WO2018094668A1 - 水泵的清洁方法、水泵动力组件及农业无人机的加药装置 - Google Patents

水泵的清洁方法、水泵动力组件及农业无人机的加药装置 Download PDF

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Publication number
WO2018094668A1
WO2018094668A1 PCT/CN2016/107154 CN2016107154W WO2018094668A1 WO 2018094668 A1 WO2018094668 A1 WO 2018094668A1 CN 2016107154 W CN2016107154 W CN 2016107154W WO 2018094668 A1 WO2018094668 A1 WO 2018094668A1
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Prior art keywords
water pump
pump
driving motor
liquid
drive motor
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PCT/CN2016/107154
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English (en)
French (fr)
Inventor
石雄飞
陈叶广
吴晓龙
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201680002740.6A priority Critical patent/CN107076128B/zh
Priority to PCT/CN2016/107154 priority patent/WO2018094668A1/zh
Publication of WO2018094668A1 publication Critical patent/WO2018094668A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B08B7/02—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by distortion, beating, or vibration of the surface to be cleaned
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
    • F04B17/03—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/20—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by changing the driving speed

Definitions

  • the invention relates to the technical field of water pumps, in particular to a cleaning method of a water pump, a power component of a water pump and a dosing device of an agricultural drone.
  • the water pump is a commonly used water-repellent tool, which can carry out the transportation of water and the like through the rotation of its own internal impeller and the like.
  • the water pump when used in agriculture and other fields, it is often used to transport non-clear liquids and other media. When used for a long time, various impurities in the medium, or a relatively viscous medium itself may remain inside the water pump, thus requiring internal water pump Regular cleaning. At present, the common cleaning method is to open the casing of the water pump with a tool and manually clean the inside of the water pump.
  • the invention provides a cleaning method of a water pump, a power component of a water pump and a dosing device of an agricultural drone, which can clean the water pump conveniently and quickly.
  • the present invention provides a method for cleaning a water pump, the water pump including a driving motor, the method comprising: controlling a rotation of the driving motor and causing vibration of the water pump; and adjusting a rotation speed of the driving motor to change a vibration frequency of the water pump to cause the water pump The dirt vibrates and falls off.
  • the present invention provides a water pump power assembly including a water pump, a drive motor, and a controller;
  • the water pump comprises a casing having a cavity, and the liquid flow in the cavity can be discharged when the driving motor rotates, the controller and the driving motor are electrically connected, and the controller is used for adjusting the rotation speed of the driving motor to change the vibration frequency of the water pump to cause the water pump to The dirt vibrates and falls off.
  • the present invention provides a dosing device for an agricultural drone, including a liquid inlet pipe and an outlet
  • the liquid pipe and the water pump power component as described above, the inlet pipe and the outlet pipe are all connected with the cavity of the water pump in the power component of the water pump, the inlet pipe is used for the external liquid to pass into the water pump, and the liquid outlet pipe is used for the liquid in the water pump Pumped out into the medicine box of the agricultural drone.
  • the cleaning method of the water pump of the invention, the water pump power component and the dosing device of the agricultural drone, the cleaning method of the water pump comprises the following steps: first controlling the rotation of the driving motor and causing the water pump to vibrate, and then adjusting the rotation speed of the driving motor to make the water pump The vibration frequency changes to cause the water pump to vibrate and fall off.
  • the dirt deposited on the various components inside the water pump can be detached from the inside of the water pump under the action of vibration, thereby cleaning the water pump.
  • FIG. 1 is a schematic flow chart of a method for cleaning a water pump according to Embodiment 1 of the present invention
  • FIG. 2 is a schematic flow chart of another cleaning method of a water pump according to Embodiment 1 of the present invention.
  • FIG. 3 is a schematic flow chart of a third method for cleaning a water pump according to Embodiment 1 of the present invention.
  • FIG. 4 is a schematic flow chart of a fourth method for cleaning a water pump according to Embodiment 1 of the present invention.
  • FIG. 5 is a schematic structural view of a water pump power assembly according to Embodiment 2 of the present invention.
  • FIG. 6 is a schematic structural view of a dosing device for an agricultural drone according to a third embodiment of the present invention.
  • 1 housing
  • 2 drive motor
  • 3 controller
  • 4 structural component
  • 11 inlet port
  • 12 output port
  • 31 PWM signal generator
  • 100 pump power component
  • 101 water pump
  • Dosing device for agricultural drone 201 - inlet pipe; 202 - outlet pipe.
  • FIG. 1 is a schematic flow chart of a method for cleaning a water pump according to a first embodiment of the present invention.
  • the pump used in the application is provided with a driving motor, which can drive the internal components of the water pump to complete the liquid extraction and discharge.
  • the cleaning method of the water pump provided in this embodiment may specifically include the following steps:
  • S102 Adjust a rotation speed of the driving motor to change a vibration frequency of the water pump to cause the water of the water pump to vibrate and fall off.
  • the drive motor in the pump When the pump is cleaning, the drive motor in the pump will rotate and drive the moving parts inside the pump to move. Since the rotor of the driving motor and the components inside the water pump have a certain quality, when the driving motor rotates, the internal vibration of the pump and even the water pump housing can be driven to different degrees. When the amplitude of the components and structures in the water pump is large, it will drive the dirt inside the water pump and the sediment to generate strong vibration together. The dirt deposited on the internal components of the water pump can be detached from the inside of the water pump under the action of vibration, thereby cleaning the water pump without disassembling the water pump.
