CN206773530U - A kind of Control management system of intelligent plant protection unmanned plane - Google Patents
A kind of Control management system of intelligent plant protection unmanned plane Download PDFInfo
- Publication number
- CN206773530U CN206773530U CN201720510224.6U CN201720510224U CN206773530U CN 206773530 U CN206773530 U CN 206773530U CN 201720510224 U CN201720510224 U CN 201720510224U CN 206773530 U CN206773530 U CN 206773530U
- Authority
- CN
- China
- Prior art keywords
- management system
- unmanned plane
- normally closed
- nozzle
- plant protection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a kind of Control management system of intelligent plant protection unmanned plane, including controlling the flight control system of unmanned plane during flying and the brainpower insufflation management system of control flusher, main jet quantity, water-aspirator pressure and cruising speed in shower nozzle are calculated according to spray area and dosage.Compared with prior art, sprinkling of the utility model for medicine in farmland is more uniform, will not cause medicine weeping.
Description
Technical field
A kind of Control management system of intelligent plant protection unmanned plane is the utility model is related to, belongs to navigator fix and the skill of control
Art field.
Background technology
The uneven phenomenon of herbal sprinkling often occurs when being sprayed insecticide to crops in plant protection unmanned plane.Its is main
The reason for by three aspects, first, flying height, flying speed and water pump output quantity can influence finally to be attached on crops
Dose, but many unmanned planes are in operation, and this three is not carried out to overall consideration, therefore in acceleration and deceleration or turning
Place, after aircraft altitude, speed change, causes dose uneven.Second, may be by portion nozzle during sprinkling
It is blocked, if without finding in time, it will cause blocking crops to be missed.3rd, dose is relatively low or airborne agricultural chemicals is used
When to the greatest extent, fail the point of record drug withdrawal in time or without record drug withdrawal point, cause small pieces crops to be missed.
Different crops, it is different to the demand of agricultural chemicals.Same crops are also different to the demand of different agricultural chemicals.
Therefore when changing manipulating object, spray value of the unmanned plane within the unit interval will change.If by adjusting water pump pressure
Power size changes spray value, the atomizing effect of agricultural chemicals can be made to be deteriorated, even becomes drops.If pass through aircraft flight speed
Degree or height change spray value, can reduce laxative efficiency.These methods can not make the spray effect of plant protection unmanned plane in face of
During Different Crop, a preferable state is in.
Therefore, further to improve the work quality of plant protection unmanned plane, solve the above problems be there is an urgent need to.
Utility model content
The utility model technical issues that need to address are to be directed to above-mentioned the deficiencies in the prior art, and provide a kind of sprinkling agriculture
The Control management system of the uniform plant protection unmanned plane of medicine.
In order to solve the above technical problems, the technical solution adopted in the utility model is：
A kind of Control management system of intelligent plant protection unmanned plane, including flight control system and brainpower insufflation management system,
The flight control system includes main control chip A and the attitude transducer being electrically connected to respectively on main control chip A, difference
GPS, barometer, radio number pass, power electric power detection module, and the brainpower insufflation management system includes auxiliary control chip B, flow
Meter, power module, water pump and normally closed solenoid valve, the main control chip A, auxiliary control chip B, power module, normally closed solenoid valve are successively
Series connection, the water pump electrical power source module are provided with medicine-chest outside water pump, medicine-chest, water pump, normally closed solenoid valve by pipeline according to
Secondary connection.
Flusher is provided with outside the normally closed solenoid valve, flow is additionally provided between normally closed solenoid valve and flusher
Meter, pipeline connects successively for normally closed solenoid valve, flowmeter, shower nozzle, the flowmeter electrical connection auxiliary control chip B.
The flusher includes six nozzles, and six nozzles are arranged on aircraft bottom by the row two of heading three row, its
In per behavior one group of nozzle, totally three groups of spray groups, spray insecticide downwards.
