CN113917947B - Unmanned aerial vehicle variable spraying control method and control system and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle variable spraying control method and control system and unmanned aerial vehicle Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention provides an unmanned aerial vehicle variable spraying control method, an unmanned aerial vehicle variable spraying control system and an unmanned aerial vehicle, relates to the technical field of agricultural machinery, and realizes variable spraying by adjusting spraying pulse width through pulse width PWM of the control system. Before spraying, pesticide and solvent are mixed in the spraying box, an electromagnetic valve is arranged at a liquid outlet of the spraying box, the flow of a nozzle is adjusted by the intermittent opening and closing of the electromagnetic valve, and the change of the flow is controlled by the duty ratio of the system. Under the condition of keeping the spraying pressure constant, the variable control in a larger range can be realized, the fog drop index change is small, and the flow speed response speed is higher than that of the traditional regulation mode based on the pressure change.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to an unmanned aerial vehicle variable spraying control method, a control system and an unmanned aerial vehicle.
Background
As a big agricultural country, China has nearly 1.5 hundred million hm2 basic farmlands, and the prevention and control of agricultural diseases and insect pests are still the key content of agricultural production, and are the basis for ensuring the high yield and high quality of agriculture and realizing the sustainable development of agricultural economy. Compared with developed countries, the plant protection machinery in China is still lagged behind, the manual pesticide application machinery and the backpack type motorized pesticide application machinery which are used at present account for 93.07% and 5.53% of the preserved amount of the plant protection machinery in China respectively, the plant protection operation is more in input labor and high in labor intensity, environmental pollution is easily caused, and pesticide poisoning phenomena of pesticide application personnel can be caused. In recent years, in order to promote sustainable development of agricultural operation modes, the development of agricultural unmanned aerial vehicles is vigorously supported by the nation, and compared with traditional ground field plant protection machines, the plant protection unmanned aerial vehicle has the characteristics of high efficiency, small size, poisoning avoidance, capability of coping with sudden and outbreak insect diseases and the like.
Although the plant protection unmanned aerial vehicle is fried by everybody and boils, the news that the plant protection unmanned aerial vehicle efficiently operates hundreds of mu of land in which area a day is reported to the media everywhere. In fact, however, the scene that the unmanned aerial vehicle can really live in a large area for a long time is still difficult to see. The plant protection unmanned aerial vehicle is difficult and serious in the popularization and application process. Meanwhile, when the plant protection unmanned aerial vehicle is used for atomizing and spraying pesticides in China, the phenomena of large and uneven fog drops, poor targeting property, poor deposition condition of the fog drops on crop canopies and the like occur, and the control effect is influenced.
At present, related scientific research institutions, universities, enterprises and the like in China strive to carry out deep research on the aviation spraying technology of the plant protection unmanned aerial vehicle and make certain progress, but compared with developed countries, the development of the agriculture aviation technology in China is still in a development stage, and particularly, the development of a liquid pump dynamic control system in a multi-rotor-wing plant protection unmanned aerial vehicle spraying system is less.
The traditional variable pesticide spraying adopts a mode of controlling flow by pressure, so that the pressure is required to be changed within a certain range by changing the flow, and the change of the pressure inevitably causes the change of the size of spray particles, thereby causing the instability of spraying.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle variable pesticide spraying control method, an unmanned aerial vehicle variable pesticide spraying control system and an unmanned aerial vehicle, and aims to solve the technical problem that in the prior art, variable pesticide spraying adopts a pressure control flow mode, so that the pressure is required to be changed within a certain range by changing the flow, and the change of the pressure inevitably causes the change of the size of spray particles, so that the pesticide spraying is unstable.
In a first aspect, the invention provides an unmanned aerial vehicle variable spraying control method, which comprises the following steps:
the flow expression of each nozzle in unit time in the operation process of the unmanned aerial vehicle is as follows:
Flow =Volume×Speed×Length/（Area×Num）；
wherein Volume is the total amount of sprayed pesticide, and the unit is L; speed is the driving Speed of the unmanned aerial vehicle during spraying, and the unit is m/s; length is the width of spraying, and the unit is m; area is the Area sprayed; num is the number of sprayer nozzles;
according to the flow expression of each nozzle: flow = -0.04V + 0.13P + 0.13 PV + 5.47V-12.71P + 273.06, and calculating a PWM (Pulse Width Modulation) value, wherein V is the PWM value; p is the current water pressure;
the water pressure at the liquid outlet of the spraying box is adjusted by controlling the input power of the booster pump, so that the water pressure is kept constant;
the variable controller controls the switching times and the switching time of the electromagnetic valve at the liquid outlet of the spraying box to adjust the spraying amount of the nozzle of the sprayer.
Further, the electromagnetic valve is a pulse width modulation electromagnetic valve;
the spraying amount of the sprayer nozzle is adjusted by controlling the pulse width of the pulse width modulation electromagnetic valve.
In a second aspect, the invention provides an unmanned aerial vehicle variable spraying control system based on the unmanned aerial vehicle variable spraying control method of the foregoing embodiment, comprising a positioning system, a variable controller, an upper computer and an executing mechanism;
the positioning system reads the information of diseases, pests and weeds corresponding to the land parcel information according to the instruction sent by the management information system, sends a spraying instruction and sends the instruction information to the variable controller for variable control;
the variable controller is a PWM signal generator and is used for providing square wave signals required by driving the actuating mechanism;
the upper computer is used for calculating and storing variable control instruction information according to the land parcel information and is respectively connected with the GPS and the variable controller;
the actuating mechanism adopts a pulse width modulation electromagnetic valve which is connected to the inlet of the sprinkler head;
the upper computer generates a pulse width modulation signal and controls the pulse width and the frequency of the signal, the signal is transmitted through the variable controller, and the electromagnetic valve switch is driven.
