CN107046878A - Unmanned plane solid material sows intelligent metering and control device - Google Patents
Unmanned plane solid material sows intelligent metering and control device Download PDFInfo
- Publication number
- CN107046878A CN107046878A CN201710270075.5A CN201710270075A CN107046878A CN 107046878 A CN107046878 A CN 107046878A CN 201710270075 A CN201710270075 A CN 201710270075A CN 107046878 A CN107046878 A CN 107046878A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- actuator
- control device
- intelligent metering
- sows
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
- A01C7/085—Broadcast seeders
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
-
- 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
- B64D1/02—Dropping, ejecting, or releasing articles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
Intelligent metering and control device are sowed the invention discloses a kind of unmanned plane solid material, including meter and controller, the meter, including material cavity, runner assembly and actuator, the material cavity is provided with the charging aperture and discharging opening not on same vertical line, the actuator drives the runner assembly to rotate that the material entered from charging aperture is moved into discharging opening and then sowed, the controller is used to gather information and correction data will be generated after the corrected processing of the information collected and generates command information based on the correction data and sends to actuator so as to adjust the rotating speed of actuator.Unmanned plane solid material of the present invention sows intelligent metering and control device, is corrected to sow progress accurately intelligent metering and flow control to different solid materials based on different weather, speed conditions.
Description
Technical field
The present invention relates to UAV (abbreviation unmanned plane) field, in particular it relates to a kind of unmanned plane solid material
Sow intelligent metering and control device.
Background technology
It is more and more universal in the application of modern precision agriculture with the fast development of unmanned air vehicle technique, although a large amount of at present
Unmanned plane widelyd popularize in terms of agricultural plant protection, but its main application is in terms of concentrating on liquid pesticide sprinkling, and
Applied to solid particle agricultural chemicals, powder pesticide spraying and seed plant seeds by airplane in terms of unmanned plane be then almost not have, this show
The generation of elephant is sprayed mainly due to liquid can be by meeting flow and metering to being precisely controlled for fluid pipeline control valve
It is required that, and under As-Is, without similar equipment application in the sprinkling of solid granulates, during solid granulates sprinkling,
Mostly using using expect body gravity itself put english runner type of drive by the way of realize, and this mode of operation is impossible
What flow and metering to sprinkling were controlled, therefore, at present on the market almost without granular agrochemical, powder agricultural chemicals, seed etc.
The automatic gauge control sprinkling unmanned plane of solid material.Make many users due to lacking accurately grain flux metering control
Hang back, and operation can only be gone by the way of artificial or ground machine coordinates, cause that efficiency is low, coverage rate is low and uniform
Property difference a series of problems, such as.
The content of the invention
It is an object of the invention to overcome unmanned plane to sow solid particle and powder agricultural chemicals and kind in modern precision agriculture
The accurate metering faced in subprocess and the problem accurately controlled sow intelligent metering and control there is provided a kind of unmanned plane solid material
Device processed, based on the calibration measurement mechanism that the high-precision rotary speed parameter of adaptive adjustment is expected for variable grain (powder), with reference to nothing
The parameters such as man-machine GPS ground speeds, accurately intelligent metering and flow control are carried out to sowing.
The present invention the used technical scheme that solves the above problems is：
Unmanned plane solid material sows intelligent metering and control device, including meter and controller, the meter, bag
Material cavity, runner assembly and actuator are included, the material cavity is described provided with the charging aperture and discharging opening not on same vertical line
Actuator drives the runner assembly to rotate that the material entered from charging aperture is moved into discharging opening and then sowed, the control
Device is used to gather information and correction data will be generated after the corrected processing of the information collected and given birth to based on the correction data
Into command information and send to actuator so as to adjusting the rotating speed of actuator.Wherein, the information of collection be mainly meter, nobody
The combination of the one or more information such as machine, weather, height of materials information, the rotating speed of actuator including but not limited in material cavity
Information, the height position information of sprinkling, the airspeed information of unmanned plane, Weather information (such as wind speed, wind direction in region to be sprayed
Deng).
