WO2018098643A1 - 农业无人机加液装置 - Google Patents

农业无人机加液装置 Download PDF

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Publication number
WO2018098643A1
WO2018098643A1 PCT/CN2016/107784 CN2016107784W WO2018098643A1 WO 2018098643 A1 WO2018098643 A1 WO 2018098643A1 CN 2016107784 W CN2016107784 W CN 2016107784W WO 2018098643 A1 WO2018098643 A1 WO 2018098643A1
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WO
WIPO (PCT)
Prior art keywords
water pump
liquid
agricultural drone
water
pressure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/107784
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English (en)
French (fr)
Inventor
陈叶广
吴旭民
吴晓龙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201680003393.9A priority Critical patent/CN107074523B/zh
Priority to PCT/CN2016/107784 priority patent/WO2018098643A1/zh
Priority to KR1020197006658A priority patent/KR102206978B1/ko
Publication of WO2018098643A1 publication Critical patent/WO2018098643A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
    • B67D7/06—Details or accessories
    • B67D7/08—Arrangements of devices for controlling, indicating, metering or registering quantity or price of liquid transferred
    • B67D7/30—Arrangements of devices for controlling, indicating, metering or registering quantity or price of liquid transferred with means for predetermining quantity of liquid to be transferred
    • B67D7/302—Arrangements of devices for controlling, indicating, metering or registering quantity or price of liquid transferred with means for predetermining quantity of liquid to be transferred using electrical or electro-mechanical means
    • B67D7/303—Arrangements of devices for controlling, indicating, metering or registering quantity or price of liquid transferred with means for predetermining quantity of liquid to be transferred using electrical or electro-mechanical means involving digital counting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
    • B67D7/06—Details or accessories
    • B67D7/08—Arrangements of devices for controlling, indicating, metering or registering quantity or price of liquid transferred
    • B67D7/16—Arrangements of liquid meters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
    • B67D7/06—Details or accessories
    • B67D7/32—Arrangements of safety or warning devices; Means for preventing unauthorised delivery of liquid
    • B67D7/3245—Arrangements of safety or warning devices; Means for preventing unauthorised delivery of liquid relating to the transfer method
    • B67D7/3272—Arrangements of safety or warning devices; Means for preventing unauthorised delivery of liquid relating to the transfer method using pumps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
    • B67D7/06—Details or accessories
    • B67D7/32—Arrangements of safety or warning devices; Means for preventing unauthorised delivery of liquid
    • B67D7/34—Means for preventing unauthorised delivery of liquid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
    • B67D7/06—Details or accessories
    • B67D7/76—Arrangements of devices for purifying liquids to be transferred, e.g. of filters, of air or water separators

Definitions

  • the invention relates to the field of agricultural machinery, in particular to an agricultural drone adding device.
  • the scaled container is typically used for precise metering and dispensing of liquids. Specifically, it is possible to manually check the gap between the liquid level in the container and the scale to determine whether or not a liquid needs to be added.
  • liquids such as pesticides are toxic, such as the risk of poisoning when the human body is exposed.
  • the invention provides an agricultural drone adding device for realizing quantitative dosing of an agricultural drone.
  • the invention provides an agricultural drone adding device, comprising a water pump, a flow detecting component and a controller; the flow detecting component is connected with the water pump for detecting the flow rate of the water pump; the controller is electrically connected with the water pump and the flow detecting component respectively. It is used to control the working state of the pump according to the flow detected by the flow detecting component.
  • the agricultural drone adding device of the invention specifically comprises a water pump, a flow detecting component and a controller; wherein the flow detecting component is connected with the water pump for detecting the flow rate of the water pump; the controller is electrically connected with the water pump and the flow detecting component respectively It is used to control the working state of the water pump according to the flow detected by the flow detecting component. In this way, when the amount of liquid pumped by the agricultural drone adding device reaches a predetermined value, the dosing can be stopped, and accurate dosing of the agricultural drone can be realized.
  • FIG. 1 is a schematic structural view of an agricultural drone liquid adding device according to Embodiment 1 of the present invention.
  • Figure 2 is a schematic exploded view of the agricultural drone filling device of Figure 1;
  • Figure 3 is a schematic exploded view of the agricultural drone filling device of Figure 1 at another angle.
  • 1 water pump
  • 2 flow detection component
  • 3 controller
  • 5 filter
  • 6 water gun
  • 7 base
  • 8 bracket
  • 9 protecting cover
  • 10 battery
  • 11 inlet port; Liquid port; 41-inlet pipe; 42-outlet pipe; 61-switch; 62-outlet nozzle; 91-hinging shaft; 92-locking.
