CN109362689A - A kind of unmanned plane variable farm chemical applying control device and its hierarchical control method - Google Patents
A kind of unmanned plane variable farm chemical applying control device and its hierarchical control method Download PDFInfo
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- CN109362689A CN109362689A CN201811520074.2A CN201811520074A CN109362689A CN 109362689 A CN109362689 A CN 109362689A CN 201811520074 A CN201811520074 A CN 201811520074A CN 109362689 A CN109362689 A CN 109362689A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 239000000126 substance Substances 0.000 title claims abstract description 20
- 239000003814 drug Substances 0.000 claims abstract description 54
- 238000005507 spraying Methods 0.000 claims abstract description 53
- 238000004891 communication Methods 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 9
- 230000003321 amplification Effects 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 12
- 230000001276 controlling effect Effects 0.000 description 5
- 230000005672 electromagnetic field Effects 0.000 description 4
- 239000000575 pesticide Substances 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003912 environmental pollution Methods 0.000 description 2
- 238000009472 formulation Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000010412 perfusion Effects 0.000 description 1
- 239000010914 pesticide waste Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
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- Aviation & Aerospace Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of unmanned plane variable farm chemical applying control device and its hierarchical control method, control device includes executive module/information collection component, control assembly, and information collection component passes through control assembly and executive module connection；The hierarchical control method is the following steps are included: S1, the flying height to unmanned plane, flying speed, spraying medicine concentration, medicine-chest valve openings angle are classified, and grading control list are made；The weighted value of S2, the flying height for calculating unmanned plane, flying speed and spraying medicine concentration to medicine-chest valve openings angle；S3, weighted value, grading control list and weighted formula are inputted in single-chip microcontroller；S4, the application of unmanned plane is required to be input in single-chip microcontroller, single-chip microcontroller calculates medicine-chest valve openings angle by weighted formula；S5, single-chip microcontroller control ball valve motor by amplifying circuit, to control the opening angle that medicine-chest valve reaches specified, complete control operation.
Description
Technical field
The present invention relates to unmanned plane field more particularly to a kind of unmanned plane variable farm chemical applying control device and its grading control sides
Method.
Background technique
Unmanned plane in terms of agriculture application using more and more common, but the effect of application is difficult to grasp.Due to farmland
It is irregular shape mostly, and barrier is more, therefore the speed of unmanned plane of unmanned plane during application, height need
Changed according to farm environment.If application flow cannot according to speed, height variation and change, cause spraying medicine concentration not
Uniform phenomenon, the height of spraying medicine concentration will have a direct impact on pesticide supplying effect, the too low purpose that may do not have plant protection of concentration；Concentration mistake
Height, it will cause pesticide waste and environmental pollutions.
Summary of the invention
Object of the present invention is in view of the deficiencies of the prior art, provide a kind of unmanned plane variable farm chemical applying control device and its classification
Control method.
To achieve the goals above, the technical scheme is that
A kind of unmanned plane variable farm chemical applying control device, including executive module, the executive module include for controlling nobody
The ball electromagnetic valve of machine medicine-chest opening angle, the amplifying circuit for controlling the folding of ball electromagnetic valve；Ball electromagnetic valve and spherical shape
Solenoid valve connection；The ball electromagnetic valve includes for controlling the medicine-chest valve of medicine-chest grug transportation tube flow, for controlling medicine
The ball valve motor of case valve openings angle, ball valve motor are connect by route with amplifying circuit；The amplifying circuit includes
Resistance R1, resistance R2, NPN type triode Q1, NPN type triode Q2, relay RL, double-point double-throw switch SW, fuse FU, electricity
Source VCC；One end of the resistance R1 is connect with the base stage of NPN type triode Q1, the collector and power supply of NPN type triode Q1
VCC is electrically connected, and the transmitting collection of NPN type triode Q1 is connect with after the series connection of the left side coil of relay RL with ground wire；Resistance R2
One end connect with the base stage of NPN type triode Q2, the collector of NPN type triode Q2 and power supply VCC are electrically connected, NPN type
The transmitting collection of triode Q2 is connect with after the series connection of the right coil of relay RL with ground wire；The other end point of resistance R1, resistance R2
It is not electrically connected with signal output end；The first binding post and the 4th binding post and power supply the VCC electricity of the double-point double-throw switch SW
Property connection, the second binding post and third binding post are connect with ground wire；The double-pole of double-point double-throw switch SW respectively with ball valve motor
Both ends connection.