Compared with prior art, the Control management system of a kind of intelligent plant protection unmanned plane of the present utility model, needing not
With spray value when, the nozzle quantity to be opened of intelligent selection, to determine the size of spray value.When spray value demand is smaller,
Reduce spray value by reducing nozzle quantity, spraying can be made to remain within a preferable state.Height can be accomplished simultaneously
Degree change is little, in the case that velocity variations are little, changes spray value.Spray value size can be changed, can also remain higher
Spray efficiency.
During spray, by introducing flying speed, flying height and the signal of nozzle flow, closed-loop control is carried out.
Cause aircraft in acceleration and deceleration, at the uniform velocity or turn to while, the medication amount being attached on crops is as consistent as possible.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the nozzle schematic diagram on unmanned plane；
Fig. 3 is flow control flow chart.
Embodiment
Describe optimal technical scheme of the present utility model in detail below in conjunction with the accompanying drawings.
As shown in figure 1, the Control management system and its control method of a kind of intelligent plant protection unmanned plane of the present utility model, are used
In solve plant protection unmanned plane spraying insecticide when spray it is uneven, and change manipulating object when, spray effect uniformity be deteriorated
The problem of；
Mainly it is made up of two big modules：Flight control system and brainpower insufflation management system.Flight control system includes master
Control chip A, attitude transducer, differential GPS, barometer, radio number biography, power electric power detection module etc.；Brainpower insufflation management
System includes：Auxiliary control chip B, flowmeter, power module, water pump and normally closed solenoid valve (normally closed solenoid valve is divided into six water intaking valves,
See Fig. 1) etc., system architecture diagram is shown in Fig. 1, and fine rule coupling part will use electrical connection, the place of thick-line arrow connection in figure
Connected using water pipe；
Flusher is provided with outside the normally closed solenoid valve, flow is additionally provided between normally closed solenoid valve and flusher
Meter, pipeline connects successively for normally closed solenoid valve, flowmeter, shower nozzle, the flowmeter electrical connection auxiliary control chip B；
The flusher includes six nozzles, and six nozzles are arranged on aircraft bottom by the row two of heading three row
Portion, where each row are one group of nozzle, and totally three groups of spray groups, spray insecticide downwards.
The major function of flight control system is：Posture, position and the speed letter provided according to attitude transducer and GPS
Breath, flight path and flying speed of the control aircraft in spraying operation.Communicated with earth station, and in work process, with spray
Spill management system real-time Communication for Power：1st, start-up operation and silence signal are sent and gives sprinkling management system；2nd, send elevation information,
Velocity information gives sprinkling management system, and obtains desired speed from sprinkling management system；3rd, work is obtained from sprinkling management system
Make status word, be zero or during the signal of Nozzle failures when obtaining dose, record current GPS location.The GPS location of record can be made
For the starting point of lower subjob.
The major function of brainpower insufflation management system is：
1st, according to setting spray value size, the parameter of the nozzle set in advance by main control chip combination, decision will open
Nozzle quantity, and switching signal is exported to power supply, to the normally closed solenoid valve power supply corresponding to the nozzle for needing to open, opened
Open respective nozzle, different unmanned planes can carry nozzle quantity it is different, the system could support up 6 nozzles of control.
2nd, the flow information of four nozzles is obtained at flowmeter, when the data on flows of all nozzles is normal, with reference to
Current flying height, flying speed, calculate current controlled quentity controlled variable, output control signal controls water pump to power module
Pressure changes by a small margin, further controls the dose that goes out for the nozzle having turned on, and ensures uniformly spray.
When the 3rd, detecting that the flow of single-nozzle is in abnormal, switch off the pump, the abnormal letter of single-nozzle is sent to winged control
Number.When detecting that all nozzle flows are in a lower value, switch off the pump, the signal of dose deficiency is sent to winged control.
Flight control system type selecting：Main control chip A selects STM32F407ZGT6, attitude transducer selection X-sens's
MTI-300, difference GPA use the airborne boards of Novatel OEM-617 and its supporting base station, barometer selection MS5611.