  • FIG. 1 is a schematic structural view of an agricultural drone liquid adding device according to a first embodiment of the present invention.
  • 2 is a schematic exploded view of the agricultural drone filling device of FIG. 1.
  • Figure 3 is a schematic exploded view of the agricultural drone filling device of Figure 1 at another angle.
  • the agricultural drone adding device 100 provided in this embodiment may specifically include a water pump 1, a flow detecting component 2 and a controller 3.
  • the flow detecting component 2 is connected to the water pump 1 for detecting the flow rate of the water pump 1; the controller 3 is electrically connected to the water pump 1 and the flow detecting component 2, respectively, for controlling the water pump 1 according to the flow rate detected by the flow detecting component 2.
  • Working status is connected to the water pump 1 for detecting the flow rate of the water pump 1; the controller 3 is electrically connected to the water pump 1 and the flow detecting component 2, respectively, for controlling the water pump 1 according to the flow rate detected by the flow detecting component 2.
  • the agricultural drone is an automatic unmanned aerial vehicle that can be used for agricultural and forestry operations, and can spray pesticides, fertilizers, etc. over farmland.
  • the agricultural drone filling device 100 includes a water pump 1 and a pipeline connected to the water pump 1, and the water pump 1 can To extract the liquid to be added, and add the liquid to be added to the medicine box of the agricultural drone.
  • a flow detecting component 2 is disposed in the pipeline of the liquid adding device, and the flow detecting component 2 is capable of detecting the instantaneous flow rate of the water pump 1 and the total accumulated liquid discharging amount, and transmitting the detected flow rate and the liquid discharging amount to the controller 3
  • the controller 3 and the water pump 1 have an electrical connection, so that the working state of the water pump 1 can be controlled according to the liquid flow rate and the liquid discharge amount of the water pump 1, so as to control the liquid discharge amount of the entire agricultural drone liquid filling device 100, When the amount of liquid reaches a predetermined value, the liquid addition can be stopped, and accurate dosing of the agricultural drone can be achieved.
  • the agricultural drone liquid adding device 100 in the embodiment can be used not only for adding pesticides to the medicine box of the agricultural drone, but also for adding liquid to other containers, and adding a plurality of different liquids. There are no restrictions here.
  • the working state of the water pump 1 may include a start-stop state of the water pump and/or a rotational speed of the water pump.
  • the controller can control the start of the water pump according to the predetermined amount of liquid addition and the cumulative liquid output of the water pump.
  • the water pump 1 When the liquid is added, the water pump 1 can be kept in the starting working state, and when the liquid discharging amount of the agricultural drone filling device 100 reaches a predetermined value, the water pump 1 can be stopped to realize the quantitative dosing;
  • the controller 3 can control the rotation speed of the water pump 1 to decrease, so that the instantaneous flow velocity of the water pump flow is gradually reduced, thereby avoiding the liquid discharge exceeding the predetermined amount due to the excessive flow of the water pump. The value of the situation occurs.
  • the micro control unit (Microcontroller Unit, MCU for short) in the controller 3 can send a signal and transmit it to an electronic speed controller (ESC).
  • the electronic governor outputs different electrical signals according to the control signals in the controller 3 to drive the motor of the water pump 1 to operate at different speeds.
  • the flow detecting assembly 2 is located on the liquid discharging side of the water pump 1, so that the flow rate detected by the flow detecting unit 2 is unmanned to the agricultural
  • the amount of drug added in the medicine box of the machine is nearly the same, which can reduce the error of the liquid addition caused by the residual of the water pump pipeline, and enhance the accuracy of the dosing of the agricultural drone.
  • the use flexibility of the agricultural drone dosing device 100 is enhanced, and the agricultural drone dosing device 100 further includes an inlet pipe 41 and an outlet pipe 42.
  • the first end of the inlet pipe 41 extends into the liquid to be pumped, the second end of the inlet pipe 41 communicates with the inlet port 11 of the water pump 1, and the first end of the outlet pipe 42 and the outlet of the water pump 1
  • the liquid port 12 is connected, and the flow detecting assembly 2 is disposed between the first end of the liquid discharge pipe 42 and the liquid outlet 12, and the liquid is discharged.
  • the second end of the tube 42 is for discharging liquid.
  • the inlet tube 41 and the outlet tube 42 may each be a flexible flexible tube to enhance the convenience in dosing.
  • the flow detecting assembly 2 is connected to the first end of the liquid discharge pipe 41 close to the water pump, so that it can be easily integrated with the water pump 1 to improve the portability of the entire liquid adding device.
