CN111284698A - Green manure seed unmanned aerial vehicle quantitative sowing device and quantitative sowing method - Google Patents
Green manure seed unmanned aerial vehicle quantitative sowing device and quantitative sowing method Download PDFInfo
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- 238000009331 sowing Methods 0.000 title claims abstract description 139
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 13
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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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
- A01C7/085—Broadcast seeders
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
- A01C7/16—Seeders with other distributing devices, e.g. brushes, discs, screws or slides
- A01C7/166—Centrifugal distributors
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
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Abstract
The invention relates to an unmanned aerial vehicle quantitative sowing device for green manure seeds, and belongs to the technical field of agricultural automation. The device comprises a sowing control circuit and a seed box; the lower end of the seed box is provided with a quantitative seed discharging mechanism and a seeding mechanism; a seed discharging pipe is supported on a mounting bracket of the quantitative seed discharging mechanism, and a horizontal shaft packing auger is arranged in the seed discharging pipe; one end of the seed discharging pipe is provided with a feed inlet which is over against the leak opening of the seed box, and the other end is provided with a discharge outlet which faces downwards; a seed throwing disk is arranged below a disk cover of the seeding mechanism, and seed throwing blades are fixed on the seed throwing disk; the automatic sowing control module of the sowing control circuit is in communication connection with a flight control system of the unmanned aerial vehicle and is provided with a selection input end, a current sampling input end and respective control output ends. After the invention is adopted, no matter how the flying height and the speed are changed within a certain range, the unit seeding rate of various green manure seeds within the preset operation width can be ensured to be unchanged, and the seeding quality in the field is really ensured.
Description
Technical Field
The invention relates to a fertilizer seed sowing device, in particular to a green manure seed unmanned aerial vehicle quantitative sowing device, and also relates to a corresponding quantitative sowing method, belonging to the technical field of agricultural automation.
Background
It is known that planting green manure has the advantages of changing the physical and chemical properties of soil, increasing organic matters of soil, improving the yield and quality of crops and the like, and is also an important technical means for crop rotation fallow, improving the quality of cultivated land and reducing the application of chemical fertilizers. However, the green manure planting land is mainly a vacant land in a winter vacant field in a dry land of a paddy field, a slope land in a hilly area, an orchard tea garden and the like, and planting modes in different areas require that most green manure is sown before previous crops are harvested, so that ground machinery cannot enter into sowing operation, meanwhile, the green manure is various in variety, sowing parameters such as seed size, seed shape, sowing quantity and the like are different, and the conventional sowing machinery is difficult to have adaptability of multiple varieties, so that manual operation is basically adopted for green manure sowing at present, the labor intensity is high, the efficiency is low, and the sowing uniformity is poor and the sowing quantity is difficult to control.
The search shows that the Chinese patent with the application number of 201511014147.7 discloses an unmanned aerial vehicle seeding and fertilizing device, which comprises a pesticide box and a cross bar type undercarriage of an unmanned aerial vehicle, wherein the pesticide box is provided with a cylindrical discharge port with a downward opening, and a seeding part is arranged below the discharge port; the spreading part comprises a material receiving funnel connected below the discharge port, a rotary tray with a concave part is fixedly connected below the material receiving funnel, a plurality of layers of partition plates with material leaking holes are arranged in the material receiving funnel, and an inner cavity of the material receiving funnel is communicated with the bottom of the rotary tray; the sowing part is connected with a motor driving the sowing part to rotate. Although this technical scheme can place the seed of crop or solid fertilizer in the medical kit, throws away seed grain or fertilizer through the rotation of rotatory tray, nevertheless have following shortcoming: 1) the size of the material leaking hole is fixed, so that small particles can be too fast seeded, and large particles can not be seeded; 2) seeds leak freely under the action of gravity, the seed sowing speed is uncontrollable, and quantitative sowing can not be realized; 3) the rotating speed of the motor is not adjustable, and the broadcast width and uniformity of seeds with different sizes cannot be controlled; 4) the fixed plate (3) is positioned below the rotary tray (4), so that the seeds are inevitably accumulated on the fixed plate during operation, and part of the seeds are shielded from falling.
