the degree of accuracy of droplet control.
Certainly, ejection head unit 9 also includes protective cover 91, and protective cover 91 is arranged on outside direct current generator 92.And, protective cover 91
It 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 distinguishes
Compartment of terrain is fixed on spray boom.
And, the output shaft of direct current generator 92 is connected with the center of circle of atomizing disk 98, and by the control mode of PWM to atomization
Disk 98 carries out rotational speed regulation.
Specifically, droplet is shed away by movement of the ejection head unit 9 by droplet on atomizing disk 98, atomizing disk 98
Speed is adjusted by slave computer 3, the collection of host computer 4 anemoclinograph 10 (air velocity transducer signal and fuselage wind speed and direction sensing
Device signal) information of crosswind information and unmanned plane wind direction is obtained respectively, decision-making is carried out according to air quantity information by host computer 4 then
Computing, and according to drift analogue model complete wind on droplet impact after drop point estimate, then sent according to the result of decision
Control signal to slave computer 3, rotating speed of the slave computer 3 according to signal change direct current generator 92, and control needed according to atomization fabric width
Steering wheel processed 95 is moved, and realizes that contact drop point site of the droplet on atomizing disk 98 changes, so as to change the particle diameter reality of droplet
Now anti-drift, the fabric width of change droplet realize that the change in drop point region is adjusted.
The method that the present invention also provides the atomizing disk fabric width precisely controlling system described in a kind of employing any of the above-described, its bag
Include following steps：
S1, the air quantity information that anemoclinograph is gathered by host computer, and decision-making computing is carried out according to the air quantity information, and
Decision signal is fed back to slave computer carries out online dynamic regulation；
S2, slave computer and then control the rotating speed of atomizing disk according to decision signal to control the rotating speed of direct current generator, so as to reality
The initial velocity of the droplet for falling into atomizing disk is adjusted now；
S3, according to atomization fabric width need control steering wheel move, realize contact drop point position of the droplet on atomizing disk
Put and change, and by the movement position of the position sensor real-time detection steering wheel, and feed back to slave computer；
S4, by the actual flow of effusion meter real time measure droplet, and feed back to slave computer, by the regulation control to flow
The atomizing effect of droplet processed.
The inventive method is to change atomizing disk job parameter reality according to the size variation of crosswind during dispenser and unmanned plane wind field
The variable of existing droplet and fabric width is adjusted.The information of wind speed and direction is obtained using sensor signal, according to wind field real-time change feelings
Condition adjusts the drop point of the rotating speed and medicinal liquid of atomizing disk on atomizing disk, so as to change the characteristic and the fabric width for covering of droplet, real
The change of existing unmanned plane dispenser fabric width.Meanwhile, by airborne lidar measurement unmanned plane apart from ground height change, root
Optimal fabric width is adjusted according to the change of altitude signal, it is to avoid droplet sprinkling overlaps the problem of the poisoning and pesticide waste for bringing.
In sum, the present invention provides a kind of atomizing disk fabric width precisely controlling system based on aviation plant protection technology, by adopting
Realize adjusting the drop point of droplet size and droplet on atomizing disk with intelligent control method, while changing atomizing disk by dutycycle
Rotating speed realizes being precisely controlled for unmanned plane dispenser atomizing disk spray fabric width.
Embodiments of the invention in order to example and description for the sake of and be given, and be not exhaustively or by this
It is bright to be limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Choosing
It is, for the principle and practical application that more preferably illustrate the present invention, and to make one of ordinary skill in the art to select and describe embodiment
It will be appreciated that the present invention is so as to designing the various embodiments with various modifications for being suitable to special-purpose.
Claims (8)
1. a kind of atomizing disk fabric width precisely controlling system, including：Host computer, slave computer and the medicine-chest being sequentially communicated, straightway pump and
Ejection head unit, the ejection head unit include direct current generator and atomizing disk, it is characterised in that also include：Anemoclinograph and high frequency
Electromagnetic valve；The anemoclinograph is used to detect the air quantity information around the ejection head unit, and feeds back to the host computer, institute
State host 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 the slave computer；
The ejection head unit also includes：Drawbar, driver and steering wheel；The slave computer is logical with the direct current generator and steering wheel respectively
News connection；The direct current generator is connected with atomizing disk, for driving the atomizing disk to be rotated；The steering wheel is movably pacified
It is mounted on the drawbar, the drawbar is located at the top of the atomizing disk；The driver is arranged on the steering wheel, for producing
The droplet of raw different flow；The steering wheel is used to adjust drop point of the droplet on the atomizing disk；The atomizing disk will be for will fall
Under droplet outwards accelerate to shed.
