CN210653647U - Seeding rice type unmanned aerial vehicle and control system thereof - Google Patents

Abstract

The utility model discloses a seeding rice type unmanned aerial vehicle and control system thereof, seeding rice type unmanned aerial vehicle loads bucket, seed arrangement structure, reposition of redundant personnel structure from last unmanned aerial vehicle, seed to including in proper order down, the seed loads bucket fixed mounting in unmanned aerial vehicle's below, the seed loads the bucket and includes narrow terrace-shaped main part under wide, the top of terrace-shaped main part is equipped with the seed import, the bottom of planting terrace-shaped main part is equipped with first seed export, the seed arrangement structure includes that the top is equipped with open-ended casing, direct current motor, cylinder, the reposition of redundant personnel structure includes one row at least seed reposition of redundant personnel nest of tubes, and one row of seed reposition of redundant personnel nest of tubes includes a plurality of seed shunt tubes, and is a plurality of the seed entrance point of seed shunt tubes gathers together, and the seed exit end. The utility model discloses the seed of halfpace form loads the bucket, is equipped with the seed metering structure of cylinder, the reposition of redundant personnel structure of radiation fan-shaped in, can control the speed and the seeding volume of seed metering, equally divide the seeding volume of every seed export, improves the live precision of unmanned aerial vehicle strip and stability.

Description

Seeding rice type unmanned aerial vehicle and control system thereof

Technical Field

The invention relates to a rice sowing type unmanned aerial vehicle and a control system thereof, and belongs to the technical field of agricultural machinery unmanned aerial vehicle sowing.

Background

The rice is one of the three major food crops, the sowing area accounts for 1/5 of the grain sowing area, the annual output is about 4.8 hundred million tons and accounts for 1/4 of the total world food output, more than one half of the world population takes the rice as staple food, and the rice is also one of the major cultivated crops in China. The rice seeding surface of China accounts for 1/4 of the food crops of China, and the yield accounts for more than half. With the development of social economy, the adjustment of agricultural structure, the rural labor force transfer and the population aging in China, the traditional rice cultivation technology mainly based on manual labor cannot meet the requirement of rice production in China at present, and the simplification and mechanized planting of rice become the key points for improving the labor productivity and solving the labor shortage. The planting area of rice is about 30% and 40% of the sowing area of grain crops in China and Sichuan, and the total yield of rice is 40% and 60% of the total yield of grain crops respectively. In recent years, with the development of social economy, the comparative benefit of grain production is gradually reduced, a large amount of labor force is transferred to other industries, and large-scale land operation becomes trend. The direct seeding of rice is a rice seeding mode for directly seeding rice seeds into a field, saves the operation procedures of seedling raising, seedling pulling, seedling transplanting and the like, has the advantages of particularly remarkable labor and cost saving, meets the requirements of current rice production, and is developed very quickly. The traditional manual broadcasting has the technical problems that the series of irregular emergence of seedlings, disorderly seedlings, shallow root pricking and easy lodging are difficult to solve, the yield potential is low, the stable yield is poor, and the inevitable trend is replaced by the mechanical direct seeding technology.

Countries with high mechanized levels of rice planting in the world currently include the united states, italy, australia, japan and korea, wherein the countries in europe and america mainly adopt direct seeding mechanization, and the countries in asia mainly adopt seedling transplantation. The United states is one of the earliest countries for realizing mechanized rice planting, and mechanized direct seeding of rice is realized in 100% at present, wherein mechanical dry direct seeding is adopted in 80% of the countries, and airplane water direct seeding is adopted in 20% of the countries. The mechanized direct seeding planting technology for rice has the characteristics of high operation efficiency, low labor intensity, simple operation machine, low production operation cost, higher yield and suitability for large-scale operation, but has strict requirements on rice varieties, growth periods, irrigation conditions, soil preparation quality and weed control technology.

Due to the wide rice planting area and the difference of planting systems in China, 3 modes of direct sowing by a machine, seedling throwing by a machine and seedling transplanting by a machine are presented on rice planting machinery. The direct sowing of the rice machine comprises machine drill sowing and machine hole sowing, the technology well solves the defects of disordered growth, large seed consumption and unreasonable group structure of the rice sowed manually, and the development is rapid in the southern rice area. In 2016, the area of the direct-sowing rice in Zhejiang, Anhui and Jiangxi reaches more than 150 ten thousand mu, and the direct-sowing rice in Shanghai is almost all the direct-sowing rice in Jiangxi. Compared with the manual transplanting, the mechanized direct seeding of the rice has great yield increase because the mechanical direct seeding of the rice has short growth period, early tillering and high earning rate; the plant population has good permeability, the photosynthetic product accumulation speed is high, and the dry matter accumulation is high; the plant has strong nutrient absorption capacity and large root activity, and can effectively increase the yield of rice varieties.

The production of rice in southern mountainous areas is an important component of agriculture in China, but in southern hilly and mountainous areas, special fields are more, and suitable mechanical equipment is lacked, so that the production of rice in southern hilly and mountainous areas is restricted. The rice seeding unmanned aerial vehicle can effectively break the limitation of land conditions in hilly and mountainous areas, is not limited by special-shaped fields, is free in operation, higher in seeding efficiency and lower in labor cost, improves the standardization and intellectualization of agricultural machinery operation, and is an important way for solving the problem of mechanized rice planting in hilly and mountainous areas.

The rice unmanned aerial vehicle among the prior art sows inhomogeneously, and unmanned aerial vehicle flight in-process stability is relatively poor, and starry seeding unmanned aerial vehicle leads to the seeding degree of accuracy low, so a better seeding efficiency higher seeding type unmanned aerial vehicle of stability and control system thereof remain to study.

Disclosure of Invention

In order to solve the above problems, the present invention provides an unmanned aerial vehicle for sowing rice and a control system thereof, wherein the unmanned aerial vehicle comprises a step-shaped seed loading barrel, a seed discharging structure with a roller arranged therein, and a radial fan-shaped flow dividing structure, so that the seed discharging speed and the seed discharging amount can be controlled, the seed discharging amount of each seed outlet can be equally divided, and the precision and the stability of the unmanned aerial vehicle direct seeding are improved.

