CN108012825A - One kind automation hydrojet control method - Google Patents
One kind automation hydrojet control method Download PDFInfo
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- CN108012825A CN108012825A CN201711263026.5A CN201711263026A CN108012825A CN 108012825 A CN108012825 A CN 108012825A CN 201711263026 A CN201711263026 A CN 201711263026A CN 108012825 A CN108012825 A CN 108012825A
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- control method
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
Abstract
The invention discloses one kind to automate hydrojet control method, and water spray operation is at least one of following operating type：Operating type 1：Main jet rifle on vehicular platform implements water spray；Operating type 2：Under the monitoring of aircraft, water spray is implemented by main jet rifle or crawler-type traveling cars；Operating type 3：No aircraft participates in, and implements to spray water by crawler-type traveling cars；Operating type 4：Implement to spray water by aircraft.The automation hydrojet control method of the present invention can realize automatic spraying, and spraying operation is efficient.
Description
Technical field
The present invention relates to one kind to automate hydrojet control method.
Background technology
Existing spray system, is such as used for the sprayer of urban green belts water spray, general using manually water spray；This spray
Although waterwheel can realize the effect of spray, tailstock portion needs an operator to implement scene water spray, especially in cold season
Section, the operator of the tailstock are exposed in rugged environment, and working environment is arduous, moreover, current part is not easy for some vehicles,
Water spray is more difficult.Therefore, it is necessary to design a kind of automation hydrojet control method.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of automation hydrojet control method, automation of the invention spray
Liquid control method can realize automatic spraying, and spraying operation is efficient.
The technical solution of invention is as follows：
One kind automation hydrojet control method, including any of following several ways：
Mode 1：Include a driver and an operator in driver's cabin, driver is responsible for driving vehicular platform so as to control
Vehicle processed is advanced by projected route, and operator passes through controller (such as tablet computer or the dedicated control device with display)
It is responsible for control water spray operation；Principal phase machine on vehicular platform is by the realtime video transmission of the process of sprinkling to driver's cabin；
Mode 2：There is an operator, vehicular platform is automatic Pilot platform, and operator is responsible for control spray in driver's cabin
Water operation, records water spray video presence and preserves or be sent to remote monitoring platform；
Mode 3：Remote monitoring platform is simultaneously sent in real time, is grasped without operator, water spray video (Locale Holding) in driver's cabin
Work person is teleoperator, based on real-time monitor video, wirelessly control water spray operation；
Mode 4：Without site operation people and teleoperator, the automatic programme path of car owner's platform is automatic to implement water spray, water spray
Operation realtime video transmission implements water spray job monitoring to remote monitoring platform by remote monitoring platform.Water spray needs at this time
Vehicular platform is equipped with the image processing module of automatic identification object (such as green plants), which is existing mature technology.
Operation spray water as at least one of following operating type：
Operating type 1：Main jet rifle on vehicular platform implements water spray；
Operating type 2：Under the monitoring of aircraft, water spray is implemented by main jet rifle or crawler-type traveling cars；
Operating type 3：No aircraft participates in, and implements to spray water by crawler-type traveling cars；
Operating type 4：Implement to spray water by aircraft.
In operating type 1, water spraying direction and the spray gun elevation angle can be adjusted, specifically, driving motor to pass through by turning platform
The driving rotating platform rotation of first transmission mechanism, the direction of control rotating platform in the horizontal plane, to control water spraying direction；It is another
Aspect, the elevation angle of the spray gun driving motor by the second transmission mechanism control main jet rifle.
Vehicular platform is charged by wireless charging module.
The wireless charging module includes the support platform being arranged in concave part and the hair being arranged in support platform
Ray circle 214；The support platform includes underlying activities platform, upper strata movable platform and connection underlying activities platform and upper strata
The elevating mechanism of movable platform；Underlying activities platform is equipped with longitudinal translation mechanism；Upper strata movable platform is equipped with transverse translation
Mechanism；The elevating mechanism is cylinder formula elevating mechanism or scissor-type lifting mechanism；Longitudinal translation mechanism includes being arranged on depression
The guide rail of portion bottom and the first rack rail；The guide rail is 2；Rack rail is one, rack rail and guide rail parallel arrangement；Bottom
Layer movable platform bottom is equipped with multiple traveling wheels that can be rolled on the guide rail；Traveling wheel is 4,2 on one side.
The corresponding automation hydrojet control system of this method, including vehicular platform, are equipped with main water box, water on vehicular platform
Pump, rotating platform, rotating platform driving motor；Main jet rifle is arranged on rotating platform；The water inlet of main water box and water pump passes through
Water pipe is connected, and the water outlet of water pump is connected by water pipe with spray gun；The water pipe of connection water pump and spray gun is equipped with the first valve；
Rotating platform driving motor can drive rotating platform to rotate by the first transmission mechanism；Rotating platform is equipped with spray gun
Motor is driven, spray gun driving motor can pass through the elevation angle of the second transmission mechanism control main jet rifle.
First transmission mechanism is gear or belt wheel transmission mechanism.Preferably gear drive, including installed in
The first driving gear on rotating platform driving machine shaft, and the driven gear engaged with first driving gear,
Driven gear is arranged on the outer ring of rotating platform, is designed for integral type, driven gear and rotating platform coaxial line, therefore, rotation
Platform driving motor can drive rotating platform to rotate.
Second transmission mechanism is electric pushrod or drawstring, and when the second transmission mechanism is drawstring, the upper end of drawstring is set
Put in the rear end of spray gun, the lower end of drawstring is in the shaft mounted in spray gun driving motor (or on the belt wheel filled in shaft).
