CN108508809A - A kind of brainpower insufflation system and method based on plant protection drone pressure type nozzle - Google Patents
A kind of brainpower insufflation system and method based on plant protection drone pressure type nozzle Download PDFInfo
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- CN108508809A CN108508809A CN201810402132.5A CN201810402132A CN108508809A CN 108508809 A CN108508809 A CN 108508809A CN 201810402132 A CN201810402132 A CN 201810402132A CN 108508809 A CN108508809 A CN 108508809A
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- water pump
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- plant protection
- protection drone
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- 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
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present invention relates to a kind of brainpower insufflation system and method based on plant protection drone pressure type nozzle, sprinkling system is made of flusher and control system；The flusher is made of medicine-chest, water pump, pencil and sprinkler composition, the control system Inertial Measurement Unit circuit, governor circuit and water pump driving circuit；The Inertial Measurement Unit circuit includes attitude transducer U1, and the attitude transducer U1 is used to measure the acceleration of plant protection drone；The governor circuit includes main control chip U2, by receiving the acceleration information of attitude transducer U1, and the flying speed by obtaining aircraft to time integral；The water pump driving circuit is made of relay group RE1 and water pump group, the brainpower insufflation system based on plant protection drone pressure type nozzle of the present invention, the control of the stage liquor strength is realized by spraying the medicine of various concentration in the acceleration and deceleration stage, keeps pesticide spraying uniform, improves operating efficiency.
Description
Technical field
The present invention relates to the sprinkling systems of plant protection drone, and in particular to a kind of based on plant protection drone pressure type nozzle
Brainpower insufflation system, the invention further relates to spray methods.
Background technology
By the winged anti-operation in field many times, the edge of a field, it is found that aircraft has in acceleration and the sprinkling of decelerating phase liquid
Greatly inhomogeneities is to close water pump in this two benches mostly with reference to existing solution, finally completes to sweep again
Side.Although such scheme controls the injury that pesticide is brought to crop, but increase time cost, reduces operating efficiency.
Existing plant protection drone the acceleration and deceleration stage spray speed cannot effectively be adjusted with air speed so as to cause
Sprinkling unevenness degree rises significantly, not only brings huge injury also to reduce operating efficiency to crop.
Invention content
For the above situation, the object of the present invention is to provide a kind of brainpower insufflations based on plant protection drone pressure type nozzle
System realizes the control of the stage liquor strength by spraying the medicine of various concentration in the acceleration and deceleration stage, keeps pesticide spraying equal
It is even, improve operating efficiency.
The brainpower insufflation system based on plant protection drone pressure type nozzle of the present invention, by flusher and control system group
At；
By medicine-chest, water pump, pencil and sprinkler composition, the medicine-chest is internally provided with two partition boards and is divided into medicine-chest the flusher
Three independent drug dispensing casees, the lower end of the drug dispensing case are connected separately with the entrance of water pump, the outlet point of water pump by pipeline
Not Lian Jie four-way pipe three nozzles, the remaining nozzle of four-way pipe connect with nozzle；
The control system is made of Inertial Measurement Unit circuit, governor circuit and water pump driving circuit；
The Inertial Measurement Unit circuit includes attitude transducer U1, and the attitude transducer U1 is for measuring plant protection drone
Acceleration；
The governor circuit includes main control chip U2, by receiving the acceleration information of attitude transducer U1, and by the time
Integral obtains the flying speed of aircraft；
The water pump driving circuit is made of relay group RE1 and water pump group, receives main control chip U1's by relay group RE1
Order, decides whether to act, and to the switch of indirect control water pump group P1, the water pump group P1 includes water pump 1,2 and 3, described
Relay group includes relay EA1, EA2 and EA3, and described relay EA1, EA2 and EA3 correspond to control water pump 1,2 and 3.