In order to achieve the above purpose, the invention adopts the technical scheme that:

a seeding rice type unmanned aerial vehicle and a control system thereof are provided, wherein the seeding rice type unmanned aerial vehicle sequentially comprises an unmanned aerial vehicle, a seed loading barrel, a seed discharging structure and a shunting structure from top to bottom;

the seed loading barrel is fixedly arranged below the unmanned aerial vehicle and comprises a step-shaped main body with a wide upper part and a narrow lower part, a seed inlet is formed in the top of the step-shaped main body, and a first seed outlet is formed in the bottom of the step-shaped main body;

the seed discharging structure is fixedly connected below the seed loading barrel and comprises a shell with an opening at the top end, a direct current motor and a roller, the opening at the top end of the shell is communicated with the first seed outlet, a plurality of second seed outlets are arranged at the bottom end of the shell, the direct current motor is arranged outside the shell, the roller is arranged in the shell and is rotationally connected to the shell, and the roller is driven by the direct current motor; the outer peripheral surface of the roller is uniformly provided with a plurality of concave grids for bearing seeds, a hairbrush is arranged between any side surface of the shell parallel to the axial direction of the roller and the roller, one end of the hairbrush is fixedly connected to the side wall of the shell, the other end of the hairbrush is attached to the end surface of the concave grid, the opposite side of the side surface of the shell provided with the hairbrush is close to the end surface of the concave grid, a baffle plate positioned above the roller is further arranged in the shell, a through hole convenient for the seeds to fall is formed in the baffle plate, and the;

the seed distributing structure is fixedly arranged at the second seed outlet and comprises at least one row of seed distributing pipe groups, each row of seed distributing pipe group comprises a plurality of seed distributing pipes, the seed inlet ends of the plurality of seed distributing pipes are gathered, and the seed outlet ends are radially and fanned; the second seed outlets correspond to the seed flow dividing pipes one by one and are fixedly connected with each other.

Furthermore, the seed import is two sets at least, evenly distributed in the top of halfpace form main part. The seed import department is equipped with the apron subassembly, the apron subassembly includes apron, guide rail, and the apron is located the top of seed import to through guide rail sliding connection in seed loading case top, the guide rail is a set of at least, lays in the side of seed import department. The seed loads a barrel outer wall and still is equipped with fixed connection in unmanned aerial vehicle's mounting.

Further, the cylinder is hollow structure, and the inner wall joint of cylinder has the motor connecting piece. The arrangement direction of the second seed outlets is parallel to the axial direction of the roller.

Furthermore, the concave lattices are formed by surrounding a longitudinal division belt and a transverse division belt which are mutually vertical to the peripheral surface of the roller, the longitudinal division belt is parallel to the axial direction of the roller, a space area between two adjacent transverse division belts is a seed unit, the seed units and the seed outlets are in one-to-one correspondence, a plurality of partition plates are arranged in the shell along the section of the roller, and the partition plates are arranged between the adjacent seed units in parallel.

Further, a seed delivery pipe in a conical shape is arranged at the second seed outlet, a larger opening is fixedly connected to the second seed outlet in the seed delivery pipe, and a tubular connecting piece is arranged at a smaller opening of the seed delivery pipe.

Furthermore, the shunting structure also comprises a seed outlet adjusting structure for adjusting the distance and the direction of the seed outlet end, the seed outlet adjusting structure comprises a ruler rod and a plurality of positioning pieces, each positioning piece comprises an annular part for adjusting the distance of the seed outlet end and a tubular part for adjusting the direction of the seed outlet end, the annular part is sleeved on the ruler rod, and the tubular part is sleeved on the outer wall of the seed shunting pipe; the tubular part is fixedly connected with the annular part, and the axial direction of the tubular part is vertical to the ruler rod.

A control system of a seeding rice type unmanned aerial vehicle is a closed-loop control system which drives a direct current motor to rotate through a single chip microcomputer and comprises the single chip microcomputer, a photoelectric coded disc and a forward and reverse rotation driving circuit, wherein the photoelectric coded disc is connected to an output shaft of the direct current motor; the forward and reverse rotation driving circuit is respectively connected with the single chip microcomputer and the direct current motor; the single chip microcomputer is connected with the photoelectric code disc, and when the single chip microcomputer receives a control signal which is input from the outside and used for carrying out forward and reverse rotation on the direct current motor, the single chip microcomputer triggers the forward and reverse rotation driving circuit to drive the direct current motor to rotate so as to drive the roller to be opened or closed.

Further, the single chip microcomputer is a single chip microcomputer with a model STC15W104 and at least comprises a first port, a second port, a third port, a fourth port, a fifth port, a sixth port, a first pin and a second pin, the first port is connected to an externally input control signal, the first pin is connected to a ground terminal, and the second pin is connected to a working voltage.

Further, the forward/reverse rotation driving circuit includes: the motor forward rotation driving circuit is connected between the third port and the fifth port of the single chip microcomputer in series; the motor reverse rotation driving circuit is connected between the fourth port and the sixth port of the single chip microcomputer in series; the motor forward rotation driving circuit and the motor reverse rotation driving circuit form an H-bridge driving circuit, and the direct current motor is connected between diagonals of the H-bridge driving circuit.

Further, the motor forward rotation driving circuit includes: the second capacitor, the first resistor, the third resistor, the fifth resistor, the first triode, the first MOS tube, the third MOS tube and the fifth MOS tube; the first end of the first resistor is connected to a third port of the single chip microcomputer, the second end of the first resistor is connected to a base electrode of the first triode, an emitting electrode of the first triode is connected to a grounding end, a collecting electrode of the first triode is connected to the first end of the third resistor, the second end of the third resistor is connected to the first end of the fifth resistor, the second end of the fifth resistor is connected to source electrodes of the first MOS transistor and the third MOS transistor, a drain electrode of the first MOS transistor is connected with a drain electrode of the third MOS transistor, the direct current motor is connected between a grid electrode of the third MOS transistor and a grid electrode of the fifth MOS transistor, a source electrode of the fifth MOS transistor is connected to the grounding end, a drain electrode of the fifth MOS transistor is connected to the fifth port of the single chip microcomputer, and the second capacitor is connected to two ends of the fifth resistor; the first MOS tube and the third MOS tube are P-channel MOS tubes, and the fifth MOS tube is an N-channel MOS tube.