Further, the runner assembly includes rotary shaft and the rotating wheel being sheathed on outside rotary shaft, the rotary shaft
With the rotating wheel synchronous axial system, the actuator drives the rotary shaft to rotate, and the rotating wheel is used to material being transferred to
Discharging opening is sowed.
Further, the rotating wheel is flexible rotating wheel.
Further, the controller includes control unit, sensor cluster, correction process module and expert data
Storehouse, the module that described control unit has with sensor cluster, correction process module, expert database and unmanned plane is electrically connected
Connect, Corrective control algorithm is prestored in the correction process module, the expert database prestores correspondence different-grain diameter, difference
Species, different specific weight, the empirical data of the solid material of different adsorption capacities, described control unit receive sensor cluster and nothing
Information that man-machine had module is sent, store and generate persistant data, and the persistant data is sent to correction process
Module, and receive from correction process module generate correction data, and based on the correction data generation command information send to
Actuator and then the rotating speed for adjusting actuator.Wherein, solid material generally refers to agricultural sprinkling particle/or dusty material.
In the present invention, alleged solid material generally refers to the particle or powder that size is less than 12mm × 6mm.
Further, the sensor cluster include level sensor, motor encoder, geographical position height sensor,
Velocity sensor and weather sensor, the level sensor are located at the feed zone of material cavity, for detecting material intracavitary
Height of materials simultaneously feeds back to control unit, and the motor encoder is used to the rotating speed of actuator is converted into electric signal and fed back to
Control unit, the geographical position height sensor, for detecting the height position information of unmanned plane sprinkling and sending to control
Unit, the velocity sensor, for detecting the airspeed information of unmanned plane and sending to control unit, the weather sensing
Device, for detecting the Weather information in region to be sprayed and sending to control unit.
Further, the module that the unmanned plane has includes but is not limited to GPS module, unmanned plane during flying velocity pick-up
Device module.
Further, the actuator is DC speed-regulating motor, and the motor encoder and the DC speed-regulating motor are same
Axle is connected.
Further, the material cavity is made up of multiple son material chambers being connected, axle of the sub- material chamber along runner assembly
Line direction is arranged mutually parallel.
Further, the meter also includes the gear-box for connecting the actuator and the runner assembly, the drive
Moving part is by driving the pinion rotation in the gear-box and then driving runner assembly to rotate.
Further, the charging aperture is located at the top of the material cavity.
Further, the material cavity includes being connected with the charging aperture feed zone, it is engaged with the rotary shaft
Changeover portion and the discharging section that is connected with the discharging opening.The runner assembly is rotatably mounted to the mistake of the material cavity
Cross in section.
Further, the material cavity wall covers at least one layer of application of anti-leakage layers.
To sum up, the beneficial effects of the invention are as follows：It is unmanned winged that the intelligent metering of the present invention is used for agricultural with control device
Metering and control of the machine in sprinkling solid particle agricultural chemicals, fertilizer or sowing sub-processes.It can under different weather environments,
Precisely metering and the equably sprinkling of control unmanned plane solid material.Can make spraying particle operating efficiency become efficiently, cost
Become cheap, greatly discharge productivity, existing farming operation can be made more to economize on resources and environmental protection in addition.
Brief description of the drawings
Fig. 1 is that the unmanned plane solid material shown in present pre-ferred embodiments sows intelligent metering and the meter in control device
The structural representation of measuring device；
Fig. 2 is the side view of meter；
Fig. 3 is the B-B sectional views in Fig. 2；
Fig. 4 is the A-A sectional views in Fig. 2；
Fig. 5 is the structure chart of controller；
Mark and corresponding parts title in accompanying drawing：Material cavity 1, sub- material chamber 11, ball bearing 3, rotary shaft 4, rotation
Wheel 7, direct current generator support member 8, bearing cap 9, DC speed-regulating motor 10.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not
It is limited to this.
Embodiment 1
Fig. 1-5 are referred to, the unmanned plane solid material shown in present pre-ferred embodiments is sowed intelligent metering and filled with control
Put, including installed in the meter and controller of unmanned motor spindle.