Since spray gun is mounted on gunjet rack, be with gunjet rack it is hinged, therefore, spray gun front end be under the effect of gravity to
Under, therefore, its elevation angle is controlled by drawstring completely.
Vehicular platform is equipped with principal phase machine.Principal phase machine is preferably arranged on vehicular platform by camera strut, is achieved in that
The wider array of visual field.The sprinkling state of principal phase machine monitoring main jet rifle, the image of camera collection can be shown on driver's cabin, easy to drive
The manipulator's manipulation for sailing room, or remote platform is transmitted to, such manipulator can be with remote control water spray operation.
Vehicular platform is equipped with the aircraft with camera, and aircraft is multiple, because the working time of each aircraft
Limited, such as half an hour, multiple aircraft can use in turn, and one another takes off when making a return voyage, and realize that uninterrupted perform is appointed
Business.Vehicular platform is equipped with the charging module for being used for wirelessly or non-wirelessly charging for aircraft.Further, aircraft is equipped with water
Case and jet pipe, on vehicular platform, the water tank of aircraft can the moisturizing from main water box.At this time, aircraft can not only perform prison
Control task, moreover it is possible to implement water spray task, can also spray water in the impassable region of vehicle or creeper truck (crawler type sprayer).
Vehicular platform is equipped with crawler type sprayer, and crawler type sprayer is equipped with sub- camera and auxiliary spray gun.
Crawler type sprayer is connected by water pipe with the main water box on vehicular platform；Or crawler type sprayer is equipped with auxiliary
Water tank.Or existing auxiliary water tank, and have water pipe.
Vehicular platform is driven by gasoline engine, diesel engine or power battery.It is preferred that the dynamic lithium battery driving of new energy, more ring
Protect, preferably, vehicular platform is automatic Pilot platform.
Vehicular platform is equipped with locating module (such as GPS or big dipper module) and wireless communication module；Wireless communication module is
PPRS, 3G, 4G or 5G communication module, vehicular platform pass through wireless communication module and remote control table or remote control terminal
(such as PC machine, laptop and tablet computer) communicates to connect.It can realize remotely monitor, and remote control water spray.
Vehicular platform is equipped with dynamic lithium battery and charging module, and charging module is the charging mould coordinated with charging pile
Block, or charging module are wireless charging module；Wireless charging module is with setting wireless charging system on the ground to coordinate.Car
Carrying platform can realize automatic Pilot, automatic path planning.Automatic sensed water level state etc., automatic water supplement, automatic charging.
Sparge pipe is additionally provided with vehicular platform, if necessary, operator can hold sparge pipe and be sprayed at the scene, as
A kind of supplement of automatic spraying.
In addition, spray gun is equipped with the adjuster of regulating pondage, regulating pondage can realize the distance of sprinkling.
Beneficial effect：
The automation hydrojet control method of the present invention, has the advantages that following prominent：
(1) spray gun of direction and angle can directly be adjusted by being equipped with vehicular platform, and therefore, the tailstock need not configure operation
Member, can reduce by a station, and be avoided that operator's operation in rugged environment.
(2) vehicular platform is equipped with crawler type sprayer, can implement automatic water jetting operation in the current place of vehicle inconvenience,
And camera can feed back operation realtime graphic, easy to remote monitoring.Crawler type sprayer can charge on vehicular platform.
(3) vehicular platform is equipped with aircraft, after aircraft takeoff, can monitor whole operation field, instruct vehicular platform
For vehicular platform navigation and path planning；In addition, can also be the navigation of crawler type sprayer and path planning；Further,
Since aircraft carries water tank, independent water spray operation can also be implemented in the current place of vehicle inconvenience, and camera can be fed back
Operation realtime graphic, easy to remote monitoring.In addition, aircraft is multiple, task can be performed in turn, and can be in vehicular platform
Upper charging.
(4) vehicular platform can realize automatic Pilot, realize completely unmanned manipulation or remote control.
(5) vehicular platform is new energy vehicular platform, has the feature of environmental protection, moreover, wireless charging can be realized.
Brief description of the drawings
Fig. 1 is automation hydrojet control system general structure schematic diagram (shape of crawler type sprayer when on vehicular platform
State figure)；
For automation hydrojet control system general structure schematic diagram, (crawler type sprayer leaves shape during vehicular platform to Fig. 2
State figure)；
Fig. 3 is the structure diagram of crawler type sprayer；
Fig. 4 is the principle schematic of vehicle-mounted flusher；
Fig. 5 is the structure diagram of vehicle-mounted flusher；
Fig. 6 is the general structure schematic diagram (side view) of automobile wireless charging system；
Fig. 7 is the general structure schematic diagram (top view) of automobile wireless charging system；
Schematic diagram when Fig. 8 covers for cover board；
Schematic diagram when Fig. 9 lifts for cover board；
Figure 10 is the structure diagram of anti-press box；
Figure 11 is light adjusting circuit schematic diagram；
Figure 12 is constant-current charge schematic diagram；
Figure 13 is the electric functional block diagram of automobile wireless charging system；
Fig. 14 is the general structure schematic diagram (water tank is not shown) of multifunction aircraft；
Figure 15 is the structure diagram (top view) of quadrotor telescope support and rotor；
Figure 16 be the aircraft with quadrotor telescope support structure diagram (bottom view, is not shown secondary rotor, holder
With the component such as camera)；
Figure 17 is the position relationship schematic diagram of main rotor and secondary rotor；
Figure 18 is the explosive view of telescopic cantilever；
Figure 19 is the structure diagram after telescopic cantilever is completed；
Figure 20 is the structure diagram of lock；
Figure 21 is the structure diagram of supporting leg；
Figure 22 is the structure diagram of combined type camera lens and camera；
Figure 23 is the structure diagram of hexagram stent and rotor.
