CN114745952A - Agricultural plant protection apparatus - Google Patents
Agricultural plant protection apparatus Download PDFInfo
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- CN114745952A CN114745952A CN202080078308.1A CN202080078308A CN114745952A CN 114745952 A CN114745952 A CN 114745952A CN 202080078308 A CN202080078308 A CN 202080078308A CN 114745952 A CN114745952 A CN 114745952A
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- 239000007788 liquid Substances 0.000 claims abstract description 108
- 239000007921 spray Substances 0.000 claims abstract description 57
- 238000005507 spraying Methods 0.000 claims abstract description 34
- 239000012530 fluid Substances 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000009826 distribution Methods 0.000 description 3
- 239000004065 semiconductor Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
An agricultural plant protection apparatus (20, 30, 40, 50) comprises a container (201) for containing liquid, and one or more pipelines communicated with the container (201), wherein each pipeline comprises a spray head (2021) and a pipeline (2022) for communicating the spray head (2021) with the container (201), and a valve device (2023) is mounted on the pipeline (2022) and used for adjusting the liquid flow in the pipeline (2022); each pipeline also comprises a sensor (2024) for detecting the state information of the liquid flowing to the spray head (2021) in the pipeline (2022), and a controller (2025) electrically connected with the valve device (2023) and the sensor (2024), wherein the controller (2025) is used for automatically controlling the valve state of the connected valve device (2023) according to the state information of the liquid sensed by the sensor (2024) so as to control the spraying flow rate of the spray head (2021). The automatic control of each pipeline in the agricultural plant protection apparatus (20, 30, 40, 50) is realized, and the spraying precision is improved.
Description
The application relates to the technical field of plant protection, especially, relate to an agricultural plant protection apparatus.
At present, the agricultural plant protection can be automatically sprayed through an agricultural plant protection apparatus, wherein the agricultural plant protection apparatus comprises a water pump, a pipeline and a spray head, and the water pump provides a pressure source to enable liquid in the pipeline to be sprayed out from the spray head under the action of pressure. However, since the water pump cannot realize rapid switching and accurate control of water flow, in actual operation, a certain number of valve devices are required to be added in the pipeline of the agricultural plant protection apparatus to control spraying.
For the control of the valve device in the pipeline, the traditional method is to pre-debug the information of the pipeline state, the water pump rotating speed and the like in the whole agricultural plant protection apparatus by a unified controller, and ensure the accurate spraying effect of the whole agricultural plant protection apparatus by the logic and time sequence adjustment of the control of the valve device by software. However, as the number of valve devices continues to increase, more complex control circuitry and associated control logic is required.
Disclosure of Invention
The embodiment of the application provides an agricultural plant protection apparatus, including the container that is used for splendid attire liquid, with one or more pipeline of container intercommunication, every pipeline includes:
a spray head;
a conduit for communicating the spray head with the container; the pipeline is provided with a valve device used for adjusting the liquid flow in the pipeline;
the sensor is used for detecting the state information of the liquid flowing to the spray head from the pipeline; and
and the controller is electrically connected with the valve device and the sensor and is used for automatically controlling the valve state of the connected valve device according to the state information of the liquid sensed by the sensor so as to control the spraying flow of the spray head.
According to the agricultural plant protection apparatus provided by the embodiment of the application, the sensor is independently arranged on each pipeline, so that the controller of each pipeline automatically controls the state of the valve of the connected valve device according to the state information of liquid in the pipeline sensed by the sensor, and the independent and independent control of each pipeline is realized; simultaneously, because every pipeline can independent control shower nozzle flow, can also increase and decrease the quantity of pipeline according to spraying the demand fast, perhaps adjust the flow that sprays of individual pipeline alone to improve the accurate degree of spraying.
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is an agricultural plant protection unmanned aerial vehicle shown in an exemplary embodiment of the present application.
Fig. 2 is a schematic structural view of an agricultural plant protection apparatus according to an exemplary embodiment of the present application.
Fig. 3 is a schematic structural view of an agricultural plant protection apparatus including a trunk pipe according to an exemplary embodiment of the present application.
Fig. 4 is a schematic structural diagram of an agricultural plant protection apparatus including an upper computer according to an exemplary embodiment of the present application.
Fig. 5 is a schematic structural diagram of an agricultural plant protection apparatus including a driving circuit according to an exemplary embodiment of the present application.
Fig. 6 is a schematic diagram of a driving circuit according to an exemplary embodiment of the present application.