The meter, including material cavity 1, rotary shaft 4 and DC speed-regulating motor 10.
The material cavity 1 is fixedly installed in unmanned motor spindle, for storing material.The material cavity 1 is provided with not same
Charging aperture and discharging opening on vertical line, therefore, material can not lean on gravity to move on to discharging opening from charging aperture in itself, so as to overcome weight
Influence of the power for accurate measurement.The charging aperture be located at the material cavity 1 top, the material cavity 1 include with it is described enter
Feed zone, the changeover portion being engaged with the rotary shaft 4 and the discharging section being connected with the discharging opening that material mouth is connected.
The feed zone inwall of the material cavity 1 covers at least one layer of application of anti-leakage layers, such as suede cotton fabric, to prevent particle or powder
Solid material is spilt.
The rotary shaft 4 is rotatably mounted in the changeover portion of the material cavity 1, and being arranged with the rotary shaft 4 is used for
Material is transferred in the rotating wheel 7 of discharging section, the rotary shaft 4 and the synchronous axial system of rotating wheel 7, the present embodiment, it is described
Rotating wheel 7 is flexible rotating wheel, stuck to avoid, still more preferably, and the flexible rotating wheel is rubber rotating wheel.The rotation
The two ends of axle 4 are connected by a ball bearing 3 with the material cavity 1 respectively, and are fixed on material cavity 1 by bearing cap 9
On cavity.
The DC speed-regulating motor 10 is fixedly installed on the material cavity 1 by a direct current motor supports 8, for driving
The rotary shaft 4 is moved to rotate.
It is appreciated that the meter can also include connecting the DC speed-regulating motor 10 and the tooth of the rotary shaft 4
Roller box, the DC speed-regulating motor 10 is by driving the pinion rotation in the gear-box and then driving rotary shaft 4 to rotate.
For ease of dismantling and installing, the material cavity 1 is made up of multiple son material chambers 11 being connected.The sub- edge of material chamber 11
The axis direction of rotary shaft 4 is arranged mutually parallel.It is signified in the present invention multiple to refer to two or more.
The controller includes control unit, level sensor, motor encoder, geographical position height sensor, speed
Sensor, weather sensor, correction process module and expert database.
The level sensor is located at the feed zone of material cavity 1, for detecting the height of materials in material cavity 1 and feeding back to
Control unit, the situation for occurring measuring error to prevent the idle running due to meter occurs.
The motor encoder is used to the rotating speed of DC speed-regulating motor 10 is converted into electric signal and control unit is fed back to.
The motor encoder and the DC speed-regulating motor 10 are coaxially connected, to ensure precision and then the guarantee of motor speed detection
Precisely feedback is expected.
The geographical position height sensor, for detecting the height position information of unmanned plane sprinkling and sending single to controlling
Member.
The velocity sensor, for detecting the airspeed information of unmanned plane and sending to control unit.
The weather sensor, for detecting the Weather information in region to be sprayed and sending to control unit.The weather
Information includes but is not limited to wind speed, wind direction.
Described control unit is highly passed with the level sensor, motor encoder, DC speed-regulating motor 10, geographical position
The module that sensor, velocity sensor, weather sensor, correction process module, expert database and unmanned plane have is electrically connected
Connect, the module that unmanned plane has includes but is not limited to GPS module, unmanned plane during flying acceleration sensor module, so as to obtain nothing
The data such as man-machine GPS location information and unmanned plane during flying speed.Described control unit receive from the level sensor,
Motor encoder, DC speed-regulating motor 10, geographical position height sensor, velocity sensor, weather sensor and unmanned plane
Information that the module that is had is sent, store and generate persistant data, and the persistant data is sent to correction process module,
And the correction data generated from correction process module is received, and sent based on correction data generation command information to direct current tune
Speed motor 10, adjusts the velocity of rotation of motor, and then adjusts sprinkling discharging speed, to realize the purpose uniformly sprayed.