Label declaration：101- vehicular platforms, 102- camera struts, 103- principal phase machines, 104- main water box, 105- aircraft,
106- crawler type sprayers, 107- attachment straps, 108- main jet rifles；109- water pipes.
111- crawler type walking mechanisms, 112- support platforms, the auxiliary water tanks of 113-；The sub- cameras of 114-, the auxiliary spray guns of 115-, 116-
Drawstring, 117- spray guns driving motor, 118- rotating platforms, 119- driven gears, 120- support bases, 121- rotating platforms driving electricity
Machine, the first driving gears of 122-.
201- concave parts, 202- underlying activities platforms, the first motors of 203-, 204- limit switches, 205- guide rails, 206-
One rack rail, the second driving gears of 207-, 208- code-discs, 209- traveling wheels, 210- hoistable platforms, the second rack rails of 211-,
212- conducting wires, 213- connect plugs, 214- transmitting coils, 215- scissor-type lifting mechanisms, 216- upper stratas movable platform, 217- are pushed away
Bar, the anti-press boxes of 218-, 219- removable type cover plates.
2-2. water filling port；4. threeway；7. water pump；10. water injector；13. the first valve；13-1. sparge pipes；14. second
Valve；
19. water tap；19-1. water inlet pipes.
21- outer arms, 22- inner arms, 23- main rotors, 24- jacks, 25- locks；26- pair rotors, 27- ducted fans are fixed
Part, 28- supporting legs, 29- chassis, 30- crossbeams, 31- intersect position, 32- stents；33- holders；
51- housings, 52- pins, 53- hangnails, 511- shell bodies, 512- briquettings, 513- compression springs；
Camera on 70- aircraft, 71- camera lenses, 72- combined type camera lenses, 73- shafts, 74- light-reflecting sheets, 75- photoelectricity hair
Penetrate and reception device, 76-CCD sensors, 77- fuselages；
81- upper supporting legs, 82- springs, 83- guide rods, supporting leg under 84-, 85- sleeves, 86- feet nail, 87- gasket rings.
Embodiment
The present invention is described in further details below with reference to the drawings and specific embodiments：
Embodiment 1：
One kind automation hydrojet control method, including any of following several ways：
Mode 1：Include a driver and an operator in driver's cabin, driver is responsible for driving vehicular platform so as to control
Vehicle processed is advanced by projected route, and operator passes through controller (such as tablet computer or the dedicated control device with display)
It is responsible for control water spray operation；Principal phase machine on vehicular platform is by the realtime video transmission of the process of sprinkling to driver's cabin；
Mode 2：There is an operator, vehicular platform is automatic Pilot platform, and operator is responsible for control spray in driver's cabin
Water operation, records water spray video presence and preserves or be sent to remote monitoring platform；
Mode 3：Remote monitoring platform is simultaneously sent in real time, is grasped without operator, water spray video (Locale Holding) in driver's cabin
Work person is teleoperator, based on real-time monitor video, wirelessly control water spray operation；
Mode 4：Without site operation people and teleoperator, the automatic programme path of car owner's platform is automatic to implement water spray, water spray
Operation realtime video transmission implements water spray job monitoring to remote monitoring platform by remote monitoring platform.Water spray needs at this time
Vehicular platform is equipped with the image processing module of automatic identification object (such as green plants), which is existing mature technology.
Operation spray water as at least one of following operating type：
Operating type 1：Main jet rifle on vehicular platform implements water spray；
Operating type 2：Under the monitoring of aircraft, water spray is implemented by main jet rifle or crawler-type traveling cars；
Operating type 3：No aircraft participates in, and implements to spray water by crawler-type traveling cars；
Operating type 4：Implement to spray water by aircraft.
In operating type 1, water spraying direction and the spray gun elevation angle can be adjusted, specifically, driving motor to pass through by turning platform
The driving rotating platform rotation of first transmission mechanism, the direction of control rotating platform in the horizontal plane, to control water spraying direction；It is another
Aspect, the elevation angle of the spray gun driving motor by the second transmission mechanism control main jet rifle.
Such as Fig. 1-5, the corresponding automation hydrojet control system of this method, including vehicular platform 101, set on vehicular platform
There are main water box 104, water pump 7, rotating platform 118, rotating platform driving motor 121；Main jet rifle (108) is arranged on rotating platform
On；Main water box is connected with the water inlet of water pump by water pipe, and the water outlet of water pump is connected by water pipe with spray gun；Connect water pump with
The water pipe of spray gun is equipped with the first valve 13；
Rotating platform driving motor can drive rotating platform to rotate by the first transmission mechanism；Rotating platform is equipped with spray gun
Motor 117 is driven, spray gun driving motor can pass through the elevation angle of the second transmission mechanism control main jet rifle.
First transmission mechanism is gear drive.Gear drive includes being installed on rotating platform driving electricity
The first driving gear 122 in machine shaft, and the driven gear 119 engaged with first driving gear, driven gear
The outer ring of rotating platform is arranged on, is designed for integral type, driven gear and rotating platform coaxial line, therefore, rotating platform driving
Motor can drive rotating platform to rotate.