In addition, the Chinese patent application with the application number of 201811196021.X discloses a novel accurate quantitative unmanned aerial vehicle fertilizer broadcasting system, which comprises an unmanned aerial vehicle, an automatic control system, a fixing unit, a flow control unit and a broadcasting unit, wherein the unmanned aerial vehicle is detachably connected with the fixing unit, the fixing unit is movably connected with the flow control unit, the flow control unit is fixedly connected with the broadcasting unit, and the automatic control system is positioned in the fixing unit; according to introduction, the technical scheme solves the problems of complex structure, difficult fertilizer filling, arching inside the fertilizer box, high control difficulty, low practicability, small sowing area, low accuracy and low compatibility in the prior art. In practice, however, there are problems in that: 1) the control system comprises a GPS speed measurement module, an inertia measurement unit and the like which are already arranged in the unmanned aerial vehicle flight control system, so that the complexity and the cost of the broadcast sowing system are increased; 2) the additionally added flow control bin (31), the fixed cylinder (32) and the stirring assembly (8) increase the weight and the volume; 3) particularly, the opening and closing degree of the switch fan blade is controlled by the steering engine, the size of the fertilizer seed outlet can only be adjusted, the amount of the actually discharged fertilizer seeds is influenced by the size, the shape and the flowability of the fertilizer seed particles, the pressure generated by the fertilizer seed accumulation thickness above the outlet (the fertilizer seeds in the fertilizer box are gradually reduced in the fertilizer spreading process) and other factors, and the accurate quantification can not be realized only by controlling the size of the fertilizer outlet.
Still, chinese patent application No. 201910331021.4 discloses an unmanned aerial vehicle seeding fertilizer injection unit of adaptable multiple environment operation, and fixed mounting can be dismantled at the top of unmanned aerial vehicle body has the flashing board, and the flashing board can prevent that outside sleet from getting into this internal electronic component of unmanned aerial vehicle in, prevents the generating circuit short circuit, and the top fixed mounting of unmanned aerial vehicle body has two driving motor that the symmetry set up. Said to introduce, this technical scheme can realize sowing and fertilizing evenly to the arable land simultaneously, and then improve farming efficiency. However, the following problems can be found by analysis: 1) the discharge speed is difficult to ensure to be consistent when the seed box and the fertilizer box are used, so that the weight is easy to be unbalanced, and potential safety hazards exist; 2) although spiral conveying is utilized for seeding, the design of an inner cavity of the seed box (5), particularly a baffle (10), cannot guarantee smooth seed supply to the spiral conveyor, and the vertical spiral conveying is adopted to push the material with the thickness larger than the screw pitch, so that the fixed seeding amount at a certain rotating speed cannot be guaranteed; 2) the stepping motor drives the falling pipe serving as the seed sowing device to swing left and right in a reciprocating manner, so that a re-sowing area and a miss-sowing area cannot be avoided, the uniformity in the sowing width is difficult to ensure, and vibration is easy to generate. (Note: the numerals in parentheses above are the reference numerals of the corresponding patents, respectively).
In conclusion, the consistent seeding quantity per unit area in the preset operation width is an important index for measuring the seeding quality of the green manure seeds. When the unmanned aerial vehicle is used for sowing, due to various reasons, the flying height and the speed of the unmanned aerial vehicle are changed within a certain range all the time, so that the sowing quantity of the green manure seeds within the preset operation width is ensured to be basically unchanged, the sowing quantity is well controlled, and the sowing range is well regulated and controlled, which is very difficult. None of the above prior art adequately addresses this technical problem. In addition, different kinds of green manure seeds have different sowing characteristics, and the prior art cannot adapt to the sowing of various green manure seeds.
Disclosure of Invention
The invention aims to: aiming at the technical problems, the unmanned aerial vehicle quantitative sowing device for the green manure seeds can automatically adjust the green manure seeds to ensure that the preset operation breadth and the sowing quantity per unit area of various green manure seeds are not changed no matter how the flying height and the flying speed are changed within a certain range, and simultaneously provides a corresponding quantitative sowing method, so that the field sowing quality is practically ensured.