Based on the above technical solution, technical scheme of the present invention can also have following feature：
Preferably, the attitude transducer U1 is MPU6050, and the pin 1 of attitude transducer U1 connects power supply U, and pin 2 is grounded；
The main control chip U2 is chip STC89C52, the pin Vcc connection power supplys of main control chip U2, pin P30 connection postures
The pin 3 of sensor U1, the pin 4 of pin P31 connection attitude transducers U1, pin RST connection reset circuits, the reset electricity
Road includes capacitance C1, resistance R1, R2, button switch K 1, the button switch K 1 series resistor R1, and the capacitance C1 is opened with button
It closes K1 and resistance R10 and connects, the one end the resistance R2 connects the cathode of capacitance C1, one end ground connection, XTAL1 and XTAL2 points of pin
Not Lian Jie crystal oscillator Y1 both ends, capacitance C2 and C3 be connected to the both ends of crystal oscillator Y1, other end ground connection；
The pin P32 of the relay EA1 connection main control chips U2 of the relay group RE1, relay EA2 connection main control chips U2
Pin P33, the output signal of the pin P34 of relay EA3 connection main control chips U2, relay group RE1 and flusher control
System connection.
Preferably, the volume of the drug dispensing case for being set to intermediate position is the several times of both ends drug dispensing case volume, according to
The liquid of the corresponding corresponding amount of flight of plant protection drone.
Preferably, the connecting pin for dividing medicine-chest and water pump is equipped with necking, convenient for operation when being connect with water pump.
A kind of brainpower insufflation method based on plant protection drone pressure type nozzle, includes the following steps：
（1）The acceleration of aircraft is measured by attitude transducer U1, and this data is transmitted to main control chip U2 by serial ports；
（2）By receiving the acceleration information of posture U1, and by obtaining the flying speed of aircraft any time to time integral,
Opening for water pump group P1 is controlled whether the action for the relay group RE1 for codetermining control water pump with acceleration by flying speed
It closes；
（3）The entrance of the water pump of the water pump group is connect by pipeline with the lower end of drug dispensing case, and the outlet of water pump is separately connected
Three nozzles of four-way pipe, the remaining nozzle of four-way pipe are connect with nozzle, and the switch by water pump group P1 is dense to the spray of nozzle
Degree is controlled.
Based on the above technical solution, it is preferred that the attitude transducer U1 is MPU6050, the main control chip
U2 is chip STC89C52.
The brainpower insufflation system based on plant protection drone pressure type nozzle of the present invention, preferably solves unmanned plane and is adding
Decelerating phase sprays non-uniform problem, while considering the relationship of the concentration and unmanned plane during flying speed of liquid, according to the two
Relationship, while according to the flying speed of aircraft carry out selectively spray respective concentration liquid, cooperation unmanned plane nozzle with
The characteristics of aspect automatically adjusts sprays non-uniform problem to preferably overcome unmanned plane in the acceleration and deceleration stage, this
Invention ensures that the liquid of each concentration can be ejected in time by independent water pump, independent pencil system.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the circuit diagram of the present invention；
Fig. 3 is flusher structural schematic diagram of the present invention.
