WO2019119225A1 - 播撒装置及其控制方法、以及植保无人机 - Google Patents

播撒装置及其控制方法、以及植保无人机 Download PDF

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Publication number
WO2019119225A1
WO2019119225A1 PCT/CN2017/117002 CN2017117002W WO2019119225A1 WO 2019119225 A1 WO2019119225 A1 WO 2019119225A1 CN 2017117002 W CN2017117002 W CN 2017117002W WO 2019119225 A1 WO2019119225 A1 WO 2019119225A1
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WO
WIPO (PCT)
Prior art keywords
discharge port
opening degree
spreading device
plant protection
remote control
Prior art date
Application number
PCT/CN2017/117002
Other languages
English (en)
French (fr)
Inventor
冯壮
常子敬
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
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 KR1020207015770A priority Critical patent/KR102387599B1/ko
Priority to JP2020526881A priority patent/JP6953664B2/ja
Priority to PCT/CN2017/117002 priority patent/WO2019119225A1/zh
Priority to CN201780025558.7A priority patent/CN109153452B/zh
Publication of WO2019119225A1 publication Critical patent/WO2019119225A1/zh
Priority to US16/898,148 priority patent/US20200307791A1/en

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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
    • A01M7/0089—Regulating or controlling systems
    • 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
    • A01M9/00—Special adaptations or arrangements of powder-spraying apparatus for purposes covered by this subclass
    • A01M9/0092—Regulating or controlling systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/002—Manually-actuated controlling means, e.g. push buttons, levers or triggers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
    • G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
    • G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the invention relates to the control of planting drones for planting drones, in particular to a spreading device and a control method thereof, and a plant protection drone.
  • the plant protection drone is a drone for agricultural and forestry plant protection operations. This type of drone can realize long-distance remote control operation, and it can also avoid manual labor, high labor intensity, low efficiency, and low density. Uniform and other issues are increasingly loved by agricultural producers.
  • the existing plant protection drones include flight platforms (fixed wings, helicopters, multi-axis aircraft), and spreading devices mounted under the flight platform.
  • the seeds are controlled by ground remote control or navigation flight control in the flight platform.
  • Spreading of solid particles such as pharmaceuticals and fertilizers.
  • the spreading device capable of spreading solid particles generally includes: a material tank, a stirring mechanism disposed in the material tank, a discharge adjusting mechanism disposed in the material tank, and a spreading mechanism disposed below the leak.
  • the stirring mechanism comprises a ducted fan and a ducted casing coaxial with the material box, and the air outlet of the ducted outer casing faces the upper side of the bottom plate of the material box, so that the stirring effect of the material in the material box can be realized by the ducted fan.
  • the discharging adjustment mechanism comprises: a switch baffle, a steering gear, and a connecting rod connecting the steering arm of the steering gear and the switch baffle, so that the switch baffle can be moved on the leak through the steering gear and the connecting rod To adjust the size of the opening.
  • the spreading mechanism comprises: a side plate connected to the bottom of the material box, a wheel motor, and a wheel connected to the wheel motor, the wheel plate is disposed on the inner side of the side plate, and a distribution port is arranged on the side plate, so that the The wheel motor drives the wheel to rotate, so that material falling from the leak to the wheel is ejected from the diffuser.
  • the present invention provides a spreading device and a control method thereof, and a plant protection drone.
  • a method for controlling a spreading device includes: acquiring a target opening degree and a real-time opening degree of a discharge port; and determining the output according to the comparison result of the real-time opening degree and the target opening degree Whether the opening degree of the material port is abnormal; when the opening degree of the discharging port is abnormal, an alarm signal is sent to the remote control device.
  • a spreading device including: a material box, an opening adjustment mechanism, a spreading mechanism, and a processor; a bottom of the material box is provided with a discharge opening; and the opening adjustment mechanism includes a baffle disposed at the discharge port, and a baffle motor for driving the baffle to adjust an opening of the spout; the spreading mechanism includes: a turntable disposed under the baffle And a turntable motor for driving the turntable; the processor is configured to acquire a target opening degree and a real-time opening degree of the discharge port; and determine the position according to the comparison result of the real-time opening degree and the target opening degree Whether the opening degree of the discharge port is abnormal; and when the opening degree of the discharge port is abnormal, an alarm signal is sent to the remote control device.
  • a planting drone comprising a fuselage, an arm and a power assembly, one end of the arm being connected to the fuselage and the other end being mounted with the power component, the plant protection
  • the drone further includes: a spreading device mounted under the fuselage; the spreading device includes: a material box, an opening adjustment mechanism, a spreading mechanism, and a processor; and a discharge port is opened at a bottom of the material box
  • the opening adjustment mechanism includes: a baffle disposed at the discharge port, and a baffle motor for driving the baffle to adjust an opening of the spout;
  • the spreading mechanism includes: setting a turntable under the baffle, and a turntable motor for driving the turntable; the processor for acquiring a target opening and a real-time opening of the discharge port; and according to the real-time opening and the target
  • the comparison result of the opening degree determines whether the opening degree of the discharge port is abnormal; and when the opening degree of the discharge port is abnormal, an alarm signal is sent to the remote control device.
  • the technical solution of the present invention by obtaining the target opening degree and the real-time opening degree of the discharge port, it is possible to determine whether the opening degree of the discharge port is abnormal and the opening degree at the discharge port by comparing the two results.
  • the alarm signal is sent to the remote control device, so that the user can grasp the information of the abnormal opening of the discharge port in time, and can also take targeted measures according to the different conditions of the opening abnormality to ensure that the spreading uniformity is not open. The impact of the anomaly.
  • FIG. 1 is a front elevational view of a plant protection drone according to an embodiment of the present invention
  • FIG. 2 is a side view of a plant protection drone according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a planting device for a plant protection drone according to an embodiment of the present invention.
  • Figure 4 is a schematic structural view of the turntable adjusting mechanism and the turntable of the spreading mechanism of Figure 3;
  • FIG. 5 is a schematic flowchart diagram of a method for controlling a spreading device according to an embodiment of the present invention
  • FIG. 6 is a schematic diagram of a control flow of a plant protection drone spreading operation according to an embodiment of the present invention.
  • FIG. 1 is a front view of a plant protection drone provided by the embodiment
  • FIG. 2 is a side view of the plant protection drone provided by the embodiment. The following describes the specific structure of the plant protection drone and the cooperation relationship between the various parts to better understand the control method of the planting device in the plant protection drone.
  • the plant protection drone includes a fuselage 10, a boom 30, a power assembly 50, and a spreading device 70 mounted below the fuselage 10.
  • a fuselage 10 a fuselage 10
  • a boom 30 a power assembly 50
  • a spreading device 70 mounted below the fuselage 10.
  • the following description will be made in detail in the order of the body 10, the arm 30, the power unit 50, and the spreading device 70.
  • the fuselage 10 includes a housing and a flight controller mounted within the housing.
  • the outer casing can be made of plastic or metal, and generally includes a top plate, a bottom plate, and a side wall.
  • the top end of the side wall is fixed to the top plate, the bottom end is fixed to the bottom plate, and is combined with the top plate and the bottom plate to accommodate the flight controller. Installation space.
  • the shapes of the top plate and the bottom plate may be any geometric shapes such as a rectangle, a circle, an ellipse, a pentagon, a hexagon, and the like, and the area of the top plate may be greater than, equal to, or smaller than the area of the bottom plate.
  • the side wall can be a single piece or can be spliced from multiple pieces.
  • a power source for example, a lithium battery including a plurality of batteries
  • a power source for example, a lithium battery including a plurality of batteries
  • the spreading device 70 is mounted below the bottom plate, for example, by a connecting member such as a buckle or a bolt, or when the bottom of the bottom plate is provided with a foot for supporting the body 10 at the time of landing.
  • the spreading device 70 can be secured to the stand 90 by a connector (e.g., a snap).
  • the arm 30 is fixed to the body 10, and the other end is used to mount the power assembly 50.
  • the arm 30 may be a hollow tubular member having a circular, elliptical or other suitable shape in cross section, which may be made of a material such as plastic, metal, or carbon fiber.
  • the number of arms 30 can be one or more. For example, when only one arm 30 is disposed, the arm 30 can be fixed to the top plate of the body 10 at the bottom end to form a helicopter-type plant protection drone. As another example, when a plurality of arms 30 are disposed, the plurality of arms 30 can extend radially outward from the body 10 to form a multi-rotor type plant protection drone. Alternatively, a plurality of arms 30 extending radially outwardly along the fuselage 10 can be designed to be foldable relative to the fuselage 10, thereby reducing the volume occupied by the plant protection drone during storage and transportation.
  • the power assembly 50 includes a propeller, a motor for driving the propeller to rotate to generate a pulling force, and an ESC for controlling motor operating parameters (eg, speed, steering, acceleration, etc.).
  • the arm 30 is provided with a mounting seat at an end away from the body 10, the propeller is fixed on the top of the mounting seat, the motor is fixed in the mounting seat, and the electric adjusting device is mounted on the mounting seat.
  • the bottom is connected to the flight controller and power supply via a communication cable and a power cable, respectively.
  • the ESC can also be mounted in the cavity of the arm 30 or in the housing of the body 10 and connected to the motor via a communication link. It can be understood that when the hollow arm member is used for the arm 30, the connecting line between the electronic components can be accommodated in the cavity of the arm 30, thereby avoiding the exposure of the line to improve the completeness and the service life.
  • FIG. 3 is a schematic structural view of a spreading device according to the embodiment
  • FIG. 4 is a schematic structural view of the opening adjusting mechanism and the rotating mechanism of the spreading mechanism of FIG.
  • the spreading device 70 includes a material box 701, an opening adjustment mechanism 703, a spreading mechanism 705, and a processor.
  • the specific structure and function of each component will be described in detail in the order of the material box 701, the opening degree adjustment mechanism 703, the spreading mechanism 705, and the processor.
  • the material box 701 may be a box having a rectangular or rectangular outer shape (of course, a box having other geometric shapes, such as a shaped box) is not excluded.
  • a feed port is provided at the top of the tank, from which solid materials (e.g., seeds, fish food, or pesticides, etc.) can be added to the material tank 701.
  • a feed port cover is attached to the top of the feed port by a detachable connection such as snapping or screwing, so that the feed port cover can be removed when the material is added and the feed port cover can be reattached after the addition.
  • a discharge port is arranged at the bottom of the box so that the material contained in the box can be dropped from the discharge port by gravity when the discharge port is opened.
