CN112083749B - Unmanned aerial vehicle spraying intelligence control system - Google Patents
Unmanned aerial vehicle spraying intelligence control system Download PDFInfo
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- CN112083749B CN112083749B CN202010818175.9A CN202010818175A CN112083749B CN 112083749 B CN112083749 B CN 112083749B CN 202010818175 A CN202010818175 A CN 202010818175A CN 112083749 B CN112083749 B CN 112083749B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—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
Abstract
The invention provides an unmanned aerial vehicle spraying intelligent control system, which comprises: the controller is used for carrying out temperature adjustment on the temperature control circuit, pressure adjustment on the pressure control circuit, the temperature acquisition circuit and the pressure acquisition circuit; the controller is respectively connected with the temperature control circuit, the pressure control circuit, the temperature acquisition circuit and the pressure acquisition circuit; the temperature control circuit is characterized in that a temperature control output terminal of the controller is connected with the temperature control switch, so that the on-off of the temperature control switch is controlled according to an output signal of the controller; the pressure control circuit adopts a mode of controlling the motor by an external frequency converter so as to control the pressure of the pipeline. According to the invention, through double detection and double control of temperature and pressure, the spraying system is not overheated or fails due to overpressure; when the pressure and the temperature are out of control and the equipment state is abnormal, the alarm can be given for the first time to avoid danger, and the reliability and the stability of the system are greatly improved.
Description
Technical Field
The invention relates to the field of control, in particular to an unmanned aerial vehicle spraying intelligent control system based on temperature and pressure monitoring, and is particularly suitable for precise pesticide application of an unmanned aerial vehicle.
Background
Along with the development of wisdom agriculture, all kinds of machines of giving medicine to poor free of charge are by wide use to satisfy the needs of various farming scenes, wherein, unmanned aerial vehicle spraying mode relies on advantages such as high efficiency, extensive, convenient and has obtained very big popularization.
To unmanned aerial vehicle spraying, temperature and pressure are the prerequisite of accurate application of medicine, and if temperature and pressure were low excessively at the in-process of unmanned aerial vehicle spraying, the droplet number that can lead to the atomizing to produce was not enough, and temperature and pressure are too high, can lead to the spraying medicine to take place chemical reaction, lose the drug effect. Also need ensure the temperature and the pressure value that unmanned aerial vehicle atomizer produced in the index of safety from safe angle, avoid causing the explosion because too big temperature of pressure or pressure are too high.
However, the temperature and pressure problem in the pesticide application process can not be solved very much to current unmanned aerial vehicle spraying system. For example, if the pressure is continuously applied, the pressure is strongly applied, and the like, explosion is easily generated. In addition, current unmanned aerial vehicle water-spraying system also can't accomplish effectively discernment when the state takes place abnormal change in the use, also can not in time solve the problem high-efficiently when breaking down. For example, wear and aging of the chamber can lead to more serious damage if the pressure leaks out of the chamber that cannot be handled in a timely manner.
Therefore, how to realize the spray control more intelligently is a great problem which needs to be solved urgently at present.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an efficient and safe unmanned aerial vehicle spraying intelligent control system which can be applied to various use scenes needing heating and pressurizing, comprises the precise pesticide application of the unmanned aerial vehicle, realizes the advantages of high efficiency, heating and pressurizing, safety and explosion prevention, and is simple in structure and convenient to control.