  • FIG. 2 is a schematic flow chart of another cleaning method of a water pump according to Embodiment 1 of the present invention.
  • the cleaning method of the water pump is further The steps can be included:
  • the liquid used for cleaning the dirt can be either clean water or a liquid with a cleaning function such as a cleaning liquid, which can enhance the cleaning effect on the inside of the water pump and facilitate the removal of the dirt.
  • the internal pollution can also be achieved by the resonance of the water pump.
  • the scale falls off from the inside of the water pump, and the dirt that has fallen off can be discharged from the inside of the water pump by the liquid flow when the water pump is next working, or can be poured out from the water pump by using a tool or the like.
  • FIG. 3 is a schematic flow chart of a third method for cleaning a water pump according to Embodiment 1 of the present invention.
  • the step of adjusting the rotational speed of the driving motor to change the vibration frequency of the water pump to cause the dirt of the water pump to vibrate and fall off may specifically include:
  • the preset frequency range and the internal components of the water pump are matched with the resonance frequency of the housing structure.
  • the vibration frequency of the water pump reaches the preset frequency under the rotation of the driving motor, the resonance of the structural components of the water pump is caused, and the amplitude is large. Reinforced, which can cause the dirt on the structural components to vibrate and fall off.
  • the water pump may be any one of a diaphragm pump, a centrifugal pump, a mixed flow pump, an axial flow pump, a vortex pump, and a water wheel pump.
  • the pump can be a diaphragm pump.
  • the structural components of the pump include a diaphragm, a housing, a valve, etc., and the inherent components are The vibration frequency is within the preset frequency range.
  • the structural components such as the diaphragm, the casing or the valve will resonate under the vibration of the water pump, and the amplitude thereof is greatly enhanced, and the structural components can be caused.
  • the dirt on the surface falls off and the cleaning effect is achieved.
  • each pump may have a plurality of different structural components, and different structural components have different shapes and structures, so when they are rotated or the like,
  • the quality of the structural components and the change in the position of the center of mass are also different, which results in different structural components having different natural vibration frequencies.
  • the pump When the pump generates vibration, only the natural vibration frequency of the specific structural component is reached, and the structural component can be subjected to resonance cleaning and dirt operation. Therefore, if the pump reaches a certain preset vibration frequency range and causes resonance of a certain structural component, other structural components cannot be different due to different shapes and structures. A corresponding resonance is generated in this frequency range, so that the decontamination effect cannot be produced.
  • the specific adjustment method may include the following steps:
  • S1021a adjusts the rotational speed of the drive motor to periodically change the rotational speed of the drive motor.
  • the vibration frequency of the water pump changes correspondingly during the continuous change of the rotational speed of the driving motor, and can drive different structural components in the water pump to generate resonance.
  • the dirt and vibration of the structural components inside the pump are cleaned and cleaned one by one, so that the inside of the pump is fully cleaned.
  • the periodic variation of the driving motor speed makes the vibration frequency of the pump repeat continuously, so that the repetitive vibration can ensure the cleaning quality inside the pump.
  • the drive motor can be controlled such that the rotational speed of the drive motor changes from small to large and then from large to small during each change cycle of the rotational speed of the drive motor. In this way, the vibration frequency of the entire pump will continuously change from low to high and then from high to low.
  • Such a speed adjustment mode causes the vibration frequency of the water pump to traverse the natural resonance frequency of all structural components of the water pump in each cycle, so that each structural component is vibrated and cleaned, and the dirt on the water will fall off under the action of vibration.
  • the step may specifically include: adjusting the rotational speed of the driving motor by changing the operating voltage of the driving motor to periodically change the rotational speed of the driving motor.
  • the rotational speed of the drive motor can be adjusted by changing the operating voltage of the drive motor, so that the rotational speed of the drive motor is periodic. Variety.
  • the working voltage of the DC motor increases, the speed of the motor increases; and when the operating voltage of the DC motor decreases, the speed of the DC motor decreases accordingly. Therefore, by changing the magnitude of the operating voltage of the driving motor, the rotational speed range of the driving motor can be freely adjusted so that the entire pump generates vibrations of different frequencies.
  • speed adjustment is performed by changing the working voltage of the driving motor, and only a preferred implementation manner is mentioned, and other speed adjustment methods, such as changing the power frequency and changing the magnetic field size of the driving motor, etc., It can also be applied to the cleaning method of the water pump of the embodiment, which is not limited thereto.
  • the step of adjusting the rotational speed of the driving motor by changing the operating voltage of the driving motor may include: changing a working voltage of the driving motor by a Pulse Width Modulation (PWM) signal to adjust the rotational speed of the driving motor.
  • PWM Pulse Width Modulation
  • the PWM signal is usually provided by a controller that drives the motor.
  • the controller can form voltages with different amplitudes, thus providing operating voltages of different sizes for the drive motor.
  • the speed of the drive motor can be changed accordingly, resulting in vibrations of different frequencies.