Specific implementation mode
Below in conjunction with the accompanying drawings, technical scheme of the present invention is further detailed；
As shown in Figure 1, Figure 2, Figure 3 shows, the brainpower insufflation system based on plant protection drone pressure type nozzle, by flusher and control
System forms；
For the flusher by medicine-chest 1, water pump 2, pencil and sprinkler composition, the medicine-chest 1 is internally provided with two partition boards 2 by medicine-chest
1 point is three independent drug dispensing casees, and the volume of the drug dispensing case for being set to intermediate position is the several of both ends drug dispensing case volume
Times, the lower end of the drug dispensing case is connected separately with the entrance of water pump by pipeline, and the outlet of water pump is separately connected four-way pipe 4
The remaining nozzle of three nozzles, four-way pipe 4 is connect with nozzle, and the connecting pin for dividing medicine-chest and water pump 3 is equipped with necking；
The control system is made of Inertial Measurement Unit circuit, governor circuit and water pump driving circuit；
The Inertial Measurement Unit circuit includes attitude transducer U1, and the attitude transducer U1 is for measuring plant protection drone
Acceleration, the attitude transducer U1 are MPU6050, and the pin 1 of attitude transducer U1 connects power supply U, and pin 2 is grounded；
The governor circuit includes main control chip U2, by receiving the acceleration information of attitude transducer U1, and by the time
Integral show that the flying speed of aircraft, the main control chip U2 are chip STC89C52, the pin Vcc connection electricity of main control chip U2
Source, the pin 3 of pin P30 connection attitude transducers U1, the pin 4 of pin P31 connection attitude transducers U1, pin RST connections
Reset circuit, the reset circuit include capacitance C1, resistance R1, R2, button switch K 1,1 series resistor of the button switch K
R1, the capacitance C1 and button switch K 1 and resistance R10 simultaneously connect, and the one end the resistance R2 connects the cathode of capacitance C1, a termination
Ground, pin XTAL1 and XTAL2 are separately connected the both ends of crystal oscillator Y1, and capacitance C2 and C3 are connected to crystal oscillator
The both ends of Y1, other end ground connection；R1, C1, R2, K1 in governor circuit of the present invention are connected group with the pin RST of main control chip U2
At reset circuit, wherein C1 is needed for electrification reset, and R1 is the current-limiting resistance of discharge loop, and R2 is the current-limiting resistance of hand-reset
And pull down resistor when normal work, K1 are hand-reset button, after the power is turned on, can be filled in short-term to capacitance C1 when to main control chip U2
Electricity draws high the level at RST pins, while R2 carries out current limliting to this process, and circuit is made to complete electrification reset；When program sideslip
When, it can be by being manually pressed by button K1, capacitance C1 short circuits are made C1 discharge by K1 at this time, and R1 then carries out this circuit
Current limliting, while the level at RST being drawn high, and it is more than the machine cycle to maintain to be more than 2, complete hand-reset, crystal oscillator
Y1 forms the crystal oscillating circuit of the minimum system with C2, C3, provides clock reference for entire circuit, circuit is allowed orderly to work.
The water pump driving circuit is made of relay group RE1 and water pump group P1, and master control core is received by relay group RE1
The order of piece U1 decides whether to act, and to the switch of indirect control water pump group P1, the water pump group P1 includes water pump 1,2 and
3, the relay group RE1 includes relay EA1, EA2 and EA3, and described relay EA1, EA2 and EA3 correspond to control water pump 1,2
With 3, the pin P32 of the relay EA1 connection main control chips U2 of the relay group RE1, relay EA2 connection main control chips U2
Pin P33, the output signal of the pin P34 of relay EA3 connection main control chips U2, relay group RE1 and flusher control
System connection.
A kind of brainpower insufflation method based on plant protection drone pressure type nozzle of the present invention, includes the following steps：
（1）The acceleration of aircraft is measured by attitude transducer U1, and this data is transmitted to main control chip U2 by serial ports；
（2）By receiving the acceleration information of posture U1, and by obtaining the flying speed of aircraft any time to time integral,
Opening for water pump group P1 is controlled whether the action for the relay group RE1 for codetermining control water pump with acceleration by flying speed
It closes；
（3）The entrance of the water pump of the water pump group is connect by pipeline with the lower end of drug dispensing case, and the outlet of water pump is separately connected
Three nozzles of four-way pipe, the remaining nozzle of four-way pipe are connect with nozzle, and the switch by water pump group P1 is dense to the spray of nozzle
Degree is controlled.
Based on the above technical solution, it is preferred that the attitude transducer U1 is MPU6050, the main control chip
U2 is chip STC89C52.
When it is implemented, directly this system is mounted on unmanned plane, to after system electrification, Inertial Measurement Unit is by aircraft
Acceleration a main control chip U2 is transmitted to by serial ports P3^0, main control chip U2 integrates time t by acceleration a, obtains aircraft
Current speed vt, and using speed vt as the control condition of water pump.