Further, the motor reverse rotation driving circuit includes: the fourth capacitor, the second resistor, the fourth resistor, the sixth resistor, the second triode, the second MOS transistor, the fourth MOS transistor and the sixth MOS transistor; the first end of the second resistor is connected to the fourth port of the single chip microcomputer, the second end of the second resistor is connected to the base electrode of the second triode, the emitter electrode of the second triode is connected to the ground terminal, the collector electrode of the second triode is connected to the first end of the fourth resistor, the second end of the fourth resistor is connected to the drain electrodes of the second MOS transistor and the fourth MOS transistor respectively, the source electrode of the second MOS transistor is connected to the source electrode of the fourth MOS transistor, the sixth resistor and the fourth capacitor are connected in parallel in sequence and between the drain electrode and the source electrode of the fourth MOS transistor, the direct current motor is connected between the gate electrode of the second MOS transistor and the gate electrode of the sixth MOS transistor, the source electrode of the sixth MOS transistor is connected to the ground terminal, and the drain electrode of the sixth MOS transistor is connected to the sixth port of the single chip microcomputer; the second MOS tube and the fourth MOS tube are P channel type MOS tubes, and the sixth MOS tube is an N channel type MOS tube.

Further, the forward/reverse driving circuit further includes: the voltage stabilizer comprises an input end, an output end and a grounding end, wherein the input end of the voltage stabilizer is connected to a working power supply of the direct current motor, the output end of the voltage stabilizer is connected to the ground through a first capacitor, and the grounding end of the voltage stabilizer is grounded. The photoelectric coded disc is connected between the voltage stabilizer and the single chip microcomputer.

The invention has the beneficial effects that:

(1) according to the invention, the center of gravity of the seed loading barrel is moved up to be close to the center of gravity of the unmanned aerial vehicle by the aid of the ladder-shaped main body structure of the seed loading barrel, stability of the seed loading barrel in the air is ensured, seeding paths and accuracy of seeding quantity are not easily influenced by strong wind, the seed inlets are positioned at the top of the seed loading barrel, feeding of seeds is facilitated, the uniformly arranged seed inlets keep the relative balance and stability of the seed loading barrel, and flying of the subsequent seed loading barrel in the air is facilitated;

(2) according to the design of the roller and the brush, compared with a traditional fan blade which is horizontally placed, the driving force of the roller is larger, especially for the condition of larger seeding amount, the stirring force of the roller is large, meanwhile, the abrasion of the arc-shaped surface of the roller to seeds is smaller, the breakage rate of the seeds is low, and further, the survival rate of the seeds after seeding is higher;

(3) according to the design of the longitudinal separating belt and the transverse separating belt on the outer side of the roller, on one hand, the roller is uniformly divided into a plurality of seed units which are matched with the second seed outlet to uniformly divide the seed sowing quantity, on the other hand, the outer part of the roller is divided into a plurality of concave grids, and in the rotating process of the roller, seeds in the concave grids on the top of the shell rotate to the bottom of the shell along with the concave grids and are discharged from the second seed outlet, so that the uniform seed sowing process is realized;

(4) the design of the direct current motor ensures that the roller can keep larger torque under the condition of smaller rotating speed, and ensures the smooth rotation of the roller and the smooth seeding;

(5) according to the design of the flow dividing structure, the seed flow dividing pipe leaves a certain falling space for the seeds, so that the divided seeds are changed in direction and accelerated to fall in the seed flow dividing pipe and then are discharged, at the moment, the accelerated seeds have a certain initial speed and are not easily controlled by wind force, the stability is high, the falling point accuracy of the seeds on a soil contact surface is better, and the seeds are easy to be in close contact with soil;

(6) due to the design of the seed shunt pipe group, the uniform shunting of seeds in the sowing process is realized, the seed amount of each seed shunt pipe is basically consistent, the sowing precision and the sowing continuity are improved, the in-line sowing can be realized quickly and accurately, a good plant leaf group structure is constructed, and the working efficiency is improved;

(7) according to the radial fan-shaped design of the flow dividing structure, the seed outlet end is positioned at the bottom end of the seed discharging structure, when sowing is carried out, the adjacent distance is needed to be set for the seeds, and the distance between the tail ends of the seed flow dividing pipes can be set by the seed outlet adjusting structure, so that the sowing distance can be controlled more accurately; seed outlet adjustment structure will be fixed in the chi pole in relatively independent seed shunt tubes's seed exit end is concentrated, and wherein the cyclic annular portion cup joints in the chi pole in the setting element, and tubulose portion cup joints in the seed exit end, and then fixes chi pole and seed shunt tubes, controls the interval of adjacent seed shunt tubes for the seed placement degree of accuracy is higher, and seeding stability is better.

(8) The control system of the invention can transmit the working state of the direct current motor to the singlechip through the photoelectric code disc, so that the working current of the direct current motor is about 10ma when the direct current motor rotates, the direct current motor is standby when the direct current motor does not rotate, and the standby current is less than 3ua, thereby saving the electric quantity; meanwhile, the photoelectric coded disc has high precision, the precision of 0.2 degree can be realized, the installation is very simple without any screw, the buckle installation is realized, the installation is carried out as soon as the buckle is pressed, the small signal sent by the single chip microcomputer in the existing unmanned aerial vehicle can be processed through the circuit to achieve the purpose of outputting a large current signal, so that the direct current motor after the change is driven to rotate positively and negatively, the change cost is low, the reliability and the low power consumption of the circuit are very excellent, the design ensures the stability of the roller fixedly connected with the output end of the direct current motor, the roller is controlled to start and stop by the direct current motor, when the roller rotates, seeds are discharged to realize seed metering, the roller stops rotating, the seeds are still stored above the roller, and the seed metering is stopped.

Drawings

FIG. 1 is a front view of the present invention;

FIG. 2 is a schematic view of the present invention with the drone portion removed;

FIG. 3 is a schematic view of the structure of the seed bucket of the present invention;

FIG. 4 is a bottom view of the seed loading bucket of the present invention;

FIG. 5 is a cross-sectional view of a seed metering structure of the present invention;

FIG. 6 is a schematic structural diagram of the housing of the present invention;

FIG. 7 is a top view of a seed metering structure of the present invention;

FIG. 8 is a schematic view of the construction of the drum according to the present invention;

FIG. 9 is a schematic view of the structure of the motor connector of the present invention;

FIG. 10 is a schematic structural view of a shunt structure according to the present invention;

FIG. 11 is a schematic structural view of a seed outlet adjusting structure according to the present invention;

FIG. 12 is a schematic structural view of a positioning member according to the present invention;

FIG. 13 is a schematic block diagram of a closed-loop control system for driving a DC motor to rotate by a single-chip microcomputer according to an embodiment of the present invention;

fig. 14 is another schematic block diagram of a closed-loop control system for driving a dc motor to rotate by a single-chip microcomputer according to an embodiment of the present invention.