  • the liquid device 100 further includes a filter 5 disposed between the inlet pipe 41 and the inlet port 11, capable of filtering the liquid to be added, and blocking the entry of solid residue and impurities to be added into the liquid. On the one hand, it can ensure that the liquid entering the agricultural drone container has no impurities, and on the other hand, impurities can be prevented from entering the water pump 1 and causing damage to the internal structure of the water pump 1.
  • the filter 5 generally includes a filter (not shown).
  • the size and mesh diameter of the filter can be changed according to the composition of the liquid to be added. It should be understood that a plurality of screens may be provided in the filter 5, or a combination of a screen and a sponge may be used.
  • the flow detecting component 2 generally includes a flow meter (not shown).
  • the flow meter is connected between the liquid outlet 42 of the water pump 1 and other lines, and can detect the instantaneous flow of the liquid flowing through the flow meter.
  • the flowmeter may be a variety of different structures and specifications, such as a differential pressure flowmeter, a rotameter, a volumetric flowmeter, an electromagnetic flowmeter, and an ultrasonic flowmeter, and is not limited in this embodiment.
  • the agricultural drone filling device 100 may further include a water gun 6 having a shape for the worker to hold in the hand, the water gun 6 having the liquid discharge tube 42 and the liquid discharge tube 42 The second end is connected to the water outlet passage, and the water gun 6 is provided with a switch 61 for opening or closing the water outlet passage.
  • the whole dosing device can be controlled to be discharged or closed by pressing and controlling the switch 61.
  • the discharge of the liquid can be controlled by controlling the switch 61 on the water gun 6, the water or the cleaning liquid can be sucked under the suction of the water pump 1, and the water or the cleaning liquid can be ejected by operating the water gun 6, thereby achieving the cleaning function.
  • cleaning it is possible to clean other objects or to clean the agricultural drone filling device 100 itself.
  • the water gun 6 can open or close the water outlet passage communicating with the liquid outlet pipe 42 through the switch 61, if the water pump 1 inside the agricultural drone liquid filling device 100 is not closed, the internal pressure of the pipeline is increased due to the closed pipe. And even the phenomenon of pipe rupture.
  • the water pump 1 is provided with a pressure switch, and the pressure switch is generally disposed at the pump head position of the water pump 1. The pressure switch is used to stop the operation of the water pump 1 under the pressure of the liquid when the liquid stops flowing in the water pump 1, or to start the operation of the water pump 1 when the liquid flows.
  • the pressure switch may be internally provided with a valve and the like according to the pressure of the pipeline.
  • the pressure in the water pump 1 stops flowing, since the water pump 1 is still in the state of extracting the liquid, the pressure in the water pump 1 will increase.
  • the valve of the pressure switch is closed under the pressure, thereby stopping the operation of the water pump 1.
  • the water pump 1 will not pump the liquid again, and the pressure of the entire pipeline is reduced.
  • the switch of the water gun 6 is opened and the liquid starts to flow, since the liquid pressure in the water pump 1 is reduced, at this time, the pressure switch is opened under a small pressure, and the operation of the water pump 1 is started. In this way, the pressure surge phenomenon caused by the continuous supply of the water to the closed pipe by the water pump 1 can be effectively avoided, and the start and stop of the water pump 1 can be controlled only by controlling the switch of the water gun 6.
  • the controller 3 can also be used to issue a control signal and directly control the start and stop of the water pump 1 through the electronic governor.
  • the liquid adding device can further include a pressure for detecting the liquid pressure in the agricultural drone filling device.
  • the pressure detecting device may be disposed inside the water pump 1 or outside the water pump 1 and connected to the water pump 1, and the pressure detecting device and the controller 3 are electrically connected.
  • the controller 3 can also be used to control the water pump 1 to stop when the pressure detected by the pressure detecting device is greater than or equal to the preset threshold, or to control the water pump 1 when the pressure detected by the pressure detecting device is less than a preset threshold. Start running.
  • the pressure detecting device includes a pressure gauge which is disposed inside the water pump 1 and can directly detect the real-time pressure in the water pump 1 and transmit the pressure value signal to the controller 3.
  • the controller 3 compares with the internally stored preset threshold, which is generally close to the pressure at which the water pump 1 discharges the liquid. If the pressure value is greater than or equal to the preset threshold, it is proved that the liquid outlet pipe 42 of the liquid adding device is in a closed state. At this time, the controller 3 should control the water pump 1 to stop running, and if the pressure value is less than the preset threshold, it indicates The liquid pipe 42 is in an open state, and at this time, the water pump 1 can be controlled to start to discharge the liquid.
  • the water outlet end of the water gun 6 may also be provided with a water outlet 62, and the water outlet 62 is movably connected with the water outlet passage, and the water outlet nozzle is rotated to adjust the water pressure.