Prestore substantial amounts of Corrective control algorithm in the correction process module, the correction process module is to receiving
Persistant data is corrected to analyze and generate correction data and sent to control unit.The expert database prestores substantial amounts of right
Different-grain diameter, variety classes, different specific weight, the experience number of agricultural sprinkling particle/dusty material of different adsorption capacities should be sowed
According to the extraction of sort merge and corresponding control algolithm parameter can be carried out to persistant data, that is, refer to different information not
Classified with the different conditions produced by combination, then find in expert database corresponding control algolithm parameter.Institute
The content for stating correction process module and expert database may be updated.
To sum up, the unmanned plane solid material shown in the application sows intelligent metering and control device, with advantages below：
1. solid material is under gravity, into simultaneously fill material chamber 1, and charging aperture does not hang down with discharging opening same
On straight line, material is set to move on to discharging opening by gravity in itself, it is necessary to by the material driving part (that is, rotating wheel 7) of device
Discharging opening could be moved to by material body by rotating, in this process by reaching that control is solid to the rotating speed control of motor
Body material is measurable with controllable effect.
2. the startup and closing of sprinkling, Yi Jigen can be intelligently determined according to geographical position height and unmanned plane during flying speed
The velocity of rotation of situation correcting motor is combined according to different sensing datas, and then the flow of sprinkling is adjusted.
The flight that 3. the unmanned plane solid material of the present invention sows intelligent metering with control device can be connected unmanned plane is controlled
Device, as long as presetting the mu consumption of solid material, the present apparatus just can be according to each sensor and the signal of module, automatic, intelligence
Every mu of ground fountain height of control of energy, even (different wind speed, wind direction etc.) also ensures that sprinkling under different climatic environments
Environmental protection with precisely, so as to greatly improve operating efficiency.
4. device of the present invention is applied to various unmanned planes, such as helicopter, fixed-wing, many rotors are not limited herein
System.
As described above, the present invention can be realized preferably.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, according to
According to the present invention technical spirit, within the spirit and principles in the present invention, above example is made it is any it is simple modification,
Equivalent substitution and improvement etc., still fall within the protection domain of technical solution of the present invention.
Claims (10)
1. unmanned plane solid material sows intelligent metering and control device, it is characterised in that including meter and controller, described
Meter, including material cavity, runner assembly and actuator, the material cavity is provided with charging aperture not on same vertical line with going out
Material mouth, the actuator drives the runner assembly to rotate that the material entered from charging aperture is moved into discharging opening and then broadcast
Spill, the controller is for gathering information and correction data will be generated after the corrected processing of the information collected and based on this
Correction data generates command information and sends to actuator to adjust the rotating speed of actuator.
2. unmanned plane solid material according to claim 1 sows intelligent metering and control device, it is characterised in that described
Runner assembly includes rotary shaft and the rotating wheel being sheathed on outside rotary shaft, the rotary shaft and the rotating wheel synchronous axial system,
The actuator drives the rotary shaft to rotate, and the rotating wheel is sowed for material to be transferred into discharging opening.
3. unmanned plane solid material according to claim 2 sows intelligent metering and control device, it is characterised in that described
Rotating wheel is flexible rotating wheel.
4. unmanned plane solid material according to claim 1 sows intelligent metering and control device, it is characterised in that described
Controller includes control unit, sensor cluster, correction process module and expert database, described control unit and sensor
Corrective control is prestored in component, correction process module, expert database and unmanned mechatronics, the correction process module
Algorithm, the expert database prestores correspondence different-grain diameter, variety classes, different specific weight, the solids of different adsorption capacities
The empirical data of material, described control unit receives the information that sensor cluster and unmanned plane send, stores and generate persistant data,
And send the persistant data to correction process module, and receive the correction data generated from correction process module, and base
The rotating speed that command information sends to actuator and then adjusts actuator is generated in the correction data.
5. unmanned plane solid material according to claim 4 sows intelligent metering and control device, it is characterised in that described
Sensor cluster includes level sensor, motor encoder, geographical position height sensor, velocity sensor and weather sensing
Device, the level sensor is located at the feed zone of material cavity, for detecting the height of materials of material intracavitary and feeding back to control list
Member, the motor encoder is used to the rotating speed of actuator is converted into electric signal and control unit is fed back to, the geographical position
Height sensor, for detecting the height position information of unmanned plane sprinkling and sending to control unit, the velocity sensor, is used
In the airspeed information and transmission for detecting unmanned plane to control unit, the weather sensor, for detecting region to be sprayed
Weather information and send to control unit.