Fig. 15 is a schematic circuit diagram of a closed-loop control system for driving a dc motor to rotate by a single-chip microcomputer according to an embodiment of the present invention.

In the figure: 1-unmanned aerial vehicle, 2-seed loading barrel, 3-seeding structure, 4-shunting structure, 5-trapezoidal main body, 6-seed inlet, 7-first seed outlet, 8-machine shell, 9-direct current motor, 10-roller, 11-second seed outlet, 12-concave grid, 13-brush, 14-seed shunting pipe, 15-seed inlet end, 16-seed outlet end, 17-cover plate, 18-guide rail, 19-motor connecting piece, 20-longitudinal separating belt, 21-transverse separating belt, 22-seed unit, 23-clapboard, 24-seed leading-out pipe, 25-tubular connecting piece, 26-seed outlet adjusting structure, 27-ruler rod, 28-positioning piece and 29-annular part, 30-tubular part, 31-fixing part, 32-single chip microcomputer, 33-forward and reverse rotation driving circuit, 34-photoelectric code disc, 35-forward rotation driving circuit, 36-reverse rotation driving circuit and 37-baffle.

Detailed Description

The drawings in the embodiments of the invention will be combined; the technical scheme in the embodiment of the invention is clearly and completely described; obviously; the described embodiments are only some of the embodiments of the invention; but not all embodiments, are based on the embodiments of the invention; all other embodiments obtained by a person skilled in the art without making any inventive step; all fall within the scope of protection of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1

An unmanned aerial vehicle for sowing rice and a control system 1 thereof are disclosed, as shown in figures 1-11, and comprise an unmanned aerial vehicle 1, a seed loading barrel 2, a seed sowing structure 3 and a flow dividing structure 4 in sequence from top to bottom; an BQX-6S six-rotor unmanned aerial vehicle and a wing flying astronaut M6-100C multi-rotor unmanned aerial vehicle can be selected;

the seed loading barrel 2 is fixedly arranged below the unmanned aerial vehicle 1, the seed loading barrel 2 comprises a step-shaped main body 5 with a wide upper part and a narrow lower part, a seed inlet 6 is arranged at the top of the step-shaped main body 5, and a first seed outlet 7 is arranged at the bottom of the step-shaped main body 5;

the seed metering structure 3 is fixedly connected below the seed loading barrel 2, the seed metering structure 3 comprises a machine shell 8 with an opening at the top end, a direct current motor 9 and a roller 10, the opening at the top end of the machine shell 8 is communicated with the first seed outlet 7, a plurality of second seed outlets 11 are arranged at the bottom end of the machine shell 8, the direct current motor 9 is arranged outside the machine shell 8, the roller 10 is arranged inside the machine shell 8 and is rotationally connected to the machine shell 8, and the roller 10 is driven by the direct current motor 9; a plurality of concave grids 12 for receiving seeds are uniformly arranged on the peripheral surface of the roller 10, a brush 13 is arranged between any side surface of the shell 8 parallel to the axial direction of the roller 10 and the roller 10, one end of the brush 13 is fixedly connected to the side wall of the shell 8, the other end of the brush 13 is attached to the end surface of the concave grids 12, the opposite side of the side surface of the shell 8 provided with the brush 13 is close to the end surface of the concave grids 12, a baffle 37 positioned above the roller 10 is further arranged inside the shell 8, a through hole convenient for the seeds to fall is formed in the baffle 37, and the through hole is positioned above the left;

the flow distribution structure 4 is fixedly arranged at the second seed outlet 11, the flow distribution structure 4 comprises at least one row of seed flow distribution pipes 14, the row of seed flow distribution pipes 14 comprises a plurality of seed flow distribution pipes 14, the seed inlet 6 ends of the plurality of seed flow distribution pipes 14 are gathered, and the seed outlet end 16 is radially and fanned; the second seed outlets 11 and the seed shunt pipes 14 correspond to each other and are fixedly connected with each other.

The working principle is as follows: the unmanned aerial vehicle 1, the seed loading barrel 2, the seed discharging structure 3 and the flow dividing structure 4 are fixedly installed from top to bottom in sequence, the BQX-6S six-rotor unmanned aerial vehicle and the wing flying aircraft M6-100C multi-rotor unmanned aerial vehicle can be selected, seeds are thrown into the step-shaped main body 5 from the seed inlet 6, the gravity center of the seed loading barrel 2 is close to the gravity center of the unmanned aerial vehicle 1 through the step-shaped seed loading barrel 2, the stability of the seed loading barrel 2 in the air is guaranteed, and the seeding path and the seeding quantity accuracy are not easily influenced by strong wind; the seed loading barrel 2 is communicated with the seed discharging structure 3, further, seeds in the seed loading barrel 2 can fall on the upper portion of a roller 10 positioned at the top of the machine shell 8, part of the seeds can be in the concave grids 12, when the direct current motor 9 is not started, the roller 10 fixedly connected to the direct current motor 9 is in a static state, the periphery of the roller 10 is attached to the side wall of the machine shell 8 through a brush 13, and the seeds at the top of the machine shell 8 cannot fall into the bottom of the machine shell 8 to enter the shunting structure 4. Baffle 37's design for the seed at casing 8 top only partially can pass the through-hole, fall on cylinder 10, in the space between brush 13 and the baffle 37, most seeds still gather in baffle 37 top, most seeds at casing 8 top can not fall into to casing 8 bottom entering reposition of redundant personnel structure, the through-hole in baffle 37 is located the upper left portion of cylinder 10, and then baffle 37's right side is for shielding the state, avoid the seed to fall between the casing 8 side that is not equipped with brush 13 and cylinder 10, influence cylinder 10 and smoothly rotate. The clearance of casing 8 one side and cylinder 10 is 0.5cm to 10cm, and brush 13 is arranged in above-mentioned clearance, and the opposite side of casing 8 is unlimited near cylinder 10 to make cylinder 10 can rotate, but be unlikely to let the seed fall from the clearance, and the mounting means of brush 13 is similar with the mounting means of brush 13 in the electronic fertilization box, and the one end of brush 13 is fixed in the casing 8 lateral wall, and the other end of brush 13 is laminated in the terminal surface of the concave grid 12 that is close to the casing 8 lateral wall. When the direct current motor 9 is started, the roller 10 rotates towards the brush 13, the concave grid 12 close to the top of the machine shell 8 rotates along with the roller 10, the seeds in the concave grid 12 are driven to rotate, the concave grid 12 moves to a position close to the brush 13, the end face of the concave grid 12 is attached to the brush 13, the seeds cannot be discharged until the concave grid 12 rotates to a position close to the bottom of the machine shell 8, the end face of the concave grid 12 is gradually far away from the brush 13, the end face of the concave grid 12 is not shielded by the brush 13, the seeds are discharged from the first seed outlet 7 under the action of gravity and enter the flow dividing structure 4, the brush 13 is attached to the end face of the concave grid 12 close to the side wall of the machine shell 8 all the time in the rotation process of the roller 10, only the concave grid 12 at the top of the machine shell 8 and the bottom of the machine shell 8 is in an open state; the shunting mechanism is communicated with a second seed outlet 11, and seeds entering the shunting mechanism are uniformly discharged from a plurality of seed shunting pipes 14.

