CN115848625A - Multichannel flow accurate regulation and control unmanned aerial vehicle broadcast sowing device and method - Google Patents
Multichannel flow accurate regulation and control unmanned aerial vehicle broadcast sowing device and method Download PDFInfo
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- 238000009331 sowing Methods 0.000 title claims abstract description 73
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- 230000009471 action Effects 0.000 claims abstract description 9
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- 239000003337 fertilizer Substances 0.000 claims description 5
- 230000009467 reduction Effects 0.000 claims description 5
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- 239000002025 wood fiber Substances 0.000 claims description 5
- 238000010191 image analysis Methods 0.000 claims description 4
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Abstract
The invention relates to the technical field of agricultural machinery, and particularly discloses a multichannel flow accurate control unmanned aerial vehicle broadcasting device and method, wherein the multichannel flow accurate control unmanned aerial vehicle broadcasting device comprises the following steps: the device comprises a feeding module, a material conveying module, a broadcasting module and a main control module; the feeding module comprises a material distribution disc, the material conveying module comprises material pipes, spiral material rods are arranged on the inner walls of the material pipes in an inscribed mode, and the spiral material rods rotate under the action of driving force; a broadcast sowing disc is arranged right below the bottoms of the plurality of material pipes and rotates under the action of a driving force; the device comprises a plurality of spiral material rods, a main control module, an industrial camera and a sowing motor, wherein the spiral material rods are arranged on the two sides of a material distribution disc; the invention ensures more accurate regulation and control and improves the efficiency of sowing grass seeds of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a multichannel flow accurate control unmanned aerial vehicle broadcast sowing device and method.
Background
The traditional main measures for artificially intervening in ecological restoration of the disaster-affected mountain are manually sowing grass seeds; the efficiency of sowing grass seeds manually is low, meanwhile, the fire covering area is wide, the manual consumption is large, most mountains have uneven terrain and are complicated, and large machinery is difficult to apply;
the seed is sowed in a centralized manner by selecting the row concentrator in the flying sowing of the unmanned aerial vehicle, so that high-speed and high-efficiency operation can be realized, but the pneumatic row concentrator has a complex structure and large overall mass and is not suitable for being used as a flying sowing seed sowing device; the mechanical row collector is generally used for flying seeding due to simple structure and light weight.
At present, the sowing aiming at grass seeds has some problems: ordinary unmanned aerial vehicle seed is sowed and is difficult to be applicable to the broadcast of grass seeds, because the volume of grass seeds is less, receives the influence of environmental factor easily, leads to the homogeneity that the seed was broadcast and broadcasts relatively poor to and broadcast the controllability of flow and width relatively poor, greatly reduced unmanned aerial vehicle grass seeds efficiency of broadcasting.
Disclosure of Invention
The invention aims to provide a multichannel flow accurate control unmanned aerial vehicle broadcasting device and method, which solve the following technical problems:
(1) How to ensure the uniformity of broadcast sowing and increase the broadcast sowing area in the process of broadcast sowing and sowing;
(2) Thereby how to more accurate regulation and control broadcast flow and width improve the efficiency that unmanned aerial vehicle grass seed broadcast sowed.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides an unmanned aerial vehicle device of broadcasting is regulated and control accurately to multichannel flow, includes: the device comprises a feeding module, a material conveying module, a broadcasting module and a main control module;
the feeding module comprises material distribution discs, the material conveying module comprises material pipes, spiral material rods are arranged on the inner walls of the material pipes in an inscribed mode, the spiral material rods rotate under the action of driving force, and the bottoms of the material distribution discs are communicated with pipe orifices of the material pipes;
a sowing disc is arranged right below the bottoms of the plurality of material pipes, blades are uniformly arranged on the sowing disc, and the sowing disc rotates under the action of driving force;
it is a plurality of the one end that the branch charging tray was kept away from to the spiral material pole is provided with annular capacitance sensor respectively, annular capacitance sensor is used for taking notes raw materials flow size, host system controls raw materials flow size through the rotational speed of adjusting the spiral material pole, host system is provided with the industry camera, the industry camera is used for the real-time image that broadcasts of record broadcast module.