  • the water outlet nozzle 62 can rotate around its own axis to adjust the cross-sectional area of the water outlet passage.
  • the cross-sectional area of the water outlet passage becomes smaller, the outlet water pressure becomes larger, and when the cross-sectional area of the outlet passage passage becomes larger, the outlet water pressure becomes larger. In this way, the water discharge pressure of the water gun 6 can be adjusted.
  • the water supply pressure of the water outlet 62 can be controlled to achieve different cleaning requirements.
  • the water gun 6 The spout 62 is a replaceable spout, and the different spouts are used to form different liquid ejecting shapes.
  • the water spout 62 on the water gun 6 can be replaced with a water spout having a uniform inner cross section, so that the spout can discharge a columnar liquid flow having a uniform thickness, and it is required to eject a radial flow.
  • the spout 62 can be replaced with a spout that is small and large before the cross section of the inner cavity. This can be done by replacing the different spouts to create a flow of different pressure and diffusion shapes for different ways of cleaning.
  • the agricultural drone filling device may further include a base 7 and a bracket 8 , wherein The base 7 is disposed on the bracket 8 and the water pump 1 can be fixed to the base 7.
  • the bracket 8 is generally composed of a plurality of struts, the plurality of struts collectively enclosing a cavity, and the base 7 may be disposed in the cavity, and the edge of the base 7 and the struts are connected by fasteners or Soldered together.
  • the base 7 generally has a bearing surface with a large area, and the water pump 1 can be fixed on the support surface and protected by a strut forming a cavity. The worker can lift and move the entire device by holding the bracket 8.
  • the agricultural drone liquid adding device 100 further includes a protective cover 9 for protecting the base 9 7 together form a battery compartment that can accommodate the battery 10.
  • the protective cover 9 and the base 7 together enclose the battery 10 for supplying power to the water pump 1 to prevent the external liquid from entering, causing the battery 10 to get wet.
  • the protective cover 9 can be disposed above the base 7. It should be understood that the battery compartment and the water pump 1 may be disposed on the upper and lower sides of the base 7 respectively, or may be disposed side by side on the same side of the base 7, which is not limited in the present invention.
  • the protective cover 9 and the base 7 are movably connected by a hinge shaft 91.
  • the protective cover 9 can be opened to one side to load or take out the battery 10 between the protective cover 9 and the base 7, or to maintain the water pump 1 fixed on the base 7.
  • a lock 92 is further provided on the side of the protective cover 9 opposite to the hinge shaft 91.
  • the buckle 92 can be manually opened or locked to lock or open the protective cover 9 and the base 7. After the lock 92 is locked, the battery compartment enclosed by the protective cover 9 and the base 7 is sealed to ensure that the battery system is not affected when the agricultural drone filling device 100 is cleaned.
  • the controller 3 since the controller 3 is usually integrated with a control button and a display screen, the controller 3 is usually disposed outside the protective cover 9 for the convenience of the worker, for example, on the upper surface of the protective cover 9 or on the outside of the protective cover 9. In the slot, the controller 3 can be conveniently viewed and manipulated when the water pump 1 is controlled. Meanwhile, in order to ensure waterproofness of the controller 3, a protective film may be covered on the outside of the controller 3.
  • the water pump 1 specifically includes a driving motor (not shown) for driving the components inside the water pump 1 for liquid extraction. And the installation, the controller 3 and the driving motor are electrically connected, and at this time, the controller 3 can be used to control the rotation speed of the driving motor through the electronic governor, so that the water pump 1 resonates, thereby causing the internal dirt of the water pump 1 to fall off due to vibration. .
  • the agricultural drone adding device 100 cleans the inside of the water pump 1, it can control the driving motor to rotate and drive the water pump 1 to generate vibration; adjusting the rotational speed of the driving motor can change the vibration frequency of the water pump 1, when the internal components of the water pump 1 When the vibration frequency reaches the range of its own natural vibration frequency, the resonance of the corresponding components inside the water pump 1 is caused, and the amplitude is greatly enhanced, so that the dirt adhered inside the water pump 1 can be detached by vibration and passed through the water pump 1 The liquid flow is taken out to serve as the internal cleaning function of the water pump 1.
  • the agricultural drone adding device specifically comprises a water pump, a flow detecting component and a controller; wherein the flow detecting component is connected with the water pump for detecting the flow rate of the water pump; the controller is respectively electrically connected with the water pump and the flow detecting component A connection for controlling the operating state of the water pump based on the flow detected by the flow detecting component.