Second transmission mechanism is drawstring 116, and the upper end of drawstring is arranged on the rear end of spray gun, and the lower end of drawstring installs around
In the shaft of spray gun driving motor (or on the belt wheel filled in shaft).
Since spray gun is mounted on gunjet rack, be with gunjet rack it is hinged, therefore, spray gun front end be under the effect of gravity to
Under, therefore, its elevation angle is controlled by drawstring completely.
Vehicular platform is equipped with principal phase machine 103.Principal phase machine is preferably arranged on vehicular platform by camera strut 102, this
Sample obtains the wider array of visual field.The sprinkling state of principal phase machine monitoring main jet rifle, camera collection image can be shown on driver's cabin,
Manipulated easy to the manipulator of driver's cabin, or be transmitted to remote platform, such manipulator can be with remote control water spray operation.
Vehicular platform is equipped with the aircraft 105 with camera, and aircraft is multiple, because during the work of each aircraft
Between it is limited, such as half an hour, multiple aircraft can use in turn, and one another takes off when making a return voyage, and realize that uninterrupted perform is appointed
Business.Vehicular platform is equipped with the charging module for being used for wirelessly or non-wirelessly charging for aircraft.Further, aircraft is equipped with water
Case and jet pipe, on vehicular platform, the water tank of aircraft can the moisturizing from main water box.At this time, aircraft can not only perform prison
Control task, moreover it is possible to implement water spray task, can also spray water in the impassable region of vehicle or creeper truck (crawler type sprayer).
Vehicular platform is equipped with crawler type sprayer 106, and crawler type sprayer is equipped with sub- camera 114 and auxiliary spray gun 115.
Crawler type sprayer is connected by water pipe 109 with the main water box on vehicular platform；And set on crawler type sprayer
There is auxiliary water tank 113.
Vehicular platform is driven by gasoline engine, diesel engine or power battery.It is preferred that the dynamic lithium battery driving of new energy, more ring
Protect, preferably, vehicular platform is automatic Pilot platform.
Vehicular platform is equipped with locating module (such as GPS or big dipper module) and wireless communication module；Wireless communication module is
PPRS, 3G, 4G or 5G communication module, vehicular platform pass through wireless communication module and remote control table or remote control terminal
(such as PC machine, laptop and tablet computer) communicates to connect.It can realize remotely monitor, and remote control water spray.
Vehicular platform is equipped with dynamic lithium battery and charging module, and charging module is the charging mould coordinated with charging pile
Block, or charging module are wireless charging module；Wireless charging module is with setting wireless charging system on the ground to coordinate.
Vehicular platform can realize automatic Pilot, automatic path planning.Automatic sensed water level state etc., automatic water supplement, automatically
Charging.
Sparge pipe is additionally provided with vehicular platform, if necessary, operator can hold sparge pipe and be sprayed at the scene, as
A kind of supplement of automatic spraying.
In addition, spray gun is equipped with the adjuster of regulating pondage, regulating pondage can realize the distance of sprinkling.
Wireless charging module, including the support platform being arranged in concave part 201 and the transmitting being arranged in support platform
Coil 214；
The support platform include underlying activities platform 202, upper strata movable platform 216 and connection underlying activities platform with
The elevating mechanism of upper strata movable platform；Underlying activities platform is equipped with longitudinal translation mechanism；Upper strata movable platform is equipped with laterally
Translation mechanism.
The elevating mechanism is cylinder formula elevating mechanism or scissor-type lifting mechanism 215.Cylinder formula elevating mechanism is push-down
Driving mechanism, such as uses pneumatic cylinder or Driven by Hydraulic Cylinder.
Longitudinal translation mechanism includes being arranged on 205 and first rack rail 206 of guide rail of concave part bottom；
The guide rail is 2；Rack rail is one, rack rail and guide rail parallel arrangement；
Underlying activities mesa base is equipped with multiple traveling wheels 209 that can be rolled on the guide rail；Traveling wheel be 4, one
2, side.
The front end of underlying activities platform is equipped with the first motor 203；The shaft of first motor is equipped with gear 207, gear with
The first rack rail engagement；When first motor rotates, underlying activities platform can be driven along the first rack rail longitudinal direction (front and rear)
Translation.
Laterial translation mechanism includes the second rack rail 211 and the second motor；Second rack rail is laterally set, and described second
Motor upper strata movable platform left or right；The shaft of second motor is equipped with the gear being meshed with second rack rail,
When second motor rotates, upper strata movable platform can be driven along laterally (left and right) translation of the second rack rail.
Code-disc 208 is equipped with the shaft of first motor and the second motor.Code-disc is used to detect the rotating number of turns of motor, from
And the displacement of platform traveling can be converted into.
The opening of concave part is equipped with electronic removable type cover plate 19.It is electronic to refer to that motor drives, or electric signal control liquid
Cylinder pressure or cylinder driving.
Removable type cover plate is 2 pieces, and the push rod for being used for driving removable type cover plate, upper end and the activity of push rod are equipped with concave part
Formula cover board ground is connected.
The opening of concave part is additionally provided with anti-pushing-down mechanism 210, and when removable type cover plate flattens, anti-pushing-down mechanism can support movable
Cover board.
Anti-pushing-down mechanism is square frame-shaped.It is high using stainless steel or cast iron quality, intensity.
The automobile wireless charging system further includes control unit, and control unit includes MCU, laterial translation mechanism and vertical
MCU is controlled by translation mechanism；MCU is also associated with communication module.