Preferably, the broadcast sowing module comprises a motor cabin, a broadcast sowing motor is arranged in the motor cabin, a motor fixing plate is fixedly arranged at the bottom of the broadcast sowing motor, the broadcast sowing motor penetrates through the motor fixing plate to be rotatably connected with a coupler, a broadcast sowing plate fixing plate is fixedly arranged at one end of the coupler, and the broadcast sowing plate fixing plate is fixedly connected with the broadcast sowing plate.
Preferably, the feeding module includes the top cap, go up the top cap and be used for linking up the equipment with the unmanned aerial vehicle workbin of difference, it is provided with workbin fastening screw to go up top cap opening side, it is connected with the branch charging tray to go up the top cap below.
Preferably, go up the fixed step-by-step gear motor that is provided with on the top cap, the bottom mounting of going up the top cap is provided with the gear seal cabin, be provided with step motor drive gear in the gear seal cabin, step motor drive gear meshing is connected with spiral material pole gear, step motor drive gear is used for driving spiral material pole and rotates.
Preferably, the main control module includes the master control box, the master control box is fixed to be set up on motor storehouse shell, the master control box external fixation is provided with the master control closing cap, broadcast the motor top and be provided with the encoder, the encoder is used for calculating and feeds back broadcast motor rotational speed to MCU in real time, the main control module is used for controlling broadcast the rotation of the circuit of module operation and step gear motor.
Preferably, a material rod supporting ring is arranged at the upper end of the annular capacitance sensor, the material rod supporting ring is fixedly arranged on the inner wall of the material pipe, the annular capacitance sensor is used for feeding back the broadcasting flow of the spiral material rod to the MCU in real time, and the industrial camera is arranged on the shell of the motor cabin.
Preferably, the unmanned aerial vehicle workbin is assembled with the device of broadcasting, carries out wireless remote control broadcasting in injecting the workbin with grass seed mixed raw materials, and concrete step is:
s1, setting standard intervals [ a, b ] of broadcasting flow and rotating speed intervals [ c, d ] of a broadcasting disc according to broadcasting requirements, and entering broadcasting operation;
s2, measuring real-time flow u of different material pipes through an annular capacitance sensor, and comparing the real-time flow u with [ a, b ] to obtain a first working instruction:
if it is
Transmitting the regulating instruction to an infinite remote control operation end;
if u belongs to [ a, b ], performing S3;
s3, regulating and controlling the rotating speed of the broadcast sowing motor, working an encoder of the broadcast sowing motor, measuring and calculating the rotating speed V1 of the real-time broadcast sowing disc, and comparing the rotating speed V1 of the real-time broadcast sowing disc with [ c, d ] to obtain a second working instruction:
if it is
Adjusting V1 size to [ c, d ] by PID algorithm]Then carrying out broadcast sowing operation;
and if V1 belongs to [ c, d ], performing broadcast operation.
Preferably, the flow numerical values of the real-time flow u of different material pipes measured by the annular capacitance sensor are sent to the MUC, and the MCU sends signals of the rotating speed of the broadcasting motor and the broadcasting flow to the upper computer through a wireless device.
Preferably, broadcast image analysis is carried out in real time through an industrial camera, broadcast particle size, breadth and broadcast density are analyzed, the initial range [ c, d ] is adjusted, and then broadcast motor rotating speed adjustment is carried out; the precise adjustment of the rotating speed of the broadcasting disc specifically comprises the following operations:
SS1, if u belongs to [ a, b ], regulating V1 to [ c, d ] by a PID algorithm and keeping V1 unchanged;
SS2, if
Adjusting V1 to [ c, d ] by wireless infinite remote control operation end]And (4) the following steps.
Preferably, the mixture ratio of the grass seed mixed raw materials is 62% of grass seeds and 38% of matrix, and the matrix is matched with wood fiber, a water-retaining agent, a chemical fertilizer and loess.
The invention has the beneficial effects that:
(1) According to the invention, by arranging the feeding module and the material conveying module, particularly by arranging the material distribution disc and the spiral material rod, when the device is used, the materials are uniformly distributed into different material pipes through the material distribution disc, the spiral material rod is driven by the stepping speed reduction motor, flow data signals in different material pipes are fed back to the MCU in real time through the annular capacitance sensor, the MCU sends signals to the upper computer through a wireless end, and the flow size among the three material pipes is ensured to be in a set range by adjusting the rotating speed of the stepping motor, so that the flow size among the three material pipes is kept in a smaller error range and is always in a target flow size range, the flow size of the raw material conveying can be effectively controlled, and the uniformity of the flow speed of the raw material in the different material pipes is ensured.