2. atomizing disk fabric width precisely controlling system according to claim 1, it is characterised in that the ejection head unit also includes
Position sensor, the position sensor are used for the movement position for detecting the steering wheel, and feed back to the slave computer.
3. atomizing disk fabric width precisely controlling system according to claim 1, it is characterised in that the ejection head unit also includes
Effusion meter, the effusion meter are used for the actual flow for measuring droplet, and feed back to the slave computer.
4. atomizing disk fabric width precisely controlling system according to claim 1, it is characterised in that the ejection head unit also includes
Protective cover, the protective cover are arranged on outside the direct current generator.
5. atomizing disk fabric width precisely controlling system according to claim 4, it is characterised in that the protective cover is fixed on nothing
On man-machine bottom spray boom.
6. atomizing disk fabric width precisely controlling system according to claim 5, it is characterised in that the quantity of the ejection head unit
For multichannel, described in each road, the protective cover of ejection head unit is fixed on the spray boom with being respectively separated.
7. atomizing disk fabric width precisely controlling system according to claim 1, it is characterised in that the output of the direct current generator
Axle is connected with the center of circle of the atomizing disk, and carries out rotational speed regulation to the atomizing disk by the control mode of PWM.
8. a kind of method of the atomizing disk fabric width precisely controlling system using as any one of claim 1-7, its feature
It is to comprise the steps：
S1, the air quantity information that anemoclinograph is gathered by host computer, and decision-making computing is carried out according to the air quantity information, and will certainly
Plan signal feeds back to slave computer carries out online dynamic regulation；
S2, slave computer and then control the rotating speed of atomizing disk according to decision signal to control the rotating speed of direct current generator, so as to realize adjusting
Section falls into the initial velocity of the droplet of atomizing disk；
S3, according to atomization fabric width need control steering wheel move, realize contact drop point site of the droplet on atomizing disk send out
Changing, and by the movement position of the position sensor real-time detection steering wheel, and feed back to slave computer；
S4, by the actual flow of effusion meter real time measure droplet, and feed back to slave computer, by the regulation to flow controlling
The atomizing effect of droplet.
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| CN201510609633.7A CN105197245B (en) | 2015-09-22 | 2015-09-22 | A kind of atomizing disk fabric width precisely controlling system and method |
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| CN201510609633.7A CN105197245B (en) | 2015-09-22 | 2015-09-22 | A kind of atomizing disk fabric width precisely controlling system and method |
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| CN105197245B true CN105197245B (en) | 2017-04-05 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| PL3445659T3 (en) * | 2016-04-18 | 2022-02-28 | Guangzhou Xaircraft Technology Co., Ltd. | Liquid volume transfer system |
| CN105711869B (en) * | 2016-04-18 | 2017-05-24 | 广州极飞科技有限公司 | 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 |
| CN109195444B (en) * | 2017-11-30 | 2021-07-09 | 深圳市大疆创新科技有限公司 | Sprinkler and unmanned vehicles |
| CN109077046B (en) * | 2018-09-17 | 2023-08-29 | 极目(海南)智能育种装备有限公司 | Mist spraying device and spraying control method |
| CN110785637B (en) * | 2018-11-29 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Electromagnetic flow meter and plant protection unmanned aerial vehicle who has this electromagnetic flow meter |
| CN109631834B (en) * | 2018-12-19 | 2022-07-01 | 北京农业智能装备技术研究中心 | Aerial pesticide application system and method |
| CN112295065B (en) * | 2020-09-30 | 2022-08-09 | 广州迈普再生医学科技股份有限公司 | Full-automatic self-adaptive medical glue spraying device |
| CN117369346B (en) * | 2023-11-28 | 2024-07-12 | 黑龙江惠达科技股份有限公司 | Agricultural unmanned aerial vehicle control module |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB1502268A (en) * | 1974-08-07 | 1978-03-01 | Horstine Farmery Ltd | Spray apparatus |
| US5237803A (en) * | 1992-02-04 | 1993-08-24 | Domingue Jr Lucas | Centrifugal combination sprayer/cutter apparatus |
| CN101584312A (en) * | 2008-05-23 | 2009-11-25 | 安徽农业大学 | Spraying device of agricultural spraying machine with variable fogdrop diameter |
| CN103723275B (en) * | 2014-01-02 | 2016-06-08 | 广西田园生化股份有限公司 | A kind of unmanned plane is with spraying device for administration of drugs |
| CN104148206B (en) * | 2014-08-08 | 2016-06-08 | 农业部南京农业机械化研究所 | Agricultural aviation self-adaptation centrifugal atomizing Controlling System and control method |
| CN104527981B (en) * | 2014-12-12 | 2017-01-18 | 华南农业大学 | Method for carrying out pesticide spraying by using farm-oriented unmanned aerial vehicle |
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