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  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
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Abstract

一种农业无人机加液装置(100)，包括水泵(1)、流量检测组件(2)和控制器(3)；所述流量检测组件(2)与所述水泵(1)相连接，用于检测所述水泵(1)的流量；所述控制器(3)分别与所述水泵(1)和所述流量检测组件(2)电连接，用于根据所述流量检测组件(2)所检测到的流量控制所述水泵(1)的工作状态。该农业无人机加液装置(100)能够对农业无人机实现定量加液。

Description

农业无人机加液装置 技术领域
本发明涉及农业机械领域，尤其涉及一种农业无人机加液装置。
背景技术
在农业等领域，经常需要对农药或者液体肥料进行喷洒，以保证作物的正常生长。
目前，为了保证农药等液体达到最佳使用效果，通常需要进行定量液体加装，从而精确定量地完成液体的施用。为了进行液体定量，通常采用标有刻度的容器，对液体进行精确定量取用和投放。具体可以通过人工查看液体在容器中的液位与刻度之间的差距，决定是否需要加装液体。
然而，通过人工测量的方式加装液体，工作效率较低，且农药等液体具有毒性，如人体接触到会有中毒的风险。
发明内容
本发明提供一种农业无人机加液装置，以对农业无人机实现定量加液。
本发明提供一种农业无人机加液装置，包括水泵、流量检测组件和控制器；流量检测组件与水泵相连接，用于检测水泵的流量；控制器分别与水泵和流量检测组件电连接，用于根据流量检测组件所检测到的流量控制水泵的工作状态。
本发明的农业无人机加液装置，具体包括水泵、流量检测组件和控制器；其中，流量检测组件与水泵相连接，用于检测水泵的流量；控制器分别与水泵和流量检测组件电连接，用于根据流量检测组件所检测到的流量控制水泵的工作状态。这样当农业无人机加液装置所泵出的液体量达到预定的值时，即可停止加液，实现对农业无人机的精确定量加药。
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农业无人机加液装置的结构示意图；
图2是图1中的农业无人机加液装置的爆炸示意图；
图3是图1中的农业无人机加液装置在另一个角度的爆炸示意图。
附图标记说明：
1—水泵；2—流量检测组件；3—控制器；5—过滤器；6—水枪；7—底座；8—支架；9—保护罩；10—电池；11—进液口；12—出液口；41—进液管；42—出液管；61—开关；62—出水嘴；91—铰接轴；92—锁扣。
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农业无人机加液装置的结构示意图。图2是图1中的农业无人机加液装置的爆炸示意图。图3是图1中的农业无人机加液装置在另一个角度的爆炸示意图。如图1至图3所示，本实施例提供的农业无人机加液装置100，具体可以包括水泵1、流量检测组件2和控制器3。
其中，流量检测组件2与水泵1相连接，用于检测水泵1的流量；控制器3分别与水泵1和流量检测组件2电连接，用于根据流量检测组件2所检测到的流量控制水泵1的工作状态。
具体的，农业无人机是一种可用于农林作业的自动无人飞行器，可以在农田上空进行农药、化肥等的喷洒作业。为了给农业无人机加药，农业无人机加液装置100中包括有水泵1以及与水泵1相连的管路，水泵1可 以抽取待加液体，并将待加液体加入农业无人机的药箱中。在加液装置的管路中设置有流量检测组件2，流量检测组件2能够检测水泵1的即时流量和总体的累计出液量，并将所检测到的流量和出液量发送至控制器3中，控制器3与水泵1之间具有电连接，因而可以根据水泵1的液体流量和出液量情况控制水泵1的工作状态，以控制整个农业无人机加液装置100的出液量，当出液量达到预定的值时，即可停止加液，实现对农业无人机的精确定量加药。需要说明的是，本实施例中的农业无人机加液装置100，不仅可以用于为农业无人机的药箱加入农药，也可以为其它容器加液，并可加入多种不同的液体，此处不加以限制。
具体的，水泵1的工作状态可包括水泵的启停状态和/或水泵的转速。控制器可根据预定加液量和水泵的累计出液量控制水泵的启动。当进行加液时，水泵1可保持在启动工作状态，而当农业无人机加液装置100的出液量达到预定值时，水泵1即可停止运转，以实现定量加药；而当加液装置的出液量将要达到预定值时，控制器3可控制水泵1的转速下降，以使水泵液流的即时流速逐渐减小，从而避免因水泵液流过大而造成出液量超过预定值的情况发生。