In a third aspect, the present invention provides an unmanned aerial vehicle based on the above unmanned aerial vehicle variable spraying control method and the above unmanned aerial vehicle variable spraying control system, including: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a spraying box and a spraying assembly;
the spraying box is arranged on the unmanned aerial vehicle body and provided with a liquid inlet and a liquid outlet, and a stirring mechanism and a booster pump are arranged on the spraying box and used for stirring liquid in the spraying box; the booster pump is connected with an air inlet of the spraying box;
the spraying assembly is arranged at the liquid outlet and comprises a water outlet hose, a spraying head and a linear driving piece; one end of the water outlet hose is connected with the spraying box, the other end of the water outlet hose is connected with the spraying head, and the water outlet hose is provided with a pulse width modulation electromagnetic valve; the linear driving piece is installed outside the spraying box, and an output shaft of the linear driving piece is fixedly connected with the spraying head and used for adjusting the inclination angle of the spraying head.
Further, the sprinkler head comprises an outer pipe, an inner pipe and a sprinkler plate;
the inner pipe is sleeved inside the outer pipe and forms a liquid medicine cavity in an enclosing mode, and the liquid medicine cavity is provided with a liquid medicine inlet and a liquid medicine outlet; a liquid inlet pipe is connected to the liquid medicine outlet, and a flow regulating valve is arranged between the liquid inlet pipe and the liquid medicine inlet;
the spraying plate is positioned below the liquid medicine cavity and can rotate relative to the outer pipe and the inner pipe; the spraying plate is provided with a spraying cavity, the spraying cavity is provided with a spraying inlet and a nozzle, the spraying inlet is opposite to the liquid medicine outlet, so that liquid medicine flows into the spraying cavity from the liquid medicine cavity.
Further, the middle part of the top end of the outer pipe is communicated with the liquid inlet pipe;
the bottom end of the outer pipe and the bottom end of the inner pipe are closed, and the liquid medicine outlet is formed in the bottom end of the outer pipe and the bottom end of the inner pipe;
the top of inner tube is sealed, and the bottom is uncovered, the inside of inner tube is equipped with sprays the motor, the output shaft that sprays the motor follows the axial downwardly extending of inner tube and with the top fixed connection of spraying the board.
Furthermore, the edge of the spraying inlet extends upwards to form an annular liquid baffle plate, and the opening of the annular liquid baffle plate is gradually enlarged upwards;
and/or the inner wall of the liquid inlet pipe is clamped with a filter screen;
and/or a sealing gasket is arranged at the joint of the liquid inlet pipe and the outer pipe.
Further, the stirring mechanism comprises a stirring motor, a stirring shaft and a stirring paddle;
the stirring motor with the (mixing) shaft transmission is connected, the (mixing) shaft rotate connect in spray the case, the stirring rake sets up to a plurality ofly, and is a plurality of the stirring rake is followed the crisscross setting of axial of (mixing) shaft.
Further, an undercarriage is arranged at the bottom end of the unmanned aerial vehicle body, and a buffer mechanism is arranged at the bottom end of the undercarriage;
the buffer mechanism comprises an elastic piece, a support plate and a buffer cushion, the elastic piece and the buffer cushion are fixedly connected to the upper side and the lower side of the support plate, and one end, far away from the support plate, of the elastic piece is fixedly connected with the bottom end of the undercarriage.
The system further comprises an automatic obstacle avoidance device, wherein the automatic obstacle avoidance device comprises an obstacle avoidance box body, an infrared sensor and a programmable controller, wherein the infrared sensor and the programmable controller are arranged in the obstacle avoidance box body;
a transparent area is arranged on one side of the obstacle avoidance box body, and the acquisition end of the infrared sensor is arranged opposite to the transparent area;
the infrared sensor is electrically connected with the programmable controller.
The unmanned aerial vehicle variable spraying control method, the control system and the unmanned aerial vehicle provided by the invention at least have the following beneficial effects:
in the invention, because the water pressure at the liquid outlet of the spraying box is adjusted by controlling the input power of the booster pump, the water pressure can be kept constant, therefore, under the condition of constant pressure, the spraying method of adjusting the spraying quantity of the spraying nozzle of the sprayer by controlling the switching times and the switching time of the electromagnetic valve at the liquid outlet of the spraying box through the variable controller is adopted, the size of spraying particles can be ensured to be unchanged, and the stability of spraying is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic view of the structure of the spray tank and its upper parts;
FIG. 3 is a schematic view of the connection structure of the spray tank and the spray assembly;
FIG. 4 is a cross-sectional view of the spray assembly;
FIG. 5 is a cross-sectional view of the sprinkler plate;
FIG. 6 is a cross-sectional view of the liquid inlet pipe;
fig. 7 is a sectional view of the automatic obstacle avoidance apparatus;
fig. 8 is a side view of the automatic obstacle avoidance apparatus.