Further, the unmanned plane variable farm chemical applying control device further includes information collection component, control assembly, and information is adopted
Collect component and passes through control assembly and executive module connection；The information collection component includes being arranged in unmanned plane cabinet
Pressure-altitude sensor, is arranged in unmanned plane medicine-chest loading the airspeed transducer that unmanned plane body outside top is arranged in
Turbine flow transducer on pipe；The control assembly includes single-chip microcontroller；The input terminal serial ports of single-chip microcontroller is separately connected air pressure height
Spend the signal output end of sensor, airspeed transducer, turbine flow transducer；Single-chip microcontroller signal output serial ports respectively with
Resistance R1, resistance R2 in amplifying circuit are electrically connected.
Further, the control assembly further includes operation display board, and the body of aircraft is arranged in the operation display board
It outer top and is bi-directionally connected with the input and output serial ports of single-chip microcontroller.
Further, the control assembly further includes gsm communication module, cell phone application；The gsm communication module and monolithic
The input and output serial ports of machine is bi-directionally connected, and gsm communication module and cell phone application are wirelessly connected.
A kind of hierarchical control method of unmanned plane variable farm chemical applying control device, it is characterised in that: the hierarchical control method
The following steps are included:
S1, the flying height to unmanned plane, flying speed, spraying medicine concentration, medicine-chest valve openings angle are classified, and make
At grading control list；
The weight of S2, the flying height for calculating unmanned plane, flying speed and spraying medicine concentration to medicine-chest valve openings angle
Value；
S3, weighted value, grading control list and weighted formula are inputted in single-chip microcontroller；
S4, the application of unmanned plane is required to be input in single-chip microcontroller, single-chip microcontroller calculates medicine-chest valve by weighted formula
Opening angle；
S5, single-chip microcontroller control ball valve motor by amplifying circuit, so that controlling medicine-chest valve reaches specified
Opening angle completes control operation.
Further, in the step S1, the flying height of unmanned plane is divided into Pyatyi, first-stage flight height be h≤
1.5m, second-stage flight height are 1.5m < h≤2.5m, and third-stage flight height is 2.5m < h≤3.5m, and fourth stage flight is high
Degree is 3.5m < h≤4.5m, and level V flying height is 4.5m < h；The flying speed of unmanned plane is divided into Pyatyi, the first order flies
Scanning frequency degree is v≤3m/s, and second-stage flight speed is 3m/s < v≤4m/s, and third-stage flight speed is 4m/s < v≤5m/s,
Fourth stage flying speed is 5m/s < v≤6m/s, and level V flying speed is 6m/s < v；Spraying medicine concentration is divided into Pyatyi, first
Grade spraying medicine concentration is c≤500ml/ mus, and second level spraying medicine concentration is 500ml/ mus c≤650ml/ mus of <, third level spraying medicine concentration
It is 650ml/ mus c≤800ml/ mus of <, fourth stage spraying medicine concentration is 800ml/ mus c≤950ml/ mus of <, level V spraying medicine concentration
For 950ml/ mus of < c；Medicine-chest valve openings angle is divided into Pyatyi, first order medicine-chest valve openings angle is 55 ° of 50 °≤α <,
Second level medicine-chest valve openings angle be 65 ° of 55 °≤α <, third level medicine-chest valve openings angle be 75 ° of 65 °≤α <, the 4th
Grade medicine-chest valve openings angle is 85 ° of 75 °≤α <, and level V medicine-chest valve openings angle is 90 ° of 85 °≤α <.
Further, first order medicine-chest valve openings angle is again split into 1.5 grades of -1.9 grades of five grades, by the second level
Medicine-chest valve openings angle is again split into 2.0 grades of -2.9 grades of ten grades, and third level medicine-chest valve openings angle is again split into
Fourth stage medicine-chest valve openings angle is again split into 4.0 grades of -4.9 grades of ten grades by 3.0 grades of -3.9 grades of ten grades, by
Pyatyi medicine-chest valve openings angle is again split into 5.0 grades of -5.9 grades of ten grades.
Further, the corresponding weighted value of flying height is 0.3 in the step S2, and the corresponding weighted value of flying speed is
0.3, the corresponding weighted value of spraying medicine concentration is 0.4.