The roller 10 is connected with a direct current motor 9 positioned outside the machine shell 8, because the rotating speed required by the roller 10 in the seeding structure 3 is generally smaller, and the output rotating speed or torque of the motor can not meet the actual requirement,

the dc motor 9 in the present invention is a dc speed-reducing motor, which is an integrated body of a speed reducer and a motor (motor), wherein the speed reducer reduces the rotation speed of the motor and simultaneously increases the output torque, so as to meet the actual requirements of the rotation speed and the torque. The tail end of the direct current motor 9 is provided with an output shaft for power output, the output shaft is coaxially and fixedly connected with the roller 10, the motor drives the output shaft to rotate, and then the roller 10 fixedly connected with the output shaft is driven to rotate, the roller 10 is of a hollow structure, the output shaft is clamped on the hollow inner wall of the roller 10, the output shaft of the roller 10 is fixedly connected with the output shaft of the direct current motor 9, the roller 10 is driven by the direct current motor 9 to rotate inside the machine shell 8, and the faster the rotating speed of the roller 10 is, the larger the seeding amount is. The DC motor 9 in the invention can be a 12V DC motor 9 with model 775, the rotating speed is 10-100 r/min, and the torsion is 10-60 kg.

Example 2

As shown in fig. 3, the seed inlets 6 are at least two groups and are uniformly distributed on the top of the step-shaped main body 5. When seed import 6 is two sets of, the symmetry sets up and loads 2 tops of bucket at the seed, and when seed import 6 was three sets of, seed import 6 is the triangle-shaped evenly distributed along 2 top peripheries of seed loading bucket. Simultaneously, the seed loads 2 tops and is not equipped with the central authorities of seed import 6 department and unmanned aerial vehicle 1's bottom fixed connection.

Example 3

As shown in fig. 3, a cover plate assembly is arranged at the seed inlet 6, the cover plate assembly comprises a cover plate 17 and a guide rail 18, the cover plate 17 is located above the seed inlet 6 and is slidably connected to the top end of the seed loading box through the guide rail 18, and the guide rail 18 is at least one group and is laid at the side edge of the seed inlet 6. The design of apron 17 subassembly makes seed import 6 can be closed, avoids unusual weather conditions such as overcast and rainy or insolate, because overcast and rainy weather, leads to the seed to be drenched and glues glutinous seeding and is not smooth and easy, or because insolate, the seed water content reduces, influences the survival rate scheduling problem of follow-up seed. A notched groove is formed in one side of the guide rail 18 close to the inside of the housing 8 along the sliding direction of the cover 17, and the cover 17 enters the groove from the notched end of the groove, so that the cover 17 opens or closes the seed inlet 6 along a path defined by the groove.

Example 4

As shown in fig. 3, the outer wall of the seed loading barrel 2 is further provided with a fixing member 31 fixedly connected to the unmanned aerial vehicle 1. The fixing members 31 are four groups and are uniformly arranged on the top side wall of the seed loading barrel 2. The top lateral wall that the seed of broad loaded bucket 2 is fixed in unmanned aerial vehicle 1's support, and unmanned aerial vehicle 1 and seed load bucket 2's fixed effect is better, and the bearing capacity is bigger, receives the wind-force influence less, guarantees the accurate nature of unmanned aerial vehicle 1 seeding, the wind-force of avoiding of very big degree is to the influence of seeding.

Example 5

As shown in fig. 8 and 9, the drum 10 is a hollow structure, and a motor connector 19 is engaged with an inner wall of the drum 10. The design of the motor connecting piece 19 is that an additional connecting piece is added between the output shaft of the direct current motor 9 and the roller 10, the outer wall of the motor connecting piece 19 is provided with a convex block which is clamped with the inner wall of the roller 10, the motor connecting piece 19 is also of a hollow structure, and the inner wall of the motor connecting piece 19 is clamped with the output shaft of the direct current motor 9.

Example 6

As shown in fig. 5, 6, 7 and 8, the arrangement direction of the second seed outlets 11 and the axial direction of the drum 10 are parallel to each other. The arrangement of the second seed outlets uniformly divides the seeds in the seed loading barrel 2, the seeds are discharged by the concave grids 12 on the roller 10, and meanwhile, the second seed outlets 11 seed, the working efficiency is improved, and the precision of seed discharging is ensured.

Example 7

As shown in fig. 8, the concave compartments 12 are defined by longitudinal banks 20 and transverse banks 21 perpendicular to each other on the outer circumferential surface of the drum 10, the longitudinal banks 20 are parallel to the axial direction of the drum 10, the space area between two adjacent transverse banks 21 is a seed unit 22, and a plurality of seed units 22 are in one-to-one correspondence with a plurality of seed outlets. The design of the longitudinal separating belt 20 and the transverse separating belt 21 on the peripheral surface of the roller 10 divides the peripheral surface of the roller 10 into a plurality of concave grids 12 for receiving seeds, after the concave grids 12 close to the top of the machine shell 8 receive the seeds falling from the seed loading barrel 2, the concave grids 12 close to the top of the machine shell 8 rotate to be close to the bottom of the machine shell 8 in the rotating process of the roller 10, and at the moment, the seeds are discharged from a seed outlet at the bottom of the machine shell 8 due to the action of gravity, so that the subsequent sowing is completed.