Icon:
10-an unmanned aerial vehicle body;
20-spraying the box; 21-liquid inlet; 22-upper cover;
30-a spray assembly; 31-water outlet hose; 32-a sprinkler head; 33-a linear drive; 34-a liquid inlet pipe; 35-a threaded pipe; 36-a spray motor; 37-a filter screen; 321-an outer tube; 322-an inner tube; 323-spraying plate; 324-liquid medicine cavity; 325-liquid medicine outlet; 326-flow regulating valve; 327-annular liquid baffle; 3231-spray chamber; 3232-spray inlet; 3233-nozzle;
40-a booster pump;
51-a stirring motor; 52-a stirring shaft; 53-stirring paddle; 54-a first damping spring; 55-fixing plate;
60-a landing gear; 61-an elastic member; 62-a support plate; 63-a buffer pad;
71-obstacle avoidance box body; 72-an infrared sensor; 73-programmable controller; 74-a glass sheet; 711-heat sink plate; 712-a first groove; 713-second groove; 714-a first support column; 715-second support column; 716-second damping spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The embodiment provides an unmanned aerial vehicle variable spraying control method, which comprises the following steps:
the flow expression of each nozzle in unit time in the operation process of the unmanned aerial vehicle is as follows:
Flow =Volume×Speed×Length/（Area×Num）；
wherein Volume is the total amount of sprayed pesticide, and the unit is L; speed is the driving Speed of the unmanned aerial vehicle during spraying, and the unit is m/s; length is the width of spraying, and the unit is m; area is the Area sprayed; num is the number of sprayer nozzles;
according to the flow expression of each nozzle: flow = -0.04V + 0.13P + 0.13 PV + 5.47V-12.71P + 273.06, and calculating a PWM value, wherein V is the PWM value; p is the current water pressure;
the water pressure at the liquid outlet of the spraying box 20 is adjusted by controlling the input power of the booster pump 40, so that the water pressure is kept constant;
the variable controller controls the switching times and the switching time of the electromagnetic valve at the liquid outlet of the spraying box 20 to adjust the spraying amount of the spraying nozzle of the sprayer.
Specifically, as can be seen from the above formula (the flow expression of each nozzle in a unit time during the operation of the unmanned aerial vehicle), if the distance between the nozzles of the sprayer is constant, there are two methods to realize variable control of the input rate: firstly, the traveling speed of the pesticide spraying machine is changed, the system pressure is kept constant, and the change of the input speed in a large range is realized, but a liquid pump of the pesticide spraying machine is usually driven by a locomotive engine, the pressure of the pesticide spraying system is constantly changed due to the frequent change of the locomotive speed, and the spraying performance is difficult to control; secondly, the flow of the nozzle is changed, and an electromagnetic valve is arranged at the liquid outlet of the spraying box 20, so that the pressure of the system can be kept constant.
The spraying pulse width is adjusted by controlling the Pulse Width (PWM) of the system, thereby realizing variable spraying. Before spraying, pesticide and solvent are mixed in the spraying box 20, an electromagnetic valve is arranged at a liquid outlet of the spraying box 20, the flow of a nozzle is adjusted by the intermittent opening and closing of the electromagnetic valve, and the change of the flow is controlled by the duty ratio of the system. Under the condition of keeping the spraying pressure constant, the variable control in a larger range can be realized, the fog drop index change is small, and the flow speed response speed is higher than that of the traditional regulation mode based on the pressure change.
In the embodiment, the electromagnetic valve is a pulse width modulation electromagnetic valve; the spraying amount of the sprayer nozzle is adjusted by controlling the pulse width of the pulse width modulation electromagnetic valve.
The embodiment also provides an unmanned aerial vehicle variable spraying control system which comprises a positioning system, a variable controller, an upper computer and an executing mechanism.
The positioning system reads the information of the diseases, the pests and the weeds corresponding to the land parcel information according to the instruction sent by the management information system, sends a spraying instruction, and transmits the instruction information to the controller for variable control through an RS-232 standard serial interface.
The variable controller is a PWM signal generator and is used for providing square wave signals required by driving the actuating mechanism; the variable controller controls the on-off state of the electromagnetic valve by controlling the system task period, thereby realizing flow control. When the solenoid valve is fully open, the flow through the nozzle is dependent on the magnitude of the system pressure value.
The upper computer software is written by combining C language with MapObject and is used for calculating and storing variable control instruction information according to the plot information; the software runs in Windows environment, and the program has two RS-232 interface modules for connecting GPS and variable controller separately.
The actuating mechanism adopts a pulse width modulation electromagnetic valve which is connected with the inlet of the sprinkler head 32; the upper computer generates a pulse width modulation signal and controls the pulse width and the frequency of the signal.
The signal is transmitted and the electromagnetic valve is driven by a variable controller which takes a single chip computer as a central processing unit. The flow rate of the liquid through the nozzles is controlled by the pulse width (the flow rate of the liquid through the nozzles can be changed by changing the pulse width of the control signal). The control voltage of the whole system is 12V, the input current of the electromagnetic valves is 1.5A, and each variable controller can control 8 electromagnetic valves.
Specifically, the time required for the solenoid valve to complete one switching operation is one pulse period. The duty cycle of the solenoid valve is defined as the proportion of the time of the solenoid valve receiving the high level in one pulse period to the whole pulse period. The task period control range which can be realized by the variable controller is 10% -100%. When the pulse period of the electromagnetic task is 100%, the electromagnetic valve is in a normally open state. At this time, the flow rate is the maximum flow rate of the nozzle under the same condition. In each pulse period, when the pulse signal is at a high level, the solenoid valve is opened, and the nozzle ejects the liquid. Therefore, the higher the proportion of the high level in each pulse period, the longer the solenoid valve is opened, and the more liquid is ejected from the nozzle. During spraying, the spraying system can control the input amount by controlling the liquid flow of each nozzle.