  • the cleaning method of the water pump includes the following steps: first controlling the rotation of the driving motor and causing the water pump to vibrate, and then adjusting the rotation speed of the driving motor to change the vibration frequency of the water pump to cause the water of the water pump to vibrate and fall off.
  • the dirt deposited on the various components inside the water pump can be detached from the inside of the water pump under the action of vibration, thereby cleaning the water pump.
  • FIG. 5 is a schematic structural view of a water pump power assembly according to Embodiment 2 of the present invention.
  • the cleaning method of the water pump in the first embodiment can be performed to clean the dirt of the water pump itself in the water pump power assembly.
  • the water pump power assembly 100 of the present embodiment may include a water pump 101, a drive motor 2, a controller 3, and the like.
  • the water pump 101 comprises a casing 1 having a cavity, and a movable component can be arranged inside the cavity to take the external liquid into the cavity and discharge the liquid in the cavity out of the casing of the water pump 101.
  • the driving motor 2 it is generally connected with the movable component.
  • the driving motor 2 rotates, the other components can be moved to discharge the liquid flow in the cavity of the housing 1; the controller 3 and the driving motor 2 are electrically connected.
  • the vibration frequency of the water pump 101 is changed to cause the dirt of the water pump 101 to vibrate and fall off.
  • the water pump 101 may further include a liquid inlet port 11 and a liquid outlet port 12, and the liquid inlet port 11 and the liquid outlet port 12 are both connected to the cavity of the casing 1 of the water pump 101.
  • the liquid inlet 11 of the water pump 101 is used to pump an external liquid, for example, it can be extended below the external liquid level, and the liquid outlet 12 of the water pump 101 is used to discharge the cleaned liquid.
  • the liquid inlet 11 of the water pump 101 can extend below the external liquid level, and the liquid outlet 12 of the water pump 101 is generally connected to a pipe or other liquid discharge tool to discharge the liquid.
  • the controller 3 of the water pump power assembly 100 can adjust the rotational speed of the drive motor 2, Since the drive motor 2 drives the internal components of the water pump 101 to move, the water pump 101 in the water pump power assembly 100 generates a certain frequency of vibration correspondingly under the rotation of the drive motor 2.
  • the vibration frequency of the water pump 101 also changes, causing the dirt of the water pump 101 to vibrate and fall off, and the effect of cleaning the inside of the water pump 101 is achieved.
  • the controller 3 of the water pump power assembly 100 may include a PWM signal generator 31.
  • the PWM signal generator 31 is capable of generating PWM signals of different widths to achieve different operating voltages, thereby driving the drive motor 2 to operate at different speeds.
  • the driving motor 2 is controlled by the PWM signal, and the digital control can be realized.
  • the controller 3 can also be implemented by using the corresponding digital module and circuit.
  • the interior of the water pump 101 generally also includes structural components 4 that are typically disposed in the cavity so as to be in contact with the flow of liquid flowing through the interior of the water pump 101 and contaminate the dirt in the flow.
  • the structural member 4 can be resonated by the rotation of the drive motor 2, thereby causing the dirt of the structural member 4 to vibrate.
  • the water pump 101 in the water pump power assembly 100 can be a common water pump structure.
  • the water pump 101 can be any one of a diaphragm pump, a centrifugal pump, a mixed flow pump, an axial flow pump, a vortex pump, and a water pump, as long as the water pump 101 can perform normal liquid extraction and installation operations.
  • the water pump 101 in the pump power unit 100 can be a diaphragm pump.
  • the structural components of the water pump 101 are different. 4 is a diaphragm, a casing or a valve. Taking the diaphragm as an example, when the driving motor 2 rotates, the diaphragm and the like of the water pump 101 continuously move, and corresponding vibrations are generated.
  • the diaphragm When the vibration of the diaphragm reaches or approaches the natural vibration frequency of the diaphragm itself, the diaphragm resonates with the drive motor 2, thereby greatly increasing the amplitude of the vibration and vibrating the dirt on the diaphragm. Similarly, dirt on the housing and valves can be removed in this way.
  • the water pump 101 may also be in a different structural form such as a water pump.
  • the structural components of the water wheel pump include an impeller, and the impeller is generally connected to the drive motor 2 through the pump shaft, and the impeller is arranged to drive the output of the drive motor 2 under the driving of the drive motor 2.
  • the shaft rotates to drive the liquid inside the casing 1 of the water pump 101 to be discharged.
  • the impeller is continuously rotated by the drive motor 2 to perform liquid discharge operation.
  • the rotation speed of the driving motor 2 can be adjusted until the vibration frequency of the impeller reaches the natural vibration frequency of the impeller itself, so that the dirt on the surface of the impeller can be shaken to achieve a cleaning effect.
  • the water pump power assembly includes a water pump, a drive motor, a controller, and the like, wherein the water pump includes a housing having a cavity, and when the drive motor rotates, the liquid flow in the cavity can be discharged; the controller and the drive motor are electrically
  • the connection is used to adjust the rotation speed of the driving motor to change the vibration frequency of the water pump to cause the water of the water pump to vibrate and fall off.
  • the dirt deposited on the various components of the water pump can be detached from the water pump under the action of vibration, thereby cleaning the water pump in the power component of the water pump.