Fig. 7 is a schematic structural diagram of a driving circuit of which a switching device is a PMOS transistor according to an exemplary embodiment of the present application.
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
The embodiment of the application firstly provides an agricultural plant protection apparatus, as the improvement, can realize that different pipelines arranged therein are independently and independently controlled, especially to the valve devices at different positions, can all accomplish the automatic control, and because independent and independent control is adopted between different pipelines, the complexity of the control logic of the controller can be greatly reduced.
In some optional examples, the agricultural plant protection apparatus in the embodiments of the present application may be a movable platform, for example, may be an unmanned aerial vehicle, an unmanned vehicle, a robot, etc., and move to different positions by performing actions of translation, rotation, turning, etc. and spray the carried liquid to be sprayed, where the unmanned aerial vehicle may be an agricultural plant protection unmanned aerial vehicle, and the unmanned vehicle may be an agricultural spray vehicle. The agricultural plant protection apparatus may be manned equipment such as a manned spray vehicle, in addition to the unmanned equipment described above. Alternatively, the agricultural plant protection equipment may be a manual spraying device, and for example, the operator may carry the agricultural plant protection equipment by hand or by carrying the agricultural plant protection equipment on his or her back to perform the operation. The above examples are merely illustrative and not restrictive, and other possible specific forms of agricultural plant protection equipment are not exhaustive.
Use agricultural plant protection apparatus for agricultural plant protection unmanned aerial vehicle as an example, refer to fig. 1, and fig. 1 is an agricultural plant protection unmanned aerial vehicle that an exemplary embodiment of this application shows, and wherein agricultural plant protection unmanned aerial vehicle 10 includes at least that the splendid attire waits to spray container 101, liquid pump 102, shower nozzle 103 of liquid. Further, a pipe (not shown) for communicating the container 101, the liquid pump 102, the head 103, and the like is provided. During a spraying operation, the liquid pump 102 draws liquid from the container 101, such as a tank, a medicine box, etc., through a pipeline and delivers the liquid to the spray head 103, and the liquid is sprayed out through the spray head 103.
In some embodiments, the agricultural plant protection drone 10 may be used to perform liquid spraying operations of pesticides, water, etc. on agricultural products, forest trees, etc. in the agro-farming industry. For example, during the operation, the movement, rotation, turning and the like can be performed, so that the spraying operation can be performed at different angles to different positions in the preset area.
Continuing with the more detailed structure of the agricultural plant protection equipment provided by the present application, referring to fig. 2, fig. 2 is a schematic structural diagram of an agricultural plant protection equipment according to an exemplary embodiment of the present application, and as shown in fig. 2, an agricultural plant protection equipment 20 includes:
a container 201 for containing a liquid, a pipe system 202 communicating with said container 201, wherein the pipe system 202 may comprise one or more pipes, each pipe comprising:
a spray head 2021;
a pipe 2022 for communicating the head 2021 with the container 201; a valve device 2023 is mounted on the pipeline 2022 and is used for adjusting the liquid flow in the pipeline 2022;
a sensor 2024 for detecting state information of the liquid flowing in the pipe 2022 toward the head 2021; and
a controller 2025 electrically connected to the valve device 2023 and the sensor 2024, wherein the controller 2025 is configured to automatically control a valve state of the connected valve device 2023 according to the state information of the liquid sensed by the sensor 2024, so as to control a spraying flow rate of the spraying head 2021.
According to the agricultural plant protection device 20 provided by the embodiment of the application, as for a plurality of pipelines which may be included in the agricultural plant protection device 20, a sensor 2024 is separately arranged on each pipeline, so that the controller 2025 of each pipeline can automatically control the valve state of the connected valve device 2023 according to the state information of the liquid sensed by the sensor 2024, and independent control of each pipeline is realized; simultaneously, because every pipeline can independent control shower nozzle flow, can also increase and decrease the quantity of pipeline according to spraying the demand fast, perhaps adjust the flow that sprays of individual pipeline alone to improve the accurate degree of spraying. In general, the advantages are at least shown in the following three aspects:
first, the control logic for the spraying operation of agricultural plant protection equipment is simplified. Since each line can automatically control the valve device according to the liquid state information of the line sensed by the sensor, for each line, only a relatively simple control logic needs to be designed according to the current line information, and a relatively complex control logic considering how to control a plurality of lines simultaneously is not needed.
