CN106741952A - A kind of agricultural remote control flight fog machine spray boom active balancing device and adjusting method - Google Patents
A kind of agricultural remote control flight fog machine spray boom active balancing device and adjusting method Download PDFInfo
- Publication number
- CN106741952A CN106741952A CN201611141033.3A CN201611141033A CN106741952A CN 106741952 A CN106741952 A CN 106741952A CN 201611141033 A CN201611141033 A CN 201611141033A CN 106741952 A CN106741952 A CN 106741952A
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- Prior art keywords
- spray boom
- motor
- fog machine
- flight
- balancing device
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
Abstract
The invention discloses a kind of agricultural remote control flight fog machine spray boom active balancing device and its adjusting method; the spray boom active balancing device is provided with balance controller and balance executing agency; the balance controller is provided with control unit and attitude transducer; the attitude transducer is connected with described control unit; on the fuselage of flight fog machine, the flight attitude information for detecting fuselage.The balance executing agency includes spray boom luffing angle governor motion and spray boom roll angle governor motion.The present invention can in real time adjust roll or the luffing angle of spray boom according to the flight attitude of flight fog machine; spray boom is set to maintain default original state over the ground; flushed with the holding of trying one's best of crop canopies face; medicament is promoted to spray uniform; to avoid respraying or the phenomenon of drain spray occurs; and spray boom active balancing device of the present invention and its adjusting method are easy to implement, are adapted to promote the use of.
Description
Technical field
The invention belongs to agriculture and forestry aviation machine technical field, and in particular to a kind of spray boom active balancing device and regulation side
Method.
Background technology
In aerial sprays operation, spray boom is the crucial portion for installing and carrying shower nozzle on agricultural remote control flight fog machine
Part, the length of spray boom, installation parameter（Position, angle, levelness etc.）To spraying effective breadth even deposition point of liquid droplet
Cloth effect etc. is directly affected.Generally, the airborne flusher of agricultural remote control flight fog machine is using preceding, it is necessary to logical
Overtesting is tested, it is determined that optimal spray bar length, spray boom installation site, shower nozzle setting angle etc., while in actual job, wishing
Hope that spray boom keeps pre-set state（Horizontality）, to ensure optimal spray effect.
Due to the load limitation of aviation plant protection equipment, sprayed using low amounts or ultra-low volume, high concentration more than current aerial pesticide
Mode, the drain spray of liquid phenomenon of especially respraying can cause the consequence more serious than ground equipment, and existing aerial sprays are filled
Standby upper spray boom is mostly integrally fixed on undercarriage or on medicine-chest, in mounting design（Ground）, spray boom and fuselage keep level
State, but in the actual job below main several factors can cause fuselage can not with ground holding level, so as to cause spray
Bar can not keep level with crop canopies face：1）Aerial pesticide equipment operation is advanced or is retreated in-flight, and fuselage is with rotor face
Have forward（Afterwards）Certain angle inclines（Face upward）Angle, causes spray boom to lean forward（Layback）, pre-set nozzle angle changes
Become, influence sprinkling uniformity；2）It is subject to continue crosswind or fitful wind function influence in flight operation, fuselage can be caused to incline, Gu
The spray boom for being scheduled on fuselage can also be inclined therewith, cause sprinkling uneven；3）The shaking in-flight of itself is equipped due to aerial pesticide
The dynamic fuselage for causing is inclined, or the fuselage that the factor such as gravity allocation, manipulation causes in ground-mounted not level etc..With Fig. 1,2
Shown, spray boom, the installation site of shower nozzle pre-set in Fig. 1, in certain spraying altitude h and rotor downwash in setting
The uniform sprinkling of the predetermined breadth of liquid can be realized under effect, under spray boom level condition, when the attitude for thering is factor to cause spray boom not
When can keep horizontality, it may appear that occurred drain spray illustrated in Figure 2 and the phenomenon resprayed, cause and do not reach preventive effect and poisoning
Serious consequence.
The content of the invention
In order to avoid each factor causes spray boom to shake in unmanned fog machine flight course（Shake）It is dynamic, and the drain spray for causing and respray
Phenomenon, the present invention devises a kind of spray boom active balancing device and adjusting method, it is possible to resolve sprayed in traditional aviation plant protection operation
The statokinetic of spray boom can not active regulation problem, support agricultural aviation plant protection equipment Development on equipment.