In order to achieve the purposes, the basic technical scheme of the unmanned aerial vehicle quantitative sowing device for the green manure seeds is as follows: the unmanned aerial vehicle comprises a sowing control circuit and a funnel-shaped seed box arranged below a bottom plate of the unmanned aerial vehicle through a hanging component; the lower end of the seed box is provided with a quantitative seed discharging mechanism, and the lower part of the quantitative seed discharging mechanism is provided with a seeding mechanism; a horizontal shaft auger driven by a seed sowing motor is supported on a mounting bracket of the quantitative seed sowing mechanism, and a seed sowing pipe is surrounded outside the auger; one end of the seed sowing pipe is provided with a feed inlet which is over against a seed box leakage opening, and the other end of the seed sowing pipe is provided with a downward discharge opening; the seeding mechanism comprises a disc cover fixedly connected with the mounting bracket, the disc cover is provided with a through hole facing the discharge hole, a seed throwing disc driven by a seeding motor is arranged below the disc cover, and at least three seed throwing blades extending tangentially outside the seeding motor are fixed on the seed throwing disc; the sowing control circuit comprises a sowing automatic control module for storing sowing parameters of various green manure seeds, the sowing automatic control module is in communication connection with a flight control system of the unmanned aerial vehicle and is provided with a selection input end connected with a variety selection switch, a current sampling input end connected with a seed discharging motor and a control output end respectively connected with the seed discharging motor and a controlled end of a sowing motor through corresponding speed regulators.
The green manure seed sowing parameters comprise the unit weight of various commonly used green manure seeds, the appropriate seed quantity per unit area and sowing width, the appropriate flying height and the appropriate sowing motor rotating speed corresponding to the various commonly used green manure seeds, and the volume of seeds discharged by one circle of auger rotation determined by auger design parameters.
During operation, the automatic sowing control module realizes the unmanned aerial vehicle quantitative sowing of the green manure seeds according to the following steps:
firstly, acquiring parameters, namely receiving flight height and speed parameters transmitted by a flight control system, and inputting and reading stored green manure seed sowing parameters of corresponding varieties according to a variety selection switch;
secondly, calculating the rotating speed, namely calculating the rotating speed N of the seed discharging motor and the rotating speed N of the seeding motor according to the following formula
n=kvB/AP
N=BopHopNop/BHt
In the formula:
k-amount of seed used per unit area, unit g/m2；
v-real-time flight speed of the unmanned aerial vehicle, unit m/s;
b-broadcast width, unit m;
a-volume of seed discharged by one rotation of auger, unit cm3/r；
P-green manure seed volume weight, unit g/cm3；
BopThe suitable broadcast width is m;
Hop-the appropriate flying height in m;
Nopthe rotating speed of a motor suitable for sowing is unit r/min;
Ht-real-time flight altitude of the drone in m;
thirdly, outputting control, namely outputting rotating speed control signals to a seed discharging motor and a seeding motor through corresponding speed regulators respectively;
and step four, judging whether seeds are left in the seed box, receiving a driving current signal of a seed sowing motor, judging whether the signal is smaller than a set value, if not, returning to the step one, and if so, stopping sowing after sending a warning signal.
After the quantitative seed sowing device is adopted, seeds in the seed box enter the quantitative seed sowing mechanism through the feed inlet of the seed sowing pipe, the auger driven by the seed sowing motor rotates and pushes the seeds to the discharge outlet, and then the seeds enter the sowing mechanism under the action of the dead weight of the seeds; then the seed throwing plate which is driven by the seeding motor to rotate is thrown out by centrifugal action. In the process, the rotating speeds of the seed sowing motor and the sowing motor are corrected correspondingly through the flight speed and the altitude which are obtained in real time on the basis of the stored corresponding sowing parameters, so that the change of the flight altitude and the speed in a certain range can be adapted; the auger seed sowing can avoid the influence of a plurality of factors such as the size, the shape, the fluidity, the stacking pressure and the like of fertilizer seed particles; thereby ensuring that the unit seed consumption of various green manure seeds in the preset operation breadth and breadth is not changed and practically ensuring the sowing quality in the field.
The invention further perfects that the green manure seed sowing parameters comprise the volume weight of various commonly used green manure seeds, the appropriate unit area seed consumption and sowing width, the appropriate flying height and the appropriate sowing motor rotating speed corresponding to the commonly used green manure seeds, and the volume of the seeds discharged by one circle of auger rotation determined by auger design parameters.
The invention further perfects that the seed box consists of four side plates, namely a front side plate, a rear side plate, a left side plate and a right side plate, wherein the upper part of the side plate is straight, and the lower part of the side plate is folded inwards, and the folded inwards angle of each side plate is larger than the static friction angle between the green manure seeds and the plate surface.