And secondly, subsequent secondary development and upgrading of agricultural plant protection instruments are facilitated. When the distribution of the pipelines changes, each pipeline is automatically controlled, so that the original control logic can be still used no matter how the distribution of the pipelines changes, and the agricultural plant protection equipment can be updated and upgraded on hardware independently without readjusting the control logic. And may also be based on the distribution of the actual lines, for example by adding or subtracting lines at certain locations.
And thirdly, accurately controlling the spraying flow of each pipeline in the agricultural plant protection apparatus. Due to factors such as actual production and the like, for agricultural plant protection equipment after batch production, water pumps, pipelines and the like may have certain differences, and for occasions requiring the consistent spraying flow of each pipeline, the liquid state information in the pipeline can be accurately monitored through sensors arranged in each pipeline, and the consistent spraying flow of each pipeline is accurately adjusted. Certainly, the method can also be applicable to the condition that the spraying flow requirements of all pipelines are different, and especially for some variable frequency control scenes needing to frequently adjust the spraying flow of the pipelines, the control effect of accurately controlling the spraying flow of the pipelines is more highlighted.
The agricultural plant protection equipment provided by the embodiment of the application is described with continued reference to fig. 2. Under the condition that the pipelines communicated with the container 201 are multiple, the pipe diameters of the pipelines in different pipelines can be the same or different, the spray heads included in different pipelines can be the same or different, and technicians can select the pipelines according to actual requirements for configuration between the specific pipelines and the spray heads.
In an embodiment, each pipeline included in the pipeline system 202 may be communicated with the container 201 through a main pipeline, referring to fig. 3, fig. 3 is a schematic structural diagram of an agricultural plant protection apparatus including a main pipeline shown in an exemplary embodiment of the present application, and the agricultural plant protection apparatus 30 shown in fig. 3 is different from fig. 2 in that each pipeline in the pipeline system 202 is communicated with the container 201 through a main pipeline 203, and further, the main pipeline 203 may also include a sensor, a valve device, and a controller electrically connected to the sensor and the valve device, so that the automatic control of the main pipeline may also be implemented, and the principle of the automatic control is consistent with that of each pipeline in the pipeline 202, and will not be described in detail. Optionally, each pipeline in the pipeline system may be connected in parallel to communicate with the main pipeline 203. The main pipeline 203 can be further matched with the control of the spraying flow rate of each pipeline in the pipeline system 202, for example, when the spraying flow rate of each pipeline needs to be greatly increased or decreased, the valve device in the main pipeline 203 can be directly controlled to increase or decrease the liquid flow rate in the main pipeline 203, and then the controller 2025 in each pipeline is used for further accurate control, so that the workload of each pipeline controller for adjusting the liquid flow rate of each pipeline can be effectively reduced, and the control efficiency can be effectively improved.
The controller 2025 may be an IC Chip (Integrated Circuit), and the valve device 2023 may be an electric valve, such as a solenoid valve, or an electric valve driven by a motor. The sensor 2024 may be used to sense state information such as a flow rate, and a hydraulic pressure of the liquid flowing in the pipe 2022 to the spray head 2021, and the sensor 2024 may be used to sense one of the state information of the liquid or may simultaneously sense a plurality of state information of the liquid. Accordingly, the sensor 2024 may be a flow sensor, whereby the controller 2025 may control the valve state of the valve arrangement based on the liquid flow detected by the flow sensor; the sensor 2024 may also be a pressure sensor, and thus the controller 2025 may also control the valve state of the valve device based on a hydraulic pressure value detected by the pressure sensor; the sensor 2024 may also be a flow rate sensor, whereby the controller 2025 may also control the valve state of the valve arrangement based on the flow rate of the liquid detected by the flow rate sensor.
In one embodiment, the valve state of the valve arrangement may be controlled by the controller 2025 based on the retrieved liquid flow rate. The liquid flow rate value can be directly acquired by setting the sensor 2024 as a flow sensor; the sensor 2024 may be a pressure sensor, and the controller 2025 may determine the flow rate of the liquid in the pipe 2022 by using the pressure value of the liquid obtained from the pressure sensor and the parameters of the head 2021. The parameters of the sprayer 2021 include parameters characterizing the aperture of the sprayer 2021, the liquid flow rate in the pipeline is determined by the aperture of the sprayer 2021 and the pressure value of the liquid detected by the pressure sensor, further, in order to make the determined liquid flow rate more accurate, the shape of the sprayer can be considered, and the liquid flow rate is determined by combining the parameters characterizing the shape and the aperture of the sprayer and the detection value of the pressure sensor. Alternatively, the sensor 2024 may be a flow rate sensor, and the controller 2025 may determine the flow rate of the liquid in the pipe 2022 by using the pipe diameter of the pipe 2022 while acquiring the flow rate value of the liquid from the flow rate sensor. Similarly, in the case that the controller 2025 controls the valve state of the valve device based on the acquired hydraulic pressure or flow rate of the liquid in a unified manner, the hydraulic pressure or flow rate of the liquid may also be directly acquired by a corresponding sensor or indirectly acquired by combining other parameters, which will not be described in detail herein.