具体的，控制器3对水泵1的电机进行控制时，一般控制器3中的微控制单元(Microcontroller Unit，简称MCU)可以发出信号，并传输至电子调速器(Electrical Speed Controller，简称ESC)中，电子调速器根据控制器3中的控制信号输出不同的电信号，以驱动水泵1的电机按照不同转速运转。
通常的，尤其是当本发明的农业无人机加液装置本身包含储液容器时，流量检测组件2位于水泵1的出液侧，这样流量检测组件2所检测到的流量与向农业无人机的药箱内加入的药量接近一致，可以减小因水泵管路残留而导致的加液量误差现象，增强农业无人机的加药精确性。
可选的，为了便于进行液体取用和加药，增强农业无人机加液装置100的使用灵活性，农业无人机加液装置100还包括进液管41和出液管42。
其中，进液管41的第一端伸入待抽取液体之中，进液管41的第二端和水泵1的进液口11连通；而出液管42的第一端和水泵1的出液口12连通，流量检测组件2设置在出液管42的第一端和出液口12之间，出液 管42的第二端用于排出液体。
具体的，进液管41和出液管42均可以为可弯曲的柔性管道，以增强加药时的方便性。而流量检测组件2与出液管41的靠近水1泵的第一端连接，从而可方便地与水泵1集成在一起，提高整个加液装置的便携性。
由于待加入液体通常为农药等具有复杂成分的液体，所以待加入液体内可能有残渣或杂质，为了避免这些残渣或杂质加入农业无人机的药箱内，造成堵塞现象，农业无人机加液装置100还包括过滤器5，过滤器5设置在进液管41和进液口11之间，能够对待加入液体进行过滤，阻挡待加入液体内的固体残渣和杂质进入。这样一方面可以保证进入农业无人机药箱内的液体没有杂质，另一方面，也可以避免杂质进入水泵1，并对水泵1的内部结构造成损坏。可选的，过滤器5内一般包括有滤网(图中未示出)。滤网的规格和网孔直径可以根据待加入液体成分的不同而相应进行更换。应当理解，过滤器5内可设置多重滤网，或者将滤网和海绵等组合使用。
具体的，流量检测组件2中一般包括有流量计(图中未示出)。流量计接入在水泵1的出液口42与其它管路之间，能够检测到流经流量计的液流即时流量。具体的，流量计可以是差压式流量计、转子流量计、容积流量计、电磁流量计和超声波流量计等多种不同结构及规格，本实施例中并不加以限制。
在进行液体加注时，为了便于工作人员操作，农业无人机加液装置100还可以包括有水枪6，水枪6具有可供工作人员握持在手中的外形，水枪6具有和出液管42的第二端连通的出水通道，水枪6上设置有用于打开或关闭出水通道的开关61。当工作人员进行加药时，可以通过按压及操控开关61，控制整个加液装置进行出液或者关闭，一方面有利于对加药量进行手动控制，另一方面可以在出现突发状况时及时停止加药，使用便捷性和灵活性大大增强。
此外，由于可以通过控制水枪6上的开关61来控制液流排出，因而可以在水泵1的吸力作用下吸入清水或者清洗液，并通过操控水枪6将清水或清洗液喷出，实现清洗功能。进行清洗时，既可以对其它物体进行清洗，也可以对农业无人机加液装置100本身进行清洗。
由于水枪6可通过开关61打开或关闭与出液管42连通的出水通道，如果农业无人机加液装置100内部的水泵1如果不随之关闭，则会因管道封闭而造成管道内部压力增大，甚至管道破裂现象。本实施例中，水泵1内设置有压力开关，压力开关一般设置在水泵1的泵头位置。压力开关用于在水泵1内液体停止流动时，在液体的压力下停止水泵1的运转，或者在液体流动时，启动水泵1的运转。这样一方面避免了水枪6关闭时水泵内部的压力过大，另一方面也可以实现只需控制水枪6的开关就可控制水泵的启停，提高了加液、清洗等功能的便利性。
具体的，压力开关内部可以设置有根据管道压力开启的阀门等机构，当水泵1内的液体停止流动时，由于水泵1仍处于抽取液体的状态，所以水泵1内的压力会增大，此时，压力开关的阀门会在压力作用下关闭，从而停止水泵1运转，此时，水泵1不会再泵入液体，因而整个管路的压力随之减小。而当水枪6的开关打开，液体开始流动时，由于水泵1内液体压力减小，此时，压力开关会在较小的压力下打开，而启动水泵1的运转。这样可以有效避免因水泵1持续向封闭管道供液而产生的压力剧增现象，也可以只通过控制水枪6的开关来控制水泵1的启停。