(2) The invention is provided with a broadcasting module and a main control module, particularly a broadcasting disc, the broadcasting disc is rotated by a broadcasting motor, raw materials conveyed in a material pipe are uniformly and circumferentially broadcast by uniformly distributing blades on the broadcasting disc and centrifugal force generated by rotation, the broadcasting shunting, the broadcasting direction and the broadcasting quantity are uniformly distributed, the broadcasting flow is accurately regulated and controlled by feeding back the broadcasting width, the motor rotating speed and the like by the main control module, particularly, an encoder arranged on the broadcasting motor is used for controlling the rotating speed and the frequency of the broadcasting motor, a main control box is used for carrying out data analysis and information feedback by image information fed back by an industrial camera, the industrial camera detects the particle size, the broadcasting density and the broadcasting width of the broadcasted raw materials under the centrifugal action, and adjusts the rotating speed of the broadcasting disc motor, so that the aim of accurately controlling the broadcasting is fulfilled by the requirements of the width and the density is achieved.
(3) When grass seeds are sowed, grass seed sowing raw materials are mixed with wood fibers, a water-retaining agent, a chemical fertilizer and loess to form a slurry state, the survival rate of the grass seeds after sowing is guaranteed through mixed nutrient substances, small irregular-particle sowing raw materials are changed into the slurry-state raw materials, the sowing defects caused by physical characteristics of the small irregular-particle sowing raw materials can be further reduced, the sowing controllability is improved, the survival rate of the grass seed sowing is improved, and the multichannel flow accurate regulation and control mud medium unmanned grass seed sowing device is matched to be beneficial to large-area sowing operation of the grass seeds in the later period.
Of course, it is not necessary for any product to practice the invention to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of the general structure of a multichannel flow accurate control unmanned aerial vehicle broadcasting device of the invention;
FIG. 2 is a schematic view of the structure of the spiral material rod and the sowing plate of the present invention;
FIG. 3 is a cross-sectional view of a multi-channel flow accurate regulation unmanned aerial vehicle broadcasting device of the invention;
fig. 4 is a schematic diagram of a driving structure of a spiral material rod of the multichannel flow accurate control unmanned aerial vehicle broadcasting device.
Reference numerals: 1. a feed module; 11. a top cover is arranged; 111. a fastening screw of the material box; 12. distributing disks; 2. a material conveying module; 21. a material pipe; 22. a screw material rod; 23. an annular capacitive sensor; 24. a screw rod gear; 25. a step-by-step speed reduction motor; 26. the stepping motor drives the gear; 27. a gear sealing bin; 28. a material rod supporting ring; 3. a broadcast sowing module; 31. a motor compartment; 32. a broadcast sowing plate; 33. a broadcast sowing motor; 34. a motor fixing plate; 35. a coupling; 36. a broadcast plate fixing plate; 4. a main control module; 41. a main control box; 42. a main control sealing cover; 43. an encoder; 44. an industrial camera.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1-4, a multi-channel flow accurate control unmanned aerial vehicle broadcasting device includes: the device comprises a feeding module 1, a material conveying module 2, a broadcasting module 3 and a main control module 4;
the feeding module 1 comprises a material distribution disc 12, the material conveying module 2 comprises material pipes 21, spiral material rods 22 are arranged on the inner walls of the material pipes 21 in an inscribed mode, the spiral material rods 22 rotate under the action of driving force, and the bottom of the material distribution disc 12 is communicated with pipe openings of the material pipes 21;
a broadcast sowing disc 32 is arranged right below the bottoms of the plurality of material pipes 21, blades are uniformly arranged on the broadcast sowing disc 32, and the broadcast sowing disc 32 rotates under the action of driving force;
one end of each spiral material rod 22, which is far away from the distributing disc 12, is provided with an annular capacitive sensor 23, the annular capacitive sensors 23 are used for recording the flow of the raw materials, the main control module 4 controls the flow of the raw materials by adjusting the rotating speed of the spiral material rods 22, the main control module 4 is provided with an industrial camera 44, and the industrial camera 44 is used for recording the real-time broadcast images of the broadcast module 3.