The invention is further perfected in that the internal folding angles of the front side plate and the rear side plate of the seed box are 150 degrees +/-5 degrees, and the internal folding angles of the left side plate and the right side plate are 130 degrees +/-5 degrees.
The invention is further perfected that the hanging mechanism is composed of a pair of U-shaped hanging guide rails which are fixed on the lower opening of the bottom plate of the unmanned aerial vehicle and face outwards and a pair of U-shaped hanging guide rails which are matched and fixed on the seed box and face inwards.
The invention is further perfected in that the inner sections of the seed throwing blades are equal in height, and the outer sections of the seed throwing blades are gradually reduced in height.
Drawings
The invention will be further described with reference to the accompanying drawings.
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a schematic perspective exploded view of the box part of the embodiment of fig. 1.
Fig. 3 is a schematic perspective view of the sowing mechanism in the embodiment of fig. 1.
Fig. 4 is a schematic perspective view of the metering mechanism of the embodiment of fig. 1.
Fig. 5 is a schematic perspective view of the seed throwing disk part in fig. 4.
Fig. 6 is a block diagram of a broadcast control circuit of the embodiment of fig. 1.
Fig. 7 is a circuit diagram of a central processing unit of the automatic broadcast control module of fig. 6.
Fig. 8 is a circuit diagram of a control execution part of the broadcast automation module of fig. 6.
Fig. 9 is a control logic block diagram of the control circuit of fig. 6.
Detailed Description
Example one
The quantitative broadcasting is that in the operation process, no matter how the flying height and the speed of the unmanned aerial vehicle change, the seed consumption of a field block in unit area always keeps a fixed value for green manure seeds of a certain variety.
The device is broadcast to green manure seed unmanned aerial vehicle ration of this embodiment is shown in fig. 1 and fig. 2, and its basic constitution does: funnel-shaped seed box 2 is settled under unmanned aerial vehicle bottom plate 1 through articulating subassembly 3, and quantitative seed metering mechanism 7, seeding mechanism 5 are installed to 7 lower parts of quantitative seed metering mechanism to seed box 2 lower extreme installation. In the figure 4 is a seeding motor cover.
Specifically, the seed box 2 is composed of four side plates, namely a front side plate, a rear side plate, a left side plate and a right side plate, wherein the upper part of the side plates is straight, and the lower part of the side plates is folded inwards, and the horizontal section of the side plates is rectangular. In order to ensure smooth seeding, the internal break angle of each side plate must be larger than the static friction angle between the green manure seeds and the plate surface so as to avoid incomplete and unstable seeding caused by wall hanging of the seeds around, repeated tests show that the internal break angles of the front side plate and the rear side plate are 150 degrees +/-5 degrees, the internal break angles of the left side plate and the right side plate are 130 degrees +/-5 degrees, and the uniform seeding of various green manure seeds is most suitably ensured.
The hanging mechanism 3 is composed of a pair of U-shaped hanging guide rails 3-1 with outward openings and fixed on the bottom plate 1 of the unmanned aerial vehicle, and a pair of U-shaped hanging guide rails 3-2 with inward openings and fixed on the seed box 2. When the seed box with the U-shaped hanging rack connecting guide rail is used, the seed box with the U-shaped hanging rack connecting guide rail is inserted into the U-shaped hanging guide rail of the bottom plate of the unmanned aerial vehicle, and the seeding device and the unmanned aerial vehicle can be quickly assembled by positioning the seed box with the limiting pin shaft 3-3.
The quantitative seed metering mechanism 7 is shown in figure 3, a seed metering motor 7-3 is supported on a mounting bracket 7-2 through a motor bracket 7-4, a horizontal output shaft of the seed metering motor 7-3 is in transmission connection with a horizontal shaft 7-7 of an auger 7-10 through a coupler 7-5, and a seed metering pipe 7-9 with supporting flanges 7-8 is arranged at two ends of the periphery of the auger 7-10. One end of the seed discharging pipe 7-9 is provided with a feeding hole which is opposite to the leakage opening of the seed box, the other end is provided with a downward discharging hole, and the discharging hole is provided with a guide baffle 7-12 which prevents the seed manure from overflowing. The quantitative seed metering mechanism utilizes a packing auger to convey green manure seeds to a discharge port, and the green manure seeds can fall into the seeding mechanism through the open holes in the lower mounting bracket 7-2 of the guide baffle under the action of the self weight of the seeds. The rotating speed of the seed sowing motor is adjusted according to the unit area sowing amount of different varieties of green manure, and quantitative seed sowing can be controlled and realized.