  • a stirring mechanism 707 for agitating the material is optionally disposed in the material tank 701.
  • the agitation mechanism 707 includes a stirring motor, a transmission member, and one or more agitating rods.
  • the output shaft of the agitating motor is fixed to the input end of the transmission component (for example, the reduction gear), the output end of the transmission component is fixed to the agitating shaft, and one or more agitating rods are fixed on the agitating shaft.
  • the shape of the stirring rod may be linear, curved or any other suitable shape.
  • the stirring rods may be arranged along the axial or radial direction of the stirring shaft, and of course, may be stirred at the same time.
  • a plurality of stirring rods are disposed in the axial direction and the radial direction of the shaft to improve the stirring ability.
  • the agitation form of the agitation mechanism 707 can be arbitrary, for example, in some embodiments,
  • the agitating motor drives the stirring rod to reciprocate in the up and down direction by a transmission member (for example, a driving gear provided on an output shaft of the stirring motor and a tooth structure provided on the stirring shaft to mesh with the driving gear) to agitate the material.
  • the agitating motor can drive the stirring rod parallel to the transmission rod through a transmission component (for example, a driving gear provided on an output shaft of the stirring motor and a driven gear provided on the stirring shaft to mesh with the driving gear)
  • the horizontal plane or the plane inclined to the horizontal plane rotates to agitate the material.
  • the stirring rod when the stirring rod is rotated in a plane inclined to the horizontal plane, additional power can be provided for the movement of the material in the direction of the discharge port to accelerate the falling of the material from the discharge opening.
  • the agitating motor can also drive the stirring rod along an irregular path to agitate the material through a transmission component (such as a transmission component similar to a three-axis pan/tilt) to enable sufficient material at any position.
  • a transmission component such as a transmission component similar to a three-axis pan/tilt
  • a reduction element e.g., a multi-stage reduction gear
  • the agitation mechanism 707 may also include a duct installed in the material box 701 and a fan disposed in the duct.
  • the lower end of the duct has a gap with the bottom of the material box 701, and the fan outlet direction Directly facing the bottom of the material box 701, the air is driven by the fan from the bottom of the duct into the material tank 701 to achieve agitation of the material.
  • the discharge port provided on the bottom plate of the material tank 701 should be away from the duct.
  • the opening adjustment mechanism 703 may include a steering gear 7031, a shutter, and a transmission member that connects the steering gear 7031 and the shutter.
  • the shutter of the steering gear 7031 can be disposed below or above the discharge opening, and the shape of the baffle matches the shape of the discharge opening.
  • the baffle may be designed as a circular baffle 7035 as shown in FIG. 4, and a toothed structure that meshes with the transmission gear 7033 is disposed at an outer edge of the circular baffle 7035, and the transmission gear 7033 may be directly fixed.
  • the transmission gear 7033 On the output shaft of the steering gear 7031, or the transmission gear 7033 is connected to the output shaft of the steering gear 7031 through a multi-stage gear.
  • An opening is formed in the circular baffle 7035.
  • the steering gear 7031 drives the circular baffle 7035 to rotate, thereby adjusting the size of the discharge passage formed by the spout and the opening.
  • the baffle can also be designed in the shape of a rectangle or a sector, which is hinged to the steering arm of the steering gear 7031 via a connecting rod.
  • the servo 7031 Starting, the rotating shaft of the steering gear 7031 drives the steering arm to rotate, and the steering arm drives the baffle to move or rotate in a linear direction through the connecting rod, so as to partially or completely cover the discharging opening, thereby changing the size of the discharging passage.
  • the movement of the shutter by the servo 7031 can directly read the information of the sensor of the servo 7031 to obtain the real-time rotation angle of the rotating shaft of the steering gear 7031, thereby obtaining the area of the baffle at the current time of the baffle. Further, the real-time opening of the discharge port is obtained to control the operation process of the spreading device 70.
  • the output shaft of the servo motor can be directly obtained from the servo motor in real-time rotation angle, thereby obtaining the real-time opening of the discharge port.
  • a brush motor or a brushless motor is used in place of the steering gear 7031 in other embodiments, it is generally necessary to separately add a sensor for measuring the output shaft of the motor to obtain the real-time rotation angle of the motor.
  • the stroke or distance of the steering arm or the baffle can also be obtained by the sensor to obtain the area of the baffle covering the discharge port at the current time.
  • the obstruction area of the baffle to the discharge port can be obtained by the angle of rotation of the circular baffle 7035, thereby realizing the real-time opening of the spout. degree.
  • the shielding area of the baffle to the discharge port can be obtained by the length of the baffle movement, thereby obtaining the real-time opening of the discharge port.
  • the shielding area of the baffle to the discharge port can be obtained by the rotation angle of the connecting rod that drives the baffle to rotate, thereby obtaining the real-time opening of the discharge port.
  • the sensor for detecting the rotation angle of the output shaft of the motor and the sensor for detecting the stroke or distance of the transmission member and the shutter can use any suitable sensor in the prior art, such as a Hall sensor, a laser sensor or an infrared sensor. The prior art information will not be described here.
  • the spreading mechanism 705 can include a turntable 7051 disposed under the discharge opening and a turntable 7051 motor that drives the turntable 7051 to rotate to pull the material from the turntable 7051.
  • the upper surface of the turntable 7051 is optionally provided with a plurality of ribs in the radial direction to enhance the spreading effect.
  • the turntable 7051 motor can be connected to the turntable 7051 directly or through a transmission component, thereby driving the turntable 7051 to rotate in a substantially horizontal direction, so that the material falling from the discharge port onto the turntable 7051 can be ejected from the edge of the turntable 7051 to the ground, the water surface, Or other fixed objects (such as trees, grass, etc.).
  • the transmission component may further include a speed reduction element to reduce the rotation speed of the motor of the turntable 7051.
  • the turntable 7051 motor can be any type of motor such as a servo motor, a brush motor, or a brushless motor.
  • the rotational speed of the turntable 7051 can be directly obtained by the rotational speed sensor, or the rotational speed of the turntable 7051 can be indirectly obtained by acquiring the rotational angle of the motor.
  • the rotation angle or the rotation speed data in the servo motor can be directly read by using the processor which will be described in detail below; if a brush motor or a brushless motor is used
  • the motor can be equipped with a Hall sensor to obtain the corner or speed of the brushed motor or brushless motor.
  • a fixed or rotating part coaxial with the turntable 7051 may be disposed above the turntable 7051. plate.
  • a side plate is optionally fixed at the bottom of the material box 701, and the side plate and the turntable 7051 are combined to form a cavity having an opening at the rear.
  • the stirring mechanism 707 and the spreading mechanism 705 can share a single motor, for example, using the same motor disposed above the material tank 701 as shown in FIG. 3, thereby stirring the stirring mechanism.
  • the turntable 7051 of the lever and the spreading mechanism 705 can be rotated coaxially.
  • the turntable 7051 or the stirring rod can be mounted on the output shaft of the same motor through the speed reducing member.
  • the processor includes at least a chip capable of executing the following method, and specifically, when executing the method described below, the processor may perform the process by calling an executable program in the memory, or may also pass the logic.
  • the arithmetic circuit is performed.
  • the processor may perform the background method in the background manner, or may display the user in a graphical interface manner, or may be partially executed in the background and another part may be displayed to the user.
  • the processor may be completely autonomous in performing the methods described below, or may be partially autonomous, while another portion has manual participation.
  • the processor may be mounted on the material box 701, or installed in the remote controller, or integrated with the flight controller in the body 10, or installed in the server, and connected to the stirring mechanism 707 by wired communication or wireless communication.
  • the opening adjustment mechanism 703 and the spreading mechanism 705 are connected.
  • the processor performs analysis processing on the acquired information, and performs linkage control on the opening adjustment mechanism 703 and the spreading mechanism 705 according to the result of the analysis processing, thereby preventing the discharge port of the spreading device 70 from being large.
  • the problem of uneven spreading caused by the blockage of the diameter material realizes precise control of the spreading operation.
  • control method of the spreading device 70 provided by the present embodiment will be described in detail with reference to the flowchart of FIG. 5 by taking the processor integrated with the flight controller (referred to as “integrated flight controller” for short). It should be understood that when the processor is separately disposed on the material box 701, in the remote controller, or in the server, the following control method can still be performed.
  • control method of this embodiment includes:
  • the target opening degree of the discharge port and the real-time opening degree of the discharge port For convenience of description, the following will explain the target opening degree of the discharge port and the real-time opening degree of the discharge port, but it should be understood that the target opening degree of the discharge port and the real-time opening of the take-out port are obtained. There is no order between the degrees, that is, the target opening degree of the discharging port can be first obtained, or the real-time opening degree of the discharging port can be obtained first, or the target opening degree of the discharging port and the opening degree can be simultaneously obtained.
  • the target opening of the discharge port can be input by the user at the current time.
  • the user can input an instruction through an external input device (for example, a remote control device), and the command is sent to the integrated flight controller via the input device, and the integrated flight controller reads the target opening degree input by the user from the command.
  • an external input device for example, a remote control device
  • the target opening of the discharge port can also be pre-stored in the integrated flight control
  • the integrated flight controller obtains the target opening degree by reading the database of the memory or the external memory.
  • a research institution or an agricultural service organization can store information on a plurality of materials in its server, the information including the name of each material, the particle size of each material, and the discharge port corresponding to each material.
  • the integrated flight controller accesses the server and reads the database stored in the server to obtain the target opening required for the current material being broadcast.
  • searching for the target opening degree in the database the methods of sequential search, interpolation search, binary search, and the like in the prior art can be used.
  • the best concentration of each material at different locations can be obtained through research that can be used to improve agricultural production efficiency.
  • the best opening of the discharge port is ⁇ 1 and ⁇ 2 when a material is planted in the A and B areas.
  • the user releases the planting plan to the plant protection drone through the remote control device or the input device on the plant protection drone.
  • the integrated flight controller knows that the material needs to be broadcasted in the A site according to the user's release plan, and then the research institution or the agricultural service.
  • the target opening degree of the discharge port required to feed the material in the A is read as ⁇ 1, and then the integrated flight controller controls the spreading device according to the target opening degree of the discharge port ⁇ 1.
  • the user's release plan may include the material name and the location of the broadcast, or may only include the material name.
  • the plant protection drone obtains the location of the current plant protection drone according to the positioning device (such as GPS or Beidou navigation system) installed thereon.