Through the technical scheme: the upper top cover 11 is arranged at the position of the material conveying module 2 and can be connected, connected and assembled with different unmanned aerial vehicle feed boxes, broadcast raw materials are distributed through the material distribution disc 12 and then enter the material pipe 21 of the material conveying module 2, three material pipes 21 are uniformly arranged, spiral material rods 22 are respectively arranged in the three material pipes 21 and are tangent to the inner wall of each material pipe 21, the spiral material pipes 21 rotate in the material pipes 21 and are used for conveying the broadcast raw materials, a speed reducing motor is arranged for driving the spiral material pipes 21, an annular capacitance sensor 23 is arranged at the bottom of each spiral material rod 22, data recording of raw material flow is guaranteed, the material conveying speed is controlled through a stepping speed reducing motor 25, the purpose material conveying requirement is guaranteed to be met, and the requirement for uniform discharging is guaranteed; this scheme is still through setting up the batch pan 12, the material pipe 21 mouth of pipe is linked together with broadcasting dish 32, guarantee that broadcasting dish 32's raw materials rotates and broadcasts away through centrifugal force through motor control, set up the blade on broadcasting dish 32, guarantee to broadcast to sow reposition of redundant personnel and broadcast the direction and broadcast the volume evenly distributed of sowing, through setting up industrial camera 44, industrial camera 44 is installed at the device middle edge position, the camera lens angle is parallel with broadcast out the raw materials angle, broadcast raw materials particle diameter size through image analysis real-time supervision, broadcast density and broadcast width of a river, control broadcast motor 33 rotational speed.
As an embodiment of the present invention, please refer to fig. 2-3, the broadcasting module 3 includes a motor chamber 31, a broadcasting motor 33 is disposed in the motor chamber 31, a motor fixing plate 34 is fixedly disposed at the bottom of the broadcasting motor 33, the broadcasting motor 33 penetrates the motor fixing plate 34 and is rotatably connected to a coupler 35, a broadcasting plate 32 fixing plate is fixedly disposed at one end of the coupler 35, and the broadcasting plate 32 fixing plate is fixedly connected to the broadcasting plate 32.
Through the technical scheme: through set up broadcast sowing motor 33 in motor storehouse 31, set up motor fixed plate 34 and fix broadcast sowing motor 33 in motor storehouse 31, set up shaft coupling 35 in motor storehouse 31 bottom and guarantee that the motor operation drives broadcast sowing dish 32 and rotate, set up broadcast sowing motor 33 and guarantee the stability of whole device in the under-deck to the control is broadcast sowing the width and is broadcast sowing the even of scope.
As an embodiment of the present invention, please refer to fig. 1-2, a feeding module 1 includes an upper top cover 11, the upper top cover 11 is used for connecting and assembling with different unmanned aerial vehicle bins, a bin fastening screw 111 is disposed on a side surface of an opening of the upper top cover 11, and a lower portion of the upper top cover 11 is connected with a distribution tray 12. Through setting up top cap 11, will go up top cap 11 and different unmanned aerial vehicle workbins and link up the connection equipment for broadcast sowing the raw materials, through the effect that workbin fastening screw 111 linked up the workbin simultaneously, go up top cap 11 and be connected the process of guaranteeing to distribute the raw materials of sowing to divide the material and transport smoothly going on with minute charging tray 12.
As an embodiment of the present invention, please refer to fig. 3-4, a stepping reduction motor 25 is fixedly disposed on the upper top cover 11, a gear sealing bin 27 is fixedly disposed at the bottom end of the upper top cover 11, a stepping motor driving gear 26 is disposed in the gear sealing bin 27, the stepping motor driving gear 26 is engaged with a screw rod gear 24, and the stepping motor driving gear 26 is used for driving the screw rod 22 to rotate.
Through the technical scheme: the spiral material rod 22 driving gear is arranged at the top of the spiral material rod 22 close to the distributing disc 12, so that the rotating speed of the spiral material rod 22 is adjusted under the control of the stepping speed reducing motor 25, and the feeding speed and the feeding amount are controlled to be more uniform; the stepping speed reducing motor 25 is fixed at the upper end of the upper top cover 11 through screws, the stepping motor driving gear 26 is meshed with the spiral material rod gear 24 to drive the spiral material rod 22 in the material pipe 21, the spiral material rod flows through the annular capacitance sensor 23 arranged at the lower end of the material pipe 21, and the broadcasting disc 32 is driven by a broadcasting motor 33 fixed at the center of the device through a motor fixing ring of the broadcasting disc 32 to complete a broadcasting task.