The seeding mechanism 5 comprises a disc cover 5-4 fixedly connected with a mounting bracket 7-2, one side of the disc cover 5-4 is provided with a perforation which is positioned below the opening of the mounting bracket 7-2 and is opposite to the discharge hole, and a seed throwing disc 5-2 driven by a seeding motor 5-6 is arranged below the perforation. Four evenly-distributed seed throwing blades 5-5 extending from the outer circumference of the sowing motor 5-6 in the tangential direction are fixed on the seed throwing disk 5-2, and during operation, seeds can be thrown out along the tangential direction of the centrifugal disk under the action of centrifugal force by the high-speed rotation of the centrifugal disk. The inner sections of the seed throwing blades are equal in height, the outer sections of the seed throwing blades are gradually reduced in height, negative pressure generated in the area between the adjacent blades during high-speed rotation is beneficial to the seeds discharged by the seed sowing pipe to fall to the seed throwing disc, but adverse effects on the throwing of the seeds are also generated, the blades are designed to be high in inside and low in outside, the negative pressure area tends to be gathered in the middle of the seed throwing disc, and therefore the seed throwing sowing is not hindered while the seed sowing is facilitated. The rotating speed of the sowing motor is adjusted according to seed varieties, flying height and the like, so that the sowing width of different green manure seeds in the advancing direction of the unmanned aerial vehicle can be regulated, and the sowing uniformity can be guaranteed.
The seeding control circuit is mainly used for regulating and controlling the rotating speed of the brushless seeding motor and the seeding motor, and basically comprises a seeding automatic control module with an EEPROM memory, a variety receiving selection switch and an electronic speed regulator as shown in figure 6. Various green manure seed sowing parameters obtained by repeated tests are stored: the method comprises the following steps of weighing the seeds by volume of various common green manure seeds, corresponding to the seed quantity and the broadcast width of various common green manure seeds in unit area, suitable flying height and suitable rotating speed of a sowing motor, and determining the volume of the seeds discharged by one circle of rotation of an auger according to auger design parameters.
The specific circuit of the broadcast automatic control module is shown in fig. 7, and the microprocessor U1 is the core of the broadcast automatic control module and is responsible for the communication with the aircraftCommunication of a control system, output of a brushless motor driving signal, calculation and storage of broadcast data and the like. S1 is a toggle address switch connected with the selection input end of U1 and used for setting the variety of green manure seeds, so that the microprocessor can read the broadcast parameters of corresponding varieties and can set up 256 kinds of green manure seeds at most. U2 is EEPROM memory for storing different kinds of green manure seeds broadcast parameters, U2 is via I2The C interface is in communication connection with two pins of an SDA and an SCL of the microprocessor U1, and a TXD and an RXD pin of the microprocessor U1 are used for realizing communication connection between the automatic spreading control module and a flight control system of the unmanned aerial vehicle so as to acquire information such as real-time flight height and speed. The communication hardware interface of the broadcast automatic control module and the unmanned aerial vehicle flight control system is a wired TTL level asynchronous serial UART, and the communication protocol adopts a general MAVLink protocol of the micro unmanned aerial vehicle flight control system, so that full-duplex communication can be realized. The broadcast automatic control module sends a command frame for reading the flight height and the speed to the unmanned aerial vehicle flight control system according to the MAVLink protocol, the flight control system immediately gives a response after receiving the command and sends a response frame containing the flight height and the speed, and the broadcast automatic control module extracts the flight height and the speed data after receiving the response frame and regulates and controls the rotating speed of the seed metering motor and the seed sowing motor according to the flight height and the speed data. The broadcast automatic control module periodically sends a data reading command, and the time period is 1 second.
The seed metering motor and the seeding motor both adopt three-pole brushless direct current motors, the broadcasting automatic control module calculates the appropriate rotating speeds of the corresponding seed metering motor and the seeding motor according to the flight height and the speed information, outputs PWM signals corresponding to the rotating speeds to the electronic speed regulator, and the electronic speed regulator realizes the regulation and control of the rotating speeds of the motors through an internal driving circuit. Because the rotating speed of the direct current motor is approximately in a linear relation with the driving voltage, the adjustment of the driving voltage of the brushless motor is realized by changing the duty ratio of the PWM signal, and the regulation and control of the rotating speed of the motor are realized. The seed metering motor and the seeding motor have the same speed regulating circuit. A1+, A1-, B1+, B1-, C1-and C1-of the microprocessor U1 are used for outputting speed regulation signals of the seed metering motor; a2+, A2-, B2+, B2-, C2-and C2-are sowing motor speed regulation signal outputs.