  • the dosing device 200 of the agricultural drone provided by the embodiment includes a liquid inlet pipe 201, an outlet pipe 202, and a water pump power assembly 100 according to the second embodiment, and the inlet pipe 201 and the outlet pipe 201
  • the liquid pipe 202 is in communication with the cavity of the water pump 101 in the water pump power assembly 100.
  • the liquid inlet pipe 201 is used to pass external liquid into the water pump 101, and the liquid discharge pipe 202 is used to pump the liquid in the water pump 101 to the agricultural drone.
  • the water pump power assembly 100 of the dosing device 200 of the agricultural drone can mainly perform the cleaning method of the water pump in the first embodiment.
  • the specific structure, working principle and function of the water pump power component are all in the foregoing second embodiment. Detailed description is given here, and will not be described here.
  • the agricultural drone can be automatically or manually controlled to fly over the farmland, and the liquid such as pesticides in the medicine box is sprayed onto the desired farmland land.
  • the dosing device of the agricultural drone can be used to add medicine to the agricultural drone on the ground.
  • the water pump power assembly 100 of the dosing device can extract the external liquid and pump it out to the medicine box of the agricultural drone through the liquid discharge pipe to perform the dosing operation for the agricultural drone.
  • the dosing device 200 of the agricultural drone has long-term filling of liquid such as pesticides, and the internal shape and structure of the water pump 101 in the water pump power unit 100 are relatively complicated, it is easy to accumulate the remaining chemical liquid, so the water pump power assembly 100
  • the cleaning method of the water pump in the first embodiment can be performed, and the vibration frequency of the water pump 101 is changed correspondingly by the change of the rotation speed of the self-driving motor, thereby causing the dirt inside the water pump 101 to fall off, completing the cleaning of the water pump 101, and making the dosing device The interior is kept clean.
  • the dosing device of the agricultural drone includes the inlet pipe, the outlet pipe and the pump power