Further, the weighted formula in the step S3 are as follows:
Flying height grade * 0.3+ flying speed grade * 0.3+ spraying medicine concentration grade * 0.4=medicine-chest valve openings angle
Grade.
Compared with prior art, the advantages and positive effects of the present invention are:
The present invention using height sensor real-time detection unmanned plane flying height, with velocity sensor real-time detection nobody
The flying speed of machine, with the spray flow of flow sensor real-time detection unmanned plane, then sensor is acquired with single-chip microcontroller
Flying height, flying speed, required spraying medicine concentration signal carry out integrated treatment, according to grading control theory, export corresponding control
Signal processed, realize flow automatic regulation size, and during application real-time monitoring feedback unmanned plane flying speed, highly with
And application situation, environmental pollution is reduced while saving pesticide, has achieved the purpose that uniform application, is administered to unmanned plane agricultural
Field brings great contribution.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is frame construction drawing of the invention；
Fig. 2 is the circuit diagram of signal acquisition component and executive module of the invention；
Fig. 3 is block flow diagram when the invention works.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
As shown in Figure 1, Figure 2 and Figure 3, it is the flying height for detecting unmanned plane, speed that the present invention, which is using height sensor,
The flying speed of sensor real-time monitoring unmanned plane, flow sensor real-time monitoring application flow.Information is carried out by single-chip microcontroller
Fusion treatment controls flow valve openings size in conjunction with the required spraying medicine concentration of input.Method simple practical, and
Adaptability is preferable.
A kind of unmanned plane variable farm chemical applying control device, including signal acquisition component, control assembly and executive module；
The signal acquisition component includes multiple sensors；The signal acquisition component is acquired according to multiple sensors
Flying height, flying speed and the application flow signal of unmanned plane；The signal output end of the signal acquisition component respectively with
Input terminal P1.2, P1.3, P1.4 serial ports of single-chip microcontroller connects.
Optionally, the signal acquisition component includes pressure-altitude sensor, airspeed transducer, turbine flow biography
Sensor；
The pressure-altitude sensor, the present invention use the high-precision baroceptor of model BMP280, and setting exists
In the cabinet of aircraft, for acquiring the flying height of aircraft in real time；
The airspeed transducer, the present invention use the Pitot tube anemobiagraph of model TEST0512, and setting is flying
The outer top of the body of machine, for acquiring the flying speed of aircraft in real time；
The turbine flow transducer, the present invention use the liquid turbine flow sensor of model LWGY, and setting exists
On the perfusion tube of the unmanned plane medicine-chest, for acquiring application flow in real time.
The control display module includes operation display board, gsm communication module, cell phone application and a SCM system；
The single-chip microcomputer input is connect with the signal acquisition component, and the single-chip microcomputer output and the operation are shown
Plate, gsm communication module are connected with executive module；The signal that the single-chip microcontroller is used to obtain signal acquisition component integrates
Processing carries out integrated treatment according to information such as flying height, flying speed and required spraying medicine concentrations, in conjunction with hierarchical control method,
Export grading control signal, the corresponding angle of flow regulating valve.
Optionally, the operation display board, the present invention use 3.97 cun of full view IPS touch screens, and the operation is aobvious
Show plate, carry out input and output with the P1.6 serial ports of the single-chip microcontroller and be bi-directionally connected, top outside the body of aircraft is set, is made
With including two parts: (1) input and adjusting flying height, flying speed, spraying medicine concentration information.(2) flying height, flight are shown
The information such as speed, spraying medicine concentration and electromagnetic valve opening angle.The cell phone application passes through the gsm communication module and institute
The single-chip microcontroller stated is bi-directionally connected, and biconditional operation display board is acted on.
The gsm communication module, the present invention use model A9 gsm communication module, the gsm communication module with
The single-chip microcontroller P1.7 serial ports carries out input and output and is bi-directionally connected, and effect is that information is carried out far by 4G wireless network
The transmission of journey signal.
The executive module includes amplifying circuit and ball electromagnetic valve.The amplifying circuit effect is the list
The control signal amplification of piece machine output.
Optionally, the ball electromagnetic valve, the present invention use model ZB miniature electric ball valve, are arranged in medicine-chest bottom
It is connect with flow sensor, the control signal that can be exported according to the single-chip microcontroller adjusts opening angle.