The specific control logic of the sprinkling system of the present invention is as follows：It allows aircraft to accelerate to constant velocity stage first and obtains aircraft
The speed that flies at a constant speed v, and the speed is divided into 3 parts, you can constitute 3 speed intervals：(0, v/3), (v/3,2v/3),
(2v/3,v).The speed for calculating currently is integrated by attitude transducer U1, and is compared with above 3 sections, when aircraft passes through
When crossing the first boost phase arrival section (0, v/3), relay 1 is opened in governor circuit U1 controls, is closed relay 2,3, is connected
Water pump 1 starts to spray low concentration liquid；When aircraft reaches section (v/3,2v/3) by the second boost phase, governor circuit
U1 closes relay 1,2, opens relay 3, connects water pump 3, starts the liquid of concentration in sprinkling；When aircraft accelerates by third
When stage reaches section (2v/3, v), governor circuit U1 closes relay 1,3, opens relay 2, connects water pump 2, starts to spray
The liquid of high concentration.Later aircraft fly at a constant speed the stage by keep third boost phase after control logic.
The control logic in aircraft stage is similar to the control logic of boost phase, the difference is that working as aircraft flight
At the first decelerating phase, master control is constant to the control of water pump；When aircraft was operated in for the second decelerating phase, master control control logic with
Second boost phase is identical；When aircraft is operated in the third decelerating phase, master control control logic is identical as the first boost phase；When
When aircraft is static, governor circuit U1 then closes all relays, closes all water pumps, stops sprinkling.
Claims (6)
1. a kind of brainpower insufflation system based on plant protection drone pressure type nozzle, it is characterised in that be by flusher and control
System composition；
By medicine-chest, water pump, pencil and sprinkler composition, the medicine-chest is internally provided with two partition boards and is divided into medicine-chest the flusher
Three independent drug dispensing casees, the lower end of the drug dispensing case are connected separately with the entrance of water pump, the outlet point of water pump by pipeline
Not Lian Jie four-way pipe three nozzles, the remaining nozzle of four-way pipe connect with nozzle；
The control system is made of Inertial Measurement Unit circuit, governor circuit and water pump driving circuit；
The Inertial Measurement Unit circuit includes attitude transducer U1, and the attitude transducer U1 is for measuring plant protection drone
Acceleration；
The governor circuit includes main control chip U2, by receiving the acceleration information of attitude transducer U1, and by the time
Integral obtains the flying speed of aircraft；
The water pump driving circuit is made of relay group RE1 and water pump group, receives main control chip U1's by relay group RE1
Order, decides whether to act, and to the switch of indirect control water pump group P1, the water pump group P1 includes water pump 1,2 and 3, described
Relay group includes relay EA1, EA2 and EA3, and described relay EA1, EA2 and EA3 correspond to control water pump 1,2 and 3.
2. the brainpower insufflation system according to claim 1 based on plant protection drone pressure type nozzle, it is characterised in that institute
It is MPU6050 to state attitude transducer U1, and the pin 1 of attitude transducer U1 connects power supply U, and pin 2 is grounded；
The main control chip U2 is chip STC89C52, the pin Vcc connection power supplys of main control chip U2, pin P30 connection postures
The pin 3 of sensor U1, the pin 4 of pin P31 connection attitude transducers U1, pin RST connection reset circuits, the reset electricity
Road includes capacitance C1, resistance R1, R2, button switch K 1, the button switch K 1 series resistor R1, and the capacitance C1 is opened with button
It closes K1 and resistance R10 and connects, the one end the resistance R2 connects the cathode of capacitance C1, one end ground connection, XTAL1 and XTAL2 points of pin
Not Lian Jie crystal oscillator Y1 both ends, capacitance C2 and C3 be connected to the both ends of crystal oscillator Y1, other end ground connection；
The pin P32 of the relay EA1 connection main control chips U2 of the relay group RE1, relay EA2 connection main control chips U2
Pin P33, the output signal of the pin P34 of relay EA3 connection main control chips U2, relay group RE1 and flusher control
System connection.