  • the component, the inlet pipe and the outlet pipe are all connected with the cavity of the water pump in the power component of the water pump, the inlet pipe is used for the external liquid to pass into the water pump, and the outlet pipe is used for pumping the liquid in the water pump to the medicine of the agricultural drone.
  • Inside the box. The dirt deposited on the water pump in the dosing device of the agricultural drone can be detached from the water pump under the action of vibration, thereby cleaning the water pump and ensuring the internal cleaning of the dosing device of the agricultural drone.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
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  • Environmental Sciences (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)

Abstract

一种水泵的清洁方法，包括：控制驱动电机（2）转动并使水泵（101）产生振动；调节驱动电机（2）的转速，使水泵（101）的振动频率变化，以引起水泵（101）的污垢振动而脱落。还公开了水泵动力组件及具有水泵的农业无人机的加药装置。沉积在水泵内部各部件上的污垢可在振动作用下脱落，从而方便快捷地对水泵进行清洗。

Description

水泵的清洁方法、水泵动力组件及农业无人机的加药装置 技术领域
本发明涉及水泵技术领域，尤其涉及一种水泵的清洁方法、水泵动力组件及农业无人机的加药装置。
背景技术
水泵是一种常用的汲水工具，能够通过自身内部叶轮等部件的转动，进行水等液体的输送工作。
目前，水泵在应用于农业等领域时，常用于输送非清水类液体等介质，长期使用时，介质中的各类杂质，或者较为粘稠的介质本身会残留在水泵内部，因而需要对水泵内部进行定期清洁。目前，常用的清洁方式为利用工具将水泵的机壳打开，并人工对水泵内部进行清洁工作。
然而，拆解水泵的过程较为繁琐，且反复拆卸水泵机壳，对水泵的工作性能会产生不利影响。
发明内容
本发明提供一种水泵的清洁方法、水泵动力组件及农业无人机的加药装置，能够方便快捷地对水泵进行清洗。
第一方面，本发明提供一种水泵的清洁方法，水泵包括驱动电机，该方法包括：控制驱动电机转动并使水泵产生振动；再调节驱动电机的转速，使水泵的振动频率变化，以引起水泵的污垢振动而脱落。
第二方面，本发明提供一种水泵动力组件，包括水泵、驱动电机和控制器；
水泵包括具有空腔的壳体，驱动电机转动时可将空腔中的液流排出，控制器和驱动电机电连接，控制器用于调节驱动电机的转速，使水泵的振动频率变化，以引起水泵的污垢振动而脱落。
第三方面，本发明提供一种农业无人机的加药装置，包括进液管、出 液管和如上所述的水泵动力组件，进液管和出液管均与水泵动力组件中水泵的空腔连通，进液管用于使外界液体通入水泵，出液管用于将水泵内的液体泵出到农业无人机的药箱内。
本发明的水泵的清洁方法、水泵动力组件及农业无人机的加药装置，水泵的清洁方法包括如下步骤：先控制驱动电机转动并使水泵产生振动，再调节驱动电机的转速，使水泵的振动频率变化，以引起水泵的污垢振动而脱落。这样沉积在水泵内部各部件上的污垢即可在振动作用下，从水泵的内部脱落，从而起到水泵的清洁作用。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例一提供的一种水泵的清洁方法的流程示意图；
图2是本发明实施例一提供的另一种水泵的清洁方法的流程示意图；
图3是本发明实施例一提供的第三种水泵的清洁方法的流程示意图；
图4是本发明实施例一提供的第四种水泵的清洁方法的流程示意图；
图5是本发明实施例二提供的一种水泵动力组件的结构示意图；
图6是本发明实施例三提供的一种农业无人机的加药装置的结构示意图。
附图标记说明：
1—壳体；2—驱动电机；3—控制器；4—结构部件；11—进液口；12—出液口；31—PWM信号发生器；100—水泵动力组件；101—水泵；200—农业无人机的加药装置；201—进液管；202—出液管。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于 本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
图1是本发明实施例一提供的一种水泵的清洁方法的流程示意图。本实施例中的水泵的清洁方法，其应用的水泵内设有驱动电机，可以带动水泵内部部件运动，完成液体的汲取和排出。如图1所示，本实施例提供的水泵的清洁方法具体可以包括如下步骤：
S101、控制驱动电机转动并使水泵产生振动。
S102、调节驱动电机的转速，使水泵的振动频率变化，以引起水泵的污垢振动而脱落。
水泵在进行清洁作业时，水泵内的驱动电机会转动，并可带动水泵内部的运动部件运动。由于驱动电机的转子和水泵内部的部件均具有一定的质量，所以驱动电机转动时，会不同程度的带动水泵内部部件乃至水泵壳体等产生相应的振动。当水泵内的部件及结构的振幅较大时，会带动水泵内部的污垢以及沉积物一同产生较强的振动。这样沉积在水泵内部各部件上的污垢即可在振动的作用下，从水泵的内部脱落，从而起到水泵清洁作用，而不需要对水泵进行拆解作业。