Brainpower insufflation management system type selecting：Auxiliary control chip B selects STM32F103ZET6；Water pump uses Pulan enlightening PLD-
1202 miniature diaphragm water pumps, maximum pressure 0.6Mpa；Flowmeter uses OKD-HZ06S Hall flow sensors, normally closed solenoid valve
From the normally closed water intaking valves of DC12V, power module is designed based on switch triode.In addition, when describing in detail, using certain brand
VP110 nozzles, its flowmeter at various pressures are as shown in table 1：
| Pressure (Mpa) | Flow (liter/min) |
| 0.2 | 0.45 |
| 0.3 | 0.55 |
| 0.4 | 0.63 |
The Nozzle Parameter table of table 1
Specifically, installation diagram signal of the nozzle under plant protection unmanned plane such as Fig. 2, wherein 1,2,3 be one group, 4,5,6 be one
Group, the corresponding flowmeter of each nozzle, each flowmeter is again to a water intaking valve.
The course of work of the system is described below, and following noun will write a Chinese character in simplified form replacement using in bracket in the introduction：Flight
Control system (FCS), sprinkling management system (ISMS).
A. to the FCS settings line of flight, spray area and dosage.When wherein the line of flight includes aircraft automatic flight
Longitude and latitude, height and velocity information；
B. the altitude data in spray area, dosage and the line of flight is sent to ISMS, ISMS is according to these
Data, which calculate, needs the optimum nozzle group number and aircraft cruising speed opened, cruising speed be sent to FCS be used for control flight
Speed, specific calculation are as follows：
I, sprinkling system spray width W is calculated
Single-nozzle spray width W is calculated according to flying height H, crops height h and nozzles spray angle, θ1,
Because every group of nozzle includes two nozzles arranged side by side, the spray width W=2*W of sprinkling system1；
II, calculate the nozzle sets number K for needing to open1
If spray area is S, dosage vol, it is V to preset unmanned plane speeda, spray area and dosage source number
According to obtaining in step, preset in the Flight path data of unmanned plane speed source data in step and obtain, sprinkling is wide
Degree W is obtained in calculating process I, thus calculates the total flow A that unmanned plane is sprayed insecticide, formula is as follows：
Spraying efficiency highest when suffered water-aspirator pressure makes spraying uniform just, pressure value now is also frequently as nozzle
The minimum pressure P of workmin, now the sprinkling flow of single-nozzle be, then the flow of one group of nozzle be；Needed for can obtaining
The nozzle sets number of unlatching be K,
Now K is unsatisfactory for actual conditions if decimal, integer K that can be smaller than K and nearest from K on K access axles1, Ran Houtong
Cross the mode of intensified pressure, flow needed for compensation residue；
III, supercharging compensating flowrate R are calculated
It is located at PminUnder, using K1After group nozzle, to meet the needs of spraying total flow A, single group nozzle also needs the stream of supplement
R is measured, formula is
R=(K-K1)*(2*a)
IV, optimal cruising speed Va1Calculate
Water-aspirator pressure suffered by single-nozzle is from PminIncrease to PmaxWhen, the flow incrementss of single-nozzle are b, then pressure
Afterwards, all nozzle total flows are had turned on and compare PminWhen incrementss be (2*b) * K1。
If R is more than (2*b) * K1., i.e., can not meet to spray the needs of total flow is A by increasing pressure, then can lead to
Cross and appropriate slow down flying speed to increase flow；When making water pump pressure maximum, nozzles spray maximum flow, now aircraft flight
Velocity variable is minimum, is reduced for operating efficiency minimum；Flow of the single-nozzle in water-aspirator pressure maximum is (a+b), then
The total flow of single group nozzle is 2* (a+b)；Assuming that unmanned plane is V in speeda1, nozzle total flow is 2* (a+b) * K1When, just
Vol can be made to rise agricultural chemicals to be uniformly sprayed on the farmland that area is S, then should meet following relational expression,
So as to obtain best airplane cruising speed Va1；
If R is less than (2*b) * K, you can to meet to spray the needs of total flow is A by increasing pressure, cruising speed is
Cruising speed information in line of flight task；
C. when carrying out plant protection operation, the pulse signal of auxiliary control chip B capture flowmeter outputs, according to the frequency of pulse signal
Rate calculates the flow of the agricultural chemicals of single-nozzle sprinkling, and then the data on flows of each nozzle is detected, testing result point
For three kinds of situations：A, each nozzle flow is on the minimum of setting；B, single-nozzle flow is under minimum；
C, each nozzle flow is under minimum；When detection case is a, the average of flow is asked for, is used as feedback signal
Controlled in flow；When detection case is b, switch off the pump, and send faulting instruction 1 to FCS, after FCS receives instruction, record is worked as
Preceding gps coordinate simultaneously makes a return voyage；When detection case is c, switch off the pump, and send faulting instruction 2 to FCS, FCS receives instruction
Afterwards, record current gps coordinate and make a return voyage, faulting instruction 1 represents the sprinkling abnormal state of some or multiple nozzles, and failure refers to
Make the sprinkling abnormal state of all nozzles of 2 expressions；
D. during normal operation, flow detection result is a, and according to the flow information fed back, fountain height can be carried out
Control, the speed of current unmanned plane during flying is obtained from FCS first, can be with by unmanned plane during flying speed and single-nozzle flow
Calculate the flow a of single-nozzle1For：
Wherein
H herein0And Va0Actual height and speed for aircraft H herein0And Va0For the actual height and speed of aircraft.