In order to realize above-mentioned technical purpose, technical scheme disclosed by the invention is：
A kind of agricultural remote control flight fog machine spray boom active balancing device, it is characterised in that held including balance controller and balance
Row mechanism：
The balance controller is provided with control unit and attitude transducer, and the attitude transducer is arranged on the machine of flight fog machine
With, for detecting the flight attitude information of fuselage, and it is connected with described control unit；
The balance executing agency includes spray boom luffing angle governor motion and spray boom roll angle governor motion, and the spray boom is bowed
Facing upward angle adjusting mechanism includes the first motor and the first motor mount, and the spray boom roll angle governor motion includes the second electricity
Machine and the second motor mount, first, second motor are connected with described control unit respectively, and the first motor is fixed on first
On motor mount, first motor mount is connected with fuselage, and the clutch end of the first motor and the second motor are installed
There is roll and rotate in seat drive connection, the second motor mount of control, second motor is fixed on the second motor mount,
The spray boom is connected by bearing with the second motor mount, and spray boom is arranged in the inner ring of the bearing, and bearing outer ring is installed
On the second motor mount, the spray boom is provided with fixed in-line gears, and the clutch end of second motor passes through
Gear is engaged with the in-line gears, controls the pitch rotation of spray boom.
On the basis of such scheme, further improve or preferred scheme also includes：
Second motor mount is fixedly connected with a driving gearshaft, and the clutch end of the first motor passes through gear and institute
State driving gearshaft drive connection.
First, second motor preferably uses stepper motor.
For a kind of adjusting method of agricultural remote control flight fog machine spray boom active balancing device as described above, its feature
It is to comprise the following steps：
One）Preset the setting angle of installation site and shower nozzle of the spray boom on remote control distributor fog machine fuselage；
Two）Remote control distributor fog machine is statically placed on level ground, starts the active balancing device, initialize attitude transducer
；
Three）Body pitching, roll attitude that attitude transducer is obtained in init state are read and recorded by control unit
Angle information, with spray boom state over the ground now as original state, and using the original state as spraying operation in spray boom is entered
The dbjective state of row balance adjustment, operation remote control distributor fog machine takes off and spraying operation,；
Four）In spraying operation, the signal that attitude transducer sends is read by control unit, judge fuselage flight attitude, counted
Spray boom state and the over the ground misalignment angle of original state over the ground instantly are calculated, and determines to correct direction, according to the misalignment angle
With corresponding stepper motor stepping angle, the relation of corresponding transmission mechanism gearratio, the tune exported to stepper motor driver is calculated
Section number of pulses；
Five）According to step 4）Result of calculation, regulation pulse is sent to stepper motor driver by control unit, drive corresponding
Stepper motor turns to certain angle, and pitching and/or the roll angle of spray boom are adjusted by corresponding transmission mechanism, corrects the appearance of spray boom
State deviation, spray boom is adjusted to the dbjective state, completes balance adjustment；
Six）During sprinkling, repeat step four）To step 5）Process, until an aerial pesticide end of job.
The step 6）In, step 4 can be repeated once within each time cycle according to the default time cycle）Extremely
Step 5）Process.Also step can be repeated once when control unit detects attitude transducer sending signal and changes
Four）To step 5）Process.
Beneficial effect：
The present invention can in real time adjust roll or the luffing angle of spray boom according to the flight attitude of flight fog machine, tie up spray boom
Hold in default original state over the ground, and the holding of trying one's best of crop canopies face is flushed, and promotes medicament to spray uniform, resprayed with avoiding or
The phenomenon of drain spray occurs, and spray boom active balancing device of the present invention and its adjusting method are easy to implement, are adapted to promote the use of.
Brief description of the drawings
Fig. 1 is the schematic diagram of prior art state one；
Fig. 2 is the schematic diagram of prior art state two；
Fig. 3 is the structural representation of spray boom active balancing device of the present invention；
Fig. 4 is the control circuit diagram of spray boom active balancing device of the present invention；
Fig. 5 is the workflow schematic diagram of spray boom active balancing device of the present invention.
Specific embodiment
A kind of agricultural remote control flight fog machine spray boom active balancing device as shown in Figure 3, by balance controller and balance
The parts such as executing agency are constituted.
The balance controller includes control unit and attitude transducer：
Described control unit can using single-chip microcomputer or other there is the control unit of the functions such as data sampling and processing, the present embodiment
Described in control unit be single-chip microcomputer, the single-chip microcomputer is by central processing unit（CPU）It is described outer and corresponding peripheral circuit is constituted
Enclose circuit exported including necessary control source, photovoltaic conversion, data acquisition and the circuit module such as signal output, Phototube Coupling.