  • the positioning device such as GPS or Beidou navigation system
  • Information and according to the name of the material in the spreading plan and the location of the plant protection drone at the current time obtained from the positioning device, obtain the current location of the plant protection drone from the server of the research institution or the agricultural service organization.
  • the planting drone's spreading plan is to spread the A material, and the spreading range includes the A land and the B land
  • the planting drone's positioning device detects the plant protection drone flying from the A area to the B area
  • the integrated flight controller adjusts the target opening of the discharge port from ⁇ 1 to ⁇ 2 according to the positioning information detected by the positioning device.
  • the current opening time of the outlet opening of the discharge port can also be adjusted according to the positioning information of the positioning device. whole.
  • Obtaining the real-time opening degree of the discharging port comprises: obtaining an operating parameter of the opening degree adjusting mechanism for adjusting the size of the discharging port, and obtaining a real-time opening degree of the discharging port according to the working parameter. For example, it is possible to obtain the rotation angle of the motor in the opening adjustment mechanism, the stroke of the transmission member that connects the motor and the shutter drive together, the stroke of the flap that is set at the discharge port to adjust the opening of the discharge opening, or the stop The angle of the board.
  • the motor includes but is not limited to a steering gear, a brush motor, a brushless motor, and a servo motor;
  • the transmission components include but are not limited to a connecting rod (such as a two-bar connecting the steering arm and the connecting rod), a gear, and a lead screw.
  • the baffles include, but are not limited to, rectangular baffles and curved baffles.
  • the stroke or distance of the baffle can be calculated according to the angle, thereby determining the shielding area of the baffle to the discharge port to obtain the real-time opening of the discharge port.
  • the opening angle of the discharge port can be directly expressed by the rotation angle of the motor, that is, the real-time opening degree of the discharge port is equal to the real-time rotation of the motor. angle.
  • the formation or distance of the baffle can be calculated according to the stroke, thereby determining the shielding area of the baffle to the discharge port to obtain the real-time opening of the discharge port.
  • the shielding area of the baffle to the discharge port can be directly determined, thereby obtaining the real-time opening of the discharge port.
  • the plant protection drone performs the spreading operation according to the normal procedure.
  • the real-time opening degree is greater than or less than the target opening degree, the opening degree of the discharge port is considered to be abnormal.
  • the real-time opening degree is obtained by the parameters of the opening degree adjustment mechanism 703 collected by the sensor (for example, the real-time rotation of the motor)
  • the angle, the travel of the transmission component, or the stroke, distance or area of the baffle, etc. may differ from the expression of the obtained target opening.
  • the target opening is characterized by the discharge opening not covered by the baffle
  • the gear portion accounts for the percentage of the entire discharge port, and the real-time opening degree is obtained by the angle of rotation of the collecting motor, and the angle of rotation of the motor obtained by the integrated flight controller cannot be directly compared with the target opening degree.
  • the method further includes the step of converting the target opening degree and the real-time opening degree into a unified format.
  • it is required to convert the obtained rotation angle of the motor into a percentage of the discharge opening, or the target opening degree. It is converted to the rotation angle of the motor and then compared.
  • the obtained target opening degree indicates the expected rotation angle of the motor
  • the real-time opening degree is also realized by the rotation angle of the collecting motor, since the target opening degree and the real-time opening degree are in the same form, the two can be Compare directly without having to convert.
  • an indicator light is disposed on the remote control device, and when the integrated flight controller knows that the opening degree of the discharge port is abnormal, an alarm signal is sent to the remote control device to control the indicator light on the remote control device. Lights up/off, flashes.
  • a buzzer is disposed on the remote control device, and when the integrated flight controller knows that the opening of the discharge port is abnormal, an alarm signal is sent to the remote control device to control the bee on the remote control device.
  • the sounder plays the voice prompt information pre-stored in the memory of the remote control device.
  • a display screen is disposed on the remote control device, and when the integrated flight controller knows that the opening degree of the discharge port is abnormal, an alarm signal is sent to the remote control device to control the display screen on the remote control device.
  • Text prompt information pre-stored in the memory of the remote control device, such as "door abnormality".
  • the indicator light, the buzzer, and the display screen can also be set at the same time, or any two of them can be set at the same time.
  • the remote control device sends an alarm signal, so that the user can grasp the information of the abnormal opening of the discharge port in time, and can also take targeted measures according to different conditions of the opening degree abnormality to ensure that the spreading uniformity is not affected by the opening abnormality.
  • an alarm signal that the door opening is too small is sent to the remote control device.
  • the user may be alerted by lighting/extinguished or blinking of the indicator light set on the remote control device, or the voice prompt information may be played by the buzzer to alert the user, or may be displayed on the display screen.
  • Text prompt information (such as "the door is opened too small", etc.) to intuitively alert the user so that the user can grasp the condition of the opening adjustment mechanism in time, so that the integrated flight controller or the user can specifically target the abnormal situation. Measures.
  • the discharge port of the spreading device can also be controlled to be closed.
  • the integrated flight controller receives the control command sent by the remote control device, and according to the control command, sends an instruction to close the discharge port to the opening degree adjustment mechanism to control the motor start of the opening degree adjustment mechanism to drive the setting at the discharge port.
  • the baffle moves to close the spout.
  • a control command is generated by the integrated flight controller to control the opening adjustment mechanism to issue a command to close the discharge port, thereby controlling the motor of the opening adjustment mechanism to start to drive the shutter to move.
  • any one or more of the following operations may be performed: controlling the rotation of the rotation device of the spreading device to stop, and controlling the return of the plant protection drone equipped with the spreading device.
  • the command to stop the rotation of the turntable and control the return of the plant protection drone may also be sent by the user to the integrated flight controller through the remote control device, or a control command may be generated by the integrated flight controller itself.
  • the flight speed of the plant protection drone can also be reduced, so that the real-time opening of the current discharge port and the flight speed of the plant protection drone Matching, so that the spreading operation can be continued, and at the same time, the uniformity of the subsequent spreading operation can be ensured to be consistent with the uniformity of the previous spreading operation or the uniformity of the predetermined spreading operation. In turn, the influence of the real-time opening of the discharge port on the spreading operation is reduced.
  • an alarm signal that the door opening is excessively opened is transmitted to the remote control device.
  • the user may be alerted by lighting/extinguished or blinking of the indicator light set on the remote control device, or the voice prompt information may be played by the buzzer to alert the user, or may be displayed on the display screen.
  • Text prompt information (such as "the door is opened too large", etc.) to intuitively alert the user so that the user can grasp the condition of the opening adjustment mechanism in time, so that the integrated flight controller or the user can specifically target the abnormal situation. Measures.
  • the discharge port of the spreading device can also be controlled to be closed.
  • the integrated flight controller receives the control command sent by the remote control device, and according to the control command, sends an instruction to close the discharge port to the opening degree adjustment mechanism to control the motor start of the opening degree adjustment mechanism to drive the setting at the discharge port.
  • the baffle moves to close the spout.
  • a control command is generated by the integrated flight controller to control the opening adjustment mechanism to issue a command to close the discharge port, thereby controlling the motor of the opening adjustment mechanism to start to drive the shutter to move.
  • any one or more of the following operations may be performed: controlling the rotation of the rotation device of the spreading device to stop, and controlling the return of the plant protection drone equipped with the spreading device.
  • the command to stop the rotation of the turntable and control the return of the plant protection drone may also be sent by the user to the integrated flight controller through the remote control device, or a control command may be generated by the integrated flight controller itself.
  • the flight speed of the plant protection drone can be increased, so that the real-time opening of the current discharge port and the flight speed of the plant protection drone Matching, so that the spreading operation can be continued, and at the same time, the uniformity of the subsequent spreading operation can be ensured to be consistent with the uniformity of the previous spreading operation or the uniformity of the predetermined spreading operation, thereby reducing the excessive opening of the discharge port due to excessive opening.
  • the impact of the spreading operation when the alarm signal for opening the door is excessively transmitted to the remote control device, the flight speed of the plant protection drone can be increased, so that the real-time opening of the current discharge port and the flight speed of the plant protection drone Matching, so that the spreading operation can be continued, and at the same time, the uniformity of the subsequent spreading operation can be ensured to be consistent with the uniformity of the previous spreading operation or the uniformity of the predetermined spreading operation, thereby reducing the excessive opening of the discharge port due to excessive opening.
  • the impact of the spreading operation when the alarm signal for opening the door is excessively transmitted to the remote control
  • an alarm signal that the door cannot be opened is sent to the remote control device.
  • the user may be alerted by lighting/extinguished or blinking of the indicator light set on the remote control device, or the voice prompt information may be played by the buzzer to alert the user, or may be displayed on the display screen.
  • Text prompt information (such as "the door can not be opened", etc.) to intuitively alert the user, so that the user can grasp the situation of the opening adjustment mechanism in time, so that the integrated flight controller or the user takes targeted measures against the abnormal situation. .
  • any one or more of the following operations may be performed: controlling the turntable of the spreading device to stop rotating, and controlling the plant protection drone equipped with the spreading device to return.
  • the command to stop the rotation of the turntable and control the return of the plant protection drone may also be sent by the user to the integrated flight controller through the remote control device, or a control command may be generated by the integrated flight controller itself.
  • controlling the turntable to stop rotating energy can be saved, and controlling the plant protection drone to return to the aircraft can prevent the drone from continuing to follow the path of the spreading operation without spreading. It can be understood that it is the best strategy to simultaneously control the rotation of the turntable and control the return of the plant protection drone.
  • an alarm signal that the door cannot be closed is sent to the remote control device.
  • the user may be alerted by lighting/extinguished or blinking of the indicator light set on the remote control device, or the voice prompt information may be played by the buzzer to alert the user, or may be displayed on the display screen.
  • Text prompt information (such as "the door can not be closed", etc.) to intuitively alert the user, so that the user can grasp the situation of the opening adjustment mechanism in time, so that the integrated flight controller or the user takes targeted measures against the abnormal situation. .
  • any one or more of the following operations may be performed: controlling the turntable of the spreading device to stop rotating, and controlling the plant protection drone equipped with the spreading device to return.
  • the command to stop the rotation of the turntable and control the return of the plant protection drone may also be sent by the user to the integrated flight controller through the remote control device, or a control command may be generated by the integrated flight controller itself.
  • the baffle takes a period of time to execute the instructions of the integrated flight controller.
  • the integrated flight controller is here.
  • the alarm signal may not be sent to the remote control device during the period of time.