Further, parameters other than the detection value acquired from the sensor 2024 may be prestored in an internal memory of the controller 2025, or may be acquired from the outside by the controller 2025. By way of example, referring to fig. 4, fig. 4 is a schematic structural diagram of an agricultural plant protection apparatus including an upper computer according to an exemplary embodiment of the present application, and as shown in fig. 4, the agricultural plant protection apparatus 40 is different from fig. 2 in that the agricultural plant protection apparatus further includes an upper computer 204 connected to a controller 2025 in each pipeline, where the upper computer 204 may perform data interaction with the controller 2025, for example, may send various parameter information, specifically, may send parameter information of a spray head 2021 and pipe diameter information of a pipe 2022.
In addition, the host computer 204 may also send information to the controller 2025 indicating a target liquid flow rate to cause the controller 2025 to regulate the liquid flow rate within the conduit 2022 based on the valve state of the target liquid flow control valve arrangement. The specific controller 2025 obtains the target liquid flow rate, and also obtains the current real-time flow rate of the liquid in the pipe 2022 detected by the sensor 2024, determines whether the current liquid flow rate in the pipe 2025 meets the target liquid flow rate by comparing the current real-time flow rate of the liquid in the pipe 2025 with the target liquid flow rate, and controls the valve state of the valve device to adjust the liquid flow wave in the pipe 2025 to meet the target liquid flow rate if the current liquid flow rate in the pipe 2025 does not meet the target liquid flow rate. For example, when the fluid flow rate in the front pipe 2025 is less than the target fluid flow rate, the opening of the valve may be enlarged to increase the fluid flow rate; the opening of the valve can be reduced when the liquid flow in the front pipe 2025 is greater than the target liquid flow in order to reduce the liquid flow.
In one embodiment, the agricultural plant protection apparatus 20 may further include a liquid pump in communication with the conduit, the liquid pump providing pressure for liquid delivery to the conduit, and the condition of the liquid in the conduit being adjusted by adjusting the operating condition of the liquid pump. Thus, when the valve of the valve device 2023 is opened to the maximum, if the flow rate of the liquid in the pipe is still less than the desired target flow rate, the controller 2025 can notify the upper computer 204 to control the liquid pump to increase the pressure so as to increase the flow rate of the liquid in the pipe. The upper computer 204 may be a main control module of an agricultural plant protection apparatus, for example, a flight control module carried on an agricultural plant protection unmanned aerial vehicle, and performs interaction of spraying flow information of a pipeline with the pipeline controller 2025 while controlling the agricultural plant protection unmanned aerial vehicle to fly on an operation path; the upper computer 204 may also be an independent control module newly added to the agricultural plant protection apparatus, and may be used to interact with the pipeline controller 2025 specifically to perform the spraying flow information of the pipeline.
In addition, due to the operation requirements, the target liquid flow rates of different pipelines can be different, so that the spraying flow rates of different pipelines can be different, and the requirements of agricultural plant protection equipment on some special occasions in the operation process can be met. For example, the agricultural plant protection equipment shown in fig. 1 is taken as an example, since the spray heads are respectively installed on the wings at two sides of the agricultural plant protection equipment, when the agricultural plant protection equipment turns during operation, one side of the spray head is located at the inner diameter of the curve, and the other side of the spray head is located at the outer diameter of the curve, at this time, the spraying area of the spray head on the outer diameter is larger than the spraying area of the spray head on the inner diameter, so that the target liquid flow rate of the pipeline correspondingly communicated with the spray head on the outer diameter can be configured to be larger than the target liquid flow rate of the pipeline correspondingly communicated with the spray head on the inner diameter, and thus the uniform spraying of the agricultural plant protection equipment on the operation area during the turning process can be ensured.