In agricultural unmanned plant protection machine operation flight course, central processing unit constantly gather attitude transducer acquisition fuselage attitude,
The flight attitude information such as roll angle, as the foundation of compensation adjustment, balances executing agency's output control signal, to complete spray boom
Self-balancing regulation.
The attitude transducer is connected with described control unit, and attitude transducer is arranged under the fuselage of flight fog machine
Portion, the flight attitude for detecting fuselage.
The balance executing agency includes spray boom luffing angle governor motion and spray boom roll angle governor motion, the spray
Bar luffing angle governor motion includes the first motor 2 and the first motor mount 1, and the spray boom roll angle governor motion includes
Second motor 4 and the second motor mount 3, first, second motor are connected with described control unit respectively.
First motor 2 is fixed on the first motor mount 1, the machine of the first motor mount 1 and flight fog machine
Body is connected, and second motor mount 3 is arranged on the middle part of spray boom 6.Second motor mount 3 is fixed on a driving gearshaft
On（It is not shown）, the clutch end of the first motor 2 drives the second motor to pacify by with the driving gearshaft meshed gears
There is roll rotation in dress seat 3 and spray boom, second motor 4 is fixed on the second motor mount centered on fuselage longitudinal midline
On 3, the spray boom 6 is connected by two bearings with the second motor mount 3, and spray boom 6 is arranged in the inner ring of the bearing, axle
Bearing outer-ring is arranged on the second motor mount 3, and the spray boom 6 is provided with fixed in-line gears 5, second motor 4
Clutch end is engaged by gear with the in-line gears, to control the pitch rotation of spray boom 6.On second motor mount 3
Two the second motors 4 can be symmetrically arranged in its left and right sides, to ensure the stability of balance adjustment, as shown in Figure 4.
In the present embodiment, first motor, the second motor are stepper motor, and attitude transducer uses electronic gyroscope
Instrument.
For the adjusting method of agricultural remote control flight fog machine spray boom active balancing device as described above, as shown in figure 5, bag
Include following steps：
One）Before actual aerial pesticide operation, according to required sprinkling flying height, flying speed, effectively mu formulation rate, spray
The environmental factor such as the information such as width and air pressure, wind speed, installation site of the pre-set spray boom on remote control distributor fog machine fuselage
With the setting angle of shower nozzle；
Two）Remote control distributor fog machine is statically placed on level ground, starts the active balancing device, initialize electronic gyroscope
Instrument, if now initialization angle of pitch α, the roll angle β of electronic gyroscope are 0 °, " state of bowing " α angles are on the occasion of " facing upward state " α angles are negative
Value, " left-hand roll state " β angles are on the occasion of " dextrad roll state " β angles are negative value；
Three）Body pitching, the roll attitude that simultaneously recorded electronic gyroscope is obtained in init state are read by control unit
Angle information, concurrently sets the angular displacement of first, second stepper motor for 0 °, with spray boom state over the ground now（With respect to ground
The angle of pitch, roll angle）Be original state, and using the original state as spraying operation in the mesh of regulation is balanced to spray boom
Mark state, operation remote control distributor fog machine takes off, spraying operation；
Four）In spraying operation, the signal sent by control unit Real-time Collection electronic gyroscope judges fuselage flight appearance
State, when fuselage causes the attitude angle of gyroscope to change due to vibration or other factors, electronic gyroscope angle of pitch α,
Roll angle β changes, and according to spray boom and the relative tertiary location relation of fuselage, central processing unit calculates spray boom instantly over the ground
The misalignment angle of state and over the ground original state, and determine to correct direction（Judge that spray boom is in " state of bowing " or " facing upward state ", " a left side
To roll state " or " dextrad roll state "）, passed with corresponding stepper motor stepping angle, corresponding transmission mechanism according to the misalignment angle
Dynamic ratio（Such as constant speed, slow down or drive up）Relation, calculate to stepper motor driver export regulation number of pulses；
Five）According to step 4）Result of calculation, regulation pulse is sent to stepper motor driver by control unit, drive first
And/or second the power output shaft of stepper motor turn to certain angle, by corresponding transmission mechanism（Gear shaft and gear）Adjust
Pitching and/or the roll angle of spray boom are saved, the attitude misalignment of spray boom is corrected, spray boom is adjusted to the dbjective state, complete balance
Regulation；
Six）During sprinkling, step 4 can be repeated once in each time cycle according to the default time cycle）To step 5）
Process, or set when control unit detects electronic gyroscope sending signal and changes, that is, be repeated once step 4）
To step 5）Process, until an aerial pesticide end of job.