In order to achieve the purpose of the invention, the invention provides an unmanned aerial vehicle spray intelligent control system, which comprises: the controller is used for carrying out temperature adjustment on the temperature control circuit, pressure adjustment on the pressure control circuit, the temperature acquisition circuit and the pressure acquisition circuit; the controller is respectively connected with the temperature control circuit, the pressure control circuit, the temperature acquisition circuit and the pressure acquisition circuit; the power supply circuit is used for supplying power to each power utilization circuit in the system;
the temperature control circuit is characterized in that a temperature control output terminal of the controller is connected with the temperature control switch, so that the on-off of the temperature control switch is controlled according to an output signal of the controller, the temperature control switch is switched off to stop heating when a temperature detection value acquired from the temperature acquisition circuit is greater than an upper temperature limit value, and the temperature control switch is switched on to start heating when the temperature detection value is less than a lower temperature limit value;
the pressure control circuit adopts the mode of external converter control motor and then control pipeline pressure, specifically includes: the pressure switching value output terminal of the controller is connected with the coil control side of the alternating current contactor and used for controlling the on-off of the switch of the alternating current contactor, and the pressure analog value output terminal of the controller is connected with the control input end of the frequency converter and used for controlling the output of the frequency converter so as to adjust the rotating speed of the motor; when the pressure detection value obtained from the pressure sensor is smaller than or equal to the lower limit value, the controller outputs a switching value signal to control a coil of the alternating current contactor to be electrified to be connected with a switch at the switching side of the alternating current device KM1, and finally the power supply of the motor is connected, and a pressure analog quantity output terminal of the controller simultaneously inputs a corresponding first control value to the frequency converter; and when the pressure detection value is larger than the upper limit value, reducing the pressure by controlling the frequency converter.
Further, an alternating current power supply, the controlled switch side of the alternating current contactor KM1, the frequency converter and the motor are sequentially connected in series to form a motor loop; the first control value is increased from small to large, and the control algorithm is a fuzzy control algorithm.
Furthermore, the read temperature acquisition circuit adopts a PT100 platinum resistor temperature sensor and is connected to a temperature detection terminal of the controller through a temperature transmitter, and preferably, the temperature transmitter outputs a standard 4-20mA or 0-20mA signal; the pressure acquisition circuit adopts a pressure sensor and is connected to a pressure detection terminal of the controller through a pressure transmitter.
In addition, the controller is also connected with: the crystal oscillator circuit is used for providing a time reference of the working time sequence of the controller; the reset circuit is used for realizing power-on reset and fault reset; the key circuit is used for inputting setting parameters; the acquisition indicating circuit is used for carrying out working indication during temperature and pressure detection; the display circuit is used for displaying the working state; and the alarm output circuit is used for alarming abnormity.
The alarm output circuit comprises a buzzer and buzzes and alarms when abnormal; the alarm output circuit also comprises a communication circuit which remotely alarms through a wireless network when abnormal so that maintenance personnel can receive fault prompt and process the fault prompt in time at the first time.
Specifically, when the temperatures detected for the predetermined times or the pressures detected for the predetermined times are higher than the upper pressure limit, an abnormality alarm is given through the alarm output circuit.
Further, the method comprises the following steps: every time when the spraying is finished and a stop signal is received, the controller further executes the following operations: 1) the controller firstly outputs a control signal to maintain the current temperature and stop pressurizing, and simultaneously checks the pressure value PD1 at the current moment; 2) detecting the pressure value PD2 again after a preset time TD, judging the pressure change rate (PD1-PD2)/TD in the constant temperature environment after the shutdown, and recording and storing the pressure change rate (PD1-PD 2)/TD; 3) stopping heating, analyzing the deviation between the current change rate and the historical change rate, confirming that the component is abnormal when the deviation is large, and reminding maintenance personnel through an alarm output circuit.
The unmanned aerial vehicle spraying intelligent control system fills the technical blank in the field of existing unmanned aerial vehicle spraying control, and the spraying system cannot fail due to overheating or overvoltage through double detection and double control of temperature and pressure; furthermore, when the pressure and the temperature are out of control, the alarm can be given out for the first time to avoid danger.