通常的，通过调节驱动电机的转动频率，以引起水泵内部部件的共振时，可以在水泵内部充满水等液体的情况下进行，也可以在水泵内没有工作介质的情况下进行。图2是本发明实施例一提供的另一种水泵的清洁方法的流程示意图。如图2所示，而当水泵内部充满液体时，可选的，在调节驱动电机的转速，使水泵的振动频率变化，以引起水泵的污垢振动而脱落的步骤之后，该水泵的清洁方法还可以包括以下步骤：
S103、通过水泵内部的液流将脱落的污垢排出。
这样，由于水泵中的驱动电机工作转动时，水泵会不断的进行排液操作，所以水泵内部会形成一股液流，因振动而脱落的污垢和沉积物，即可随着液流从水泵内部排出，而不会再次沉积在水泵内部。
其中，用于清理污垢的液体，既可以是清水，也可以是清洁液等带有清洁功能的液体，这样可以加强对水泵内部的清洁效果，有利于污垢的清除。
而当水泵内部没有水等液体时，同样可以通过水泵的共振使内部的污 垢从水泵内部脱落，而脱落下来的污垢可以在水泵下次工作时，借助液流从水泵内部排出，或者利用工具等从水泵中倒出。
具体的，由于水泵内部的部件以及水泵的壳体结构本身具有一定的形状和质量，所以相应的，不同的部件和结构会具有相应的固有频率，当外界振动源以该固有频率或者与该固有频率相近的频率振动时，会带动部件及结构产生共振。图3是本发明实施例一提供的第三种水泵的清洁方法的流程示意图。如图3所示，调节驱动电机的转速，使水泵的振动频率变化，以引起水泵的污垢振动而脱落的步骤，具体可以包括：
S1021、调节驱动电机的转速；
S1022、在水泵的振动频率达到预设频率范围时，引起水泵的结构部件共振，从而使结构部件的污垢振动脱落。
其中，预设频率范围和水泵内部的部件与壳体结构的共振频率相匹配，当水泵在驱动电机的转动下，其振动频率达到预设频率时，会引起水泵结构部件的共振，振幅大为增强，从而可以促使结构部件上粘连的污垢振动脱落。
具体的，由于水泵的类型较多，例如水泵可以为隔膜泵，离心泵，混流泵，轴流泵，漩涡泵，水轮泵中的任意一种。针对不同的泵，其内部具有不同结构及形状的结构部件，例如，通常情况下，水泵可为隔膜泵，此时，水泵的结构部件包括有隔膜、壳体和阀门等，且结构部件的固有振动频率位于预设频率范围内。这样，当水泵在相当于水泵结构部件的固有振动频率的频率下振动时，隔膜、壳体或阀门等结构部件就会在水泵的振动带动下产生共振，其振幅大为增强，能够引起结构部件上的污垢脱落，起到清洁效果。
由于不同的泵具有不同结构和形状的结构部件，同时，每个泵也可能具有多个不同的结构部件，而不同的结构部件因其形状和结构均不相同，所以其进行旋转等运动时，结构部件的质量和质心位置的变化也不相同，这样就造成了不同结构部件会具有不同的固有振动频率。而水泵在产生振动时，只有达到了具体结构部件的固有振动频率，才能对该结构部件进行共振清洁污垢的操作。因而，如果水泵达到一定的预设振动频率范围，并引起某一结构部件的共振时，其它结构部件由于形状和结构的不同，无法 在该频率范围内产生相应的共振，因而也就无法产生除污效果。
图4是本发明实施例一提供的第四种水泵的清洁方法的流程示意图。如图4所示，为了对水泵内部进行较为全面的清洁，在调节驱动电机的转速的步骤中，具体的调节方法可以包括如下步骤：
S1021a、调节驱动电机的转速，以使驱动电机的转速周期性变化。
这样，由于驱动电机的转速并不是恒定的，而是呈快慢不同的周期性变化，在驱动电机的转速不断变化过程中，水泵的振动频率相应产生变化，可以驱动水泵中不同的结构部件产生共振，而逐一地对水泵内部的结构部件进行污垢震落和清洁工作，使水泵内部得到全面清洁。而驱动电机转速的周期性变化，使得水泵的振动频率可以不断重复，这样通过重复性振动，能够保证对水泵内部的清洁质量。
通常的，为了便于调节水泵的振动频率，可以通过控制驱动电机，使得在驱动电机的转速的每个变化周期内，驱动电机的转速由小到大，再由大到小变化。这样，整个水泵的振动频率会在每一个变化周期内由低到高，再由高到低不断循环变化。这样的转速调节方式，会让水泵的振动频率在每个周期内均遍历水泵所有结构部件的固有共振频率，使每个结构部件均得到振动清洁，其上的污垢会在振动作用下脱落。
具体的，在调节驱动电机的转速，以使驱动电机的转速周期性变化时，该步骤具体可以包括：通过改变驱动电机的工作电压来调节驱动电机的转速，以使驱动电机的转速周期性变化。
其中，改变驱动电机的转速的方式可以有多种，例如，由于驱动电机一般为直流电机，所以可以通过改变驱动电机的工作电压的方式来调节驱动电机转速，从而让驱动电机的转速呈周期性变化。当直流电机的工作电压升高时，电机的转速提高；而当直流电机的工作电压降低时，直流电机的转速也会相应降低。所以，通过改变驱动电机的工作电压的大小，可以自由地调整驱动电机的转速范围，使得整个水泵产生频率不同的振动。
需要说明的是，通过改变驱动电机的工作电压的方式进行转速调节，仅为举出一种较佳的实现方式，而其它转速调节方法，例如改变电源频率、改变驱动电机的磁场大小等方法，也可以应用于本实施例的水泵的清洁方法中，此处并不以此为限。
进一步的，改变驱动电机的工作电压的方式也可以有多种。具体的，通过改变驱动电机的工作电压来调节驱动电机的转速的步骤可以包括：通过脉冲宽度调制(Pulse Width Modulation，简称PWM)信号改变驱动电机的工作电压，以调节驱动电机的转速。
其中，PWM信号通常由驱动电机的控制器提供。控制器通过输出宽度不同的PWM信号，可以形成幅值不同的电压，因而可为驱动电机提供大小不同的工作电压。在不同的工作电压驱动下，驱动电机的转速可以相应改变，从而产生不同频率的振动。