Example 8

As shown in fig. 6, a tapered seed outlet pipe 24 is disposed at the second seed outlet 11, a larger opening of the seed outlet pipe 24 is fixedly connected to the second seed outlet 11, and a tubular connecting member 25 is disposed at a smaller opening of the seed outlet pipe 24. The tubular connecting piece 25 is vertical to the lower side surface of the machine shell 8, so the seeds fall vertically along the seed delivery pipe 24, the design of the seed delivery pipe 24 enables a process of changing direction and moving vertically in the falling process of the seeds, and the tubular connecting piece 25 is clamped in the shunting mechanism.

Example 9

As shown in fig. 6, a plurality of partition plates 23 are disposed inside the housing 8 along the cross section of the drum 10, and the plurality of partition plates 23 are disposed between adjacent seed units 22 in parallel. The partition 23 is provided above the drum 10. The design of the partition 23 and the seed unit 22 further subdivides the space inside the housing 8 where the seeds fall, so that the seeds are more evenly distributed at the second seed outlets 11.

Example 10

As shown in fig. 10-12, the flow dividing structure 4 further includes a seed outlet adjusting structure 26 for adjusting the distance and direction between the seed outlet ends 16, the seed outlet adjusting structure 26 includes a ruler rod 27 and a plurality of positioning members 28, each positioning member 28 includes a ring portion 29 for adjusting the distance between the seed outlet ends 16 and a tubular portion 30 for adjusting the direction of the seed outlet ends 16, the ring portion 29 is sleeved on the ruler rod 27, and the tubular portion 30 is sleeved on the outer wall of the seed flow dividing pipe 14; the tubular portion 30 is fixedly connected to the annular portion 29 and is axially perpendicular to the blade 27. The positioning member 28 is of an integral structure. The seed outlet adjustment structure 26 is fixedly connected with the seed shunt tube 14. The ring part 29 is fixedly connected with the ruler rod 27, the ring part 29 is fixedly connected with the ruler rod 27 through bolts, and the outer wall of the seed outlet end 16 of the seed shunt pipe 14 is clamped on the inner wall of the tubular part 30. The ruler rod 27 is parallel to the ground, the vertical tubular part 30 is vertical to the ground, and the seed outlet end 16 of the seed shunt pipe 14 is vertical to the ground, so that the seeds are sowed vertically downwards from the seed outlet end 16, the drop point accuracy of the seeds on the soil contact surface is improved, and the seeds are easily in close contact with the soil. The seed shunt tubes 14 of the present invention can be made of elastic material with high stability and difficult deformation, the ring-shaped portion 29 is sleeved on the ruler rod 27 according to the specific space size for fixed connection, then the seed shunt tubes 14 are clamped on the outer wall of the tubular portion 30, and the space between adjacent seed shunt tubes 14 can be freely adjusted.

Example 10

Referring to fig. 13, which shows a schematic diagram of the principle of the control system according to the present invention, as shown in the figure, the control system includes a single chip microcomputer 32, a photoelectric code disc 34 and a forward/reverse rotation driving circuit 33, the photoelectric code disc 34 is connected to an output shaft of the dc motor, the forward/reverse rotation driving circuit 33 is respectively connected to the single chip microcomputer 32 and the dc motor, the single chip microcomputer 32 is connected to the photoelectric code disc 34, and when the single chip microcomputer 32 receives an externally input control signal for forward/reverse rotation of the dc motor, the forward/reverse rotation driving circuit 33 is triggered to drive the dc motor to rotate to drive the drum 10 to be opened or to be stationary.

Specifically, the single chip microcomputer 32 is a single chip microcomputer 32 with a model STC15W104, and at least includes a first port, a second port, a third port, a fourth port, a fifth port, a sixth port, a first pin and a second pin, where the first port is connected to an externally input control signal, the first pin is connected to a ground terminal, and the second pin is connected to a working voltage.

Specifically, referring to fig. 14, the forward/reverse rotation driving circuit 33 includes: the motor forward rotation driving circuit 35 is connected in series between the third port and the fifth port of the single chip microcomputer 32; the motor reverse rotation driving circuit 36 is connected in series between the fourth port and the sixth port of the single chip microcomputer 32; the motor forward rotation driving circuit 35 and the motor reverse rotation driving circuit 36 form an H-bridge driving circuit, and the dc motor is connected between diagonals of the H-bridge driving circuit.

Specifically, referring to fig. 3, the motor forward rotation driving circuit 35 includes: the second capacitor, the first resistor, the third resistor, the fifth resistor, the first triode, the first MOS tube, the third MOS tube and the fifth MOS tube; the first end of the first resistor is connected to the third port of the single chip microcomputer 32, the second end of the first resistor is connected to the base of the first triode, the emitter of the first triode is connected to the ground terminal, the collector of the first triode is connected to the first end of the third resistor, the second end of the third resistor is connected to the first end of the fifth resistor, the second end of the fifth resistor is connected to the sources of the first MOS transistor and the third MOS transistor, the drain of the first MOS transistor is connected to the drain of the third MOS transistor, the dc motor is connected between the gate of the third MOS transistor and the gate of the fifth MOS transistor, the source of the fifth MOS transistor is connected to the ground terminal, the drain of the fifth MOS transistor is connected to the fifth port of the single chip microcomputer 32, and the second capacitor is connected to both ends of the fifth resistor; the first MOS tube and the third MOS tube are P-channel MOS tubes, and the fifth MOS tube is an N-channel MOS tube.