In the actual spraying operation, the operation can be carried out according to the following standards:
(1) the requirements of the insecticide are as follows: the pesticide should be selected from the varieties of pesticides officially registered in China, and has no bad record when being applied for more than 3 years in production. The pesticide should follow the principle of being prepared and used immediately, and should be used within 2 hours. The pesticide formulation suitable for the unmanned aerial vehicle spraying operation is selected according to the structure and the characteristics of the unmanned aerial vehicle, and comprises a conventional formulation, a low-volume or ultra-low-volume formulation and the like. The pesticide dosage is properly adjusted according to the registered dosage range of the pesticide on the corn by using a low-volume spraying principle according to the growth vigor and height of the corn. In order to ensure the quality of the insecticide, a proper amount of special flying prevention aids (such as synergists and anti-evaporation agents) need to be added into the insecticide.
(2) Meteorological conditions: 3-5 days before spraying, the continuous lowest temperature of not less than 14 ℃ and the daily average temperature of not less than 18 ℃ during spraying and 7-10 days after spraying. The relative humidity during spraying is 10-60%, and preferably, the spraying at high temperature in noon is avoided, so that the influence of high temperature on the evaporation of the medicament on the drug effect is reduced. The device is not suitable for operation in severe weather environments such as rainy days, thunderstorms, wind, snow, sand and dust and the like. In order to avoid the problems of drift of the liquid medicine and poor effect, the operation should not be carried out in the middle of a fine day. The operation is carried out when the temperature is lower than 37 ℃ during spraying. And in 12 hours after spraying, the spraying is needed again because of precipitation.
(3) When the operation of the agricultural unmanned aerial vehicle is involved, the ground-imitating full-autonomous flight or the hand-operated flight is started, and the flight speed is preferably 3-5 m/s when the agricultural unmanned aerial vehicle flies in a visible region. The flying height of the agricultural unmanned aerial vehicle during operation is 1-3 m away from the top of the cotton canopy. The pesticide, the additive, the spraying parameters and the spraying times are selected according to the planting density, the height and the like of the corn. The spraying is usually carried out more than twice, and the time interval of the two times is 7-10 days. The amount of the pesticide sprayed by the agricultural unmanned aerial vehicle is preferably not less than 18L/hm 2. Agricultural unmanned aerial vehicle spouts medicine spray width 8~10 m. The agricultural unmanned aerial vehicle is 15-50 kg in drug loading capacity. The fog drops of the agricultural unmanned aerial vehicle are not higher than 300 mu m, and the number of the fog drops in the operation area is not less than 15 cm < -2 >.
(4) The field operation requirement is as follows: the operator and related staff should keep standing at the upwind position in the operation process, keep more than 10m of safe distance with plant protection unmanned aerial vehicle, avoid getting into the fog zone area that the medicine formed. If temporary suspension is needed in the operation process, the power supply of the plant protection unmanned aerial vehicle is cut off, and accidental starting is avoided. In the operation process, the change of the electric quantity of the battery or the liquid medicine amount and the like needs to be paid attention to in time, and if the battery is replaced or the liquid medicine is filled, the operation is strictly carried out according to the related specified procedures. In the operation process, attention needs to be paid to whether the parameter setting of the airplane is consistent with a preset plan or not, and the safety of obstacles, personnel and the like around the operation area is ensured. The change of the meteorological conditions of the operation area needs to be paid attention to in time in the operation process, and if the weather is abnormal, the operation needs to be adjusted or stopped in time according to the change. The transmission signal change of agricultural unmanned aerial vehicle and control terminal need in time be paid attention to in the operation process, avoids the signal to lose. Smoking, drinking and eating are strictly prohibited in the operation process, and hands are prevented from contacting the skin, the mouth and the eyes. During the operation, should prevent heavily, leak and spout according to the signal that agricultural unmanned aerial vehicle positioning system shows or the signal operation that the assistance operation personnel sent, avoid arousing the cotton phytotoxicity because of the misoperation. The spraying fog drops are small and the spraying is even, so that the pesticide can be uniformly sprayed on the upper, middle and lower leaves of the corn. The spraying operation is forbidden before the wind, rain or burning sun. When two or more than two agricultural unmanned aerial vehicles operate in the same corn field, more than 10m should be kept between adjacent agricultural unmanned aerial vehicles.
Referring to fig. 1 to 3, the present embodiment provides an unmanned aerial vehicle, which includes an unmanned aerial vehicle body 10, a spraying tank 20 and a spraying assembly 30; the spraying box 20 is installed on the unmanned aerial vehicle body 10, the spraying box 20 is provided with a liquid inlet 21 and a liquid outlet, a stirring mechanism and a booster pump 40 are arranged on the spraying box 20, and the stirring mechanism is used for stirring liquid in the spraying box 20; the booster pump 40 is connected with the air inlet of the spraying box 20; the spraying assembly 30 is arranged at the liquid outlet, and the spraying assembly 30 comprises a water outlet hose 31, a spraying head 32 and a linear driving piece 33; one end of the water outlet hose 31 is connected with the spraying tank 20, the other end is connected with the spraying head 32, and the water outlet hose 31 is provided with a pulse width modulation electromagnetic valve; the linear driving member 33 is installed outside the spray box 20, and an output shaft of the linear driving member 33 is fixedly connected to the spray head 32 for adjusting an inclination angle of the spray head 32.
The arranged stirring mechanism is convenient for stirring the liquid medicine in the spraying box 20, manual stirring is replaced, and the liquid medicine is uniformly stirred; the inclination angle of the sprinkler head 32 is conveniently adjusted by the linear driving member 33, the spraying range of the sprinkler head 32 is conveniently adjusted, and the solution in the spray tank 20 is conveniently pressurized by the pressurizing pump.