On the basis that the target liquid flow of the pipeline correspondingly communicated by the spray head at the outer diameter is larger than the target liquid flow of the pipeline correspondingly communicated by the spray head at the inner diameter, the valve opening of the valve device correspondingly communicated by the spray head at the outer diameter can be controlled to be larger than the valve opening of the valve device correspondingly communicated by the spray head at the inner diameter, so that the spraying flow of the spray head at the outer diameter is larger than the spraying flow of the spray head at the inner diameter under the condition that the liquid flow in the pipeline accords with the target liquid flow. Furthermore, the pipe diameter of the pipeline correspondingly communicated with the spray head at the outer diameter can be set to be larger than the pipe diameter of the pipeline correspondingly communicated with the spray head at the inner diameter, so that the spray flow of the spray head at the outer diameter can be ensured to be larger than the spray flow of the spray head at the inner diameter under the condition that the valve opening of the valve device is possibly the largest.
It is understood that the target liquid flow rate may be set to a fixed value or may be an interval according to the actual demand. Alternatively, the target liquid flow value may be prestored in an internal memory of the controller 2025. In some possible examples, it may also be obtained from a control terminal connected to the agricultural plant protection equipment in communication for controlling the operation of the agricultural plant protection equipment, for example, a possible scenario is that, during the process of controlling the operation of the agricultural plant protection equipment by the user through the control terminal, the control of the liquid flow in the pipe 2022 is implemented by inputting a target liquid flow at the control terminal and sending the target liquid flow to the controller 2025 in the agricultural plant protection equipment by the control terminal, so as to control the spraying flow of the corresponding spray head. The control terminal can be a mobile phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, a wearable device, a remote controller and the like.
The valve state that the valve arrangement 2023 may include and how the controller 2025 controls the valve state of the valve arrangement 2023 will be described below, it being understood that different control schemes may be used depending on the valve arrangement 2023.
In one embodiment, the controller 2025 may directly output a control signal to the valve assembly 2023 to control the valve state of the valve assembly 2023, for example, output a first control signal to control the valve of the valve assembly 2023 to open, and output a second control signal to control the valve of the valve assembly 2023 to close, and illustratively, the first and second control signals may be a high level signal and a low level signal, respectively, but may also be configured to be a low level signal and a high level signal in reverse, respectively. In addition, the valve state of the valve device 2023 may be controlled by controlling the magnitude of the current output to the valve device 2023, for example, the magnitude of the valve opening of the valve device 2023 may be controlled by controlling the magnitude of the current output to the valve device 2023. Alternatively, the valve state of the valve arrangement 2023 may be controlled by controlling the direction of the current output to the valve arrangement 2023, for example, when the valve arrangement is controlled to output a forward specified magnitude of current, the valve is controlled to open; when the current output is stopped, the valve is controlled to stop opening and the current opening size is maintained; when the reverse current with the specified magnitude is output to the valve device, the valve is controlled to be closed; when the current output is stopped, the control valve stops closing and maintains the current opening size.
The controller 2025 may also indirectly control a valve state of the valve arrangement 2023, such as by driving a circuit to control the valve state of the valve arrangement 2023. It will be appreciated that the principle may be similar to the way in which the controller 2025 directly controls the valve arrangement 2023 in the previous embodiment. Referring to fig. 5, fig. 5 is a schematic view of an agricultural plant protection apparatus including a driving circuit according to an exemplary embodiment of the present disclosure, such as the agricultural plant protection apparatus 50 shown in fig. 5, which is different from fig. 2 in that it further includes a driving circuit 205, wherein the controller 2025 is electrically connected to the valve device 2023 through the driving circuit 205, and controls the valve state of the valve device 2023 through the driving circuit 205.
In one embodiment, the displacement of the valve assembly 2023 can be controlled by adjusting the current level of the driving circuit 205, and the valve states of the valve assembly 2023 may include a fully open state, a partially open state, and a closed state. Specifically, when the current of the driving circuit 205 is adjusted to be 0, the valve of the control valve device 2023 is completely closed, that is, the valve device is in a closed state; when the current of the driving circuit 205 is adjusted to reach a specified threshold, the valve of the valve device 2023 is controlled to be fully opened, that is, the valve device 2023 is in a fully opened state; the degree of opening of the valve arrangement 2023, i.e. the degree of opening of the valve arrangement 2023 in a partially open state, is controlled by adjusting the current of the drive circuit 205 to vary between 0 and a specified threshold. This enables the valve state of the valve device 2023 to be controlled by adjusting the current level of the drive circuit 205. It is to be understood that the adjustment of the current of the driving circuit 205 to 0 is not limited to the adjustment of the current to 0, and the current may be adjusted to a value close to 0 within a certain range or a smaller specified value in practical applications. In addition, if applicable, the valve device 2023 may be controlled to be in the fully open state by adjusting the current of the driving circuit 205 to be 0, and the correspondence between the current of the driving circuit 205 and the valve state of the valve device 2023 may be set by a skilled person according to actual requirements, which is not limited thereto. The controller 2025 can thus control the valve state of the valve arrangement 2025 by comparing the target fluid flow rate with the fluid flow rate in the line as detected by the sensor 2024, and by adjusting the magnitude of the current in the drive circuit 205. For example, in the case where the current flow rate of the fluid in the line is less than the target fluid flow rate, the current of the driving circuit 205 is increased to increase the opening degree of the valve device 2023 in the partially opened state, or even to reach the fully opened state; conversely, the current of the driving circuit 205 can be adjusted to decrease the opening degree of the valve device 2023 in the partially opened state. Similar to the manner in which the controller 2025 directly controls the valve device 2023 in the previous embodiment, the valve state of the valve device 2023 can also be controlled by controlling the direction of the current output by the driving circuit, which is not described herein again.