General principle of the invention, principal character and advantages of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not limited to the above embodiments, simply explanation described in above-described embodiment and specification this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, the present invention
Claimed scope is by appending claims, specification and its equivalent thereof.
Claims (6)
1. a kind of agricultural remote control flight fog machine spray boom active balancing device, it is characterised in that including balance controller and balance
Executing agency：
The balance controller is provided with control unit and attitude transducer, and the attitude transducer is arranged on the machine of flight fog machine
With, for detecting the flight attitude information of fuselage, and it is connected with described control unit；
The balance executing agency includes spray boom luffing angle governor motion and spray boom roll angle governor motion, and the spray boom is bowed
Facing upward angle adjusting mechanism includes the first motor and the first motor mount, and the spray boom roll angle governor motion includes the second electricity
Machine and the second motor mount, first, second motor are connected with described control unit respectively, and the first motor is fixed on first
On motor mount, first motor mount is connected with fuselage, and the clutch end of the first motor and the second motor are installed
There is roll and rotate in seat drive connection, the second motor mount of control, second motor is fixed on the second motor mount,
The spray boom is connected by bearing with the second motor mount, and spray boom is arranged in the inner ring of the bearing, and bearing outer ring is installed
On the second motor mount, the spray boom is provided with fixed in-line gears, and the clutch end of second motor passes through
Gear is engaged with the in-line gears, controls the pitch rotation of spray boom.
2. a kind of agricultural remote control flight fog machine spray boom active balancing device according to claim 1, it is characterised in that institute
State the second motor mount to be fixedly connected with a driving gearshaft, the clutch end of the first motor passes through gear and the transmission
Gear spindle drive is connected.
3. a kind of agricultural remote control flight fog machine spray boom active balancing device according to claim 1 and 2, its feature exists
In first, second motor is stepper motor.
4. a kind of adjusting method of agricultural remote control flight fog machine spray boom active balancing device as claimed in claim 3 is used for,
It is characterised in that it includes following steps：
One）Preset the setting angle of installation site and shower nozzle of the spray boom on remote control distributor fog machine fuselage；
Two）Remote control distributor fog machine is statically placed on level ground, starts the active balancing device, initialize attitude transducer
；
Three）Body pitching, roll attitude that attitude transducer is obtained in init state are read and recorded by control unit
Angle information, with spray boom state over the ground now as original state, and using the original state as spraying operation in spray boom is entered
The dbjective state of row balance adjustment, operation remote control distributor fog machine takes off and spraying operation,；
Four）In spraying operation, the signal that attitude transducer sends is read by control unit, judge fuselage flight attitude, counted
Spray boom state and the over the ground misalignment angle of original state over the ground instantly are calculated, and determines to correct direction, according to the misalignment angle
With corresponding stepper motor stepping angle, the relation of corresponding transmission mechanism gearratio, the tune exported to stepper motor driver is calculated
Section number of pulses；
Five）According to step 4）Result of calculation, regulation pulse is sent to stepper motor driver by control unit, drive corresponding
Stepper motor turns to certain angle, and pitching and/or the roll angle of spray boom are adjusted by corresponding transmission mechanism, corrects the appearance of spray boom
State deviation, spray boom is adjusted to the dbjective state, completes balance adjustment；
Six）During sprinkling, repeat step four）To step 5）Process, until an aerial pesticide end of job.
5. adjusting method according to claim 4, it is characterised in that the step 6）In, according to week default time
Phase, step 4 is repeated once in each time cycle）To step 5）Process.