The inlet of the sprinkler head is fixedly connected with the liquid outlet of the sprinkler box 20 through a water outlet hose 31, the middle part of the water outlet hose 31 is fixedly provided with a pulse width modulation solenoid valve, the water outlet operation can be controlled through the pulse width modulation solenoid valve, and the inclination angle of the sprinkler head 32 can be adjusted through a linear driving piece 33, so that the sprinkling area can be adjusted conveniently.
Alternatively, the linear drive 33 may be an electric telescopic rod.
In this embodiment, one side of spraying case 20 is equipped with the transparent observation window that has the scale mark, is convenient for observe the water yield in spraying case 20 through the transparent observation window that is equipped with, is convenient for the staff accuracy to hold the water yield of pouring through the scale mark, has improved the spraying efficiency of medicament.
Specifically, the left and right sides of unmanned aerial vehicle body 10 all is equipped with sprays case 20, sprays case 20 and passes through the mounting panel and install on unmanned aerial vehicle body 10.
Wherein, the liquid inlet 21 can be arranged at the top end of the spraying box 20, and the middle part of the liquid inlet 21 can be fixedly provided with a filtering piece.
An upper cover 22 is arranged at the liquid inlet 21 of the spraying box 20, when the liquid medicine needs to be added, the upper cover 22 can be opened, and after the liquid medicine is added, the upper cover 22 covers the liquid inlet 21 to prevent the liquid medicine from overflowing. Further, referring to fig. 4 and 5, the sprinkler head 32 includes an outer pipe 321, an inner pipe 322, and a sprinkler plate 323; the inner tube 322 is sleeved inside the outer tube 321, and the inner tube and the outer tube enclose a liquid medicine cavity 324, and the liquid medicine cavity 324 is provided with a liquid medicine inlet and a liquid medicine outlet 325; a liquid inlet pipe 34 is connected at the liquid medicine outlet 325, and a flow regulating valve 326 is arranged between the liquid inlet pipe 34 and the liquid medicine inlet; the spray plate 323 is positioned below the liquid medicine cavity 324 and can rotate relative to the outer pipe 321 and the inner pipe 322; the spray plate 323 has a spray chamber 3231, and the spray chamber 3231 has a spray inlet 3232 and a nozzle 3233, and the spray inlet 3232 is disposed opposite to the liquid medicine outlet 325 so that the liquid medicine flows from the liquid medicine chamber 324 into the spray chamber 3231.
Further, the entry end of feed liquor pipe 34 is connected with screwed pipe 35, screwed pipe 35 can with play water hose 31 threaded connection, be connected through the cooperation of feed liquor pipe 34 and screwed pipe 35 and can be convenient for with sprinkler 32 fixed mounting on unmanned aerial vehicle, alleviateed staff's the installation degree of difficulty.
It should be noted that, motor and flow control valve 326 all with the wireless receiver electric connection that is equipped with in the unmanned aerial vehicle, wireless receiver and the interior wireless transmitter electric connection of remote control handle, the switch of the control motor of being convenient for and flow control valve 326's circulation, and then improve the spraying efficiency of liquid medicine.
The nozzle 3233 may be provided in plurality, and it may be provided as an atomizing nozzle.
Specifically, the middle of the top end of the outer pipe 321 is communicated with the liquid inlet pipe 34; the bottom ends of the outer pipe 321 and the inner pipe 322 are closed, and a liquid medicine outlet 325 is arranged; the top end of the inner pipe 322 is closed, the bottom end is open, the spraying motor 36 is arranged inside the inner pipe 322, and the output shaft of the spraying motor 36 extends downwards along the axial direction of the inner pipe 322 and is fixedly connected with the top end of the spraying plate 323.
The spraying motor 36 and the inner tube 322 can be fixedly connected through a fixing block, the spraying motor 36 is fixed inside the inner tube 322, and the fixing strength of the spraying motor 36 is improved.
During the specific use, be connected screwed pipe 35 and the play water hose 31 on the unmanned aerial vehicle, thereby rotate outer tube 321 and drive screwed pipe 35 and screw, when unmanned aerial vehicle carried out the liquid medicine to the plant protection after rising to the air and sprayed, control flow control valve 326 on unmanned aerial vehicle remote handle, adjust the flow of liquid medicine, it controls unmanned aerial vehicle to open motor switch to recycle remote handle simultaneously, the output of motor drives sprays board 323 and rotates, the liquid medicine flows into liquid medicine chamber 324 from flow control valve 326, flow out along liquid medicine export 325 again, through spraying board 323 spray in the import 3232 inflow sprays chamber 3231, because spray board 323 rotates the centrifugal action that produces and drives the liquid medicine and spout from nozzle 3233, carry out the liquid medicine to the plant protection crop and spray.
Further, an annular liquid baffle 327 extends upward from the edge of the spray inlet 3232, and the opening of the annular liquid baffle 327 is gradually increased upward.
Optionally, the cross section of the annular liquid baffle 327 is a right triangle, which can prevent the liquid medicine from spilling on the top end of the spraying plate 323, resulting in waste of the liquid medicine.
Referring to fig. 6, in this embodiment, the inner wall of the liquid inlet pipe 34 is clamped with a filter screen 37, which can filter the liquid medicine and prevent impurities in the liquid medicine from blocking the atomizing nozzle.
In order to improve the sealing performance, a sealing gasket (not shown in the drawings) is arranged at the joint of the liquid inlet pipe 34 and the outer pipe 321, and is used for sealing the joint of the liquid inlet pipe 34 and the outer pipe 321 to prevent the liquid medicine from leaking laterally and causing waste of the liquid medicine.