Further technical solution, the amplifying circuit include resistance R1, R2, NPN type triode Q1, Q2, relay
RL, double-point double-throw switch SW, fuse FU, power supply VCC.One end of the resistance R1 and the single-chip microcomputer output P1.1
Serial ports connection, the other end are connect with the base stage of the NPN type triode Q1.The collector of the NPN type triode Q1 accesses
The power supply VCC, the transmitter of the NPN type triode Q1 are grounded after connecting with the left side coil of the relay RL.
One end of the resistance R2 is connect with the single-chip microcomputer output P1.0 serial ports, the other end and the NPN type triode
The base stage of Q2 connects.The collector access of the NPN type triode Q2 power supply VCC, the hair of the NPN type triode Q2
It penetrates after machine is connected with the right coil of the relay RL and is grounded.The binding post 1 and binding post 4 of the double-point double-throw switch SW
The access power supply VCC, binding post 2 and binding post 3 are grounded.The ball valve both ends motor M are double respectively at the double-pole
The double-pole of throw switch SW connects.
The effect of described resistance R1, R2 and fuse FU are protection circuits, prevent from damaging component because of overload.
The effect of NPN type triode Q1, Q2 be to single-chip microcontroller P1.0 and P1.1 serial ports output control signal into
Row amplification, to drive the relay RL.When the base stage of the NPN type triode Q1 receives the single-chip microcontroller
When the high level signal of P1.1 output, NPN type triode Q1 conducting, electric current can flow to emitter from collector at this time.When described
The base stage of NPN type triode Q2 when receiving the high level signal of the single-chip microcontroller P1.0 output, NPN type triode Q2 is led
Logical, electric current can flow to emitter from triode Q2 collector at this time.
Respectively there are two coil, effect is to adjust the double-point double-throw switch SW double-pole for the left and right of the relay RL
Position.When the right coil is powered, coil generating electromagnetic field, the effect of the double-pole of the double-point double-throw switch SW in magnetic field force
Under, it is connect with binding post 2 and binding post 4.Electric current is flowed out from the power supply VCC at this time, flows through fuse FU to binding post 4,
Then ball valve motor M is flowed through from right to left, then flows out to power cathode from binding post 2.Ball valve motor M is rotated forward at this time, valve
Door is opened.When left side coil is powered, coil generating electromagnetic field, the effect of the double-pole of the double-point double-throw switch SW in magnetic field force
Under, it is connect with binding post 1 and binding post 3.Electric current is flowed out from the power supply VCC at this time, flows through fuse FU to binding post 1,
Then ball valve motor M is flowed through from left to right, then flows out to power cathode from binding post 3.Ball valve motor M is inverted at this time, valve
Door is closed.
Further technical solution, the ball-shape electromagnetic valve main component are ball valve motor M, and effect is by electronic
The positive and negative rotation of machine M changes the opening angle of valve.When ball valve motor M is rotated forward, valve openings angle increases；When ball valve electricity
When motivation M is inverted, valve openings angle reduces.
The present invention also provides a kind of flow hierarchical control method, unmanned plane the hierarchical control method: is determined first
Flying height, flying speed and spraying medicine concentration to the weighted value of flow valve openings size, when flying height, flying speed and
When spraying medicine concentration changes, flow valve is adjusted by hierarchical control method weighted formula according to weighted value and grading control list
The corresponding angle of door.
The weighted value can be used analytic hierarchy process (AHP) and be determined, and it is 0.3 that the corresponding weight of flying height, which can be obtained, fly
The corresponding weight of scanning frequency degree is 0.3, and the corresponding weight of spraying medicine concentration is 0.4.
The grading control list, specific to determine that method is as follows: flying height when unmanned plane is normally administered operation exists
In the range of 1m-5m, the range that flying speed is in the range of 4m/s-6m/s, spraying medicine concentration is at 500ml/ mus -1000ml/ mus
Interior, application flow is in the range of 20ml/s-35ml/s.Therefore flying height, flying speed, spraying medicine concentration and flow valve
Opening angle is all divided into 5 grades, such as table 1, shown in level control table (LCT).
Wherein, flying height (h) is less than or equal to be set as level-one height when 1.5m；Flying height (h) is greater than 1.5m, but is less than
Second level height is set as when equal to 2.5m；Flying height (h) is greater than 2.5m, but is less than or equal to be set as three-level height when 3.5m；Flight
Highly (h) is greater than 3.5m, but is less than or equal to be set as level Four height when 4.5m；Flying height (h) is set as Pyatyi height when being greater than 4.5m
Degree.