此外，也可以采用控制器3发出控制信号，并通过电子调速器直接控制水泵1的启停，此时，加液装置还可以包括用于检测农业无人机加液装置内液体压力的压力检测装置，该压力检测装置可以设置在水泵1的内部或设置在水泵1外与水泵1相连接，压力检测装置和控制器3电连接。此时，控制器3还可以用于当压力检测装置检测到的压力大于或等于预设阈值时，控制水泵1停止运转，或者当压力检测装置检测到的压力小于预设阈值时，控制水泵1开始运转。
本实施例中，压力检测装置包括压力计，设置在水泵1内部，可以直接检测到水泵1内的实时压力，并将压力值信号发送给控制器3。控制器3收到压力值信号后，会与内部存储的预设阈值相比较，该预设阈值一般和水泵1将液体排出时的压力接近。如果该压力值大于或者等于预设阈值，则证明加液装置的出液管42处于关闭状态，此时，控制器3应控制水泵1停止运转，而如果压力值小于预设阈值，则说明出液管42为开启状态，此时，可控制水泵1开始运转，以排出液体。
通常的，为了更方便地向农业无人机的药箱加入液体，水枪6的出水通道末端还可以设置有出水嘴62，出水嘴62与出水通道活动连接，且旋转出水嘴可调节出水压力。
其中，出水嘴62可绕自身轴心旋转，以调节出水通道的截面面积，当出水通道的截面面积变小，则出水压力变大，而出水通道的截面面积变大时，出水压力会变大，这样可以对水枪6的出水压力大小进行调节，在清洗时，可以通过控制出水嘴62的出水压力，实现不同的清洗需求。
进一步的，为了实现本发明的加液装置在加液之外等其它功能，比如清洗外物，清洗自身等，有时需要形成不同形状及大小的液流，因此本实施例中，水枪6上的出水嘴62为可更换出水嘴，不同出水嘴用于形成不同的液体喷出形状。例如，需要喷出柱状液流时，可以将水枪6上的出水嘴62更换为内腔截面保持一致的出水嘴，从而可让出水嘴喷出粗细一致的柱状液流，而需要喷出放射状的液流时，则可将出水嘴62更换为内腔截面前小后大的出水嘴。这样可以通过更换不同出水嘴，形成压力和扩散形状不同的液流，以进行不同方式的清洗。
可选的，为了集成安置农业无人机加液装置100中的水泵1和控制器3等组成部分，实现便携功能，农业无人机加液装置中还可以包括有底座7和支架8，其中，底座7设置在支架8上，而水泵1可固定在底座7上。
具体的，支架8通常由多个支杆组成，多个支杆共同围成一个空腔，而底座7可以设置在空腔中，且底座7的边缘与支杆之间通过紧固件连接或者焊接在一起。底座7一般具有面积较大的支承面，水泵1可固定在支承面上，并被组成空腔的支杆围设保护起来。工作人员可以通过握持支架8，进行整个装置的抬起和移动。
此外，为了对控制器3和水泵1的外部电源等电路模块进行保护，增强整个加液装置的环境适应性，农业无人机加液装置100还包括保护罩9，保护罩9用于和底座7共同围成可容纳电池10的电池仓。此时，保护罩9和底座7共同将用于为水泵1供电的电池10围设起来，以避免外界的液体进入，造成电池10受潮。一般的，为便于电池10的取放，保护罩9可设置在底座7的上方。应当理解，电池仓和水泵1既可以分别设置于底座7的上下两侧，也可以并排设置于底座7的同一侧，本发明对此不做限定。
作为一种可选的实施方式，保护罩9和底座7之间通过铰接轴91活动连接。这样，保护罩9可向一侧打开，以便装载或者取出位于保护罩9和底座7之间的电池10，或者对底座7上所固定的水泵1进行维护。
进一步的，为了锁定保护罩9，在保护罩9的和铰接轴91相对的一侧还设置有锁扣92。锁扣92可以通过人工打开或锁上，以使保护罩9与底座7之间锁合或者呈打开状态。锁扣92锁上之后，保护罩9和底座7共同围成的电池仓密闭，保证在对农业无人机加液装置100进行清洗时，电池系统不会受到影响。
此外，由于控制器3通常集成了控制按钮和显示屏，为了便于工作人员进行控制，控制器3通常设置在保护罩9的外侧，例如位于保护罩9的上表面或者位于保护罩9外侧的开槽中，这样在对水泵1进行控制时，可以方便的对控制器3进行查看和操控。同时，为了保证控制器3的防水，可在控制器3的外面覆盖保护膜。
由于农业无人机加液装置100所加装的液体通常为农药等液体，因此需要经常性的内部清洗。为了对农业无人机加液装置100内部的水泵1进行内部清洁，水泵1具体包括有驱动电机(图中未示出)，驱动电机用于驱动水泵1内部的部件运动，以进行液体的抽取和加装，控制器3和驱动电机电连接，且此时控制器3可用于通过电子调速器来控制驱动电机的转速，使水泵1产生共振，从而引起水泵1的内部污垢因振动而脱落。