In addition, referring to fig. 15, the motor reverse rotation driving circuit 36 includes: the fourth capacitor, the second resistor, the fourth resistor, the sixth resistor, the second triode, the second MOS transistor, the fourth MOS transistor and the sixth MOS transistor; the first end of the second resistor is connected to the fourth port of the single chip microcomputer 32, the second end of the second resistor is connected to the base of the second triode, the emitter of the second triode is connected to the ground terminal, the collector of the second triode is connected to the first end of the fourth resistor, the second end of the fourth resistor is connected to the drains of the second MOS transistor and the fourth MOS transistor respectively, the source of the second MOS transistor is connected to the source of the fourth MOS transistor, the sixth resistor and the fourth capacitor are connected in parallel in sequence and between the drain and the source of the fourth MOS transistor, the dc motor is connected between the gate of the second MOS transistor and the gate of the sixth MOS transistor, the source of the sixth MOS transistor is connected to the ground terminal, and the drain of the sixth MOS transistor is connected to the sixth port of the single chip microcomputer 32; the second MOS tube and the fourth MOS tube are P channel type MOS tubes, and the sixth MOS tube is an N channel type MOS tube.

Specifically, the forward/reverse driving circuit 33 further includes a voltage stabilizer, which includes an input terminal, an output terminal and a ground terminal, the input terminal of the voltage stabilizer is connected to the working power supply of the dc motor, the output terminal of the voltage stabilizer is connected to the ground terminal of the voltage stabilizer via a first capacitor, and the ground terminal of the voltage stabilizer is grounded.

Specifically, the photoelectric encoder 34 is connected between the voltage stabilizer and the single chip microcomputer 32.

The principle of the circuit is as follows: control signals are input from a first port 3 of the single chip microcomputer 32IC1, the motor is controlled to rotate through the motor forward rotation driving circuit 35 and the motor reverse rotation driving circuit 36 after being processed by the single chip microcomputer 32IC1, and the motor starts the roller in forward rotation.

The specific driving process is as follows: when a control signal is input from the first port 3 of the single chip microcomputer 32IC1, the third port 5 of the single chip microcomputer 32IC1 is at a high level, the fourth port 6 is at a low level, the fifth port 7 is at a high level, and the pin 8 of the sixth port is at a low level, so that the two ends of the third MOS transistor PM3 and the fifth MOS transistor NM1 are respectively conducted, the two ends of the second MOS transistor PM2 and the six MOS transistor NM2 are respectively cut off, and a current flows from the third MOS transistor PM3 to the fifth MOS transistor NM1 through the direct current motor M to drive the motor to rotate forwards;

similarly, when a control signal is input from the first port 3 of the single chip microcomputer 32IC1 (specifically, the control signal is an input pulse width modulation signal), the third port 5 of the single chip microcomputer 32IC1 is at a low level, the fourth port 6 is at a high level, the fifth port 7 is at a low level, and the pin of the sixth port 8 is at a high level, so that the two ends of the third MOS transistor PM3 and the fifth MOS transistor NM1 are respectively disconnected, the two ends of the second MOS transistor PM2 and the six MOS transistor NM2 are respectively connected, a current flows from the second MOS transistor PM2 to the sixth MOS transistor NM2 through the dc motor M, and the driving motor rotates reversely.

The forward/reverse drive circuit 33 is an improved circuit on the existing H-bridge circuit, when the existing H-bridge 50A has a large current, the input signal is large, at least 50ma current, and when the input signal of the existing motor is below 10ma, the drive current is insufficient, through the improvement, the H-bridge input signal can output a large current of 50A at 0.1 ma. In addition, the phase change speed of the driving circuit is very high, the phase change is completed within 1MS, and no sound exists.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. A rice sowing type unmanned aerial vehicle is characterized by comprising an unmanned aerial vehicle (1), a seed loading barrel (2), a seed discharging structure (3) and a flow dividing structure (4) from top to bottom in sequence; the seed loading barrel (2) is fixedly arranged below the unmanned aerial vehicle (1), the seed loading barrel (2) comprises a step-shaped main body (5) which is wide at the top and narrow at the bottom, a seed inlet (6) is formed in the top of the step-shaped main body (5), and a first seed outlet (7) is formed in the bottom of the step-shaped main body (5); the seed metering structure (3) is fixedly connected below the seed loading barrel (2), the seed metering structure (3) comprises a machine shell (8) with an opening at the top end, a direct current motor (9) and a roller (10), the opening at the top end of the machine shell (8) is communicated with the first seed outlet (7), a plurality of second seed outlets (11) are arranged at the bottom end of the machine shell (8), the direct current motor (9) is arranged outside the machine shell (8), the roller (10) is arranged inside the machine shell (8) and is rotationally connected to the machine shell (8), and the roller (10) is driven by the direct current motor (9); the seed storage device is characterized in that a plurality of concave grids (12) for bearing seeds are uniformly arranged on the peripheral surface of the roller (10), a brush (13) is arranged between any side surface of the shell (8) parallel to the axial direction of the roller (10) and the roller (10), one end of the brush (13) is fixedly connected to the side wall of the shell (8), the other end of the brush (13) is attached to the end surface of the concave grid (12), the opposite side of the side surface of the shell (8) provided with the brush (13) is close to the end surface of the concave grid (12), a baffle (37) positioned above the roller (10) is further arranged in the shell (8), a through hole convenient for seeds to fall is formed in the baffle (37), and the through hole is positioned; the seed distribution structure (4) is fixedly arranged at the second seed outlet (11), the distribution structure (4) comprises at least one row of seed distribution pipes (14), the seed distribution pipes (14) comprise a plurality of seed distribution pipes (14), the seed inlet (6) ends of the seed distribution pipes (14) are gathered, and the seed outlet end (16) is radially and fanned; the second seed outlets (11) and the seed shunt pipes (14) are in one-to-one correspondence and are fixedly connected with each other.

2. The unmanned aerial vehicle for sowing rice seeds as claimed in claim 1, wherein the seed inlets (6) are at least two groups and are uniformly distributed at the top of the ladder-shaped main body (5), a cover plate assembly is arranged at the seed inlets (6), the cover plate assembly comprises a cover plate (17) and a guide rail (18), the cover plate (17) is positioned above the seed inlets (6) and is slidably connected to the top end of the seed loading barrel (2) through the guide rail (18), the guide rail (18) is at least one group and is laid on the side edge of the seed inlets (6), and a fixing member (31) fixedly connected to the unmanned aerial vehicle (1) is further arranged on the outer wall of the seed loading barrel (2).