Automobile wireless charging system is arranged on parking stall, and the electricity for being controlled by MCU is additionally provided with automobile wireless charging system
Berth lock is controlled, automobile wireless charging system combines with shared parking stall；Removable type cover plate, which is equipped with, to be used for and mobile phone interaction
Identification code, identification code are Quick Response Code or bar code or character string, and smart mobile phone barcode scanning or input character string can be with the berth locks
And parking stall associates；And charge data is fed back into mobile phone, realize parking and common charging of charging.
Communication module is used to be connected with remote server, is additionally operable to be based on bluetooth with automobile or wifi communicates, or for energy
Controlled by mobile phone (such as cell phone application).
In addition, limit switch and code-disc output signals to MCU；
First motor and the second motor is stepper motor.
First rack rail is between 2 guide rails.
The rear end of underlying activities platform is equipped with limit switch 204；The front end of motor is equipped with limit switch 204.Limit switch
Action, illustrates front or behind in place, stops motor and rotates, so as to ensure whole equipment safe operation.
Underlying activities platform is equipped with the conducting wire with connect plug 213.Conducting wire, which is used to connect, obtains alternating current, so as to be transmitting
Coil power supply.
MCU and single-phase bridge rectification and inverter circuit are additionally provided with underlying activities platform；Single-phase bridge rectification and inversion
Circuit includes rectifier bridge and inverter bridge, and rectifier bridge uses 4 power diodes, and inverter uses 4 IGBT, and connection mode is existing
There is mature technology, the G poles of IGBT are controlled by the pulse that MCU is sent.The input side of rectifier bridge connects with alternating current, the output of rectifier bridge
Side connects transmitting coil by inverter；Rectifier bridge is used to alternating current becoming direct current, and inverter is used to change into direct current not
The alternating current of same frequency, changes frequency to improve charge efficiency.
Display screen is arranged in concave part, is connected with MCU, for field adjustable, and real-time display presence state data.
Automobile end is equipped with constant-current charging circuit, for being efficiently that lithium battery charges.
Concave part opening, which is equipped with, is used for the inductor that there is automobile in sensing top, such as uses ultrasonic wave or photoelectric sensor；
It is advantageously implemented automatic charging.
Such as Figure 12, which further includes shines for adjusting display screen (display location is in driver's cabin of vehicular platform)
The brightness regulating circuit of brightness；The brightness regulating circuit includes MCU, LED light string, triode, potentiometer Rx and A/D conversion
Device；Triode is NPN type triode；The fixed frame Shanghai of display screen is coaxially connected equipped with rotary switch with potentiometer Rx；
Potentiometer Rx and first resistor R1 concatenates to form partial pressure branch, and partial pressure branch one terminates positive pole Vcc, partial pressure branch
The other end ground connection on road；The tie point of potentiometer Rx and first resistor R1 connect the input terminal of A/D converter；A/D converter it is defeated
Go out to terminate the data-in port of MCU；
LED light string includes the LED light of multiple concatenations；The cathode of LED light string meets positive pole Vcc；The anode of LED light string connects
The C poles of triode, the E poles of triode are grounded through second resistance R2；The output terminal for meeting MCU of the B poles of triode.Positive pole
Vcc is 5V, and A/D converter is 8 Bits Serial output type converters.
Such as Figure 13, automobile end, is charged by constant-current charging circuit for lithium battery, in constant-current charging circuit, each element or mark
Number explanation：
VIN+----- input power cathodes.
VIN------ input power anode.
VOUT+----- out-put supply cathodes.
VOUT----- out-put supply anode.
The cathode of VREF+----- reference power sources
C1 is input filter capacitor.
C2 is output filter capacitor.
C3 is current sample feedback filtering.
R1, R2, R5, C3 form current sample feedback line.
R3, R4, are voltage sample feedback circuit.
D1 is isolation diode.
Constant-current charging circuit includes constant pressure driving chip and current feedback circuit；
(1) voltage output end of constant pressure driving chip is the positive output end VOUT+ of constant-current charging circuit；Constant pressure driving chip
Negative output terminal ground connection；
Constant pressure driving chip is powered by DC-voltage supply end VIN+ and VIN-；
(2) current feedback circuit described in includes resistance R1, R2 and R5 and reference voltage end VREF+；
Reference voltage end VREF+ is grounded by resistance R1, R2 and the R5 being sequentially connected in series；
The tie point of resistance R5 and R2 are the negative output terminal VOUT- of constant-current charging circuit；
The tie point of resistance R1 and R2 meet the feedback end FB of constant pressure driving chip.
Constant-current charging circuit further includes voltage feedback circuit；
Voltage feedback circuit includes resistance R3 and R4 and diode D1；
Resistance R3 and R4 series connection are followed by between the positive output end VOUT+ and ground of constant-current charging circuit；Resistance R3's and R4
Tie point connects the anode of diode D1；The cathode of diode D1 meets the feedback end FB of constant pressure driving chip.
Operation principle explanation：
Using stable reference power supply as reference voltage, using R1, R2, R5 partial pressures obtain the voltage equal with FB, so that
The inside PWM of adjustment DCDC IC is gone by FB to control the size of output current.For example, when output current becomes larger, in sampling electricity
Voltage on resistance R5 will raise, since VRFE+ is fixed value, so as to be that FB voltages become larger, FB becomes larger, and duty cycle will subtract
It is few, so as to be that output current is reduced, and a complete feedback is completed, achieve the purpose that stabling current exports.