The invention also provides a further optimization scheme: the state data are accurately collected creatively by using the system stop time, so that the abnormity of the machine tool state can be detected at the first time, and the maintenance efficiency is improved by informing maintenance personnel. The state data are obtained based on the natural pressure change under the constant temperature condition, so that the influence caused by the heat exchange between the inside and the outside is avoided, and the accuracy of an analysis result is guaranteed to the maximum extent. The invention can efficiently and intelligently sense the state of the equipment, carry out output control and early warning in time by cooperation of various means, and greatly improve the reliability and stability of the system
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle spray intelligent control system according to an embodiment of the present invention;
fig. 2 is a schematic wiring diagram of an unmanned aerial vehicle spray intelligent control system according to an embodiment of the present invention;
fig. 3 is a pin diagram of an AT89C51 single chip microcomputer according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a temperature and pressure acquisition circuit according to an embodiment of the present invention;
fig. 5 is a flowchart of a system control method according to an embodiment of the present invention;
fig. 6 is a simulation experiment diagram of the intelligent control system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other as needed.
The system of the present invention is described below in conjunction with fig. 1. As shown in fig. 1, the present invention provides an intelligent control system for unmanned aerial vehicle spraying, comprising: the controller can be realized by adopting a single chip microcomputer; the temperature control circuit is used for adjusting the temperature; the pressure control circuit is used for adjusting pressure; a pressure acquisition circuit; a temperature acquisition circuit; and the power supply circuit is used for supplying power to each power utilization module in the system.
Optionally, the controller is further connected with: the crystal oscillator circuit is used for providing a time reference of the working time sequence of the controller; the reset circuit is used for realizing power-on reset and fault reset; the key circuit is used for inputting setting parameters; the acquisition indicating circuit is used for carrying out working indication during temperature and pressure detection; the display circuit is used for displaying the working state; and the alarm output circuit is used for alarming abnormity.
Fig. 2 further illustrates a wiring schematic diagram of the unmanned aerial vehicle spray intelligent control system, wherein the single-chip microcomputer peripheral circuits such as the crystal oscillator circuit, the reset circuit and the key circuit are respectively connected with the single-chip microcomputer and are placed on the PCB together to obtain a single-chip microcomputer control board, and the single-chip microcomputer control board can be implemented by adopting a mature scheme such as a 51 single-chip microcomputer development board, which is not described herein again.
The read temperature acquisition circuit adopts a PT100 platinum resistor temperature sensor, has the advantages of high precision and convenient use, and can be matched with a special temperature transmitter for long-distance transmission. The principle of measuring the temperature through the PT100 platinum resistor is that the resistance of the PT100 platinum resistor sensor changes correspondingly according to different temperatures. The dedicated transmitter can output a standard 4-20mA or 0-20mA signal only by connecting a PT100 platinum resistor and a power supply, and preferably uses the output signal of 0-20 mA. The current signal is selected because the transmitter is equivalent to the output of the constant current source when the temperature sensor is transmitted at a longer distance, so that the error caused by the resistance value of a line is reduced, and when the temperature sensor is connected to the control board in the embodiment through the temperature transmitter, the current signal is converted into a voltage signal of 0-5V through the resistor connected with 250 ohms in series.
The pressure acquisition circuit selects a mode that a pressure sensor is matched with a transmitter, the pressure acquisition principle is similar to the temperature acquisition principle, the difference is that the front-end sensor is replaced by a pressure sensor by PT100, and the transmitter is a pressure transmitter for transmitting pressure signals.
The temperature control circuit is characterized in that a temperature control output terminal of the controller is connected with the temperature control switch, so that the temperature control switch is controlled to be switched on or off according to an output signal of the controller. The temperature control output adopts a switching value output mode, and the control mode is that the temperature control switch is switched off to stop heating when the temperature detection value acquired from the temperature sensor is greater than the upper temperature limit value, and the temperature control switch is switched on to start heating when the temperature detection value is less than the lower temperature limit value.