As shown in fig. 8, the brushless motor is driven by a star-connected full bridge, VDD is a motor driving voltage, Q1, Q4, and Q7 are P-channel enhancement mode fets, Q3, Q6, and Q9 are N-channel enhancement mode fets, Q2, Q5, and Q8 are NPN transistors, R1, R5, and R9 are pull-up resistors, R4, R8, and R12 are pull-down resistors, and R2, R3, R6, R7, R10, and R11 are current limiting resistors. According to the principle of a brushless motor, six phase conduction modes of a three-pole direct-current brushless motor are as follows: AB. AC, BC, BA, CA, CB. When the AB phase is conducted, the field effect transistors Q1 and Q6 are conducted at the same time, other field effect transistors are cut off, the PWM signal is input from the input end of the A + signal, the PWM signal is amplified by the Q2 and then drives the Q1 to generate a high-current PWM signal with the same frequency and duty ratio and is applied to the A phase, a '1' level signal is input from the B-end of the signal, the field effect transistor Q6 is driven by the R7 to be conducted, and the B phase is connected with a motor driving power ground to form an AB phase power supply current loop.
OC1 and OC2 in FIG. 7 are A/D sampling input ports of a microprocessor U1, which respectively sample the driving current of the seed sowing motor and the seeding motor and detect the working load state of the motors. The Shunt in fig. 8 is a motor driving current detecting device, which is a group of snake-shaped wires with constant accumulated direct current resistance on the printed circuit board. The driving current can be obtained by sampling the voltage drop generated by the motor driving current on the snake-shaped wiring accumulation resistor. The R13 and the C1 form an RC filter circuit for filtering out ripples on the sampled voltage signal caused by the PWM signal.
Referring to fig. 9, the automatic sowing control module of the present embodiment realizes the unmanned aerial vehicle quantitative sowing of green manure seeds according to the following steps:
firstly, acquiring parameters, namely receiving flight height and speed parameters transmitted by a flight control system, and inputting and reading stored green manure seed sowing parameters of corresponding varieties according to a variety selection switch; comprises the unit weight P of various common green manure seeds, the appropriate seed quantity per unit area and the appropriate broadcast width B corresponding to various common green manure seedsopSuitable flying height HopSuitable seeding motor rotating speed NopAnd the volume of the seeds discharged by one circle of rotation of the packing auger determined by the design parameters of the packing auger.
Secondly, calculating the rotating speed, namely calculating the rotating speed N of the seed discharging motor and the rotating speed N of the seeding motor according to the following formula
n=kvB/AP
In the formula:
k-seed amount of green manure in unit area, unit g/m2The value is constant after variety selection;
v-real-time flight speed of the unmanned aerial vehicle, unit m/s;
b-broadcast width, unit m;
a-volume of seed discharged by one rotation of auger, unit cm3The/r is determined by the design parameters of the packing auger;
p-green manure seed volume weight, unit g/cm3The value is constant after the variety is selected;
N=BopHopNop/BHt
in the formula:
k-amount of seed used per unit area, unit g/m2；
v-real-time flight speed of the unmanned aerial vehicle, unit m/s;
b-broadcast width, unit m;
a-volume of seed discharged by one rotation of auger, unit cm3/r；
P-green manure seed volume weight, unit g/cm3；
BopThe suitable broadcast width is m;
Hop-the appropriate flying height in m;
Nopthe rotating speed of a motor suitable for sowing is unit r/min;
Ht-real-time flight altitude of the drone in m;
the calculation formula in this step is derived as follows. First, the seeding rate can be calculated by the notations (1) and (2), respectively
W=A·n·t·P （1）
W=v·t·B·k （2）
In the formula: w is the weight of the seeds discharged to the field by the seed discharging mechanism; a is the volume of the seeds discharged by one circle of rotation of the packing auger and is a design constant; n is the rotation speed of a seed sowing motor which determines the rotation speed of the auger; t is the broadcast sowing time, P is the volume weight of the green manure seeds, namely the weight of the seeds in unit volume; v is the real-time flight speed of the unmanned aerial vehicle; b is broadcast breadth; k is the seed consumption per unit area of the green manure seeds. Substituting (1) into (2) yields n = kvB/AP.