  • an initialization time is required to start the turntable and control the turntable acceleration, and control the movement of the shutter to open the discharge port.
  • the integrated flight controller does not send an alarm signal to the remote control device.
  • the spreading device is turned off, there is also a response time, and the integrated flight controller does not send an alarm signal to the remote control device during this response time.
  • the first preset time should be greater than or equal to the initialization time; considering the response time at the time of shutdown, the second preset time should be greater than or equal to the response time.
  • the plant protection drone when the opening of the discharge port is not abnormal, the plant protection drone is spread according to the normal procedure, or although the opening of the discharge port is too small/too large, the flight speed of the plant protection drone is adjusted (ie, During deceleration or acceleration, if a command to close the discharge port from the remote control device is received, a control command is issued to the opening adjustment mechanism to control the opening of the opening adjustment mechanism to close
  • the discharge port detects whether the opening of the discharge port gradually becomes zero. If not, the alarm signal that the door cannot be closed is sent to the remote control device, and the turntable of the spreading device is controlled to stop rotating. It can be understood that when the control dial stops rotating, the plant protection drone can be further controlled to return.
  • the above completely describes the acquisition of the target opening and real-time opening of the discharge port when the plant protection drone is being spread, and analyzes and compares the two, and then according to the comparison result, the opening of the discharge port and the turntable On/off, the flight speed of the plant protection drone, and the flight direction of the plant protection drone are controlled, so as to avoid the uniform spread of the discharge opening caused by material blockage of the discharge port or mechanical failure during the spreading operation.
  • the processor can execute the above method through an executable program, or can execute the above method through an integrated circuit.
  • a specific control method that can be used in the spreading operation of the plant protection drone is described below with reference to FIG. 6, wherein the opening adjustment mechanism of the planting drone's spreading device uses a motor as a power source, and the angle of rotation of the motor is equal to The angle of rotation of the baffle, that is, the real-time rotation angle of the motor is equal to the real-time opening of the discharge port.
  • the plant protection drone is first started; then, the input rotation degree of the motor of the plant protection drone is adjusted by the remote controller (ie, the target opening degree), and then the motor is rotated in real time. Angle; at the same time, the spreading mechanism is activated to drive the turntable rotation in the spreading mechanism.
  • the remote controller ie, the target opening degree
  • an alarm signal indicating that the door opening is too small is sent to the remote control device, and the subsequent operation is performed according to an instruction sent by the operator through the remote control device, For example, it may be to reduce the flight speed of the plant protection drone and perform the spreading operation, or to control the rotation of the turntable and control the return of the plant protection drone.
  • an alarm signal that the door opening is too large is sent to the remote control device, and the subsequent operation is performed according to an instruction sent by the operator through the remote control device. For example, it is possible to increase the flight speed of the plant protection drone and perform the spreading operation, or control the rotation of the turntable, and control the return of the plant protection drone.

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Abstract

一种播撒装置的控制方法，包括：获取出料口的目标开度和实时开度；根据所述实时开度以及目标开度的比较结果，确定所述出料口的开度是否异常；当所述出料口的开度异常时，向遥控装置发送报警信号。本发明的控制方法，通过获取出料口的目标开度和实时开度，就可以以二者的比较结果来确定出料口的开度是否异常，并在出料口的开度异常时，向遥控装置发送报警信号，从而方便用户及时掌握到出料口开度异常的信息，同时还可以根据开度异常的不同情况采取针对性的措施，以保证播撒均匀度不受开度异常的影响。本发明还提供一种播撒装置以及植保无人机。

Description

播撒装置及其控制方法、以及植保无人机 技术领域
本发明涉及对植保无人机播撒物料的控制，尤其涉及一种播撒装置及其控制方法、以及植保无人机。
背景技术
植保无人机，是用于农林植物保护作业的无人驾驶飞机，通过这种类型的无人机可以实现远距离遥控操作，而且还能够避免人工作业劳动强度大、效率低、播撒密度不均匀等问题，越来越受到农业生产者的喜爱。