The pressure control circuit adopts an external frequency converter to control the motor, thereby controlling the pressure of the pipeline. Specifically, a pressure switching value output terminal of the controller is connected with a coil control side of the alternating current contactor KM1 and used for controlling on-off of a switch of the alternating current contactor; and a pressure analog quantity output terminal of the controller is connected with a control input end of the frequency converter and used for controlling the output of the frequency converter so as to adjust the rotating speed of the motor. The alternating current power supply, the air switch QS, the controlled switch side of the alternating current contactor KM1, the frequency converter and the motor are sequentially connected in series to form a motor loop. The pressure control mode is that when the pressure detection value obtained from the pressure sensor is smaller than the lower limit value, the control board outputs a switching value signal to control the coil of the alternating current contactor to be electrified and then a switch at the switching side of the alternating current device KM1 to be finally switched on to supply power to the motor, and a pressure analog quantity output terminal of the control board simultaneously inputs a corresponding first control value to the frequency converter; and when the pressure detection value is larger than the upper limit value, reducing the pressure by controlling the frequency converter.
The first control value adopts a mode of increasing from small to large, thereby avoiding overpressure explosion caused by high pressure at first. The control algorithm preferably adopts a fuzzy control algorithm, pressure value variation delta P is obtained by detecting pressure values of two times before and after a certain time, if the variation delta P is less than or equal to a preset value (smaller), the given pressure value is small, the pressure value needs to be increased, if the variation is in an allowable interval, the given value is proper, and if the variation exceeds the preset value, the given value is large, the value needs to be decreased. The default design of the present embodiment is to perform 6-step judgment, that is, the 6 steps of the pressure difference Δ P are respectively: 1, gear: less than or equal to 0.05 MPa; 2, gear: greater than 0.05MPa and less than or equal to 0.1 MPa; 3, gear 3: greater than 0.1MPa and less than or equal to 0.15 MPa; 4, gear 4: greater than 0.15MPa and less than or equal to 0.2 MPa; 5, gear: greater than 0.2MPa and less than or equal to 0.25 MPa; 6, gear 6: greater than 0.25MPa and less than or equal to 0.3 MPa. And adopting different adjusting rates according to different gears where the delta P is positioned.
The acquisition indicating circuit indicates the temperature through a first indicating lamp and indicates the pressure through a second indicating lamp. The alarm output circuit comprises a buzzer and buzzes and alarms when abnormal; the system can also comprise a communication circuit which remotely alarms through a wireless network when abnormal conditions occur, so that maintenance personnel can receive fault prompts and timely process the fault prompts at the first time.
The single chip microcomputer can be selected from AT89C51, the pin diagram of the single chip microcomputer is shown in FIG. 3, and the description of the functions of the pins specifically refers to a chip manual.
The pressure sensor is a hydraulic pressure sensor, such as a flat membrane sensor. The working principle is as follows: the pressure acts directly on the diaphragm of the sensor, causing the diaphragm to produce a small displacement proportional to the pressure of the medium, causing a change in the resistance of the sensor, which is detected by electronic circuitry and converted to output a standard electrical signal corresponding to the pressure.
As shown in fig. 4, the acquisition of two analog quantities of temperature and pressure may share a conversion chip, such as PCF8591 shown in fig. 4. The PCF8591 chip is a chip with 4 paths of analog quantity input, 1 path of analog quantity output and an IIC bus, and 8 PCF8591 chips can be hung on the IIC bus at most. The temperature acquisition occupies a first analog acquisition channel AN0, namely AN0 is connected with a temperature sensor; the second path of the analog quantity acquisition channel occupied by pressure acquisition, namely AN1, namely AN1, is connected with a pressure sensor; the analog output is connected to AOUT, J6, and is transmitted to the controller, where the signal level is 0-5V level signal. The SCL and SDA pins of PCF8591 connect to the P1.0 and P1.1 pins of the die, respectively.