As an embodiment of the present invention, please refer to fig. 1 and 3, the main control module 4 includes a main control box 41, the main control box 41 is fixedly disposed on the housing of the motor chamber 31, a main control cover 42 is fixedly disposed outside the main control box 41, an encoder 43 is disposed at the top end of the broadcast motor 33, the encoder 43 is used for measuring and calculating and feeding back the rotation speed of the broadcast motor 33 to the MCU in real time, and the main control module 4 is used for controlling the circuit for operating the broadcast module 3 and the rotation of the step speed reduction motor 25.
Through the technical scheme: the main control module 4 ensures to control the operation program and information feedback of the whole broadcast motor 33 by setting the main control box 41, and particularly regulates and controls the rotating speed and frequency of the broadcast motor 33 by setting the encoder 43, so that the broadcast program and circuit under the main control module 4 can be ensured to normally operate, and meanwhile, the main control module 4 can flexibly use the system control and transmit broadcast data information in real time under intelligent wireless and network conditions.
Referring to fig. 3, as an embodiment of the present invention, a material rod supporting ring 28 is disposed at an upper end of an annular capacitive sensor 23, the material rod supporting ring 28 is fixedly disposed on an inner wall of the material pipe 21, the annular capacitive sensor 23 is configured to feed back a broadcast flow rate of the spiral material rod 22 to the MCU in real time, and the industrial camera 44 is disposed on a housing of the motor cabin 31.
This scheme is through preferred, and the unmanned aerial vehicle workbin is assembled with the device that broadcasts seeds, carries out wireless remote control in injecting the workbin with grass seed mixed raw materials and broadcasts seeds, and concrete step is:
s1, setting standard intervals [ a, b ] of broadcasting flow and rotating speed intervals [ c, d ] of a broadcasting disc 32 according to broadcasting requirements, and entering broadcasting operation;
s2, measuring the real-time flow u of different material pipes 21 through the annular capacitance sensor 23, and comparing the real-time flow u with [ a, b ] to obtain a first working instruction:
if u belongs to [ a, b ], transmitting the regulation and control instruction to an infinite remote control operation end;
if it is
S3 is carried out;
s3, regulating and controlling the rotating speed of the broadcasting motor 33, working an encoder 43 of the broadcasting motor 33, measuring and calculating the rotating speed V1 of the real-time broadcasting disc 32, and comparing the rotating speed V1 of the real-time broadcasting disc 32 with [ c, d ] to obtain a second working instruction:
if it is
Adjusting V1 size to [ c, d ] by PID algorithm]Then carrying out broadcast sowing operation;
and if V1 belongs to [ c, d ], performing broadcast operation.
The flow numerical values of different material pipes with real-time flow u measured by the annular capacitance sensor are sent to the MUC, and the MCU sends signals of the rotating speed of the broadcast sowing motor and the broadcast sowing flow to the upper computer through a wireless device.
Broadcast image analysis is carried out in real time through an industrial camera 44, the broadcast particle size, the breadth and the broadcast density are analyzed, the initial range [ c, d ] is adjusted, and then the rotating speed of a broadcast motor 33 is adjusted; the precise adjustment of the rotation speed of the sowing plate 32 specifically comprises the following operations:
SS1, if u belongs to [ a, b ], regulating V1 to [ c, d ] by a PID algorithm and keeping V1 unchanged;
SS2, if
Adjusting V1 to [ c, d ] by wireless infinite remote control operation end]And (4) the following steps.