Flying speed (v) is less than or equal to be set as first-order rate when 3m/s；Flying speed (v) is greater than 3m/s, but is less than or equal to
Second order rate is set as when 4m/s；Flying speed (v) is greater than 4m/s, but is less than or equal to be set as three step velocitys when 5m/s；Flying speed
(v) it is greater than 5m/s, but is less than or equal to be set as level Four height when 6m/s；Flying speed (v) is set as five step velocitys when being greater than 6m/s.
Spraying medicine concentration (c) is less than or equal to be set as first order concentration at 500ml/ mus；Spraying medicine concentration (c) be greater than 500ml/ mus, but
Second order rate is set as when less than or equal to 650ml/ mus；Spraying medicine concentration (c) is greater than 650ml/ mus, but is less than or equal to set at 800ml/ mus
For three step velocitys；Spraying medicine concentration (c) is greater than 800ml/ mus, but is less than or equal to be set as level Four height at 950ml/ mus；Spraying medicine concentration
(c) five step velocitys are set as when being greater than 950ml/ mus.
Valve openings angle (α), since application flow is in the range of 20ml/s-35ml/s, and valve openings angle model
0 ° -90 ° are trapped among, therefore relationship can be converted into changes in flow rate range the variation range of valve openings angle in proportion, as
51 ° of 90 °/35ml/s*20ml/s ≈, therefore valve angle variation range can be set between 50 ° -90 °.That is valve openings angle
It spends (α) and is more than or equal to 50 °, but less than 55 ° when is set as level-one angle；More than or equal to 55 °, but less than 65 ° when is set as second level angle；
More than or equal to 65 °, but less than 75 ° when is set as three-level angle；More than or equal to 75 °, but less than 85 ° when is set as level Four angle；It is greater than
Pyatyi angle is set as when equal to 85 °.Wherein level-one angle can specifically subdivide 5 grades, i.e., 1.5 grades -1.9 grades；Second level angle,
Three-level angle, level Four angle can specifically subdivide 10 grades, i.e., 2.0 grades -2.9 grades, and 3.0 grades -3.9 grades, 4.0 grades -4.9 grades.
Pyatyi angle can specifically subdivide 6 grades, i.e., 5.0 grades -5.5 grades.Such as table 2, shown in valve openings angle hierarchical subdivision table.
1 level control table (LCT) of table
2 valve openings angle hierarchical subdivision table of table
Shown in the following formula of hierarchical control method weighted formula (1):
Flying height grade * 0.3+ flying speed grade * 0.3+ spraying medicine concentration grade * 0.4=valve angle grade.(1)
The opening angle of electromagnetic valve is determined further according to the corresponding valve angle value of valve angle grade.Such as aircraft is in
Level Four flying height, three-level flying speed, second level spraying medicine concentration, calculation formula 4*0.3+3*0.3+2*0.4=2.9, so
Corresponding valve angle grade is 2.9 grades of angles, 64 ° of corresponding valve angle.
Unmanned plane application operation is carried out using the hierarchical control method in the present invention；
Prepare before flight: first returning to zero before take-off to sensor, guarantees the accuracy of multiple information acquisition.
Be administered operation: driver is defeated flying height, flying speed, spraying medicine concentration by operation display board or cell phone application
Enter into system, system can determine electromagnetic valve opening angle according to hierarchical control method.After taking off, driver not only may be used
Accurately to observe flying height, flying speed, spraying medicine concentration and the electricity of aircraft in real time by operation display board or cell phone application
The information such as magnet valve door opening angle；The flight that driver can also regulate and control aircraft manually by operation display board or cell phone application is high
Degree, flying speed, spraying medicine concentration, and then change electromagnetic valve opening angle.Driver can also directly be open to electromagnetic valve
Angle is regulated and controled manually.
Application operation is being carried out to farmland, if flying height is 3m, flying speed 4.5m/s, spraying medicine concentration 700ml/
Mu.According to level control table (LCT): flying height is three-level height, and flying speed is three step velocitys, and spraying medicine concentration is that three-level is dense
Degree.: 3*0.3+3*0.3+3*0.4=3 is obtained according to the weighted formula of hierarchical control method is to get valve openings angle grade
3.0 grades, then know that the corresponding opening angle of valve at this time is 65 ° by level control table (LCT).I.e. system can automatically control solenoid valve
Door opens 65 ° of angle.