3. The unmanned aerial vehicle for sowing rice seeds of claim 1, wherein the roller (10) is a hollow structure, and a motor connecting piece (19) is clamped on the inner wall of the roller (10); the arrangement direction of the second seed outlets (11) is parallel to the axial direction of the roller (10).

4. The unmanned aerial vehicle for sowing rice seeds as claimed in claim 1, wherein a plurality of concave lattices (12) are formed by a longitudinal division belt (20) and a transverse division belt (21) which are perpendicular to each other on the peripheral surface of the roller (10), the longitudinal division belt (20) is parallel to the axial direction of the roller (10), the space area between two adjacent transverse division belts (21) is a seed unit (22), and a plurality of seed units (22) correspond to a plurality of second seed outlets (11) one by one; a plurality of partition plates (23) are arranged in the shell (8) along the section of the roller (10), and the partition plates (23) are arranged between the adjacent seed units (22) in parallel.

5. An unmanned aerial vehicle for sowing rice seeds as claimed in claim 1, wherein a tapered seed outlet pipe (24) is arranged at the second seed outlet (11), the larger opening of the seed outlet pipe (24) is fixedly connected to the second seed outlet (11), and a tubular connecting piece (25) is arranged at the smaller opening of the seed outlet pipe (24).

6. The unmanned aerial vehicle for sowing rice seeds as claimed in claim 1, wherein the flow distribution structure (4) further comprises a seed outlet adjusting structure (26) for adjusting the distance and direction of the seed outlet ends (16), the seed outlet adjusting structure (26) comprises a ruler rod (27) and a plurality of positioning pieces (28), each positioning piece (28) comprises an annular part (29) for adjusting the distance of the seed outlet ends (16) and a tubular part (30) for adjusting the direction of the seed outlet ends (16), the annular part (29) is sleeved on the ruler rod (27), and the tubular part (30) is sleeved on the outer wall of the seed flow distribution pipe (14); the tubular part (30) is fixedly connected with the annular part (29), and the axial direction of the tubular part is vertical to the ruler rod (27).

7. A control system of unmanned aerial vehicle of the type sowing rice, according to any one of claims 1 to 6, comprising a single-chip microcomputer (32) and a closed-loop control system, the closed-loop control system further comprising: the photoelectric coded disc (34) is connected to the output shaft of the direct current motor; the positive and negative rotation driving circuit (33) is respectively connected with the single chip microcomputer (32) and the direct current motor; the single chip microcomputer (32) is connected with the photoelectric coded disc (34), and when the single chip microcomputer (32) receives a control signal which is input from the outside and used for carrying out forward and reverse rotation on the direct current motor, the forward and reverse rotation driving circuit (33) is triggered to drive the direct current motor to rotate so as to drive the roller (10) to rotate and stop; the single chip microcomputer (32) is a model STC15W104 single chip microcomputer (32) and at least comprises a first port, a second port, a third port, a fourth port, a fifth port, a sixth port, a first pin and a second pin, wherein the first port is connected with an externally input control signal, the first pin is connected with a grounding end, and the second pin is connected with a working voltage; the forward/reverse rotation drive circuit (33) includes: the motor forward rotation driving circuit (35) is connected in series between the third port and the fifth port of the single chip microcomputer (32); the motor reverse rotation driving circuit (36) is connected between the fourth port and the sixth port of the single chip microcomputer (32) in series; the motor forward rotation driving circuit (35) and the motor reverse rotation driving circuit (36) form an H-bridge driving circuit, and the direct current motor is connected between diagonals of the H-bridge driving circuit.

8. The control system according to claim 7, wherein the forward rotation drive circuit (35) includes: the second capacitor, the first resistor, the third resistor, the fifth resistor, the first triode, the first MOS tube, the third MOS tube and the fifth MOS tube; the first end of the first resistor is connected to a third port of the single chip microcomputer (32), the second end of the first resistor is connected to a base electrode of the first triode, an emitting electrode of the first triode is connected to a ground terminal, a collecting electrode of the first triode is connected to the first end of the third resistor, the second end of the third resistor is connected to the first end of a fifth resistor, the second end of the fifth resistor is connected to source electrodes of the first MOS transistor and the third MOS transistor, a drain electrode of the first MOS transistor is connected with a drain electrode of the third MOS transistor, the direct current motor is connected between a grid electrode of the third MOS transistor and a grid electrode of the fifth MOS transistor, a source electrode of the fifth MOS transistor is connected to the ground terminal, a drain electrode of the fifth MOS transistor is connected to the fifth port of the single chip microcomputer (32), and the second capacitor is connected to two ends of the fifth resistor; the first MOS tube and the third MOS tube are P-channel MOS tubes, and the fifth MOS tube is an N-channel MOS tube; the motor reverse rotation drive circuit (36) includes: the fourth capacitor, the second resistor, the fourth resistor, the sixth resistor, the second triode, the second MOS transistor, the fourth MOS transistor and the sixth MOS transistor; the first end of the second resistor is connected to a fourth port of the single chip microcomputer (32), the second end of the second resistor is connected to a base electrode of the second triode, an emitting electrode of the second triode is connected to a grounding end, a collecting electrode of the second triode is connected to the first end of the fourth resistor, the second end of the fourth resistor is respectively connected to drain electrodes of the second MOS tube and the fourth MOS tube, a source electrode of the second MOS tube is connected with a source electrode of the fourth MOS tube, the sixth resistor and the fourth capacitor are sequentially connected in parallel between the drain electrode and the source electrode of the fourth MOS tube, the direct current motor is connected between a grid electrode of the second MOS tube and a grid electrode of the sixth MOS tube, the source electrode of the sixth MOS tube is connected to the grounding end, and the drain electrode of the sixth MOS tube is connected to the sixth port of the single chip microcomputer (32); the second MOS tube and the fourth MOS tube are P channel type MOS tubes, and the sixth MOS tube is an N channel type MOS.

9. The control system according to claim 8, wherein the forward/reverse driving circuit (33) further comprises a voltage stabilizer including an input terminal, an output terminal and a ground terminal, the input terminal of the voltage stabilizer is connected to the operating power supply of the dc motor (9), the output terminal of the voltage stabilizer is connected to the ground via a first capacitor, and the ground terminal of the voltage stabilizer is connected to the ground.

10. The control system according to claim 8, characterized in that the single-chip microcomputer (32) is a model STC15W104 single-chip microcomputer.

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