As shown in fig. 1, when the unmanned aerial vehicle is used, after the unmanned aerial vehicle is assembled with a material box, raw materials are injected into the material box, after the unmanned aerial vehicle flies to a specified position, a wireless control device is started, a speed reducing motor drives a spiral material rod 22 to rotate, an annular capacitance sensor 23 feeds back flow data in different material pipes 21 in real time, the rotating speeds of the spiral material rods 22 in the different material pipes 21 are controlled by continuously adjusting the rotating speeds of the different speed reducing motors, so that the flow sizes among the three material pipes 21 are kept small in error and are always within a target flow size range, the flow size of the raw materials conveyed can be effectively controlled at the moment, the uniformity of the raw materials flowing downwards in the different material pipes 21 is ensured, the raw materials are conveyed to a broadcasting disc 32 by the rotation of the spiral material rods 22, the rotating speeds of the broadcasting motor 33 are adjusted to be kept within a set range by a PID algorithm through feeding back of the flow data, the broadcasting disc 32 is driven to rotate and centrifugally broadcast, and the broadcasting width can be accurately adjusted; the industrial camera is installed and is close to the border position in the centre of this device to through the conventional regulation and control camera lens angular adjustment, guarantee the best angle of the broadcast raw materials of shooing, shoot and acquire broadcast image information, transmit image information to MCU, MCU transmits image information to the host computer, carry out the analysis through the host computer and send and control the instruction, MCU adjusts initial range, broadcast the adjustment of motor rotational speed again.
The mixed raw material of grass seeds comprises 62 percent of grass seeds and 38 percent of matrix, wherein the matrix is matched with wood fiber, a water-retaining agent, a chemical fertilizer and loess.
Through the technical scheme: when grass seeds are sowed, grass seed sowing raw materials are mixed with wood fibers, a water-retaining agent, a chemical fertilizer and loess to form a slurry state, the survival rate of the grass seeds after sowing is guaranteed through mixed nutrient substances, small irregular-particle sowing raw materials are changed into the slurry-state raw materials, the sowing defects caused by physical characteristics of the small irregular-particle sowing raw materials can be further reduced, the sowing controllability is improved, the survival rate of the grass seed sowing is improved, and the multichannel flow accurate regulation and control mud medium unmanned grass seed sowing device is matched to be beneficial to accurate and controllable sowing operation.
The foregoing is merely exemplary and illustrative of the principles of the present invention and various modifications, additions and substitutions of the specific embodiments described herein may be made by those skilled in the art without departing from the principles of the present invention or exceeding the scope of the claims set forth herein.
Claims (10)
1. The utility model provides an unmanned aerial vehicle device of broadcasting is regulated and control to multichannel flow accuracy which characterized in that includes: the device comprises a feeding module (1), a material conveying module (2), a broadcasting module (3) and a main control module (4);
the feeding module (1) comprises a material distribution disc (12), the material conveying module (2) comprises material pipes (21), spiral material rods (22) are arranged on the inner walls of the material pipes (21) in an inscribed mode, the spiral material rods (22) rotate under the action of driving force, and the bottoms of the material distribution disc (12) are communicated with pipe orifices of the material pipes (21);
broadcast sowing disks (32) are arranged right below the bottoms of the plurality of material pipes (21), blades are uniformly arranged on the broadcast sowing disks (32), and the broadcast sowing disks (32) rotate under the action of driving force;
a plurality of spiral material pole (22) are kept away from the one end of branch charging tray (12) and are provided with annular capacitance sensor (23) respectively, annular capacitance sensor (23) are used for taking notes raw materials flow size, main control module (4) come control raw materials flow size through the rotational speed of adjusting spiral material pole (22), main control module (4) are provided with industry camera (44), industry camera (44) are used for the real-time image of broadcasting of record broadcasting module (3).
2. The device for accurately regulating and controlling the flow of the multi-channel unmanned aerial vehicle according to claim 1, wherein the broadcasting module (3) comprises a motor chamber (31), a broadcasting motor (33) is arranged in the motor chamber (31), a motor fixing plate (34) is fixedly arranged at the bottom of the broadcasting motor (33), the broadcasting motor (33) penetrates through the motor fixing plate (34) to be rotatably connected with a coupler (35), a broadcasting disc fixing plate (36) is fixedly arranged at one end of the coupler (35), and the broadcasting disc fixing plate (36) is fixedly connected with the broadcasting disc (32).
3. The device for accurately regulating and controlling the spreading rate of the unmanned aerial vehicle according to the flow rate of the multichannel, according to claim 1, is characterized in that the feeding module (1) comprises an upper top cover (11), the upper top cover (11) is used for being connected and assembled with different unmanned aerial vehicle bins, bin fastening screws (111) are arranged on the side face of the opening of the upper top cover (11), and the lower portion of the upper top cover (11) is connected with a distributing tray (12).