现有的植保无人机包括有飞行平台(固定翼、直升机、多轴飞行器)、以及挂载在飞行平台下方的播撒装置，通过地面遥控或飞行平台内的导航飞控，来实现对种子、药剂、化肥等固体颗粒的播撒作业。这种能够播撒固体颗粒的播撒装置一般包括：物料箱、设置在物料箱内的搅拌机构、设置在物料箱内的出料调节机构、以及设置在漏口下方的播撒机构。其中，搅拌机构包括与物料箱同轴的涵道风扇和涵道外壳，涵道外壳的出风口朝向物料箱的底板的上方，从而可以通过涵道风扇实现对物料箱内物料的搅拌作用。出料调节机构包括：设在漏口上的开关挡板、舵机、以及连接舵机的舵机臂与开关挡板的连接杆，从而可以通过舵机和连接杆推动开关挡板在漏口上移动以调节开口大小。播撒机构包括：连接在物料箱底部的侧板、轮盘电机、以及与轮盘电机连接的轮盘，该轮盘设置在侧板的内侧，且在侧板上设置有散播口，从而可以通过轮盘电机驱动轮盘转动，以将从漏口掉落到轮盘上的物料从散播口甩出。
工作时，启动植保无人机，当其飞行到一定高度后悬停后，再启动轮盘电机、涵道风扇和舵机，以实现对固体颗粒的撒播。但是，在实际作业过程中，有时候会出现固体颗粒堵塞漏口或者出料调节机构出现机械故障的情况，从而会导致开关挡板的开度与目标开度不一致，导致播撒不均匀。
发明内容
为了解决现有技术中存在的上述或其他潜在问题，本发明提供一种播撒装置及其控制方法，以及植保无人机。
根据本发明的一实施方式，提供一种播撒装置的控制方法，包括：获取出料口的目标开度和实时开度；根据所述实时开度以及目标开度的比较结果，确定所述出料口的开度是否异常；当所述出料口的开度异常时，向遥控装置发送报警信号。
根据本发明的一实施方式，提供一种播撒装置，包括：物料箱、开度调节机构、播撒机构、以及处理器；所述物料箱的底部开设有出料口；所述开度调节机构包括：设置在出料口处的挡板，以及用于驱动所述挡板运动以调节所述出料口的开度的挡板电机；所述播撒机构包括：设置在所述挡板下方的转盘，以及用于驱动所述转盘转动的转盘电机；所述处理器，用于获取出料口的目标开度和实时开度；并根据所述实时开度以及目标开度的比较结果，确定所述出料口的开度是否异常；以及，当所述出料口的开度异常时，向遥控装置发送报警信号。
根据本发明的一实施方式，提供一种植保无人机，包括机身、机臂和动力组件，所述机臂的一端与所述机身连接、另一端安装所述动力组件，所述植保无人机还包括：搭载在所述机身下方的播撒装置；所述播撒装置，包括：物料箱、开度调节机构、播撒机构、以及处理器；所述物料箱的底部开设有出料口；所述开度调节机构包括：设置在出料口处的挡板，以及用于驱动所述挡板运动以调节所述出料口的开度的挡板电机；所述播撒机构包括：设置在所述挡板下方的转盘，以及用于驱动所述转盘转动的转盘电机；所述处理器，用于获取出料口的目标开度和实时开度；并根据所述实时开度以及目标开度的比较结果，确定所述出料口的开度是否异常；以及，当所述出料口的开度异常时，向遥控装置发送报警信号。
根据本发明的技术方案，通过获取出料口的目标开度和实时开度，就可以以二者的比较结果来确定出料口的开度是否异常，并在出料口的开度 异常时，向遥控装置发送报警信号，从而方便用户及时掌握到出料口开度异常的信息，同时还可以根据开度异常的不同情况采取针对性的措施，以保证播撒均匀度不受开度异常的影响。
本发明的附加方面的优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
通过参照附图的以下详细描述，本发明实施例的上述和其他目的、特征和优点将变得更容易理解。在附图中，将以示例以及非限制性的方式对本发明的多个实施例进行说明，其中：
图1为本发明一实施方式提供的植保无人机的正视图；
图2为本发明一实施方式提供的植保无人机的侧视图；
图3为本发明一实施方式提供的植保无人机的播撒装置的结构示意图；
图4为图3中开度调节机构以及播撒机构的转盘的结构示意图；
图5为本发明一实施方式提供的播撒装置的控制方法的流程示意图；
图6为本发明一实施方式提供的植保无人机播撒作业的控制流程示意图。
图中：
10、机身；                           30、机臂；
50、动力组件；                       70、播撒装置；
701、物料箱；                        703、开度调节机构；
7031、舵机；                         7033、传动齿轮；
7035、圆形挡板；                     705、播撒机构；
7051、转盘；                         707、搅拌机构；
90、脚架。
具体实施方式
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情 况下，下述的实施例及实施例中的特征可以相互组合，并且在没有特别限定或者与发明目的相悖的情况下，各个步骤的顺序是任意的。
图1为本实施方式提供的植保无人机的正视图，图2为本实施方式提供的植保无人机的侧视图。以下先介绍植保无人机的具体结构和各部分的配合关系，以便更好的了解植保无人机中播撒装置的控制方法。
请参阅图1和图2，植保无人机包括：机身10、机臂30、动力组件50、以及搭载在机身10下方的播撒装置70。为了描述方便，以下将按照机身10、机臂30、动力组件50和播撒装置70的顺序进行详细说明。
机身10包括外壳、以及安装在外壳内的飞行控制器。外壳可以使用塑料或者金属材质制作而成，其一般包括顶板、底板、以及侧壁，侧壁的顶端与顶板固定、其底端与底板固定，并与顶板和底板围合成用于容纳飞行控制器的安装空间。顶板、底板的形状可以是矩形、圆形、椭圆形、五角形、六角形等任意几何形状，而且顶板的面积可以大于、等于、或者小于底板的面积。侧壁可以是一整块板，或者由多块板拼接而成。可选的，在外壳内、或者在底板向内凹陷所形成的凹槽内，安装有用于为飞行控制器供电的电源(例如包括有多个电芯的锂电池)。下文将要详细描述的播撒装置70搭载在底板的下方，例如可以通过连接件(例如卡扣或者螺栓)与底板固定，或者，当底板的下方设置有用于在降落时对机身10进行支撑的脚架90时，可以将播撒装置70通过连接件(例如卡扣)固定在脚架90上。
机臂30的一端与机身10固定、另一端用于安装动力组件50。机臂30可以是横截面为圆形、椭圆形、或者其他合适形状的空心管状部件，其可以使用塑料、金属、或者碳纤维等材质制作而成。机臂30的数量可以是一个或者多个。例如，当仅配置有一个机臂30时，这个机臂30可以是底端固定在机身10的顶板上，从而形成直升机式植保无人机。又如，当配置有多个机臂30时，这多个机臂30可以呈辐射状的从机身10向外延伸，从而形成多旋翼式植保无人机。可选地，沿机身10向外呈辐射状延伸的多个机臂30可以设计成能够相对于机身10可折叠，从而减少植保无人机在存储和运输时所占用的体积。
动力组件50包括：螺旋桨、用于驱动螺旋桨转动以产生拉力的电机、以及用于控制电机工作参数(例如转速、转向、加速度等)的电调。以多旋翼式植保无人机为例，其机臂30在远离机身10的端部设置有安装座，螺旋桨固定在安装座的顶部，电机则固定在安装座内，电调安装在安装座的底部并通过通信连接线和电源线分别与飞行控制器和电源连接。当然，电调也可以安装在机臂30的空腔内或者机身10的外壳内，并通过通信连接线与电机连接。可以理解的，当机臂30使用空心管状部件时，电子元件之间的连接线可以收纳在机臂30的空腔内，从而避免线路外露，以提高完全性和使用寿命。
图3为本实施方式提供的播撒装置的结构示意图；图4为图3中开度调节机构以及播撒机构的转盘的结构示意图。请参阅图3和图4，播撒装置70包括:物料箱701、开度调节机构703、播撒机构705、以及处理器。为了描述更加清楚，以下将按照物料箱701、开度调节机构703、播撒机构705和处理器的顺序对各部件的具体结构和功能进行详细描述。
物料箱701可以是外观形状为锥形或者矩形的箱体(当然也不排除具有其他几何形状的箱体，例如异形箱体)。在箱体的顶部设置有进料口，从该进料口可以将固体物料(例如种子、鱼食、或者农药等)添加到物料箱701内。在进料口的顶部通过卡接或者螺接等可拆卸连接方式安装有进料口盖，从而可以在添加物料时将进料口盖取下并在加料以后将进料口盖重新盖上。在箱体的底部设置有出料口，从而在出料口打开时容纳在箱体内的物料可以在重力的作用下从出料口落下。
在物料箱701内可选地设置有用于搅拌物料的搅拌机构707。在本实施方式中，搅拌机构707包括搅拌电机、传动部件、以及一个或者多个搅拌杆。搅拌电机的输出轴与传动部件(例如减速齿轮)的输入端固定，传动部件的输出端与搅拌轴固定，一个或者多个搅拌杆固定在搅拌轴上。搅拌杆的形状可以是直线形、弧线形或者其他任意合适的形状，当设置有多个搅拌杆时，这些搅拌杆可以沿着搅拌轴的轴向或者径向设置，当然也可以同时在搅拌轴的轴向和径向上均设置多个搅拌杆以提高搅拌能力。
搅拌机构707的搅拌形式可以是任意的，例如，在一些实施方式中， 搅拌电机通过传动部件(例如在搅拌电机的输出轴上设置的主动齿轮、以及在搅拌轴上设置的与该主动齿轮啮合的齿状结构)驱动搅拌杆沿上下方向作往复运动，以搅拌物料。在另一些实施方式中，搅拌电机可以通过传动部件(例如在搅拌电机的输出轴上设置的主动齿轮、以及在搅拌轴上设置的与该主动齿轮啮合的从动齿轮)带动搅拌杆在平行于水平面或者倾斜于水平面的平面内转动，以搅拌物料。可以理解的，当搅拌杆在倾斜于水平面的平面内转动时，可以为物料向出料口方向的运动提供附加的动力，以加速物料从出料口落出。在其他一些实施方式中，搅拌电机也可以通过传动部件(例如类似于三轴云台的传动部件)驱动搅拌杆沿着不规则的路径运动以搅拌物料，以使任意位置的物料都能够得到充分的搅拌。可以理解的，传动部件中可以包括减速元件(例如多级减速齿轮)，以将传递到搅拌轴上的速度降低。
在另外一些可实施方式中，搅拌机构707也可以包括安装在物料箱701内的涵道、以及设置在涵道内的风扇，涵道的下端与物料箱701的底部具有间隙，风扇的出风方向正对物料箱701的底部，从而通过风扇带动空气从涵道的底部进入物料箱701内以实现对物料的搅拌。可以理解的是，为了实现涵道式物料搅拌机构707的正常搅拌，设置在物料箱701底板的出料口应该远离涵道。
开度调节机构703可以包括：舵机7031、挡板、以及将舵机7031和挡板传动连接的传动部件。舵机7031挡板可以设置在出料口的下方或者上方，挡板的形状与出料口的形状相匹配。
可选地，挡板可以如图4所示的设计成圆形挡板7035，且在该圆形挡板7035的外边缘设置有与传动齿轮7033啮合的齿形结构，传动齿轮7033可以直接固定在舵机7031的输出轴上，或者传动齿轮7033再通过多级齿轮与舵机7031输出轴传动连接。在圆形挡板7035上开设有开口，当需要调节出料口的开度时，舵机7031驱动圆形挡板7035转动，从而调整出料口和开口所形成的出料通道的大小。
或者，挡板也可以设计成矩形或者扇形，该矩形或者扇形挡板通过连接杆与舵机7031的舵机臂铰接。当需要调节出料口的开度时，舵机7031 启动，舵机7031的转轴驱动舵机臂旋转，舵机臂通过连接杆带动挡板沿直线方向运动或者转动，从而部分或者全部覆盖住出料口，从而改变出料通道的大小。