The intelligent control method based on the control system is explained below. The method is based on the detection of temperature and pressure, the state of the existing unmanned aerial vehicle sprayer is further controlled perfectly, and as shown in fig. 5, the method comprises the following steps:
after power-on is completed, the system is initialized, temperature and pressure values are collected periodically after initialization is completed, then whether the values are in a normal range or not is judged, and if not, corresponding operation is carried out;
specifically, when the temperature detection value is lower than a lower temperature limit t1, the control end of the controller is connected with the temperature control switch to start heating, and when the temperature detection value is higher than an upper temperature limit t2, the controller is connected with the temperature control switch to stop heating; when the temperature detection value is in the interval [ t1, t2], maintaining the temperature to be constant; when the pressure detection value is lower than the lower pressure limit value p1, starting the motor to work, gradually increasing the pressure through frequency conversion control, and simultaneously performing fuzzy control according to the boosting condition; when the pressure detection value is higher than the upper limit value p2, gradually reducing the pressure through frequency conversion control; when the pressure detection value is in the section [ p1, p2], the pressure is maintained constant. Where t1< t2, p1< p 2.
In conjunction with the fuzzy control algorithm mentioned earlier. The AN0 channel of the PCF8591 chip is connected with the temperature analog quantity input, the AN1 channel of the PCF8591 chip is connected with the pressure analog quantity input, and the output can indicate the temperature value and the pressure value on the display circuit. The fuzzy control adopted by the invention is as follows: and the boosting is controlled according to the pressure difference value acquired in the two times and the established fuzzy table, and when the pressure values acquired in the two times are detected in a time period with a preset length, the interval of the pressure difference value in the fuzzy table is judged, and corresponding output is correspondingly given. When the difference is larger, the frequency converter is controlled to boost in full, and when the difference is proper, the boosting is controlled at a medium speed. When this difference is small, the voltage is boosted at a small rate.
And when the temperatures detected for the continuous preset times are higher than the upper temperature limit or the pressures detected for the continuous preset times are higher than the upper pressure limit, performing abnormity alarm through the alarm output circuit.
Further, the control method further includes a key detection subroutine for determining whether there is a key event to perform intervention control, such as forced shutdown, upper limit setting, lower limit setting, etc. By the method, timely troubleshooting and alarming can be effectively realized.
In order to overcome the problem that the state of the component cannot be detected in time in the prior art, the invention also provides the following conception: and starting a state checking sub-program when a stop signal is received every time after spraying is finished, and specifically executing the following operations:
1) the controller firstly outputs a control signal to maintain the current temperature and stop pressurizing, and simultaneously checks the pressure value PD1 at the current moment;
2) detecting the pressure value PD2 again after a preset time TD, judging the pressure change rate (PD1-PD2)/TD in the constant temperature environment after the shutdown, and recording and storing the pressure change rate (PD1-PD 2)/TD;
3) stopping heating, analyzing the deviation between the current change rate and the historical change rate, confirming that the component is abnormal when the deviation is larger (larger than a normal range), and reminding maintenance personnel through an alarm output circuit.
The invention creatively combines state monitoring with machine recovery time after shutdown, can efficiently and intelligently sense the state of equipment and early warn in time; and the pressure sensing result deviation caused by heat change is avoided by maintaining the constant temperature condition, and the accuracy of the analysis result is improved. The defects in the prior art are overcome through the conception, and the reliability and the stability of the system are greatly improved.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the scope of the present invention should be determined by the following claims.