本实施例中，水泵的清洁方法包括如下步骤：先控制驱动电机转动并使水泵产生振动，再调节驱动电机的转速，使水泵的振动频率变化，以引起水泵的污垢振动而脱落。这样沉积在水泵内部各部件上的污垢即可在振动作用下，从水泵的内部脱落，从而起到水泵的清洁作用。
图5是本发明实施例二提供的一种水泵动力组件的结构示意图。本实施例中的水泵动力组件，可以执行前述实施例一中的水泵的清洁方法，以对水泵动力组件中水泵自身的污垢进行清洁。具体的，如图5所示，本实施例的水泵动力组件100，可包括水泵101、驱动电机2和控制器3等部分。
其中，水泵101包括有壳体1，壳体1具有空腔，空腔内部可以设置可运动的部件，以将外界液体汲取入空腔中，并将空腔中的液体排出水泵101的壳体1之外；驱动电机2一般会与可运动的部件连接，驱动电机2转动时，可带动其他部件运动，将壳体1的空腔内的液流排出；控制器3和驱动电机2电连接，用于调节驱动电机2的转速，使水泵101的振动频率变化，以引起水泵101的污垢振动而脱落。
此外，为了实现水泵101的正常的液体抽取作业，水泵101还可以包括进液口11和出液口12，进液口11和出液口12均与水泵101的壳体1的空腔连通，水泵101的进液口11用于泵入外界液体，例如可以伸入外界液面之下，而水泵101的出液口12用于使清洗后的液体排出。具体的，水泵101的进液口11可以伸入外界液面之下，而水泵101的出液口12一般会和管道或者其它出液工具连接，以排出液体。
具体的，水泵动力组件100的控制器3能够调节驱动电机2的转速， 因为驱动电机2会驱动水泵101的内部部件运动，所以在驱动电机2的旋转带动下，水泵动力组件100中的水泵101会相应的产生一定频率的振动。当驱动电机2的转速不断变化，水泵101的振动频率也会变化，从而引起水泵101的污垢振动并脱落，达到清洁水泵101内部的效果。
在调节驱动电机2的转速时，为了实现对转速的控制，通常采取控制驱动电机2工作电压大小的方式进行，而驱动电机2的工作电压的大小可以通过PWM波的方式进行控制。此时，水泵动力组件100的控制器3可以包括PWM信号发生器31。PWM信号发生器31能够产生宽度不一的PWM信号，以实现不同大小的工作电压，从而带动驱动电机2以不同的转速运行。采用PWM信号对驱动电机2进行控制，能够实现数字化控制，控制器3也可以采用相应的数字模块及电路实现。
具体的，水泵101的内部一般还包括有结构部件4，结构部件4通常设置在空腔中，所以会与流经水泵101内部的液流接触，并沾染液流中的污垢。为了对水泵101的结构部件4进行清洁，结构部件4能够在驱动电机2的转动驱使下产生共振，从而使结构部件4的污垢振动脱落。
具体的，水泵动力组件100中的水泵101可以为常用的水泵结构，例如水泵101可以为隔膜泵，离心泵，混流泵，轴流泵，漩涡泵，水轮泵中的任意一种，只要水泵101能够进行正常的液体抽取和加装作业即可。由于水泵的具体结构不同，相应的，水泵101内部具有不同结构及形状的结构部件，例如，本实施例中，水泵动力组件100中的水泵101可为隔膜泵，此时，水泵101的结构部件4为隔膜、壳体或阀门等。以隔膜为例，当驱动电机2旋转时，水泵101的隔膜等部件会不断移动，相应的产生一定的振动。当隔膜的振动达到或接近隔膜自身的固有振动频率时，就会引起隔膜与驱动电机2的共振，从而大幅加强振动的振幅，将隔膜上的污垢振动脱落。同样的，壳体及阀门上的污垢也可以按此方法清除。
此外，水泵101也可以为水轮泵等不同的结构形式。例如，当水泵101为水轮泵时，水轮泵的结构部件包括有叶轮，叶轮一般通过泵轴和驱动电机2连接，且叶轮被设置成在驱动电机2的带动下绕驱动电机2的输出轴旋转，以带动水泵101的壳体1内部的液体排出。这样水轮泵在工作时，叶轮会在驱动电机2的驱动下不断旋转，进行液体排出作业。而要对叶轮 表面的污垢进行清理时，可以调整驱动电机2的转速，直至叶轮的振动频率达到叶轮本身的固有振动频率，这样可将叶轮表面的污垢震落，达到清洁效果。
本实施例中，水泵动力组件包括水泵、驱动电机和控制器等部分，其中水泵包括具有空腔的壳体，驱动电机转动时，可将空腔内的液流排出；控制器和驱动电机电连接，用于调节驱动电机的转速，使水泵的振动频率变化，以引起水泵的污垢振动而脱落。这样沉积在水泵各部件上的污垢即可在振动作用下，从水泵上脱落，从而对水泵动力组件中的水泵起到清洁作用。
图6是本发明实施例三提供的一种农业无人机的加药装置的结构示意图。如图6所示，本实施例提供的农业无人机的加药装置200，包括进液管201、出液管202和前述实施例二所述的水泵动力组件100，进液管201和出液管202均与水泵动力组件100中水泵101的空腔连通，进液管201用于使外界液体通入水泵101，出液管202用于将水泵101内的液体泵出到农业无人机的药箱内。其中，农业无人机的加药装置200中的水泵动力组件100主要可以执行前述实施例一中的水泵的清洁方法，水泵动力组件的具体结构、工作原理和功能均已在前述实施例二中进行了详细说明，此处不再赘述。
具体的，农业无人机可以自动或者由人工控制方式飞行至农田上方，并将药箱内的农药等液体喷洒至所需的农田地块上。而农业无人机的加药装置可以用于为地面上的农业无人机加药。具体的，加药装置的水泵动力组件100可以将外界液体抽出，并通过出液管泵出到农业无人机的药箱内，以为农业无人机进行加药作业。
由于农业无人机的加药装置200长期进行农药等液体的加注，且水泵动力组件100中水泵101的内部形状和结构均较为复杂，较易积留残存的药液，所以水泵动力组件100可以执行前述实施例一中的水泵的清洁方法，通过自身驱动电机的转速变化，使水泵101的振动频率相应改变，从而引起水泵101内部的污垢脱落，完成水泵101的清洁，使加药装置的内部保持清洁。