Constant current calculates：
If the voltage that R5 upstream overcurrent produces is VIo, output current Io
Reference voltage is VREF+=2.5V,
FB voltages are VFB=0.6V,
R5=0.1 Ω, R1=40K Ω, R2=10K Ω
Then：
VIo=Io*R5
VFB=VIo+ ((VREF+-VIo) * R2/ (R1+R2))
Calculate：
Io=(VFB* (R1+R2)-R2*VREF+)/R1*R5
The equation if K=(VFB* (R1+R2)-R2*VREF+)/R1 is taken
Io=K/R5
In terms of calculation formula, Io output currents and output voltage and input voltage do not have any relation, only and VFB.R1,
R2, VREF are related, and these parameters are in specific design, they be all it is fixed (VFB be in stable state it is fixed, for
Chip fp7192 constant pressure chips, its steady-state value are 0.6v), so K is necessarily a fixed value, so formula：
Io=K/R5 has the fabulous linearity, and has excellent controllability.
Parameter above being assigned the occurrence being set above can obtain：
Io=(VFB* (R1+R2)-R2*VREF+)/R1*R5
=(0.6* (40+10) -10*2.5)/40*0.1
=1.25A
It can be seen that, this scheme introduces fixed VREF+ in equation more than, is only taken so that Io becomes one with R5
The linear equation of sample resistance, makes Io become constant, so as to achieve the purpose that constant current.
The characteristics of constant-current circuit in this programme, is as follows：
1. fix VREF+ voltages, control and stability control easy to precision using stablizing.
Fed back 2. current sample is become electric resistance partial pressure by use, it is more simple and reliable.
3. applicability is wide, the circuit of any required constant current can use.
Such as Figure 14-22, a kind of multi-functional aerial photography aircraft, including stent 32, rotor, bottom plate 29, holder 33,28 and of supporting leg
Camera 70；
Rotor and holder are arranged on stent；
Bottom plate is fixed on frame bottom；Camera is installed on holder；
Supporting leg is fixed on the bottom of bottom plate；
Camera includes fuselage 77 and combined type camera lens 72；Ccd sensor 76 is equipped with fuselage, fuselage, which is equipped with, is used for camera lens
The photoemission of alignment and reception device 75；
Combined type camera lens is equipped with shaft 73；4 sub- camera lenses 71 are integrated with combined type camera lens；Sub- camera lens is along combined type mirror
Head is arranged circumferentially；The rear end of combined type camera lens is additionally provided with the light-reflecting sheet being adapted to the photoemission with reception device
74；The stepper motor for driving rotation of lens is additionally provided with fuselage.Photoemission can be with reception device and light-reflecting sheet
More sets, preferably 2 sets, in axisymmetrical, alignment result is more preferable, and only 2 sets of photoemission and reception device and light-reflecting sheet are all right
After standard, just think that camera lens targeted by with ccd sensor, such alignment precision higher.
Supporting leg is 4, and supporting leg is vertically arranged, and horizontal crossbeam is provided between adjacent legs；
Supporting leg includes upper supporting leg 81, lower supporting leg 84 and foot nail 86；
Upper supporting leg lower end is equipped with guide groove；Lower supporting leg upper end is equipped with guide rod 83；Guide rod is inserted into guide groove；Leading
Spring 82 is equipped with into groove；Spring is arranged on the roof (inner wall of innermost end) of guide groove between guide rod top；
The bottom of lower supporting leg is equipped with foot nail 86.
The outer wall of the bottom of lower supporting leg is equipped with external screw thread；The bottom of lower supporting leg is socketed with tapped sleeve 85,
The lower end of sleeve is equipped with gasket ring 87.
Gyroscope and wireless communication module are additionally provided with chassis.Gyroscope is used to navigate, and wireless communication module is used to connect
The instruction of remote controler is received, and the photo of shooting and video information are transmitted to ground receiver end equipment.
The stent is the cross-shaped cantilever frame being made of 4 identical telescopic cantilevers of structure；Each is telescopic
Cantilever includes outer arm 21 and inner arm 22；
The inner end of outer arm is connected with the outer end of inner arm by lock 25；Lock is equipped with the pin 52 with hangnail 53；
Latch to be multiple；
The inner end of outer arm and the outer end of inner arm are equipped with multigroup jack 24 passed through for pin；Every group of jack includes
At least two jack；Rotor includes main rotor and secondary rotor；
Main rotor 23 and secondary cantilever 26 are equipped with the outer end of outer arm；Main rotor and secondary cantilever coaxial line are set, and main rotation
The wing is located at the top of outer arm, and secondary rotor is located at the lower section of outer arm；
The paddle footpath of main rotor is more than the paddle footpath of secondary rotor；
Secondary rotor is ducted fan, and secondary rotor is fixed on the bottom of outer arm by ducted fan fixing piece 7；
Lock has housing 51；Housing includes shell body 511, briquetting 512 and compression spring 513；Pin is 2；Pin is fixed
On shell body；Briquetting is located in shell body and is sleeved on 2 pins；Briquetting can be moved along pin；Between briquetting and pin
Equipped with compression spring, compression spring sleeve is mounted in the root of pin.
The inner end of outer arm is equipped with 2 groups and is used for the jack that pin passes through；Every group of jack on outer arm includes 2 jacks；Lock
Detain as 2；
4 groups are equidistantly equipped with the outer end of inner arm and is used for the jack that pin passes through；Every group of jack on inner arm includes 2
Jack.