In addition, the main factors influencing the broadcast width B are the rotating speed N of the sowing motor and the flying height H, and the theoretical influencing factors include air resistance, seed shape, friction coefficient of a seed throwing disk, flying airflow and the like, so that the functional relationship between the three factors is difficult to accurately define. After long-term repeated search, when the broadcast uniformity and the breadth are taken as test assessment indexes, the flying height and the rotating speed of a seeding motor are taken as test factors, two-factor horizontal orthogonal test is carried out, and variance analysis and a comprehensive evaluation method are used, the result can be found that when the flying height is kept in a certain variation range, BxHxN is approximated to be a constant, so that the operation can be greatly simplified, and the precision meeting the agricultural requirements can be realized. Therefore, N = B is derived by means of a proportional formulaopHopNop/BHt。
And thirdly, outputting control, namely outputting rotating speed control signals to the seed sowing motor and the sowing motor through corresponding speed regulators respectively.
And fourthly, judging whether seeds are left in the seed box, namely receiving a driving current signal of a seed sowing motor, judging whether the signal is smaller than a set value, specifically, in the seed sowing motor driving circuit shown in the figure 8, detecting the driving current of the motor by using a shock (sampling resistor) by a control system, and judging whether the seeds in the seed box are nearly emptied according to the magnitude of the current. When seeds exist in the seed box, the driving current of the seed metering motor is much larger than that of the seed-free seed box, and after the seed box starts to broadcast each time, once the current driving current value is found to be less than or equal to 10% of the initial seed recording value, the fact that the seed broadcasting of the seed box is finished can be judged. If not, returning to the first step, if so, sending out a warning signal and stopping playing.
Since k, A, P and B are known during actual calculation, the rotating speed of the seed sowing motor is correspondingly adjusted through the electronic speed regulator according to the seed sowing motor rotating speed settlement result changed along with the change of the real-time flying speed v of the unmanned aerial vehicle; on the other hand, will be obtained by experiment in advanceSuitable broadcast operation parameters (suitable broadcast breadth B) of various green manure seedsopSuitable flying height HopSuitable seeding motor rotating speed Nop) Storing the seed in an EEPROM memory, calling out corresponding appropriate data according to the input variety of the green manure seeds during the sowing operation, and correspondingly adjusting the rotating speed of the sowing motor through an electronic speed regulator according to the result of the settlement of the rotating speed of the sowing motor obtained according to the real-time flying height; the automatic control that the preset operation width and the unit area seeding amount are not changed can be realized. For example, astragalus sinicus is taken as an example, and the volume weight of the astragalus sinicus is P =0.8 g/cm3Suitable broadcast width Bop=6m, suitable flying height HopRotating speed N of electric motor suitable for sowing of =2mop=1350 r/min; and the conventional unit area dosage k =2.3 g/m2The preset broadcast width B =6m, the volume A =14cm of the auger rotating one circle to discharge seeds3R; when the flight control system obtains the real-time flight speed v =5m/s and the real-time flight height H of the current unmanned aerial vehiclet=1.5m, then:
the rotation speed n = kvB/AP =2.3 × 5 × 6/(14 × 0.8) =6.16r/s, namely 6.16 × 60=369.6 r/min; seeding motor rotating speed N = BopHopNop/BHt=6×2×1350/(6×1.5)=1800r/min。
Experiments prove that the quantitative sowing device for the green manure seeds based on the multi-rotor unmanned aerial vehicle platform can acquire the flight speed and the height of the unmanned aerial vehicle in real time according to the preset green manure seed operation conditions, and the sowing quantity and the operation breadth in a unit area are kept unchanged no matter how the flight speed and the height change in a certain range through correspondingly automatically controlling the rotating speeds of the seed sowing motor and the sowing motor in real time, so that the ideal sowing quality is ensured.