It will it is expected that flow makes the difference to obtain flow error with present flow rate, flow error passes through PID (ratio, differential and integration)
Controller computing, the correction of PWM (pulse width modulation) dutycycle is generated, exports to power module, control water-aspirator pressure,
Single-nozzle flow velocity is changed, spray unmanned plane more uniform, the flow is sent to auxiliary control chip B by flowmeter again,
Make data reference for step B；
PID controller be by proportional unit, integral unit and differential single group into.PID controller can be according to historical data
Input value is adjusted with the occurrence rate of difference, can so make system more accurate, it is more stable.
PWM (pulse width modulation) is a kind of analog control mode, and it is according to the change of respective loads come modulation transistor
The biasing of base stage or metal-oxide-semiconductor grid, to realize the change of transistor or metal-oxide-semiconductor ON time, so as to realize that power module exports
Change, and the output voltage of power supply is kept constant in operation conditions change.
I.e. when aircraft normal operation, by flying speed and it can also fly when FCS detects electrokinetic cell low battery
When, shutdown command is sent to ISMS, and ISMS switches off the pump and all normally closed water intaking valves, FCS record current GPS coordinates, makes a return voyage.
Claims (3)
- A kind of 1. Control management system of intelligent plant protection unmanned plane, it is characterised in that：Including flight control system and brainpower insufflation Management system, the flight control system include main control chip A and the posture being electrically connected to respectively on main control chip A sensing Device, differential GPS, barometer, radio number pass, power electric power detection module, and the brainpower insufflation management system includes auxiliary control core Piece B, flowmeter, power module, water pump and normally closed solenoid valve, the main control chip A, auxiliary control chip B, power module, normally closed electricity Magnet valve is sequentially connected in series, the water pump electrical power source module, is provided with medicine-chest outside water pump, medicine-chest, water pump, normally closed solenoid valve lead to Piping is sequentially connected.
- A kind of 2. Control management system of intelligent plant protection unmanned plane according to claim 1, it is characterised in that：It is described normally closed Flusher is provided with outside magnetic valve, flowmeter, normally closed solenoid valve, flow are additionally provided between normally closed solenoid valve and flusher Pipeline connects successively for meter, shower nozzle, the flowmeter electrical connection auxiliary control chip B.