The ratio between the paddle footpath of secondary rotor and the paddle footpath of main rotor are 0.2-0.35；Preferred value is 0.25 and 0.3.
Gasket ring is rubber material, and foot nail is stainless steel.
Another aircraft is as shown in figure 23, and stent is the hexagram branch being made of the identical lateral strut of 6 root long degree
Frame；Each angle position of hexagram stent is both provided with rotor.Rotor includes main rotor and secondary rotor；
Main rotor 23 and secondary cantilever 26 are equipped with the outer end of outer arm；Main rotor and secondary cantilever coaxial line are set, and main rotation
The wing is located at the top of outer arm, and secondary rotor is located at the lower section of outer arm；The paddle footpath of main rotor is more than the paddle footpath of secondary rotor；Secondary rotor is culvert
Road fan, secondary rotor are fixed on the bottom of outer arm by ducted fan fixing piece 27.Further, in the every of hexagram stent
Rotor, the position corresponding to the X intersections intersected position and formed for adjacent lateral strut are equipped with one intersection position；This
One aircraft of sample just has 12 or 12 groups of rotors.The ratio between the paddle footpath of secondary rotor and the paddle footpath of main rotor are 0.25 or 0.3.
Aircraft has the characteristics that following prominent：
(1) its foot stool uses the buffer mode of guide groove-conductor rod-spring, and effective buffering, knot can be provided for aircraft
Structure is simple, easy to implement, in addition, the use of crossbeam strengthens the rigidity of whole foot stool so that all legs are connected, more
Further, the bottom of lower support leg is provided with foot nail and gasket ring, and when sleeve removes or screws on, foot nail works so that aircraft is fitted
For place (such as field soil) landing in softness, if sleeve is rotated downwardly to gasket ring and lower position, gasket ring is followed closely than foot
Work so that aircraft is suitable for good in hard place (such as concrete floor) landing, suitability.
(2) in addition, its camera uses the combined type camera lens from camera lens of switching, 4 differences are integrated with combined type camera lens
The camera lens of focal length is good for the photo to object shooting different visual angles, flexibility；The photoemission set on camera and reception
The light-reflecting sheet set on device and camera lens is aligned for sub- camera lens with ccd sensor, combined type camera lens by driving stepper motor,
Alignment precision is high, and sub- Shot change is convenient.This camera has the outstanding quality for focusing head, it may have changes the flexible of focal length
Property, therefore, practicality is good.
(3) telescopic cantilever is used；
Its telescopic cantilever uses the two-part stretching structure of outer arm-inner arm, and it is convenient to stretch；And outer arm and inner arm pass through it is only
Special lock is connected, and lock carries hangnail, and inserting is convenient, and in addition lock is equipped with compression spring and briquetting, can ensure that locking is firm.Always
For it, this four axis rotor craft clever structures with telescopic cantilever, flexibility is good, convenient for disassembly and assembly.
(4) hexagram rotor is used；Using the hexagram stent of original creation, this support stability is good, due to each
A rotor be all located at angle position, and each angle position all in vertex of a triangle, by 2 strut supports, and due to triangle
The stability of itself, the vertex is not in any offset or drift during flight, accordingly, with respect to regular hexagon, cross
Stent or other stents have great stability in terms of advantage.In addition, the arrangement of 6 rotors, compared to 2-4 rotors
Arrangement, there is more preferable aerodynamic arrangement, to sum up, this six rotorcraft clever structure, stability are good.
When intersection position sets rotor again, aircraft lift can further enhance.
(5) using secondary rotor.
Secondary rotor is used as using ducted fan, ducted fan is used to provide auxiliary lifting, and ducted fan, which has, to be responded soon
Advantage, can so improve the overall loading capacity and stability of aircraft.
In conclusion the multi-functional aerial photography aircraft integrated level of the present invention is high, and it is compact-sized, not only with excellent performance
Aviation mechanism, also has the supporting leg of unique pooling feature, further, also have the camera of original creation, therefore, this multi-functional boat
Bat aircraft is feature-rich, and safe, clever structure, lift is big, has a smooth flight, easy to implement.
Claims (10)
1. one kind automation hydrojet control method, it is characterised in that including any of following several ways：
Mode 1：Include a driver and an operator in driver's cabin, driver is responsible for driving vehicular platform, and operator is led to
Cross controller and be responsible for control water spray operation；Principal phase machine on vehicular platform is by the realtime video transmission of the process of sprinkling to driver's cabin；
Mode 2：There is an operator, vehicular platform is automatic Pilot platform, and operator is responsible for control water spray and makees in driver's cabin
Industry, records water spray video presence and preserves or be sent to remote monitoring platform；
Mode 3：Remote monitoring platform is simultaneously sent in real time without operator, water spray video in driver's cabin, and operator is remote operation
Member, based on real-time monitor video, wirelessly control water spray operation；
Mode 4：Without site operation people and teleoperator, the automatic programme path of car owner's platform is automatic to implement water spray, operation of spraying water
Realtime video transmission implements water spray job monitoring to remote monitoring platform by remote monitoring platform.
2. automation hydrojet control method according to claim 1, it is characterised in that water spray operation is following operating type
At least one of：
Operating type 1：Main jet rifle on vehicular platform implements water spray；
Operating type 2：Under the monitoring of aircraft, water spray is implemented by main jet rifle or crawler-type traveling cars；
Operating type 3：No aircraft participates in, and implements to spray water by crawler-type traveling cars；
Operating type 4：Implement to spray water by aircraft.