6. adjusting method according to claim 4, it is characterised in that the step 6）In, detected by control unit
When attitude transducer sending signal changes, that is, it is repeated once step 4）To step 5）Process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611141033.3A CN106741952B (en) | 2016-12-12 | 2016-12-12 | Active balancing device and adjusting method for spray boom of agricultural remote control flight plant protection machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611141033.3A CN106741952B (en) | 2016-12-12 | 2016-12-12 | Active balancing device and adjusting method for spray boom of agricultural remote control flight plant protection machine |
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| CN106741952A true CN106741952A (en) | 2017-05-31 |
| CN106741952B CN106741952B (en) | 2023-06-30 |
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| CN201611141033.3A Active CN106741952B (en) | 2016-12-12 | 2016-12-12 | Active balancing device and adjusting method for spray boom of agricultural remote control flight plant protection machine |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107444648A (en) * | 2017-09-06 | 2017-12-08 | 四川大友机器人有限公司 | A kind of fluid spray bar of agricultural plant protection unmanned plane |
| CN108450445A (en) * | 2018-03-28 | 2018-08-28 | 农业部南京农业机械化研究所 | Plant protection unmanned aerial vehicle spray boom regulating device and its adjusting method |
| CN108750120A (en) * | 2018-07-13 | 2018-11-06 | 农业部南京农业机械化研究所 | A kind of plant protection unmanned aerial vehicle nozzle active balancing device and adjusting method |
| CN108739730A (en) * | 2018-05-02 | 2018-11-06 | 江苏大学 | A kind of spray boom balance active predicting regulating system and method |
| CN109122646A (en) * | 2018-10-31 | 2019-01-04 | 湖南农业大学 | A kind of double leveling electronic fog machines of high-clearance of vehicle frame spray boom based on vertical lift |
| CN109941435A (en) * | 2019-04-08 | 2019-06-28 | 华南农业大学 | A kind of wide cut spray boom self-balancing aircraft and its control method |
| CN110147111A (en) * | 2018-02-13 | 2019-08-20 | 广州极飞科技有限公司 | A kind of flight attitude control method and device, flight control system |
| CN110217395A (en) * | 2019-06-19 | 2019-09-10 | 华南农业大学 | A kind of nozzle position regulating device and method based on plant protection drone heading |
| CN112660386A (en) * | 2020-12-30 | 2021-04-16 | 成都工业学院 | Foldable four-axis eight-propeller plant protection unmanned aerial vehicle with vector control function |
| CN114198455A (en) * | 2021-12-15 | 2022-03-18 | 上海新纪元机器人有限公司 | Self-balancing vibration damping system mounted on carrying equipment |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107444648A (en) * | 2017-09-06 | 2017-12-08 | 四川大友机器人有限公司 | A kind of fluid spray bar of agricultural plant protection unmanned plane |
| CN110147111B (en) * | 2018-02-13 | 2021-05-14 | 广州极飞科技股份有限公司 | Flight attitude control method and device and flight control system |
| CN110147111A (en) * | 2018-02-13 | 2019-08-20 | 广州极飞科技有限公司 | A kind of flight attitude control method and device, flight control system |
| CN108450445A (en) * | 2018-03-28 | 2018-08-28 | 农业部南京农业机械化研究所 | Plant protection unmanned aerial vehicle spray boom regulating device and its adjusting method |
| CN108450445B (en) * | 2018-03-28 | 2023-06-30 | 农业部南京农业机械化研究所 | Plant protection unmanned plane spray boom adjusting device and adjusting method thereof |
| CN108739730A (en) * | 2018-05-02 | 2018-11-06 | 江苏大学 | A kind of spray boom balance active predicting regulating system and method |
| CN108750120A (en) * | 2018-07-13 | 2018-11-06 | 农业部南京农业机械化研究所 | A kind of plant protection unmanned aerial vehicle nozzle active balancing device and adjusting method |
| CN109122646A (en) * | 2018-10-31 | 2019-01-04 | 湖南农业大学 | A kind of double leveling electronic fog machines of high-clearance of vehicle frame spray boom based on vertical lift |
| CN109122646B (en) * | 2018-10-31 | 2023-08-22 | 湖南农业大学 | Frame spray lance double leveling high ground clearance electric plant protection machine based on vertical lift |
| CN109941435A (en) * | 2019-04-08 | 2019-06-28 | 华南农业大学 | A kind of wide cut spray boom self-balancing aircraft and its control method |
| CN110217395A (en) * | 2019-06-19 | 2019-09-10 | 华南农业大学 | A kind of nozzle position regulating device and method based on plant protection drone heading |
| CN112660386A (en) * | 2020-12-30 | 2021-04-16 | 成都工业学院 | Foldable four-axis eight-propeller plant protection unmanned aerial vehicle with vector control function |
| CN112660386B (en) * | 2020-12-30 | 2021-09-14 | 成都工业学院 | Foldable four-axis eight-propeller plant protection unmanned aerial vehicle with vector control function |
| CN114198455A (en) * | 2021-12-15 | 2022-03-18 | 上海新纪元机器人有限公司 | Self-balancing vibration damping system mounted on carrying equipment |
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| CN106741952B (en) | 2023-06-30 |
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