4. The multichannel flow accurate control unmanned aerial vehicle broadcasting device of claim 3, characterized in that, fixed stepping gear motor (25) that is provided with on upper top cap (11), the bottom mounting of upper top cap (11) is provided with gear seal storehouse (27), be provided with step motor drive gear (26) in the gear seal storehouse (27), step motor drive gear (26) meshing connection has spiral material pole gear (24), step motor drive gear (26) are used for driving spiral material pole (22) to rotate.
5. The device for accurately regulating and controlling the flow of the multichannel unmanned aerial vehicle according to claim 2, wherein the main control module (4) comprises a main control box (41), the main control box (41) is fixedly arranged on a shell of the motor cabin (31), a main control sealing cover (42) is fixedly arranged outside the main control box (41), an encoder (43) is arranged at the top end of the broadcasting motor (33), the encoder (43) is used for measuring and calculating and feeding back the rotating speed of the broadcasting motor (33) to the MCU in real time, and the main control module (4) is used for controlling a circuit for operating the broadcasting module (3) and the rotation of the stepping speed reduction motor (25).
6. The device for accurately regulating and controlling the spreading rate of the unmanned aerial vehicle according to the flow rate of the multiple channels as claimed in claim 1, wherein the annular capacitive sensor (23) is provided at an upper end thereof with a material rod support ring (28), the material rod support ring (28) is fixedly arranged on the inner wall of the material pipe (21), the annular capacitive sensor (23) is used for feeding back the spreading flow rate of the spiral material rod (22) to the MCU in real time, and the industrial camera (44) is arranged on the housing of the motor cabin (31).
7. The utility model provides an unmanned aerial vehicle broadcasting method is regulated and control to multichannel flow accuracy, its characterized in that, unmanned aerial vehicle workbin and broadcasting device assemble, carry out wireless remote control broadcasting with grass seed mixed raw materials injection workbin, concrete step is:
s1, setting standard intervals [ a, b ] of broadcasting flow and rotating speed intervals [ c, d ] of a broadcasting disc (32) according to broadcasting requirements, and entering broadcasting operation;
s2, measuring the real-time flow u of different material pipes (21) through an annular capacitance sensor (23), and comparing the real-time flow u with [ a, b ] to obtain a first working instruction:
if it is
Transmitting the regulating instruction to the infinite remote control operation end;
if u belongs to [ a, b ], performing S3;
s3, entering the rotation speed regulation and control of the broadcasting motor (33), working an encoder (43) of the broadcasting motor (33), measuring and calculating the rotation speed V1 of the real-time broadcasting disc (32), and comparing the rotation speed V1 of the real-time broadcasting disc (32) with [ c, d ] to obtain a second working instruction:
if it is
Adjusting the size of V1 to [ c, d ] by PID algorithm]Then carrying out broadcast sowing operation;
and if V1 belongs to [ c, d ], performing broadcast operation.
8. The method for accurately regulating and controlling the broadcast of the unmanned aerial vehicle according to the flow of the multiple channels as claimed in claim 7, wherein the flow values measured by the annular capacitance sensor (23) according to the real-time flow of the different material pipes (21) are sent to the MUC, and the MCU sends signals of the rotating speed of the broadcast motor (33) and the broadcast flow to the upper computer through a wireless device.
9. The method for broadcasting the unmanned aerial vehicle with the multichannel flow rate accurately regulated and controlled according to claim 8, characterized in that broadcasting image analysis is carried out in real time through an industrial camera (44), the broadcasting particle size, the breadth and the broadcasting density are analyzed, the initial range [ c, d ] is adjusted, and then the rotating speed of a broadcasting motor (33) is adjusted; the precise adjustment of the rotating speed of the broadcasting disc (32) specifically comprises the following operations:
SS1, if u belongs to [ a, b ], regulating V1 to [ c, d ] by a PID algorithm and keeping V1 unchanged;
SS2, if
Adjusting V1 to [ c, d ] by wireless infinite remote control operation end]And (4) inside.
10. The method for accurately regulating and controlling the flow of the multichannel unmanned aerial vehicle according to claim 7, wherein the mixture ratio of the grass seed mixed raw materials is 62% of grass seeds and 38% of a matrix, and wood fibers, a water-retaining agent, a chemical fertilizer and loess are matched in the matrix.
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