当农业无人机加液装置100对水泵1内部进行清洁时，可以通过控制驱动电机转动，并带动水泵1产生振动；调节驱动电机的转速，可以改变水泵1的振动频率，当水泵1内部部件的振动频率达到自身的固有振动频率的范围内时，就会引起水泵1内部相应部件的共振，振幅大为增强，从而可以将水泵1内部粘连的污垢通过振动而脱落，并通过水泵1内的液流带出，起到水泵1的自身内部清洁作用。
本实施例中，农业无人机加液装置具体包括水泵、流量检测组件和控制器；其中，流量检测组件与水泵相连接，用于检测水泵的流量；控制器分别与水泵和流量检测组件电连接，用于根据流量检测组件所检测到的流量控制水泵的工作状态。这样当农业无人机加液装置所泵出的液体量达到预定的值时，即可停止加液，实现对农业无人机的精确定量加药。
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 (17)

  1. 一种农业无人机加液装置，其特征在于，包括水泵、流量检测组件和控制器；
    所述流量检测组件与所述水泵相连接，用于检测所述水泵的流量；
    所述控制器分别与所述水泵和所述流量检测组件电连接，用于根据所述流量检测组件所检测到的流量控制所述水泵的工作状态。
  2. 根据权利要求1所述的农业无人机加液装置，其特征在于，所述工作状态包括所述水泵的启停状态和/或所述水泵的转速。
  3. 根据权利要求2所述的农业无人机加液装置，其特征在于，还包括进液管和出液管；
    所述进液管的第一端伸入待抽取液体之中，所述进液管的第二端和所述水泵的进液口连通；
    所述出液管的第一端和所述水泵的出液口连通，所述流量检测组件设置在所述出液管的第一端和所述出液口之间，所述出液管的第二端用于排出液体。
  4. 根据权利要求3所述的农业无人机加液装置，其特征在于，还包括过滤器，所述过滤器设置在所述进液管和所述进液口之间。
  5. 根据权利要求4所述的农业无人机加液装置，其特征在于，所述过滤器包括滤网。
  6. 根据权利要求1-5任一项所述的农业无人机加液装置，其特征在于，所述流量检测组件包括流量计。
  7. 根据权利要求3任一项所述的农业无人机加液装置，其特征在于，还包括水枪，所述水枪具有和所述出液管的第二端连通的出水通道，所述水枪上设置有用于打开或关闭所述出水通道的开关。
  8. 根据权利要求7所述的农业无人机加液装置，其特征在于，所述水泵内设置有压力开关，所述压力开关用于在所述水泵内液体停止流动时，在所述液体的压力下停止所述水泵的运转，或者在所述液体流动时，启动所述水泵的运转。
  9. 根据权利要求7所述的农业无人机加液装置，其特征在于，还包 括用于检测液体压力的压力检测装置，所述压力检测装置和所述控制器电连接，所述控制器还用于当所述压力检测装置检测到的压力大于或等于预设阈值时，控制所述水泵停止运转，或者当所述压力检测装置检测到的压力小于所述预设阈值时，控制所述水泵开始运转。
  10. 根据权利要求7所述的农业无人机加液装置，其特征在于，所述水枪的出水通道末端设置有出水嘴，所述出水嘴与所述出水通道活动连接，且旋转所述出水嘴可调节出水压力。
  11. 根据权利要求10所述的农业无人机加液装置，其特征在于，所述出水嘴为可更换出水嘴，不同出水嘴用于形成不同的液体喷出形状。
  12. 根据权利要求1-5任一项所述的农业无人机加液装置，其特征在于，还包括底座和支架，所述底座设置在所述支架上，所述水泵固定在所述底座上。
  13. 根据权利要求12所述的农业无人机加液装置，其特征在于，还包括保护罩，所述保护罩用于和所述底座共同围成可容纳电池的电池仓。
  14. 根据权利要求13所述的农业无人机加液装置，其特征在于，所述保护罩和所述底座之间通过铰接轴活动连接。
  15. 根据权利要求14所述的农业无人机加液装置，其特征在于，所述保护罩的和所述铰接轴相对的一侧还设置有锁扣。
  16. 根据权利要求13所述的农业无人机加液装置，其特征在于，所述控制器设置在所述保护罩的外侧。
  17. 根据权利要求1-5任一项所述的农业无人机加液装置，其特征在于，所述水泵包括驱动电机，所述控制器和所述驱动电机电连接，所述控制器用于通过控制所述驱动电机的转速，使所述水泵产生共振，从而引起所述水泵的内部污垢因振动而脱落。
PCT/CN2016/107784 2016-11-29 2016-11-29 农业无人机加液装置 Ceased WO2018098643A1 (zh)

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