Claims (5)
1. An unmanned aerial vehicle spraying intelligence control system includes: the controller is used for carrying out temperature adjustment on the temperature control circuit, pressure adjustment on the pressure control circuit, the temperature acquisition circuit and the pressure acquisition circuit; the controller is respectively connected with the temperature control circuit, the pressure control circuit, the temperature acquisition circuit and the pressure acquisition circuit; the power supply circuit is used for supplying power to each power utilization circuit in the system; the method is characterized in that:
the temperature control circuit is characterized in that a temperature control output terminal of the controller is connected with the temperature control switch, so that the on-off of the temperature control switch is controlled according to an output signal of the controller, the temperature control switch is switched off to stop heating when a temperature detection value acquired from the temperature acquisition circuit is greater than an upper temperature limit value, and the temperature control switch is switched on to start heating when the temperature detection value is less than a lower temperature limit value;
the pressure control circuit adopts the mode of external converter control motor and then control pipeline pressure, specifically includes: the pressure switching value output terminal of the controller is connected with the coil control side of the alternating current contactor and used for controlling the on-off of the switch of the alternating current contactor, and the pressure analog value output terminal of the controller is connected with the control input end of the frequency converter and used for controlling the output of the frequency converter so as to adjust the rotating speed of the motor; when the pressure detection value obtained from the pressure sensor is smaller than or equal to the lower limit value, the controller outputs a switching value signal to control a coil of the alternating current contactor to be electrified to be connected with a switch at the switching side of the alternating current device KM1, and finally the power supply of the motor is connected, and a pressure analog quantity output terminal of the controller simultaneously inputs a corresponding first control value to the frequency converter; when the pressure detection value is larger than the upper limit value, reducing the pressure by controlling the frequency converter;
the alternating current power supply, the controlled switch side of the alternating current contactor KM1, the frequency converter and the motor are sequentially connected in series to form a motor loop; the first control value is increased from small to large, and the control algorithm is a fuzzy control algorithm;
the read temperature acquisition circuit adopts a PT100 platinum resistor temperature sensor and is connected to a temperature detection terminal of the controller through a temperature transmitter, and the temperature transmitter outputs a standard 4-20mA or 0-20mA signal;
wherein the fuzzy control is as follows: the boosting is controlled according to the pressure difference value acquired in the previous and next two times and the established fuzzy table, and when the pressure values acquired in the previous and next two times are detected in a time period with a preset length, the interval of the pressure difference value in the fuzzy table is judged, and corresponding output is correspondingly given; when the difference value is larger, controlling the frequency converter to boost the voltage in full; when the difference value is proper, controlling the boosting medium speed; when this difference is small, boosting at a very small rate;
every time when the spraying is finished and a stop signal is received, the controller further executes the following operations:
1) the controller firstly outputs a control signal to maintain the current temperature and stop pressurizing, and simultaneously checks the pressure value PD1 at the current moment;
2) detecting the real-time pressure value PD2 again after a preset time TD, judging the pressure change rate (PD1-PD2)/TD under the constant temperature environment after shutdown, and recording and storing the pressure change rate (PD1-PD 2)/TD;
3) stopping heating, analyzing the deviation between the current change rate and the historical change rate, confirming that the component is abnormal when the deviation is large, and reminding maintenance personnel through an alarm output circuit;
the deviation is larger than the normal range.
2. The control system of claim 1, wherein the pressure acquisition circuit employs a pressure sensor coupled to the controller pressure sensing terminal via a pressure transducer.
3. The control system of claim 1, wherein the controller is further coupled to: the crystal oscillator circuit is used for providing a time reference of the working time sequence of the controller; the reset circuit is used for realizing power-on reset and fault reset; the key circuit is used for inputting setting parameters; the acquisition indicating circuit is used for carrying out working indication during temperature and pressure detection; the display circuit is used for displaying the working state; and the alarm output circuit is used for alarming abnormity.
4. The control system according to claim 3, wherein the alarm output circuit includes a buzzer that buzzes an alarm when abnormal; the alarm output circuit also comprises a communication circuit which remotely alarms through a wireless network when abnormal so that maintenance personnel can receive fault prompt and process the fault prompt in time at the first time.
5. The control system according to any one of claims 1 to 4, wherein an abnormality alarm is given by the alarm output circuit when the temperature is detected a predetermined number of times in succession and is higher than the upper temperature limit or the pressure is detected a predetermined number of times in succession and is higher than the upper pressure limit.
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