In another embodiment, the valve device 2023 may be in an intermittent on-off state, i.e. continuously opened and closed, or intermittently opened and closed, which may be understood as controlling the valve device 2023 to open and close once in one control cycle of the controller 2025. Specifically, during a control period of the controller 2025, the valve device 2023 may be controlled to open by adjusting the output of the driving circuit 205 to a high level, and the valve device may be controlled to close by adjusting the output of the driving circuit 205 to a low level. On this basis, how to control the valve device 2023 to open and close in the intermittent on-off state is described by taking a control cycle of the controller 2025 as an example.
In an exemplary manner, the open duration and the close duration of the valve arrangement 2023 may be controlled during a control period by adjusting the duty cycle of the output level of the driver circuit 205 to control the open duration and the close duration of the valve arrangement 2023 during a control period, for example, in the case that the current flow rate of the fluid in the pipeline is less than the target fluid flow rate, the duty cycle of the output level of the driver circuit 205 may be increased (i.e., the duration of the high level during the control period is increased) to increase the current flow rate of the fluid in the pipeline; conversely, the duty cycle of the output level of the driving circuit 205 may be reduced (i.e., the duration of the high level in the control period may be reduced), thereby reducing the current fluid flow rate of the circuit.
In another exemplary manner, the switching frequency of the valve device 2023 in the intermittent switching state can also be controlled by adjusting the control period of the controller 2025 by fixing the valve opening period of the valve device 2023 in one control period. For example, under the condition that the liquid flow in the current pipeline is smaller than the target liquid flow, the switching frequency of the valve is increased by shortening the control period, so that the liquid flow of the current pipeline is increased; conversely, the control period can be increased to reduce the switching frequency of the valve, thereby reducing the current liquid flow of the pipeline.
Of course, it is also possible to control the valve device 2023 in combination with the above two ways, that is, to control the valve device 2023 based on the duty cycle and the control period, for example, it is possible to increase the duty cycle and decrease the control period simultaneously, so as to increase the opening duration of the valve device 2023 in one control period and the switching frequency of the valve simultaneously, thereby increasing the liquid flow rate of the current pipeline; conversely, it is also possible to reduce the duty cycle and increase the control period simultaneously, so as to reduce the opening duration of the valve arrangement 2023 in one control period and the switching frequency of the valve simultaneously, thereby reducing the liquid flow rate of the current line.
It should be noted that, compared with the method of adjusting the liquid flow rate of the pipeline by controlling the valve opening degree of the valve device 2023, the liquid flow rate of the pipeline can be adjusted more precisely by controlling the valve device 2023 to operate in the intermittent on/off state, because the valve opening degree may be difficult to control accurately, and because the pipeline is mostly in a circular tube shape, the relationship between the valve opening degree and the liquid flow rate in the pipeline is also difficult to correspond accurately, and the intermittent on/off control of the valve device 2023 can effectively avoid the influence of the valve opening degree on the liquid flow rate in the pipeline, so as to adjust the liquid flow rate of the pipeline more precisely.
Referring to the driving circuit 205 in fig. 5 by way of example in fig. 6, fig. 6 is a schematic structural diagram of a driving circuit according to an exemplary embodiment of the present application, and the driving circuit 205 shown in fig. 6 includes a controllable constant current source 2051 and a switching device 2052, where the switching device 2051 may include three ports, a first end of which is electrically connected to the controllable constant current source 2051, a second end of which is electrically connected to the controller 2025, and a third end of which is connected to the valve device 2023. The controller 2025 can thus control the operating state of the switching device 2052 by adjusting the controllable constant current source 2051 to control the valve state of the valve device 2023. The switching device 2051 may be a Metal-Oxide-Semiconductor (MOS) transistor, a triode, or the like, and the MOS transistor may be an NMOS (N-channel Metal-Oxide-Semiconductor) transistor or a PMOS (Positive channel Metal-Oxide-Semiconductor) transistor.