3. automation hydrojet control method according to claim 1, it is characterised in that
In operating type 1, water spraying direction and the spray gun elevation angle can be adjusted, specifically, driving motor can be by first by turning platform
Transmission mechanism driving rotating platform rotation, the direction of control rotating platform in the horizontal plane, to control water spraying direction；The opposing party
Face, the elevation angle of the spray gun driving motor by the second transmission mechanism control main jet rifle.
4. hydrojet control method is automated according to claim 1-3 any one of them, it is characterised in that using automatic liquid-spraying system
System, it is characterised in that including vehicular platform (101), main water box (104), water pump (7), rotating platform are equipped with vehicular platform
(118), rotating platform driving motor (121)；Main jet rifle (108) is arranged on rotating platform；The water inlet of main water box and water pump
It is connected by water pipe, the water outlet of water pump is connected by water pipe with spray gun；
Rotating platform driving motor can drive rotating platform to rotate by the first transmission mechanism；Rotating platform drives equipped with spray gun
Motor (117), spray gun driving motor can pass through the elevation angle of the second transmission mechanism control main jet rifle；
Vehicular platform is equipped with principal phase machine (103)；
Vehicular platform is equipped with the aircraft (105) with camera；
Vehicular platform is equipped with crawler type sprayer (106), and crawler type sprayer is equipped with sub- camera (114) and auxiliary spray gun
(115)。
5. automation hydrojet control method according to claim 4, it is characterised in that first transmission mechanism is tooth
Wheel or belt wheel transmission mechanism.
6. automation hydrojet control method according to claim 4, it is characterised in that second transmission mechanism is electricity
Dynamic push rod or drawstring (116), when the second transmission mechanism is drawstring, the upper end of drawstring is arranged on the rear end of spray gun, the lower end of drawstring
In the shaft mounted in spray gun driving motor (or on the belt wheel filled in shaft).
The automatic liquid-spraying system, it is characterised in that crawler type sprayer passes through the main water on water pipe (109) and vehicular platform
Case is connected；Or crawler type sprayer is equipped with auxiliary water tank (113).
7. automation hydrojet control method according to claim 4, it is characterised in that vehicular platform is by gasoline engine, diesel oil
Machine or power battery driving.
8. automation hydrojet control method according to claim 4, it is characterised in that vehicular platform is equipped with locating module
And wireless communication module；Vehicular platform is communicated to connect by wireless communication module and remote control table.
9. hydrojet control method is automated according to claim 5-8 any one of them, it is characterised in that vehicular platform is equipped with
Dynamic lithium battery and charging module；Charging module is the charging module coordinated with charging pile, or charging module is wireless charging
Electric module；Wireless charging module is with setting wireless charging system on the ground to coordinate.
10. automation hydrojet control method according to claim 9, it is characterised in that the wireless charging module bag
Include the support platform being arranged in concave part and the transmitting coil being arranged in support platform；The support platform includes bottom
Movable platform, upper strata movable platform and connection underlying activities platform and the elevating mechanism of upper strata movable platform；Underlying activities platform
It is equipped with longitudinal translation mechanism；Upper strata movable platform is equipped with laterial translation mechanism；The elevating mechanism is cylinder formula elevator
Structure or scissor-type lifting mechanism；Longitudinal translation mechanism includes being arranged on the guide rail and the first rack rail of concave part bottom；Described
Guide rail is 2；Rack rail is one, rack rail and guide rail parallel arrangement；Underlying activities mesa base be equipped with it is multiple can be described
The traveling wheel rolled on guide rail；Traveling wheel is 4,2 on one side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711263026.5A CN108012825A (en) | 2017-12-04 | 2017-12-04 | One kind automation hydrojet control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711263026.5A CN108012825A (en) | 2017-12-04 | 2017-12-04 | One kind automation hydrojet control method |
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| CN108012825A true CN108012825A (en) | 2018-05-11 |
Family
ID=62078535
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| CN201711263026.5A Withdrawn CN108012825A (en) | 2017-12-04 | 2017-12-04 | One kind automation hydrojet control method |
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| CN (1) | CN108012825A (en) |
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| CN108693807A (en) * | 2018-05-17 | 2018-10-23 | 中南林业科技大学 | A kind of data acquisition analysis system based on Internet of Things |
| CN109510972A (en) * | 2019-01-08 | 2019-03-22 | 中南林业科技大学 | A kind of wild animal intelligent surveillance method based on Internet of Things |
| CN110547279A (en) * | 2019-09-30 | 2019-12-10 | 孙树飞 | Greenhouse pesticide sprayer and pesticide spraying trolley thereof |
| CN110915616A (en) * | 2019-12-13 | 2020-03-27 | 安徽鲜果时光商贸有限公司 | Ornamental trees and shrubs watering device |
| CN112458982A (en) * | 2020-11-14 | 2021-03-09 | 徐州易尔环保科技有限公司 | Road cleaning is with multi-functional small-size sanitation washing car |
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| CN110547279A (en) * | 2019-09-30 | 2019-12-10 | 孙树飞 | Greenhouse pesticide sprayer and pesticide spraying trolley thereof |
| CN110915616A (en) * | 2019-12-13 | 2020-03-27 | 安徽鲜果时光商贸有限公司 | Ornamental trees and shrubs watering device |
| CN112458982A (en) * | 2020-11-14 | 2021-03-09 | 徐州易尔环保科技有限公司 | Road cleaning is with multi-functional small-size sanitation washing car |
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Application publication date: 20180511 |