从下文的描述中可知，由舵机7031驱动挡板运动，可以直接读取舵机7031传感器的信息来获取舵机7031的转轴实时转动角度，从而得到挡板当前时刻遮蔽出料口的面积，进而得到出料口实时开度，以便对播撒装置70的作业过程进行控制。
当然，如果采用伺服电机替代舵机7031时，同样可以直接从伺服电机中获得伺服电机的输出轴在实时转动角度，从而得到出料口在实时开度。而如果在其他一些实施方式中采用有刷电机或者无刷电机来替代舵机7031时，则一般需要单独加装用于测量电机输出轴的传感器以获取电机在实时转动角度。
此外，也可以通过传感器来获取舵机臂或者挡板的行程或者距离来得到挡板在当前时刻遮蔽出料口的面积。例如，当挡板为图4所示的圆形挡板7035时，则可以通过圆形挡板7035转动的角度得出挡板对出料口的遮挡面积，从而得出出料口的实时开度。又如，当出料口和挡板都是矩形时，则可以通过挡板移动的长度得出挡板对出料口的遮挡面积，从而得出出料口在实时开度。再如，当出料口和挡板都是扇形时，则可以通过带动挡板转动的连接杆的转动角度来得出挡板对出料口的遮挡面积，从而得出出料口实时开度。用来检测电机的输出轴转动角度、以及用来检测传动部件和挡板行程或者距离的传感器可以使用现有技术中任意合适的传感器，例如霍尔传感器、激光传感器或者红外传感器等，具体可以参见现有技术的资料，在此不再赘述。
虽然上述实施方式中介绍了通过齿轮，或者舵机臂和连接杆来实现舵机7031和挡板的传动，但是，应该理解的是，在其他一些实施方式中，也可以采用其他传动部件来实现传动的目的。例如，可以使用齿轮齿条或者棘轮棘爪等来作为传动部件。可以理解，这些可替换结构舵机臂同样可以通过传感器来检测其中一个元件或者多个元件的运动行程或者距离，以实现对出料口开度的当前时刻的监测。
播撒机构705可以包括：设置在出料口下方的转盘7051、以及驱动转盘7051转动以将物料从转盘7051上甩出的转盘7051电机。转盘7051的上表面沿半径方向可选地设置有多条凸棱，以提高播撒效果。转盘7051电机可以直接或者通过传动部件与转盘7051传动连接，从而驱动转盘7051在大致水平的方向转动，以将从出料口落到转盘7051上的物料从转盘7051边缘甩出到地面、水面、或者其他定着物上(例如树木、青草等)。可以理解，当转盘7051电机的转速较大，而转盘7051需要的转速较小时，传动部件中还可以包括减速元件，以将转盘7051电机的转速降低。
转盘7051电机可以是伺服电机、有刷电机、无刷电机等任意类型的电机。为了精确控制播撒过程，可以通过转速传感器直接获取转盘7051的转速，或者也可以通过获取电机的转角来间接获取转盘7051的转速。具体的，当通过电机的转角来间接获取转盘7051的转速时，如果使用伺服电机可以使用以下将要详述的处理器直接读取伺服电机中的转角或者转速数据；如果使用有刷电机或者无刷电机可以加装霍尔传感器来获取有刷电机或者无刷电机的转角或者转速。
在本实施方式中，为了避免物料在离心力的作用下往上飞起撞击物料箱701或者机身10，可选地在转盘7051的上方可以设置有一个固定的或者与转盘7051同轴转动的挡盘。为了控制物料从植保无人机飞行方向的后方被甩出，还可选地在物料箱701的底部固定有一块侧板，该侧板与转盘7051之间围合成一个后方具有开口的空腔，从而当转盘7051转动时，从出料口落到甩盘上的物料可以从该后方的开口处被抛洒到地面、水面或者其他定着物上。
此外，当搅拌机构707采用搅拌杆进行搅拌时，搅拌机构707和播撒机构705可以共用一个电机，例如如图3所示的使用一个设置在物料箱701上方的同一个电机，从而搅拌机构的搅拌杆和播撒机构705的转盘7051可以做同轴转动。当然，由于搅拌速度和播撒速度一般不同，则转盘7051或者搅拌杆可以通过减速部件安装在同一个电机的输出轴上。
处理器至少包括有能够执行以下方法的芯片，具体在执行下述方法的时候，处理器可以通过调用存储器中的可执行程序进行，也可以通过逻辑 运算电路进行。需要说明的是，处理器在执行下述方法的时候可以以后台的方式进行，或者也可以以图形界面的方式向用户进行展示，或者也可以一部分在后台执行，另一部分向用户展示。而且，处理器在执行下述方法的过程中可以完全自主进行，或者也可以部分自主进行，而另一部分有人工参与。
处理器可以安装在物料箱701上、或者安装在遥控器中、或者与机身10内的飞行控制器集成在一起、或者安装在服务器中，并通过有线通信或者无线通信的方式与搅拌机构707、开度调节机构703、以及播撒机构705连接。在本实施方式中，处理器通过对获取到的信息进行分析处理，并根据分析处理的结果对开度调节机构703和播撒机构705进行联动控制，避免了播撒装置70的出料口被大粒径物料堵塞时所导致的播撒不均匀问题，实现了对播撒作业的精确控制。
以下以处理器与飞行控制器集成在一起(简称“集成飞行控制器”)为例，结合图5的流程图详细说明本实施方式提供的播撒装置70的控制方法。应该理解，当处理器单独设置在物料箱701上、设置在遥控器中、或者设置在服务器中时，依然可以执行下述控制方法。
请参阅图5，本实施方式的控制方法，包括：
S101、获取出料口的目标开度和实时开度。
为了描述方便，以下将按照获取出料口的目标开度以及获取出料口的实时开度的顺序加以解释说明，但应该理解，获取出料口的目标开度与获取出料口的实时开度之间不存在先后顺序，也即可以先获取出料口的目标开度、也可以先获取出料口的实时开度、或者还可以同时获取出料口的目标开度和实施开度。
获取出料口的目标开度有多种可实现方式，例如，在一些实施方式中，出料口的目标开度可以由用户当前时刻的输入。具体来说，用户可以通过外接的输入装置(例如遥控装置)输入指令，该指令经由输入装置发送给集成飞行控制器，集成飞行控制器再从该指令中读取到用户输入的目标开度。
在另一些实施方式中，出料口的目标开度也可以预存储在集成飞行控 制器的内存或者外接的存储器中，集成飞行控制器通过读取内存或者外接存储器的数据库，得到目标开度。例如，研究机构或者农业服务机构可以将多种物料的信息存储在其服务器内，该信息中包含有每种物料的名称、每种物料的粒径大小、每种物料所对应的出料口的目标开度。集成飞行控制器通过访问该服务器并读取服务器中存储的数据库，以获得当前撒播物料所需要的目标开度。在数据库中查找目标开度时可以采用现有技术中的顺序查找、插值查找、二分查找等方法。由于研究机构和农业服务机构掌握大量的新的农业种植技术，通过这些机构可的研究可以得到每种物料在不同地点最佳的播撒浓度，以提高农业生产效率。
假设通过研究机构或者农业服务机构的研究分析得出在A地和B地播撒a物料时，出料口的最佳开度分别为α1和α2。用户通过遥控装置、或者植保无人机上的输入设备向植保无人机下达播撒计划，集成飞行控制器根据用户下达的播撒计划获知当前需要在A地播撒a物料，然后就在研究机构或者农业服务机构的服务器中读取到在A地播撒a物料所需要的出料口的目标开度为α1，那么，集成飞行控制器就按照出料口的目标开度为α1对播撒装置进行控制。可以理解，用户下达的播撒计划可以包括物料名称和播撒地点，也可以仅包括物料名称。可选地，当用户下达的播撒计划仅包括物料名称而不包括播撒地点时，植保无人机根据其上安装的定位装置(例如GPS或者北斗导航系统)获取当前时刻植保无人机所在的地点信息，并根据播撒计划中的物料名称以及从定位装置中获取到的当前时刻植保无人机所在的地点，从研究机构或者农业服务机构的服务器中获取到当前时刻植保无人机所在地点对播撒计划中的物料进行播撒所需要的出料口的目标开度。举例来说，当播撒计划为a物料、并且定位装置获取到的当前时刻植保无人机所在的位置为A地时，则出料口的目标开度为α1。
进一步，当植保无人机的播撒计划为播撒A物料，而播撒范围包括A地和B地时，则当植保无人机的定位装置检测到植保无人机从A地区域飞到B地区域时，集成飞行控制器根据定位装置检测到的定位信息将出料口的目标开度从α1调整到α2。同理，当A地和B地分别播撒不同的物料时，也可以根据定位装置的定位信息对出料口的目标开度进行当前时刻的调 整。
获取出料口的实时开度，包括：获取用于调节出料口大小的开度调节机构的工作参数，并根据该工作参数得到出料口的实时开度。例如，可以通过获取开度调节机构中马达的转动角度、将马达和挡板传动连接在一起的传动部件的行程、设置在出料口处以调节出料口开度的挡板的行程、或者挡板的角度。其中，马达包括但不限于舵机、有刷电机、无刷电机、以及伺服电机；传动部件包括但不限于连杆(例如舵机臂和连接杆组成的二连杆)、齿轮、以及丝杠；挡板包括但不限于矩形挡板和弧形挡板。
例如，当获取到马达的实时转动角度后，可以根据该角度计算出挡板的行程或者距离，从而确定挡板对出料口的遮蔽面积，以得到出料口的实时开度。当然，如果马达转动的角度的变化等于出料口开度的变化，则可以直接用马达的转动角度来表征出料口的开度，也即，出料口的实时开度等于马达的实时转动角度。又如，当获取到传动部件的行程以后，可以根据该行程计算得出挡板的形成或者距离，从而确定挡板对出料口的遮蔽面积，以得到出料口的实时开度。
以上根据角度或者传动部件行程计算挡板行程或者距离的方法和公式可以参见现有技术，在此不再赘述。
而当获取到挡板的行程或者距离后，就可以直接确定挡板对出料口的遮蔽面积，从而得到出料口的实时开度。
S102、根据所述实时开度以及目标开度的比较结果，确定所述出料口的开度是否异常。
具体的，当实时开度等于目标开度时，则认为出料口的开度没有异常，植保无人机按照正常程序执行播撒作业。当实时开度大于或者小于目标开度时，则认为出料口的开度异常。
可以理解，由于目标开度可以由用户通过遥控装置输入、或者在数据库的数据列表中读取，而实时开度是通过传感器采集到的开度调节机构703的参数得到(例如，马达的实时转动角度、传动部件的行程、或者挡板的行程、距离或者面积等)，这些参数与获取到的目标开度的表现形式可能会存在差异。举例来说，假设目标开度表征的是出料口没有被挡板遮 挡部分占整个出料口的百分比，而实时开度通过采集马达的转动角度获得，则集成飞行控制器获得的马达的转动角度不能用来与目标开度直接进行比较。则可选地，还包括将目标开度和实时开度换算成统一格式的步骤，例如，在以上示例中需要将获得的马达的转动角度换算成出料口打开的百分比、或者将目标开度换算成马达的转动角度之后再进行比较。当然，如果获取到的目标开度表示的就是马达的预期转动角度，则当实时开度也通过采集马达的转动角度实现时，则由于目标开度和实时开度的表现形式一致，二者可以直接进行比较而无需再进行换算。
S103、当所述出料口的开度异常时，向遥控装置发送报警信号。
具体的，在一些实施方式中，在遥控装置上设置有指示灯，当集成飞行控制器获知出料口的开度异常时，则向该遥控装置发送报警信号，以控制遥控装置上的指示灯点亮/熄灭、闪烁。
在另一些实施方式中，则在遥控装置上设置有蜂鸣器，当集成飞行控制器获知出料口的开度异常时，则向该遥控装置发送报警信号，以控制遥控装置上的该蜂鸣器播放预存储在遥控装置的存储器内的语音提示信息。
在其他一些实施方式中，则在遥控装置上设置有显示屏，当集成飞行控制器获知出料口的开度异常时，则向该遥控装置发送报警信号，以控制遥控装置上的显示屏显示预存储在遥控装置的存储器内的文字提示信息，例如“舱门异常”。