Single-chip microcontroller P1.0 serial ports exports high-level control signal at this time, and signal is by resistance R2 to the NPN type triode
The base stage of Q2.NPN type triode Q2 base stage is connected after receiving high level signal, and current and power supply VCC flows out at this time, flows through insurance
The collector of silk FU to triode Q2, then flows out to the coil on the right of relay RL from emitter.Line on the right of relay RL
Circle generates electromagnetic field, and the double-pole of double-point double-throw switch SW is connect with binding post 2 and binding post 4 respectively.Electric current is from power supply at this time
VCC outflow, flows through fuse FU to binding post 4, then flows through ball valve motor M from right to left, then flow out to electricity from binding post 2
Source cathode.Ball valve motor M is rotated forward at this time, and valve is opened, i.e., valve angle is gradually increased from 0 °.Pulse-width modulation method is quasi-
Really control ball valve motor M working time, and then precision control valve door opening angle, when electromagnetic valve reaches 65 ° of angle,
Single-chip microcontroller P1.0 serial ports exports low level control signal, and the voltage of NPN type triode Q2 base stage is low level signal at this time, due to
Brownout, NPN type triode Q2 cut-off, then pass through, and then relay RL does not work without electric current, double-point double-throw switch SW's
Double-pole, so motor stops working, makes valve openings angle maintain 65 ° for vacant state, not any binding post connection
It is constant.
When encountering the barrier for needing to cross, need to improve flying height to clear the jumps, at this time flying height
Increase, system can be automatically increased corresponding electromagnetic valve opening angle, according to hierarchical control method to keep unit area
Formulation rate is constant.Such as flying height has increases to 5m by 3m, flying speed keeps 4.5m/s constant, and spraying medicine concentration is kept
700ml/ mus constant.According to level control table (LCT): flying height is risen to by three-level height as Pyatyi height, flying speed three
Step velocity, spraying medicine concentration are three-level concentration.It is obtained according to the weighted formula of hierarchical control method: 5*0.3+3*0.3+3*0.4=
3.6 to get valve openings angle grade be 3.6 grades, then is by the corresponding opening angle of valve known to level control table (LCT) at this time
71°.I.e. system can automatically control the angle that electromagnetic valve opens 71 °.Just with reason control single chip computer control ball valve motor M
Turn, electromagnetic valve opening angle is made to increase to 71 °, then controls ball valve motor M and stop working, maintain valve openings angle
It is constant at 71 °.
If barrier is higher, such as trees, electric pole etc., then need to reduce flight height and flying speed, so as to safety
Avoiding obstacles.At this time because reducing flying height and flying speed, system can automatically adjust phase according to hierarchical control method
The electrical measurement valve openings angle answered, to keep the formulation rate of unit area constant.Such as flying height has and is reduced to 1m by 3m,
Flying speed is reduced to 3m/s by 4.5m/s, and 700ml/ mus of spraying medicine concentration holding is constant.According to level control table (LCT): flight is high
It is that three step velocitys are reduced to as first-order rate, spraying medicine concentration three that degree, which reduces most level-one height, flying speed by three-level height,
Grade concentration.Obtained according to the weighted formula of hierarchical control method: 1*0.3+1*0.3+3*0.4=1.8 is to get valve openings angle etc.
Grade is 1.8 grades, then the corresponding opening angle of valve known to level control table (LCT) at this time is 53 °.I.e. system can automatically control electricity
Magnet valve door opens 53 ° of angle.
Single-chip microcontroller P1.1 serial ports exports high-level control signal at this time, and signal is by resistance R1 to the NPN type triode
The base stage of Q1.NPN type triode Q1 base stage is connected after receiving high level signal, and current and power supply VCC flows out at this time, flows through insurance
The collector of silk FU to triode Q1, then flows out to the coil on the left side relay RL from emitter.The line on the left side relay RL
Circle generates electromagnetic field, and the double-pole of double-point double-throw switch SW is connect with binding post 1 and binding post 3 respectively.Electric current is from power supply at this time
VCC outflow, flows through fuse FU to binding post 1, then flows through ball valve motor M from left to right, then flow out to electricity from binding post 3
Source cathode.Ball valve motor M is inverted at this time, is gradually reduced valve angle.When electromagnetic valve angle is reduced to 53 °, monolithic
Machine P1.1 serial ports exports low level control signal, and the voltage of NPN type triode Q1 base stage is low level signal at this time, due to voltage
Too low, NPN type triode Q1 cut-off, then without electric current by NPN type triode Q1, and then relay RL does not work, and double-pole is double
The double-pole of throw switch SW, so motor stops working, makes valve openings angle for vacant state, not any binding post connection
Maintain 53 ° it is constant.