6. unmanned plane solid material according to claim 4 sows intelligent metering and control device, it is characterised in that described
Unmanned plane includes GPS module, the unmanned plane during flying acceleration sensor module electrically connected with control unit.
7. unmanned plane solid material according to claim 5 sows intelligent metering and control device, it is characterised in that described
Actuator is DC speed-regulating motor, and the motor encoder and the DC speed-regulating motor are coaxially connected.
8. unmanned plane solid material according to any one of claim 1 to 6 sows intelligent metering and control device, it is special
Levy and be, the material cavity is made up of multiple son material chambers being connected, and the sub- material chamber is mutual along the axis direction of runner assembly
Parallel arrangement.
9. unmanned plane solid material according to any one of claim 1 to 6 sows intelligent metering and control device, it is special
Levy and be, the meter also includes the gear-box for connecting the actuator and the runner assembly, and the actuator is by driving
Move the pinion rotation in the gear-box and then drive runner assembly to rotate.
10. unmanned plane solid material according to any one of claim 1 to 6 sows intelligent metering and control device, its
It is characterised by, the material cavity wall covers at least one layer of application of anti-leakage layers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710270075.5A CN107046878A (en) | 2017-04-24 | 2017-04-24 | Unmanned plane solid material sows intelligent metering and control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710270075.5A CN107046878A (en) | 2017-04-24 | 2017-04-24 | Unmanned plane solid material sows intelligent metering and control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107046878A true CN107046878A (en) | 2017-08-18 |
Family
ID=59603769
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710270075.5A Pending CN107046878A (en) | 2017-04-24 | 2017-04-24 | Unmanned plane solid material sows intelligent metering and control device |
Country Status (1)
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107750542A (en) * | 2017-10-11 | 2018-03-06 | 华南农业大学 | A kind of unmanned plane spreading gear and its control method for mass flow control |
| CN108528730A (en) * | 2018-06-22 | 2018-09-14 | 深圳高科新农技术有限公司 | A kind of unmanned plane solid material flow controllable spraying device |
| CN112445246A (en) * | 2019-08-26 | 2021-03-05 | 广州极飞科技有限公司 | Calibration function determining method, motor rotating speed determining method and device |
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| US20150351315A1 (en) * | 2014-06-10 | 2015-12-10 | Cnh Industrial America Llc | Multiple Seed-Type Seed Meter |
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| CN205952320U (en) * | 2016-08-11 | 2017-02-15 | 华南农业大学 | Material spreading device of agricultural unmanned aerial vehicle carry |
| CN206031788U (en) * | 2016-08-31 | 2017-03-22 | 宁夏大学 | Storehouse is hung in plant seeds by airplane of many positions in storehouse of unmanned aerial vehicle grassland |
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| CN2231478Y (en) * | 1995-08-09 | 1996-07-24 | 杨宝山 | Multi-worm metering seeder |
| CN106231891A (en) * | 2013-10-16 | 2016-12-14 | 克韦尔内兰德公司 | For measuring the measuring equipment of bulk material |
| US20150351315A1 (en) * | 2014-06-10 | 2015-12-10 | Cnh Industrial America Llc | Multiple Seed-Type Seed Meter |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107750542A (en) * | 2017-10-11 | 2018-03-06 | 华南农业大学 | A kind of unmanned plane spreading gear and its control method for mass flow control |
| CN108528730A (en) * | 2018-06-22 | 2018-09-14 | 深圳高科新农技术有限公司 | A kind of unmanned plane solid material flow controllable spraying device |
| CN112445246A (en) * | 2019-08-26 | 2021-03-05 | 广州极飞科技有限公司 | Calibration function determining method, motor rotating speed determining method and device |
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Application publication date: 20170818 |