In one embodiment, the valve assembly 2023 can be further closed by the switch 2052 to prevent leakage in the pipeline when the agricultural implement is not operating or is operating. Specifically, the valve of the valve arrangement 2023 may be configured to remain closed when the switching device 2052 is open and to open when the switching device 2052 is closed. Therefore, when the switch device 2052 is turned off, that is, the valve device 2023 is in the power-off state, the valve device 2023 can be ensured to be in the closed state, and only when the switch device 2052 is turned on, the valve device 2023 is in the open state, thereby avoiding the phenomenon of liquid leakage in the pipeline.
Taking the switching device as a PMOS transistor as an example, referring to fig. 7, fig. 7 is a schematic structural diagram of a driving circuit whose switching device is a PMOS transistor according to an exemplary embodiment of the present application, and as shown in the driving circuit 205 of fig. 7, a G pole (gate) of the PMOS transistor may be electrically connected to a controller 2025, an S pole (source) of the PMOS transistor may be electrically connected to a controllable constant current source 2051, and a D pole (drain) of the PMOS transistor may be connected to a valve device 2023, so that the controller 2025 controls a level of the S pole by adjusting a level of the controllable constant current source, specifically, when the level of the S pole is adjusted to be a low level, since the level of the S pole is lower than the level of the G pole, the PMOS transistor is in an off state, and an output of the driving circuit is a low level; when the S pole level is adjusted to be the high level, the PMOS tube is in a conducting state because the S pole level is higher than the G pole level, and the output of the driving circuit is at the high level. Meanwhile, the magnitude change of the output current of the driving circuit 205 can be controlled by adjusting the S-pole level high-low change, so that the valve state of the valve device 2023 can be controlled in combination with the manner provided by the foregoing embodiment.
It is to be understood that the features of the various embodiments and embodiments described above may be combined with each other without conflict.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The agricultural plant protection apparatus provided by the embodiment of the present application is described in detail above, and the principle and the implementation manner of the present application are explained in the present application by applying specific examples, and the description of the above embodiment is only used to help understanding the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (26)
- An agricultural plant protection apparatus comprising a container for holding a liquid, one or more conduits in communication with the container, each conduit comprising:a spray head;a conduit for communicating the spray head with the container; the pipeline is provided with a valve device used for adjusting the liquid flow in the pipeline;a sensor for detecting the state information of the liquid flowing to the spray head from the pipeline; andand the controller is electrically connected with the valve device and the sensor and is used for automatically controlling the valve state of the connected valve device according to the state information of the liquid sensed by the sensor so as to control the spraying flow of the spray head.
- The agricultural plant protection apparatus of claim 1, further comprising a trunk conduit, wherein a plurality of said conduits are in parallel communication with said trunk conduit and in communication with said container through said trunk conduit.
- The agricultural plant protection apparatus of claim 1, wherein the sensor sensing the state information of the liquid includes at least one of: flow, velocity, or hydraulic pressure.
- The agricultural plant protection device of claim 1, wherein the sensor is a flow sensor, and the controller controls a valve state of the valve arrangement based on a value detected by the flow sensor.
- The agricultural plant protection apparatus of claim 1, wherein the sensor is a pressure sensor;the controller determines the liquid flow in the pipeline based on the detection value of the pressure sensor and the parameters of the spray head.
- The agricultural plant protection apparatus of claim 1, wherein the sensor is a flow rate sensor;the controller determines the liquid flow in the pipeline based on the detection value of the flow velocity sensor and the pipe diameter of the pipeline.
- The agricultural plant protection apparatus of claim 5, wherein the parameters of the spray head include parameters characterizing the aperture and/or shape of the spray head.
- The agricultural plant protection apparatus of claim 5, further comprising an upper computer, wherein the controller is electrically connected with the upper computer, and the upper computer is configured to send parameter information of the spray head to the controller.
- The agricultural plant protection apparatus of claim 8, wherein the host computer is further configured to send a target liquid flow to the controller to cause the controller to control a valve state of the valve device to adjust the liquid flow in the conduit to the target liquid flow.