When the situation that a certain region crops are luxuriant among to farmland or pest and disease damage is more carries out plant protection operation, need to mention
High spraying medicine concentration, to guarantee preferable pesticide supplying effect.Such as flying height keeps 3m constant, scanning frequency degree keeps 4.5m/s constant,
It is 1000ml/ mus that spraying medicine concentration is risen to by 700ml/ mus.According to level control table (LCT): flying height position three-level height, flight
Speed is three step velocitys, and spraying medicine concentration is risen to by three-level concentration as Pyatyi concentration.It is obtained according to the weighted formula of hierarchical control method:
3*0.3+3*0.3+5*0.4=3.8 being 3.8 grades to get valve openings angle grade, then the valve known to level control table (LCT) at this time
The corresponding opening angle of door is 73 °.I.e. system can automatically control the angle that electromagnetic valve opens 73 °.With reason control single chip computer
It controls ball valve motor M to rotate forward, electromagnetic valve opening angle is made to increase to 71 °, then control ball valve motor M and stop working,
Make valve openings angle maintain 71 ° it is constant.
Control process driver, which may be selected to automatically control also, may be selected regulation manually.System can be application feelings after the completion of application
Condition is shown to driver's observation in a manner of data information, reaches quantization pesticide supplying effect, realizes variable farm chemical applying, reaches uniform application
Purpose.
Claims (9)
1. a kind of unmanned plane variable farm chemical applying control device, including executive module, it is characterised in that: the executive module includes being used for
Ball electromagnetic valve, the amplifying circuit for controlling the folding of ball electromagnetic valve for controlling unmanned plane medicine-chest opening angle；Ball electromagnetic
Valve and ball electromagnetic valve connection；The ball electromagnetic valve includes for controlling the medicine-chest valve of medicine-chest grug transportation tube flow, using
In the ball valve motor of control medicine-chest valve openings angle, ball valve motor is connect by route with amplifying circuit；The amplification
Circuit includes resistance R1, resistance R2, NPN type triode Q1, NPN type triode Q2, relay RL, double-point double-throw switch SW, electricity
Source VCC；One end of the resistance R1 is connect with the base stage of NPN type triode Q1, the collector and power supply of NPN type triode Q1
VCC is electrically connected, and the transmitting collection of NPN type triode Q1 is connect with after the series connection of the left side coil of relay RL with ground wire；Resistance R2
One end connect with the base stage of NPN type triode Q2, the collector of NPN type triode Q2 and power supply VCC are electrically connected, NPN type
The transmitting collection of triode Q2 is connect with after the series connection of the right coil of relay RL with ground wire；The other end point of resistance R1, resistance R2
It is not electrically connected with signal output end；The first binding post and the 4th binding post and power supply the VCC electricity of the double-point double-throw switch SW
Property connection, the second binding post and third binding post are connect with ground wire；The double-pole of double-point double-throw switch SW respectively with ball valve motor
Both ends connection.
2. unmanned plane variable farm chemical applying control device as described in claim 1, it is characterised in that: the unmanned plane variable farm chemical applying control
Device processed further includes information collection component, control assembly, and information collection component passes through control assembly and executive module connection；
The information collection component includes the pressure-altitude sensor being arranged in unmanned plane cabinet, is arranged and pushes up on the outside of unmanned plane body
The airspeed transducer in portion, the turbine flow transducer being arranged on unmanned plane medicine-chest grug transportation tube；The control assembly includes
Single-chip microcontroller；The input terminal serial ports of single-chip microcontroller is separately connected pressure-altitude sensor, airspeed transducer, turbine flow transducer
Signal output end；The signal output serial ports of single-chip microcontroller is electrically connected with resistance R1, the resistance R2 in amplifying circuit respectively.