- A kind of 3. Control management system of intelligent plant protection unmanned plane according to claim 2, it is characterised in that：The sprinkling Device includes six nozzles, and six nozzles are arranged on aircraft bottom by the row two of heading three row, and where each row is one group of nozzle, Totally three groups of spray groups, spray insecticide downwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720510224.6U CN206773530U (en) | 2017-05-09 | 2017-05-09 | A kind of Control management system of intelligent plant protection unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720510224.6U CN206773530U (en) | 2017-05-09 | 2017-05-09 | A kind of Control management system of intelligent plant protection unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206773530U true CN206773530U (en) | 2017-12-19 |
Family
ID=60650681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720510224.6U Expired - Fee Related CN206773530U (en) | 2017-05-09 | 2017-05-09 | A kind of Control management system of intelligent plant protection unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206773530U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106970634A (en) * | 2017-05-09 | 2017-07-21 | 南京航空航天大学 | The Control management system and its control method of a kind of intelligent plant protection unmanned plane |
| CN108508808A (en) * | 2018-04-28 | 2018-09-07 | 山西农业大学 | A kind of brainpower insufflation system and method based on plant protection drone centrifugal sprinkler |
| CN109032213A (en) * | 2018-06-11 | 2018-12-18 | 马鞍山中粮生物化学有限公司 | A kind of airplane spray condition intelligent control system |
| CN116602286A (en) * | 2023-07-20 | 2023-08-18 | 黑龙江惠达科技股份有限公司 | Plant protection unmanned aerial vehicle spraying operation control system and method |
-
2017
- 2017-05-09 CN CN201720510224.6U patent/CN206773530U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106970634A (en) * | 2017-05-09 | 2017-07-21 | 南京航空航天大学 | The Control management system and its control method of a kind of intelligent plant protection unmanned plane |
| CN108508808A (en) * | 2018-04-28 | 2018-09-07 | 山西农业大学 | A kind of brainpower insufflation system and method based on plant protection drone centrifugal sprinkler |
| CN109032213A (en) * | 2018-06-11 | 2018-12-18 | 马鞍山中粮生物化学有限公司 | A kind of airplane spray condition intelligent control system |
| CN116602286A (en) * | 2023-07-20 | 2023-08-18 | 黑龙江惠达科技股份有限公司 | Plant protection unmanned aerial vehicle spraying operation control system and method |
| CN116602286B (en) * | 2023-07-20 | 2023-09-29 | 黑龙江惠达科技股份有限公司 | Plant protection unmanned aerial vehicle spraying operation control system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106970634A (en) | The Control management system and its control method of a kind of intelligent plant protection unmanned plane | |
| CN206773530U (en) | A kind of Control management system of intelligent plant protection unmanned plane | |
| CN103657923B (en) | PWM intermittent spraying formula variable spraying system sprays traffic packet regulate and control method | |
| CN103314220B (en) | Affect the fluid actuator of the stream along flow surface, spraying device and liquid | |
| CN104554725A (en) | Unmanned aerial vehicle capable of spraying variable amount of pesticide and method | |
| CN112432279B (en) | Isothermal isobaric humidification control system and control method for large icing wind tunnel body loop | |
| CN202222222U (en) | Multistage distributed type constant-pressure irrigation system | |
| CN103583500A (en) | High-precision agricultural variable spraying device and control method thereof | |
| CN202555439U (en) | Water spray pipeline system | |
| US20100243763A1 (en) | Spray apparatus | |
| CN103433165A (en) | Compressed air and ammonia-water solution directional metering and dispensing device | |
| CN202778868U (en) | Paint flow control device | |
| CN105724357A (en) | Plant protection machine with special pesticide spraying device and pesticide spraying method of plant protection machine | |
| CN212400646U (en) | Negative pressure generator in ink supply system of printer | |
| CN103975913A (en) | Pipeline pressure control device of boom spraying machine | |
| CN212433647U (en) | Wide-range high-precision gas pressure and flow quick adjusting device | |
| CN205528867U (en) | Pressure balance controlling means of blast furnace coal injection system | |
| CN108021063A (en) | The fog machine accuracy pesticide applying control method that pressure stable state is combined with feedback of status | |
| CN216500150U (en) | Spraying control system | |
| CN207626288U (en) | A kind of atomising cultivation device | |
| CN207539410U (en) | A kind of wind-tunnel high-precision flow control valve | |
| CN112268040A (en) | Precise flow control system | |
| CN217821358U (en) | Laminar flow quality and flow control system based on cascade control | |
| CN209268188U (en) | The operated plant factor's humidification system of separate space | |
| CN203459199U (en) | Compressed air and ammonia water solution directional metering and distribution device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171219 Termination date: 20210509 |