- The agricultural plant protection apparatus of claim 9, wherein the target liquid flow rate varies from one conduit to another.
- The agricultural plant protection apparatus of claim 10, wherein when the agricultural plant protection apparatus is turned during operation, a target fluid flow rate of the pipeline in which the spray heads at the outer diameter are correspondingly communicated is greater than a target fluid flow rate of the pipeline in which the spray heads at the inner diameter are correspondingly communicated.
- An agricultural plant protection apparatus according to claim 11, wherein the pipe diameter of the pipe in communication with the spray head at the outer diameter is greater than the pipe diameter of the pipe in communication with the spray head at the inner diameter; alternatively, the first and second electrodes may be,the valve opening of the valve device correspondingly communicated with the spray head at the outer diameter is larger than the valve opening of the valve device correspondingly communicated with the spray head at the inner diameter.
- An agricultural plant protection apparatus according to claim 1, wherein the valve means is a solenoid valve.
- The agricultural plant protection apparatus of claim 13, wherein the conduit further comprises a drive circuit, and the controller is electrically connected to the valve arrangement via the drive circuit and controls the valve state of the valve arrangement via the drive circuit.
- The agricultural plant protection device of claim 14, wherein the drive circuit includes a controllable constant current source and a switching device;the first end of the switching device is electrically connected with the controllable constant current source, the second end of the switching device is electrically connected with the controller, and the third end of the switching device is connected with the valve device;the controller controls the working state of the switch device by adjusting the controllable constant current source so as to control the valve state of the valve device.
- An agricultural plant protection apparatus according to claim 15, wherein the valve of the valve means is in an open state when the switch means is on and in a closed state when the switch means is off.
- The agricultural plant protection device of claim 15, wherein the switching device is a MOS transistor or a triode.
- The agricultural plant protection apparatus of claim 14, wherein the valve state comprises at least one of:a fully open state, a partially open state, a closed state.
- The agricultural plant protection apparatus of claim 18, wherein the controller controls the valve state of the valve arrangement in a manner comprising:and controlling the displacement of a valve of the valve device by adjusting the current of the driving circuit.
- The agricultural plant protection instrument of claim 14, wherein the valve state comprises an intermittent switch state.
- The agricultural plant protection device of claim 20, wherein the manner in which the controller controls the valve state of the valve arrangement comprises:and under the intermittent switching state, the opening duration and the closing duration of the valve device in one control period of the controller are controlled by adjusting the duty ratio of the output level of the driving circuit.
- The agricultural plant protection apparatus of claim 20, wherein the manner in which the controller controls the valve state of the valve arrangement further comprises:and controlling the switching frequency of the valve device in the intermittent switching state by adjusting the control period of the controller.
- The agricultural plant protection apparatus of claim 9, further comprising a liquid pump in communication with the conduit;the controller is further configured to:and when the valve of the valve device is opened to the maximum and the liquid flow in the pipeline is smaller than the target liquid flow, informing the upper computer to control the liquid pump to increase the pressure.
- The agricultural plant protection device of claim 1, wherein the controller is an IC chip.
- The agricultural plant protection apparatus of claim 1, wherein the valve device is an electrically operated valve.
- The agricultural plant protection apparatus of claim 1, wherein the agricultural plant protection apparatus is an agricultural plant protection drone.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/127461 WO2022095016A1 (en) | 2020-11-09 | 2020-11-09 | Agricultural plant protection equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114745952A true CN114745952A (en) | 2022-07-12 |
Family
ID=81456911
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080078308.1A Pending CN114745952A (en) | 2020-11-09 | 2020-11-09 | Agricultural plant protection apparatus |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114745952A (en) |
| WO (1) | WO2022095016A1 (en) |
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| WO2020220215A1 (en) * | 2019-04-29 | 2020-11-05 | 深圳市大疆创新科技有限公司 | Spray head device, spraying system, movable platform and spraying operation method therefor |
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- 2020-11-09 WO PCT/CN2020/127461 patent/WO2022095016A1/en active Application Filing
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| FR2850884A1 (en) * | 2003-02-10 | 2004-08-13 | Blanchard Sas | Spraying device used in agricultural field, has supply pipe connected to a return pipe which directs a flow of liquid through outlets such that position of each outlet valve is controlled by pressure in the return pipe |
| CN102669079A (en) * | 2012-04-09 | 2012-09-19 | 浙江大学 | Toward-target variable spray tester |
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| WO2022095016A1 (en) | 2022-05-12 |
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