3. unmanned plane variable farm chemical applying control device as claimed in claim 2, it is characterised in that: the control assembly further includes behaviour
Make display board, top and the two-way company of input and output serial ports with single-chip microcontroller outside the body of aircraft is arranged in the operation display board
It connects.
4. the unmanned plane variable farm chemical applying control device as described in Claims 2 or 3 is any, it is characterised in that: the control assembly
It further include gsm communication module, cell phone application；The input and output serial ports of the gsm communication module and single-chip microcontroller is bi-directionally connected, and GSM is logical
Believe that module and cell phone application are wirelessly connected.
5. a kind of hierarchical control method of unmanned plane variable farm chemical applying control device as claimed in claim 2, it is characterised in that: institute
State hierarchical control method the following steps are included:
S1, the flying height to unmanned plane, flying speed, spraying medicine concentration, medicine-chest valve openings angle are classified, and are made point
Grade control list；
The weighted value of S2, the flying height for calculating unmanned plane, flying speed and spraying medicine concentration to medicine-chest valve openings angle；
S3, weighted value, grading control list and weighted formula are inputted in single-chip microcontroller；
S4, the application of unmanned plane is required to be input in single-chip microcontroller, single-chip microcontroller calculates medicine-chest valve openings by weighted formula
Angle；
S5, single-chip microcontroller control ball valve motor by amplifying circuit, to control the opening that medicine-chest valve reaches specified
Angle completes control operation.
6. the hierarchical control method of unmanned plane variable farm chemical applying control device as claimed in claim 5, it is characterised in that: the step
In rapid S1, the flying height of unmanned plane is divided into Pyatyi, first-stage flight height is h≤1.5m, and second-stage flight height is
1.5m < h≤2.5m, third-stage flight height are 2.5m < h≤3.5m, and fourth stage flying height is 3.5m < h≤4.5m, the
Pyatyi flying height is 4.5m < h；The flying speed of unmanned plane is divided into Pyatyi, first-stage flight speed is v≤3m/s, second
Grade flying speed is 3m/s < v≤4m/s, and third-stage flight speed is 4m/s < v≤5m/s, and fourth stage flying speed is 5m/s
< v≤6m/s, level V flying speed are 6m/s < v；Spraying medicine concentration is divided into Pyatyi, first order spraying medicine concentration be c≤
500ml/ mus, second level spraying medicine concentration be 500ml/ mu c≤650ml/ mus of <, third level spraying medicine concentration for 650ml/ mus of < c≤
800ml/ mus, fourth stage spraying medicine concentration is 800ml/ mus c≤950ml/ mus of <, and level V spraying medicine concentration is 950ml/ mus of < c；It will
Medicine-chest valve openings angle is divided into Pyatyi, and first order medicine-chest valve openings angle is 55 ° of 50 °≤<, and second level medicine-chest valve is opened
Bicker degree is 65 ° of 55 °≤<, and third level medicine-chest valve openings angle is 75 ° of 65 °≤<, fourth stage medicine-chest valve openings angle
It is 85 ° of 75 °≤<, level V medicine-chest valve openings angle is 90 ° of 85 °≤<.
7. the hierarchical control method of unmanned plane variable farm chemical applying control device as claimed in claim 6, it is characterised in that: by first
Grade medicine-chest valve openings angle is again split into 1.5 grades of -1.9 grades of five grades, and second level medicine-chest valve openings angle is divided again
For 2.0 grades of -2.9 grades of ten grades, third level medicine-chest valve openings angle is again split into 3.0 grades of -3.9 grades of ten grades, it will
Fourth stage medicine-chest valve openings angle is again split into 4.0 grades of -4.9 grades of ten grades, again by level V medicine-chest valve openings angle
It is secondary to be divided into 5.0 grades of -5.9 grades of ten grades.
8. the hierarchical control method of unmanned plane variable farm chemical applying control device as claimed in claim 7, it is characterised in that: the step
The corresponding weighted value of flying height is 0.3 in rapid S2, and the corresponding weighted value of flying speed is 0.3, the corresponding weight of spraying medicine concentration
Value is 0.4.
9. the hierarchical control method of unmanned plane variable farm chemical applying control device as claimed in claim 8, it is characterised in that: the step
Weighted formula in rapid S3 are as follows:
Flying height grade * 0.3+ flying speed grade * 0.3+ spraying medicine concentration grade * 0.4=medicine-chest valve openings angle grade.
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