3. the brainpower insufflation system according to claim 1 based on plant protection drone pressure type nozzle, it is characterised in that institute
The volume for stating the drug dispensing case for being set to intermediate position is the several times of both ends drug dispensing case volume, according to the flight pair of plant protection drone
Answer the liquid of corresponding amount.
4. the brainpower insufflation system according to claim 1 based on plant protection drone pressure type nozzle, it is characterised in that institute
The connecting pin for stating point medicine-chest and water pump is equipped with necking, convenient for operation when being connect with water pump.
5. a kind of brainpower insufflation method based on plant protection drone pressure type nozzle, it is characterised in that include the following steps：
（1）The acceleration of aircraft is measured by attitude transducer U1, and this data is transmitted to main control chip U2 by serial ports；
（2）By receiving the acceleration information of posture U1, and by obtaining the flying speed of aircraft any time to time integral,
Opening for water pump group P1 is controlled whether the action for the relay group RE1 for codetermining control water pump with acceleration by flying speed
It closes；
（3）The entrance of the water pump of the water pump group is connect by pipeline with the lower end of drug dispensing case, and the outlet of water pump is separately connected
Three nozzles of four-way pipe, the remaining nozzle of four-way pipe are connect with nozzle, and the switch by water pump group P1 is dense to the spray of nozzle
Degree is controlled.
6. the brainpower insufflation method according to claim 5 based on plant protection drone pressure type nozzle, it is characterised in that institute
It is MPU6050 to state attitude transducer U1, and the main control chip U2 is chip STC89C52.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810402132.5A CN108508809A (en) | 2018-04-28 | 2018-04-28 | A kind of brainpower insufflation system and method based on plant protection drone pressure type nozzle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810402132.5A CN108508809A (en) | 2018-04-28 | 2018-04-28 | A kind of brainpower insufflation system and method based on plant protection drone pressure type nozzle |
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| Publication Number | Publication Date |
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| CN108508809A true CN108508809A (en) | 2018-09-07 |
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| CN201810402132.5A Pending CN108508809A (en) | 2018-04-28 | 2018-04-28 | A kind of brainpower insufflation system and method based on plant protection drone pressure type nozzle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110476942A (en) * | 2019-10-04 | 2019-11-22 | 通辽市神鹰飞机制造有限公司 | A kind of agricultural aircraft balance medicine-chest |
| CN110697047A (en) * | 2019-11-12 | 2020-01-17 | 山东理工大学 | Variable concentration control method for aerial spraying |
| CN111264506A (en) * | 2020-03-31 | 2020-06-12 | 华电中自(北京)科技有限公司 | Intelligent pesticide spraying robot |
| CN113598147A (en) * | 2021-07-27 | 2021-11-05 | 吉林大学重庆研究院 | Plant protection unmanned aerial vehicle machine carries variable control system based on PWM |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110476942A (en) * | 2019-10-04 | 2019-11-22 | 通辽市神鹰飞机制造有限公司 | A kind of agricultural aircraft balance medicine-chest |
| CN110697047A (en) * | 2019-11-12 | 2020-01-17 | 山东理工大学 | Variable concentration control method for aerial spraying |
| CN111264506A (en) * | 2020-03-31 | 2020-06-12 | 华电中自(北京)科技有限公司 | Intelligent pesticide spraying robot |
| CN111264506B (en) * | 2020-03-31 | 2021-10-08 | 华电中自(北京)科技有限公司 | Intelligent pesticide spraying robot |
| CN113598147A (en) * | 2021-07-27 | 2021-11-05 | 吉林大学重庆研究院 | Plant protection unmanned aerial vehicle machine carries variable control system based on PWM |
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