Specifically, referring to fig. 2 and 3, the stirring mechanism includes a stirring motor 51, a stirring shaft 52, and a stirring paddle 53; agitator motor 51 is connected with the transmission of (mixing) shaft 52, and (mixing) shaft 52 rotates to be connected in spraying case 20, and stirring rake 53 sets up to a plurality ofly, and a plurality of stirring rakes 53 set up along the crisscross setting of axial of (mixing) shaft 52, drive stirring rake 53 through agitator motor 51 and stir solution, can replace manual stirring, can also improve the homogeneity of stirring efficiency and stirring simultaneously.
Wherein, the stirring motor 51 is fixedly installed at the middle of the top end of the spraying tank 20.
Further, a stirring motor 51 is installed at the top end of the spraying tank 20; a shock absorption component for reducing the vibration of the stirring motor 51 is arranged between the stirring motor 51 and the spraying tank 20.
In one embodiment of the present application, the damping assembly includes a first damping spring 54; the top end of the spraying box 20 extends upwards to be provided with two fixing plates 55, and the two fixing plates 55 are arranged oppositely; first damping spring 54 fixed connection is between agitator motor 51 and the fixed plate 55 that corresponds, through the vibrations that produce in the reducible agitator motor 51 course of operation of first damping spring 54, prevents to cause the unmanned aerial vehicle body to rock, and the effect is sprayed in the influence.
It should be noted that, the wireless receiver electric connection that agitator motor 51, electric telescopic handle, pulse width modulation solenoid valve and booster pump 40 and unmanned aerial vehicle body 10's inside was equipped with, the inside wireless transmitter electric connection that is equipped with of wireless receiver and remote controller, wireless transmitter and the control switch electric connection on remote controller surface. Agitator motor 51, electric telescopic handle, pulse width modulation solenoid valve and booster pump 40 and the inside battery electric connection that is equipped with of unmanned aerial vehicle body 10 are convenient for control each work with electrical apparatus through the control switch on remote controller surface.
Referring to fig. 1, the bottom end of the main body 10 of the unmanned aerial vehicle is provided with an undercarriage 60, and the bottom end of the undercarriage 60 is provided with a buffer mechanism; buffer gear includes elastic component 61, backup pad 62 and cushion 63, and elastic component 61 and cushion 63 fixed connection are in the upper and lower both sides of backup pad 62, and the bottom fixed connection of the one end that backup pad 62 was kept away from to elastic component 61 and undercarriage 60, and when this unmanned aerial vehicle fell to the ground, elastic component 61 and cushion 63 can play the effect of buffering.
Alternatively, the elastic member 61 may employ a buffer spring.
When the multifunctional water spraying device is used specifically, a worker opens the upper cover 22, pours water into the spraying box 20, observes the poured water amount according to the scale marks of the transparent observation window, and filters the water through the filtering piece to prevent impurities from entering the spraying box 20 to block the spraying head 32; pouring the medicament into the spray tank 20, closing the upper cover 22; the stirring motor 51 is started through a stirring motor switch, and a transmission shaft of the stirring motor 51 rotates to drive the stirring shaft 52 and the stirring paddle 53 to stir the solution; when the plant protection unmanned aerial vehicle works, the booster pump 40 is started, then the pulse width modulation electromagnetic valve is started, liquid medicine is sprayed to plants through the spraying heads 32, and the inclination angles of the spraying heads 32 are adjusted through the electric telescopic rods according to different spraying areas, so that the spraying areas can be adjusted conveniently; in the spraying process, the vibration generated in the working process of the stirring motor 51 is reduced through the first damping spring 54, so that the unmanned aerial vehicle body is prevented from shaking to influence the spraying effect; when this unmanned aerial vehicle falls to the ground, elastic component 61 and cushion 63 play the effect of buffering.
Referring to fig. 7 and 8, the unmanned aerial vehicle further includes an automatic obstacle avoidance device, and the automatic obstacle avoidance device includes an obstacle avoidance box 71, an infrared sensor 72 and a programmable controller 73, which are both arranged inside the obstacle avoidance box 71; a transparent area is arranged on one side of the obstacle avoidance box body 71, and the acquisition end of the infrared sensor 72 is arranged opposite to the transparent area; a transparent area is arranged on one side of the obstacle avoidance box body 71, and the acquisition end of the infrared sensor 72 is arranged opposite to the transparent area; the infrared sensor 72 is electrically connected to a programmable controller 73.
Optionally, the transparent area is a glass sheet 74 disposed on a sidewall of the obstacle avoidance box 71.
Further, keep away the equal fixedly connected with heating panel 711 in two sides of barrier box 71 for this infrared automatic barrier device of keeping away of plant protection unmanned aerial vehicle has better radiating effect, prevents that the inside high temperature of long-term operation from influencing spare part's life.
In this embodiment, the programmable controller 73 may adopt an AMC4030 programmable controller, two infrared sensors 72 are provided, the AMC4030 programmable controller is located on the back of the two infrared sensors 72, the top of the obstacle avoidance box 71 is provided with a first groove 712, the inside of the first groove 712 is fixedly provided with a plurality of first support pillars 714, the plurality of first support pillars 714 are all sleeved with second damping springs 716, the top ends of the plurality of second damping springs 716 are all fixedly connected with the top of the first groove 712, the bottom ends of the plurality of second damping springs 716 are all fixedly connected with the bottom of the first groove 712, the bottom of the obstacle avoidance box 71 is provided with a second groove 713, the inside of the second groove 713 is fixedly provided with a plurality of second support pillars 715, the plurality of second support pillars 715 are all sleeved with second damping springs 716, the top ends of the plurality of second damping springs 716 are all fixedly connected with the top of the second groove 713, the bottom of a plurality of second damping spring 716 all with the bottom fixed connection of second recess 713, keeps away the back fixedly connected with connecting plate of barrier box 71, the top fixedly connected with mounting panel of connecting plate has seted up a plurality of screw hole on the mounting panel.