本实施例中，农业无人机的加药装置包括进液管、出液管和水泵动力 组件，进液管和出液管均与水泵动力组件中水泵的空腔连通，进液管用于使外界液体通入水泵，出液管用于将水泵内的液体泵出到农业无人机的药箱内。这样沉积在农业无人机的加药装置中的水泵上的污垢即可在振动作用下，从水泵脱落，从而起到水泵的清洁作用，保证了农业无人机的加药装置的内部清洁。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (23)

  1. 一种水泵的清洁方法，所述水泵包括驱动电机，其特征在于，所述方法包括：
    控制所述驱动电机转动并使所述水泵产生振动；
    调节所述驱动电机的转速，使所述水泵的振动频率变化，以引起所述水泵的污垢振动而脱落。
  2. 根据权利要求1所述的清洁方法，其特征在于，在调节所述驱动电机的转速，使所述水泵的振动频率变化，以引起所述水泵的污垢振动而脱落之后，还包括步骤：
    通过所述水泵内部的液流将脱落的所述水泵的内部污垢排出。
  3. 根据权利要求2所述的清洁方法，其特征在于，所述调节所述驱动电机的转速，使所述水泵的振动频率变化，以引起所述水泵的污垢振动而脱落，具体包括：
    调节所述驱动电机的转速；
    在所述水泵的振动频率达到预设频率范围时，引起所述水泵的结构部件共振，从而使所述结构部件的污垢振动脱落。
  4. 根据权利要求1-3任一项所述的清洁方法，其特征在于，所述水泵为隔膜泵，离心泵，混流泵，轴流泵，漩涡泵，水轮泵中的任意一种。
  5. 根据权利要求4所述的清洁方法，其特征在于，所述水泵为隔膜泵，所述结构部件包括如下至少一种：隔膜，壳体，阀门；
    其中，所述结构部件的固有振动频率位于所述预设频率范围内。
  6. 根据权利要求3所述的清洁方法，其特征在于，所述调节所述驱动电机的转速，具体包括：调节所述驱动电机的转速，以使所述驱动电机的转速周期性变化。
  7. 根据权利要求6所述的清洁方法，其特征在于，在所述驱动电机的转速的每个变化周期内，所述驱动电机的转速由小到大，再由大到小变化。
  8. 根据权利要求6所述的清洁方法，其特征在于，所述调节所述驱动电机的转速，以使所述驱动电机的转速周期性变化，具体包括：
    通过改变所述驱动电机的工作电压来调节所述驱动电机的转速，以使 所述驱动电机的转速周期性变化。
  9. 根据权利要求8所述的清洁方法，其特征在于，所述通过改变所述驱动电机的工作电压来调节所述驱动电机的转速，具体包括：
    通过脉冲宽度调制PWM信号改变所述驱动电机的工作电压，以调节所述驱动电机的转速。
  10. 一种水泵动力组件，其特征在于，包括水泵、驱动电机和控制器；
    所述水泵包括壳体，所述壳体具有空腔，所述驱动电机转动时可将所述空腔中的液流排出，所述控制器和所述驱动电机电连接，所述控制器用于调节所述驱动电机的转速，使所述水泵的振动频率变化，以引起所述水泵的污垢振动而脱落。
  11. 根据权利要求10所述的水泵动力组件，其特征在于，所述水泵还包括结构部件，所述结构部件设置在所述空腔中，所述结构部件能够在所述驱动电机的转动驱使下产生共振，从而使所述结构部件的污垢振动脱落。
  12. 根据权利要求11所述的水泵动力组件，其特征在于，所述水泵为隔膜泵，离心泵，混流泵，轴流泵，漩涡泵，水轮泵中的任意一种。
  13. 根据权利要求12所述的水泵动力组件，其特征在于，所述水泵为隔膜泵，所述结构部件包括如下至少一种：隔膜，壳体，阀门。
  14. 根据权利要求11所述的水泵动力组件，其特征在于，所述结构部件包括叶轮，所述叶轮被设置成在所述驱动电机的带动下绕所述驱动电机的输出轴旋转，以带动所述壳体内部的液体排出。
  15. 根据权利要求10-14任一项所述的水泵动力组件，其特征在于，所述水泵还包括进液口和出液口，所述进液口和所述出液口均与所述空腔连通，所述进液口用于泵入外界液体，所述出液口用于使清洗后的所述液体排出。
  16. 根据权利要求10-14任一项所述的水泵动力组件，其特征在于，所述控制器包括脉冲宽度调制PWM信号发生器。
  17. 一种农业无人机的加药装置，其特征在于，包括进液管、出液管和水泵动力组件，其中，所述水泵动力组件包括水泵、驱动电机和控制器；
    所述水泵包括壳体，所述壳体具有空腔，所述驱动电机转动时可将所 述空腔中的液流排出，所述控制器和所述驱动电机电连接，所述控制器用于调节所述驱动电机的转速，使所述水泵的振动频率变化，以引起所述水泵的污垢振动而脱落；
    所述进液管和所述出液管均与所述水泵的空腔连通，所述进液管用于使外界液体通入所述水泵，所述出液管用于将所述水泵内的液体泵出到所述农业无人机的药箱内。
  18. 根据权利要求17所述的加药装置，其特征在于，所述水泵还包括结构部件，所述结构部件设置在所述空腔中，所述结构部件能够在所述驱动电机的转动驱使下产生共振，从而使所述结构部件的污垢振动脱落。
  19. 根据权利要求18所述的加药装置，其特征在于，所述水泵为隔膜泵，离心泵，混流泵，轴流泵，漩涡泵，水轮泵中的任意一种。
  20. 根据权利要求19所述的加药装置，其特征在于，所述水泵为隔膜泵，所述结构部件包括如下至少一种：隔膜，壳体，阀门。
  21. 根据权利要求18所述的加药装置，其特征在于，所述结构部件包括叶轮，所述叶轮被设置成在所述驱动电机的带动下绕所述驱动电机的输出轴旋转，以带动所述壳体内部的液体排出。
  22. 根据权利要求17-21任一项所述的加药装置，其特征在于，所述水泵还包括进液口和出液口，所述进液口和所述出液口均与所述空腔连通，所述进液口用于泵入外界液体，所述出液口用于使清洗后的所述液体排出。
  23. 根据权利要求17-21任一项所述的加药装置，其特征在于，所述控制器包括脉冲宽度调制PWM信号发生器。
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