Claims (7)
1. The utility model provides a device is scattered to green manure seed unmanned aerial vehicle ration, includes to scatter control circuit and settles hopper-shaped seed case (2) under unmanned aerial vehicle bottom plate (1) through articulating subassembly (3), its characterized in that:
a quantitative seed discharging mechanism (7) is arranged at the lower end of the seed box, and a seeding mechanism (5) is arranged at the lower part of the quantitative seed discharging mechanism;
a horizontal shaft packing auger (7-10) driven by a seed sowing motor (7-3) is supported on a mounting bracket (7-2) of the quantitative seed sowing mechanism, and a seed sowing pipe (7-9) is surrounded by the packing auger; one end of the seed sowing pipe is provided with a feed inlet which is over against a seed box leakage opening, and the other end of the seed sowing pipe is provided with a downward discharge opening;
the seeding mechanism comprises a disc cover (5-4) fixedly connected with the mounting bracket, the disc cover is provided with a through hole facing the discharge hole, a seed throwing disc (5-2) driven by a seeding motor (5-6) is arranged below the disc cover, and at least three seed throwing blades extending tangentially outside the seeding motor are fixed on the seed throwing disc;
the sowing control circuit comprises a sowing automatic control module for storing sowing parameters of various green manure seeds, the sowing automatic control module is in communication connection with a flight control system of the unmanned aerial vehicle and is provided with a selection input end connected with a variety selection switch, a current sampling input end connected with a seed discharging motor and a control output end respectively connected with the seed discharging motor and a controlled end of a sowing motor through corresponding speed regulators.
2. The unmanned aerial vehicle quantitative sowing device for green manure seeds of claim 1, characterized in that: the green manure seed sowing parameters comprise the unit weight of various commonly used green manure seeds, the appropriate unit area seed using amount and sowing width corresponding to the commonly used green manure seeds, the appropriate flying height, the appropriate sowing motor rotating speed and the volume of seeds discharged by one circle of auger rotation determined by auger design parameters.
3. The unmanned aerial vehicle quantitative sowing device for green manure seeds of claim 2, characterized in that: the seed box consists of four side plates, namely a front side plate, a rear side plate, a left side plate and a right side plate, wherein the upper part of the side plate is straight, and the lower part of the side plate is folded inwards, and the internal folding angle of each side plate is larger than the static friction angle between the green manure seeds and the plate surface.
4. The unmanned aerial vehicle quantitative sowing device for green manure seeds of claim 3, characterized in that: the internal folding angles of the front side plate and the rear side plate of the seed box are 150 degrees +/-5 degrees, and the internal folding angles of the left side plate and the right side plate are 130 degrees +/-5 degrees.
5. The unmanned aerial vehicle quantitative sowing device for green manure seeds of claim 4, characterized in that: the hitching mechanism is composed of a pair of U-shaped hitching guide rails fixed at the lower opening of the bottom plate of the unmanned aerial vehicle and a pair of matched U-shaped hitching guide rails fixed on the seed box and provided with an inward opening.
6. The unmanned aerial vehicle quantitative sowing device for green manure seeds of claim 5, characterized in that: the inner sections of the seed throwing blades are equal in height, and the outer sections of the seed throwing blades are gradually reduced in height.
7. The quantitative sowing method of the unmanned aerial vehicle quantitative sowing device for the green manure seeds as claimed in any one of claims 1 to 6, wherein: the automatic sowing control module realizes the quantitative sowing of the green manure seeds by the unmanned aerial vehicle according to the following steps:
firstly, acquiring parameters, namely receiving flight height and speed parameters transmitted by a flight control system, and inputting and reading stored green manure seed sowing parameters of corresponding varieties according to a variety selection switch;
secondly, calculating the rotating speed, namely calculating the rotating speed N of the seed discharging motor and the rotating speed N of the seeding motor according to the following formula
n=kvB/AP
N=BopHopNop/BHt
In the formula:
k-amount of seed used per unit area, unit g/m2；
v-real-time flight speed of the unmanned aerial vehicle, unit m/s;
b-broadcast width, unit m;
a-volume of seed discharged by one rotation of auger, unit cm3/r；
P-green manure seed volume weight, unit g/cm3；
BopThe suitable broadcast width is m;
Hop-the appropriate flying height in m;
Nop-suitable for sowing motor speed, unitr/min；
Ht-real-time flight altitude of the drone in m;
thirdly, outputting control, namely outputting rotating speed control signals to the seed sowing motor and the sowing motor through corresponding speed regulators respectively;
and step four, judging whether seeds are left in the seed box, receiving a driving current signal of a seed sowing motor, judging whether the signal is smaller than a set value, if not, returning to the step one, and if so, stopping sowing after sending a warning signal.
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