The roof fixedly connected with gasket of mounting panel has seted up a plurality of through-hole on the gasket for it is more steady firm with unmanned aerial vehicle's installation to keep away barrier device automatically.
The fixed interface that is equipped with in top of connecting plate, the interface is located one side of mounting panel, be convenient for with unmanned aerial vehicle body 10 electric connection.
The two infrared sensors are electrically connected with the AMC4030 programmable controller, the AMC4030 programmable controller is electrically connected with the interface, signals detected by the two infrared sensors are conveniently transmitted to the AMC4030 programmable controller, and the next action of the unmanned aerial vehicle body 10 is controlled through the AMC4030 programmable controller.
During the specific use, the infrared automatic barrier device of keeping away of unmanned aerial vehicle, at first a plurality of screw hole through seting up on the mounting panel, keep away barrier device and unmanned aerial vehicle body 10 fixed connection with the infrared automatic of unmanned aerial vehicle, through the electric wire with interface and the last the control unit electric connection of unmanned aerial vehicle body 10, when unmanned aerial vehicle is when flying, two infrared sensor detect the barrier, and the analysis goes out the distance between unmanned aerial vehicle and the barrier, then give AMC4030 programmable controller with the signal transmission, then AMC4030 programmable controller controls unmanned aerial vehicle's action on next step.
Utilize the unmanned aerial vehicle operation of this embodiment, unmanned aerial vehicle gives medicine to the poor free of charge operating efficiency is high, can improve 100 ~ 150 times than conventional machines and implements, and the running cost is 5~ 8 yuan/mu, only 1/2 ~ 1/3 for conventional work. The efficient and low-cost unmanned aerial vehicle pesticide application technology provides brand-new technology and equipment for solving the problem of sudden large-area pest control.
From the aspect of control area, the rice planting area of China is 2892 million hectares, and the operation amount of conventional rice application for 10 times per year is calculated, so that the operation area is 28920 million hectares; meanwhile, the main rice production area in China is mainly small in area and field area in southern areas, and the terrain is complex. Because small-size unmanned aerial vehicle need not special take off and land airport, can take off and land, refuel, the liquid medicine of filling in the field, reduced the flight time and the fuel consumption that come and go the airport, guaranteed the appearance of operating efficiency spray machines, the suitable southern rice operation condition that can be fine.
From the use and bearing unit of the machine tool, statistics data in 2009 shows that 16.56 ten thousand agricultural machinery operation service organizations in China. Wherein: 4.21 ten thousand of agricultural machinery original value 20-50 ten thousand yuan (including 20 ten thousand yuan), and 8704 of agricultural machinery original value more than 50 ten thousand yuan (including 50 ten thousand yuan). 3833 ten thousand farmers, wherein: 34.34 ten thousand with 20-50 ten thousand yuan (including 20 ten thousand yuan) of agricultural machinery original value and 3.289 thousand with more than 50 ten thousand yuan of agricultural machinery original value. In addition to plant protection stations and pesticide enterprises, the number of them is increasing, which are the main forces for using advanced technology and production means. According to related data, the research and development of modern agricultural aviation plant protection equipment is started from the 90 s of the 20 th century in Japan, the product price of each 1 agricultural plant protection unmanned aerial vehicle in Japan is 80 ten thousand RMB, and the price of a series of products researched and developed by the project is only 1/5-1/4 of foreign product price. China currently has 18 hundred million acres of basic farmland, so that the agricultural plant protection unmanned aerial vehicle has at least 2 million market demands every year, and has huge market potential and broad prospect.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The variable spraying control method for the unmanned aerial vehicle is characterized by comprising the following steps:
the flow expression of each nozzle in unit time in the operation process of the unmanned aerial vehicle is as follows:
Flow =Volume×Speed×Length/（Area×Num）；
wherein Volume is the total amount of sprayed pesticide, and the unit is L; speed is the driving Speed of the unmanned aerial vehicle during spraying, and the unit is m/s; length is the width of spraying, and the unit is m; area is the Area sprayed; num is the number of sprayer nozzles;
according to the flow expression of each nozzle: flow = -0.04V + 0.13P + 0.13 PV + 5.47V-12.71P + 273.06, and calculating a PWM value, wherein V is the PWM value; p is the current water pressure;
the water pressure at the liquid outlet of the spraying box (20) is adjusted by controlling the input power of the booster pump (40) so as to keep the water pressure constant;
the variable controller controls the switching times and the switching time of an electromagnetic valve at the liquid outlet of the spraying box (20) to adjust the spraying amount of the spraying nozzle of the sprayer.
2. The unmanned aerial vehicle variable spray control method of claim 1, wherein the solenoid valve is a pulse width modulation solenoid valve;
the spraying amount of the sprayer nozzle is adjusted by controlling the pulse width of the pulse width modulation electromagnetic valve.
3. An unmanned aerial vehicle variable spraying control system based on the unmanned aerial vehicle variable spraying control method according to any one of claims 1 and 2, which is characterized by comprising a positioning system, a variable controller, an upper computer and an actuating mechanism;
the positioning system reads the information of diseases, pests and weeds corresponding to the land parcel information according to the instruction sent by the management information system, sends a spraying instruction and sends the instruction information to the variable controller for variable control;
the variable controller is a PWM signal generator and is used for providing square wave signals for driving the actuating mechanism;
the upper computer is used for calculating and storing variable control instruction information according to the land parcel information and is respectively connected with the GPS and the variable controller;
the actuating mechanism adopts a pulse width modulation electromagnetic valve which is connected to the inlet of the sprinkler head (32);
the upper computer generates a pulse width modulation signal and controls the pulse width and the frequency of the signal, the signal is transmitted through the variable controller, and the electromagnetic valve switch is driven.