可以理解的，在某些实施方式中，也可以同时设置指示灯、蜂鸣器、以及显示屏，或者同时设置其中的任意两个。
综上所述，通过获取出料口的目标开度和实时开度，就可以以二者的比较结果来确定出料口的开度是否异常，并在出料口的开度异常时，向遥控装置发送报警信号，从而方便用户及时掌握到出料口开度异常的信息，同时还可以根据开度异常的不同情况采取针对性的措施，以保证播撒均匀度不受开度异常的影响。
由于目标开度和实时开度的数值、以及这二者的比较结果存在多种情况，也即出料口的开度异常存在多种不同的情况。以下对可能存在的几种情况的控制过程进行详细描述，以便更好的理解播撒装置的控制方法，但 应该理解，除了以下介绍的情况之外，其他通过对目标开度和实时开度进行分析，然后根据分析结果来对植保无人机播撒操作进行控制，以避免播撒不均匀的方法也在本发明的保护范围之内。
第一，当实时开度大于零、且小于目标开度时，向遥控装置发送舱门开启过小的报警信号。具体来说，可以通过遥控装置上设置的指示灯的点亮/熄灭或者闪烁来向用户报警，或者也可以通过蜂鸣器播放语音提示信息来向用户报警，或者还可以通过在显示屏上显示文字提示信息(诸如“舱门开启过小”等)来直观的向用户进行报警，以便用户能够及时掌握开度调节机构的情况，从而由集成飞行控制器或者用户对上述异常情况采取针对性的措施。
可选地，在向遥控装置发送舱门开启过小的报警信号时，还可以控制播撒装置的出料口关闭。例如，集成飞行控制器接收遥控装置发送的控制指令，并根据该控制指令向开度调节机构发出关闭出料口的指令，以控制开度调节机构的马达启动，来驱动设置在出料口处的挡板移动，从而将出料口关闭。又如，由集成飞行控制器生成一个控制指令来控制开度调节机构发出关闭出料口的指令，从而控制开度调节机构的马达启动，以驱动挡板移动。通过将播撒装置的出料口关闭，可以停止播撒作业，从而避免播撒不均匀的现象出现。
进一步，在控制播撒装置的出料口关闭时，还可以执行以下任意一项或者多项操作：控制播撒装置的转盘停止转动、控制搭载有该播撒装置的植保无人机返航。具体来说，控制转盘停止转动和控制植保无人机返航的指令也可以是由用户通过遥控装置发送给集成飞行控制器的，或者也可以由集成飞行控制器自己生成一个控制指令。通过控制转盘停止转动，可以节约能源，而控制植保无人机返航，则可以避免无人机在不进行播撒作业的情况下继续沿着播撒作业的路径飞行。
又可选地，在向遥控装置发送舱门开启过小的报警信号时，还可以减小植保无人机的飞行速度，以使当前出料口的实时开度与植保无人机的飞行速度相匹配，从而可以继续进行播撒作业，同时还能保证后续播撒作业的均匀度与之前播撒作业的均匀度、或者预定的播撒作业的均匀度一致， 进而减少由于出料口实时开度过小对播撒作业所产生的影响。
第二，当目标开度大于零、且小于实时开度时，向遥控装置发送舱门开启过大的报警信号。具体来说，可以通过遥控装置上设置的指示灯的点亮/熄灭或者闪烁来向用户报警，或者也可以通过蜂鸣器播放语音提示信息来向用户报警，或者还可以通过在显示屏上显示文字提示信息(诸如“舱门开启过大”等)来直观的向用户进行报警，以便用户能够及时掌握开度调节机构的情况，从而由集成飞行控制器或者用户对上述异常情况采取针对性的措施。
可选地，在向遥控装置发送舱门开启过大的报警信号时，还可以控制播撒装置的出料口关闭。例如，集成飞行控制器接收遥控装置发送的控制指令，并根据该控制指令向开度调节机构发出关闭出料口的指令，以控制开度调节机构的马达启动，来驱动设置在出料口处的挡板移动，从而将出料口关闭。又如，由集成飞行控制器生成一个控制指令来控制开度调节机构发出关闭出料口的指令，从而控制开度调节机构的马达启动，以驱动挡板移动。通过将播撒装置的出料口关闭，可以停止播撒作业，从而避免播撒不均匀的现象出现。
进一步，在控制播撒装置的出料口关闭时，还可以执行以下任意一项或者多项操作：控制播撒装置的转盘停止转动、控制搭载有该播撒装置的植保无人机返航。具体来说，控制转盘停止转动和控制植保无人机返航的指令也可以是由用户通过遥控装置发送给集成飞行控制器的，或者也可以由集成飞行控制器自己生成一个控制指令。通过控制转盘停止转动，可以节约能源，而控制植保无人机返航，则可以避免无人机在不进行播撒作业的情况下继续沿着播撒作业的路径飞行。
又可选地，在向遥控装置发送舱门开启过大的报警信号时，还可以增大植保无人机的飞行速度，以使当前出料口的实时开度与植保无人机的飞行速度相匹配，从而可以继续进行播撒作业，同时还能保证后续播撒作业的均匀度与之前播撒作业的均匀度、或者预定的播撒作业的均匀度一致，进而减少由于出料口实时开度过大对播撒作业所产生影响。
第三，当目标开度大于零、且实时开度在第一预设时间内始终等于零 时，向遥控装置发送舱门无法开启的报警信号。具体来说，可以通过遥控装置上设置的指示灯的点亮/熄灭或者闪烁来向用户报警，或者也可以通过蜂鸣器播放语音提示信息来向用户报警，或者还可以通过在显示屏上显示文字提示信息(诸如“舱门无法开启”等)来直观的向用户进行报警，以便用户能够及时掌握开度调节机构的情况，从而由集成飞行控制器或者用户对上述异常情况采取针对性的措施。
进一步，在向遥控装置发送舱门无法开启的报警信号时，还可以执行以下任意一项或者多项操作：控制播撒装置的转盘停止转动、控制搭载有该播撒装置的植保无人机返航。具体来说，控制转盘停止转动和控制植保无人机返航的指令也可以是由用户通过遥控装置发送给集成飞行控制器的，或者也可以由集成飞行控制器自己生成一个控制指令。通过控制转盘停止转动，可以节约能源，而控制植保无人机返航，则可以避免无人机在不进行播撒作业的情况下继续沿着播撒作业的路径飞行。可以理解，同时控制转盘停止转动并控制植保无人机返航是最佳策略。
第四，当目标开度等于零、且实时开度在一段时间内始终大于零时，向遥控装置发送舱门无法关闭的报警信号。具体来说，可以通过遥控装置上设置的指示灯的点亮/熄灭或者闪烁来向用户报警，或者也可以通过蜂鸣器播放语音提示信息来向用户报警，或者还可以通过在显示屏上显示文字提示信息(诸如“舱门无法关闭”等)来直观的向用户进行报警，以便用户能够及时掌握开度调节机构的情况，从而由集成飞行控制器或者用户对上述异常情况采取针对性的措施。
进一步，在向遥控装置发送舱门无法关闭的报警信号时，还可以执行以下任意一项或者多项操作：控制播撒装置的转盘停止转动、控制搭载有该播撒装置的植保无人机返航。具体来说，控制转盘停止转动和控制植保无人机返航的指令也可以是由用户通过遥控装置发送给集成飞行控制器的，或者也可以由集成飞行控制器自己生成一个控制指令。通过控制转盘停止转动，虽然物料还是能够从出料口落到转盘上，但是由于转盘不转动，因此，也就不会将落在转盘上的物料播撒到田地上，以保证播撒作业的均匀度；而控制植保无人机返航，则可以避免无人机在不进行播撒作业的情 况下继续沿着播撒作业的路径飞行。明显的，当出料口无法关闭时，同时控制转盘停止转动并控制植保无人机返航能够避免物料从转盘被甩出或者从转盘上溢出。
由于集成飞行控制器控制挡板移动以打开或者关闭出料口时，挡板需要一段时间执行集成飞行控制器的指令，为了避免在这段时间内出现误报警的情况，集成飞行控制器在这段时间内可以不向遥控装置发送报警信号。例如，当播撒装置启动以后，需要一段初始化时间来启动转盘并控制转盘加速、以及控制挡板移动从而打开出料口，则这段初始化时间，集成飞行控制器不向遥控装置发送报警信号。同理，当关闭播撒装置时也同样存在一段响应时间，集成飞行控制器在这段响应时间内不向遥控装置发送报警信号。可以理解，考虑到开机时的初始化时间，则上述第一预设时间应该大于或者等于该初始化时间；考虑到关机时的响应时间，则上述第二预设时间应该大于或者等于该响应时间。
进一步，当出料口的开度没有异常、植保无人机按照正常程序进行播撒作业，或者虽然出料口的开度过小/过大、但是通过调整植保无人机的飞行速度(也即减速或者加速)、然后进行播撒作业的过程中，如果接收到遥控装置发来的关闭出料口的指令，则向开度调节机构发出控制指令，以控制开度调节机构的挡板移动来关闭出料口，并检测出料口的开度是否逐渐变为零，如果没有，则向遥控装置发送舱门无法关闭的报警信号，并控制播撒装置的转盘停止转动。可以理解，在控制转盘停止转动时，还可以进一步控制植保无人机返航。
上面完整的讲述了植保无人机进行播撒作业时通过对出料口目标开度和实时开度的获取，并对这二者进行分析比较，然后根据比较结果对出料口的开度、转盘开/关、植保无人机的飞行速度、植保无人机的飞行方向进行控制，从而避免播撒作业中由于物料堵塞出料口或者机械故障造成的出料口开度异常所导致的影响播撒均匀度的问题。不过需要说明的是，处理器可以通过可执行程序执行上述方法、也可以通过集成电路执行上述方法。
此外，在上述实施方式中使用的术语“第一”、“第二”等不代表操 作顺序或者数量，仅是为了描述方便；而术语“实时”指代“当前时刻的”。
下面结合图6介绍在植保无人机的播撒作业中可以使用的一个具体的控制方法，其中，该植保无人机的播撒装置的开度调节机构使用马达作为动力源、且马达转动的角度等于挡板的转动角度，也即马达实时转动角度等于出料口实时开度。
如图6所示，首先启动植保无人机；然后，通过遥控器向植保无人机的输入开度调节机构的马达的预期转动角度(也即目标开度)，然后获取该马达在实时转动角度；与此同时，启动播撒机构，以驱动播撒机构中的转盘转动。
如果马达预期转动角度等于零，并且马达实时转动角度不等于零，则向遥控装置发送舱门无法关闭的报警信号，并控制转盘停止转动、以及控制植保无人机返航。
如果马达预期转动角度等于零，并且马达实时转动角度等于零；或者，如果马达预期转动角度不为零，并且马达预期转动角度等于马达实时转动角度时，则执行播撒作业。
如果马达预期转动角度不为零，并且马达预期转动角度大于马达实时转动角度时，则向遥控装置发送舱门开启过小的报警信号，并根据操作者通过遥控装置发来的指令执行后续操作，例如可以是减小植保无人机的飞行速度并执行播撒作业，或者控制转盘停止转动、并控制植保无人机返航。
如果马达预期转动角度不为零，并且马达预期转动角度小于马达实时转动角度时，则向遥控装置发送舱门开启过大的报警信号，并根据操作者通过遥控装置发来的指令执行后续操作，例如可以是增大植保无人机的飞行速度并执行播撒作业，或者控制转盘停止转动、并控制植保无人机返航。
在执行播撒作业的过程中，如果接收到用户通过遥控装置输入的或者集成飞行控制器发出的关闭出料口的指令，则检测马达的转动角度是否逐渐变为零。当马达的转动角度逐渐变为零时，则控制转盘停止转动、以及控制植保无人机返航；当马达的转动角度没有变为零时，则向遥控装置发送舱门无法关闭的报警信号，并控制转盘停止转动、以及控制植保无人机返航。
如果马达预期转动角度不为零，并且马达实时转动角度一直为零，则向遥控装置发送舱门无法开启的报警信号，并控制转盘停止转动、以及控制植保无人机返航。
最后，尽管已经在这些实施例的上下文中描述了与本技术的某些实施例相关联的优点，但是其他实施例也可以包括这样的优点，并且并非所有实施例都详细描述了本发明的所有优点，由实施例中的技术特征所客观带来的优点均应视为本发明区别于现有技术的优点，均属于本发明的保护范围。