4. An unmanned aerial vehicle based on the unmanned aerial vehicle variable spraying control method of one of the preceding claims 1 and 2, or the unmanned aerial vehicle based on the unmanned aerial vehicle variable spraying control system of the preceding claim 3, comprising: the unmanned aerial vehicle comprises an unmanned aerial vehicle body (10), a spraying box (20) and a spraying assembly (30);
the spraying box (20) is installed on the unmanned aerial vehicle body (10), the spraying box (20) is provided with a liquid inlet (21) and a liquid outlet, a stirring mechanism and a booster pump (40) are arranged on the spraying box (20), and the stirring mechanism is used for stirring liquid in the spraying box (20); the booster pump (40) is connected with an air inlet of the spraying box (20);
the spraying assembly (30) is arranged at the liquid outlet, and the spraying assembly (30) comprises a water outlet hose (31), a spraying head (32) and a linear driving piece (33); one end of the water outlet hose (31) is connected with the spraying box (20), the other end of the water outlet hose is connected with the spraying head (32), and a pulse width modulation electromagnetic valve is arranged on the water outlet hose (31); the linear driving part (33) is installed outside the spraying box (20), and an output shaft of the linear driving part (33) is fixedly connected with the spraying head (32) and used for adjusting the inclination angle of the spraying head (32).
5. A drone according to claim 4, characterised in that the sprinkler head (32) comprises an outer tube (321), an inner tube (322) and a sprinkler plate (323);
the inner tube (322) is sleeved inside the outer tube (321), and the inner tube and the outer tube enclose a liquid medicine cavity (324), and the liquid medicine cavity (324) is provided with a liquid medicine inlet and a liquid medicine outlet (325); a liquid inlet pipe (34) is connected to the liquid medicine outlet (325), and a flow regulating valve (326) is arranged between the liquid inlet pipe (34) and the liquid medicine inlet;
the spraying plate (323) is positioned below the liquid medicine cavity (324) and can rotate relative to the outer pipe (321) and the inner pipe (322); the spray plate (323) has a spray cavity (3231), the spray cavity (3231) has a spray inlet (3232) and a nozzle (3233), the spray inlet (3232) is disposed opposite to the drug solution outlet (325) so as to allow the drug solution to flow from the drug solution cavity (324) into the spray cavity (3231).
6. The drone of claim 5, characterised in that the middle of the top end of the outer pipe (321) communicates with the intake pipe (34);
the bottom end of the outer tube (321) and the bottom end of the inner tube (322) are closed, and the liquid medicine outlet (325) is formed;
the top end of the inner pipe (322) is closed, the bottom end of the inner pipe is open, a spraying motor (36) is arranged inside the inner pipe (322), and an output shaft of the spraying motor (36) extends downwards along the axial direction of the inner pipe (322) and is fixedly connected with the top end of the spraying plate (323).
7. The unmanned aerial vehicle of claim 5, wherein the edge of the spraying inlet (3232) extends upwards to form an annular liquid baffle plate (327), and the opening of the annular liquid baffle plate (327) is gradually increased upwards;
and/or a filter screen (37) is clamped on the inner wall of the liquid inlet pipe (34);
and/or a sealing gasket is arranged at the joint of the liquid inlet pipe (34) and the outer pipe (321).
8. Unmanned aerial vehicle according to claim 4,
the stirring mechanism comprises a stirring motor (51), a stirring shaft (52) and a stirring paddle (53);
stirring motor (51) with (mixing) shaft (52) transmission is connected, (mixing) shaft (52) rotate connect in spray tank (20), stirring rake (53) set up to a plurality ofly, and are a plurality of stirring rake (53) are followed the crisscross setting of axial of (mixing) shaft (52).
9. The unmanned aerial vehicle of claim 4, wherein the bottom end of the unmanned aerial vehicle body (10) is provided with a landing gear (60), and the bottom end of the landing gear (60) is provided with a buffer mechanism;
the buffer mechanism comprises an elastic piece (61), a support plate (62) and a buffer cushion (63), the elastic piece (61) and the buffer cushion (63) are fixedly connected to the upper side and the lower side of the support plate (62), and one end, far away from the support plate (62), of the elastic piece (61) is fixedly connected with the bottom end of the landing gear (60).
10. The unmanned aerial vehicle of claim 4, further comprising an automatic obstacle avoidance device, wherein the automatic obstacle avoidance device comprises an obstacle avoidance box body (71), an infrared sensor (72) and a programmable controller (73), wherein the infrared sensor (72) and the programmable controller are both arranged inside the obstacle avoidance box body (71);
a transparent area is arranged on one side of the obstacle avoidance box body (71), and a collecting end of the infrared sensor (72) is arranged opposite to the transparent area;
the infrared sensor (72) is electrically connected with the programmable controller (73).
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| CN114631453B (en) * | 2022-02-23 | 2023-03-14 | 水利部牧区水利科学研究所 | Movable artificial rainfall simulation method based on unmanned aerial vehicle platform |
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| US10232395B2 (en) * | 2010-07-19 | 2019-03-19 | Irrigreen, Inc. | Multi-nozzle rotary sprinkler |
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| CN204279954U (en) * | 2014-11-18 | 2015-04-22 | 浙江大学 | A kind of unmanned plane of variable spray agricultural chemicals |
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