Claims (62)

  1. 一种播撒装置的控制方法，其特征在于，包括：
    获取出料口的目标开度和实时开度；
    根据所述实时开度以及目标开度的比较结果，确定所述出料口的开度是否异常；
    当所述出料口的开度异常时，向遥控装置发送报警信号。
  2. 根据权利要求1所述的控制方法，其特征在于，在向遥控装置发送报警信号时，还进一步控制所述播撒装置的出料口关闭。
  3. 根据权利要求2所述的控制方法，其特征在于，在控制所述播撒装置的出料口关闭时，还进一步控制所述播撒装置的转盘停止转动。
  4. 根据权利要求2所述的控制方法，其特征在于，在控制所述播撒装置的出料口关闭时，还进一步控制搭载有所述播撒装置的植保无人机返航。
  5. 根据权利要求2所述的控制方法，其特征在于，在控制所述播撒装置的出料口关闭时，还进一步控制所述播撒装置的转盘停止转动、并控制搭载有所述播撒装置的植保无人机返航。
  6. 根据权利要求2所述的控制方法，其特征在于，所述控制所述播撒装置的出料口关闭，包括：
    接收所述遥控装置发送的控制指令，根据所述控制指令控制所述播撒装置的出料口关闭。
  7. 根据权利要求1所述的控制方法，其特征在于，在向遥控装置发送报警信号时，还进一步改变植保无人机的飞行速度。
  8. 根据权利要求7所述的控制方法，其特征在于，所述改变植保无人机的飞行速度，包括：
    接收所述遥控装置发送的控制指令，根据所述控制指令控制所述植保无人机加速或者减速。
  9. 根据权利要求1所述的控制方法，其特征在于，所述获取出料口的目标开度，包括：
    接收由所述遥控装置发送的所述目标开度；或者，
    从数据库中读取所述目标开度。
  10. 根据权利要求1所述的控制方法，其特征在于，所述获取出料口的 实时开度，包括：
    获取用于调节所述出料口大小的开度调节机构的工作参数，根据所述工作参数得到所述实时开度。
  11. 根据权利要求10所述的控制方法，其特征在于，所述开度调节机构包括：马达、设置在出料口处用于调节出料口大小的挡板、以及将所述马达和挡板传动连接的传动部件；所述开度调节结构的工作参数包括：所述马达的转动角度、所述传动部件的行程、所述挡板的行程、或者所述挡板的转动角度。
  12. 根据权利要求11所述的控制方法，其特征在于，所述马达的实时转动角度等于所述出料口的实时开度。
  13. 根据权利要求1所述的控制方法，其特征在于，在向遥控装置发送报警信号时，还进一步控制植保无人机返航。
  14. 根据权利要求1所述的控制方法，其特征在于，在向遥控装置发送报警信号时，还进一步控制所述播撒装置的转盘停止转动。
  15. 根据权利要求14所述的控制方法，其特征在于，在控制所述播撒装置的转盘停止转动时，还进一步控制植保无人机返航。
  16. 根据权利要求1-12任一项所述的控制方法，其特征在于，当所述实时开度大于零、且小于所述目标开度时，向所述遥控装置发送舱门开启过小的报警信号。
  17. 根据权利要求1-12任一项所述的控制方法，其特征在于，当所述目标开度大于零、且小于所述实时开度时，向所述遥控装置发送舱门开启过大的报警信号。
  18. 根据权利要求1、9、10、11、12、13、14、或15所述的控制方法，其特征在于，当所述目标开度大于零、且所述实时开度在第一预设时间内始终等于零时，向所述遥控装置发送舱门无法开启的报警信号。
  19. 根据权利要求1、9、10、11、12、13、14、或15所述的控制方法，其特征在于，当所述目标开度等于零、且所述实时开度在第二预设时间内始终大于零时，向所述遥控装置发送舱门无法关闭的报警信号。
  20. 根据权利要求1-12任一项所述的控制方法，其特征在于，还包括：
    接收关闭出料口的指令；
    根据所述指令控制所述播撒装置的开度调节机构关闭所述出料口；
    检测所述出料口的开度是否逐渐变为零，如果没有，则向所述遥控装置发送舱门无法关闭的报警信号。
  21. 一种播撒装置，其特征在于，包括：物料箱、开度调节机构、播撒机构、以及处理器；
    所述物料箱的底部开设有出料口；
    所述开度调节机构包括：设置在出料口处的挡板，以及用于驱动所述挡板运动以调节所述出料口的开度的挡板电机；
    所述播撒机构包括：设置在所述挡板下方的转盘，以及用于驱动所述转盘转动的转盘电机；
    所述处理器，用于获取出料口的目标开度和实时开度；并根据所述实时开度以及目标开度的比较结果，确定所述出料口的开度是否异常；以及，当所述出料口的开度异常时，向遥控装置发送报警信号。
  22. 根据权利要求21所述的播撒装置，其特征在于，在向遥控装置发送报警信号时，所述处理器还进一步控制所述播撒装置的出料口关闭。
  23. 根据权利要求22所述的播撒装置，其特征在于，在控制所述播撒装置的出料口关闭时，所述处理器还进一步控制所述播撒装置的转盘停止转动。
  24. 根据权利要求22所述的播撒装置，其特征在于，在控制所述播撒装置的出料口关闭时，所述处理器还进一步控制搭载有所述播撒装置的植保无人机返航。
  25. 根据权利要求22所述的播撒装置，其特征在于，在控制所述播撒装置的出料口关闭时，所述处理器还进一步控制所述播撒装置的转盘停止转动、并控制搭载有所述播撒装置的植保无人机返航。
  26. 根据权利要求22所述的播撒装置，其特征在于，所述处理器，还用于接收所述遥控装置发送的控制指令，并根据所述控制指令控制所述播撒装置的出料口关闭。
  27. 根据权利要求21所述的播撒装置，其特征在于，在向遥控装置发送报警信号时，所述处理器还进一步改变植保无人机的飞行速度。
  28. 根据权利要求27所述的播撒装置，其特征在于，所述处理器，还用于接收所述遥控装置发送的控制指令，并根据所述控制指令控制所述植保无 人机加速或者减速。
  29. 根据权利要求21所述的播撒装置，其特征在于，所述处理器，还用于接收由所述遥控装置发送的所述目标开度；或者，从数据库中读取所述目标开度。
  30. 根据权利要求21所述的播撒装置，其特征在于，所述处理器，还用于获取用于调节所述出料口大小的开度调节机构的工作参数，根据所述工作参数得到所述实时开度。
  31. 根据权利要求30所述的播撒装置，其特征在于，所述开度调节机构包括：马达、设置在出料口处用于调节出料口大小的挡板、以及将所述马达和挡板传动连接的传动部件；所述开度调节结构的工作参数包括：所述马达的转动角度、所述传动部件的行程、所述挡板的行程、或者所述挡板的转动角度。
  32. 根据权利要求31所述的播撒装置，其特征在于，所述马达的实时转动角度等于所述出料口的实时开度。
  33. 根据权利要求21所述的播撒装置，其特征在于，在向遥控装置发送报警信号时，所述处理器还进一步控制植保无人机返航。
  34. 根据权利要求21所述的播撒装置，其特征在于，在向遥控装置发送报警信号时，所述处理器还进一步控制所述播撒装置的转盘停止转动。
  35. 根据权利要求34所述的播撒装置，其特征在于，在控制所述播撒装置的转盘停止转动时，所述处理器还进一步控制植保无人机返航。
  36. 根据权利要求21-32任一项所述的播撒装置，其特征在于，当所述实时开度大于零、且小于所述目标开度时，所述处理器向所述遥控装置发送舱门开启过小的报警信号。
  37. 根据权利要求21-32任一项所述的播撒装置，其特征在于，当所述目标开度大于零、且小于所述实时开度时，所述处理器向所述遥控装置发送舱门开启过大的报警信号。
  38. 根据权利要求21、29、30、31、32、33、34、或35所述的播撒装置，其特征在于，当所述目标开度大于零、且所述实时开度在第一预设时间内始终等于零时，所述处理器向所述遥控装置发送舱门无法开启的报警信号。
  39. 根据权利要求21、29、30、31、32、33、34、或35所述的播撒装 置，其特征在于，当所述目标开度等于零、且所述实时开度在第二预设时间内始终大于零时，所述处理器向所述遥控装置发送舱门无法关闭的报警信号。
  40. 根据权利要求21-32任一项所述的播撒装置，其特征在于，所述处理器，还用于接收关闭出料口的指令；并根据所述指令控制所述播撒装置的开度调节机构关闭所述出料口；以及，检测所述出料口的开度是否逐渐变为零，如果没有，则向所述遥控装置发送舱门无法关闭的报警信号。
  41. 一种植保无人机，包括机身、机臂和动力组件，所述机臂的一端与所述机身连接、另一端安装所述动力组件，其特征在于，所述植保无人机还包括：搭载在所述机身下方的播撒装置；
    所述播撒装置，包括：物料箱、开度调节机构、播撒机构、以及处理器；
    所述物料箱的底部开设有出料口；
    所述开度调节机构包括：设置在出料口处的挡板，以及用于驱动所述挡板运动以调节所述出料口的开度的挡板电机；
    所述播撒机构包括：设置在所述挡板下方的转盘，以及用于驱动所述转盘转动的转盘电机；
    所述处理器，用于获取出料口的目标开度和实时开度；并根据所述实时开度以及目标开度的比较结果，确定所述出料口的开度是否异常；以及，当所述出料口的开度异常时，向遥控装置发送报警信号。
  42. 根据权利要求41所述的植保无人机，其特征在于，在向遥控装置发送报警信号时，所述处理器还进一步控制所述播撒装置的出料口关闭。
  43. 根据权利要求42所述的植保无人机，其特征在于，在控制所述播撒装置的出料口关闭时，所述处理器还进一步控制所述播撒装置的转盘停止转动。
  44. 根据权利要求42所述的植保无人机，其特征在于，在控制所述播撒装置的出料口关闭时，所述处理器还进一步控制搭载有所述播撒装置的植保无人机返航。
  45. 根据权利要求42所述的植保无人机，其特征在于，在控制所述播撒装置的出料口关闭时，所述处理器还进一步控制所述播撒装置的转盘停止转动、并控制搭载有所述播撒装置的植保无人机返航。
  46. 根据权利要求42所述的植保无人机，其特征在于，所述处理器，还用于接收所述遥控装置发送的控制指令，并根据所述控制指令控制所述播撒装置的出料口关闭。
  47. 根据权利要求41所述的植保无人机，其特征在于，在向遥控装置发送报警信号时，所述处理器还进一步改变植保无人机的飞行速度。
  48. 根据权利要求47所述的植保无人机，其特征在于，所述处理器，还用于接收所述遥控装置发送的控制指令，并根据所述控制指令控制所述植保无人机加速或者减速。
  49. 根据权利要求41所述的植保无人机，其特征在于，所述处理器，还用于接收由所述遥控装置发送的所述目标开度；或者，从数据库中读取所述目标开度。
  50. 根据权利要求41所述的植保无人机，其特征在于，所述处理器，还用于获取用于调节所述出料口大小的开度调节机构的工作参数，根据所述工作参数得到所述实时开度。
  51. 根据权利要求50所述的植保无人机，其特征在于，所述开度调节机构包括：马达、设置在出料口处用于调节出料口大小的挡板、以及将所述马达和挡板传动连接的传动部件；所述开度调节结构的工作参数包括：所述马达的转动角度、所述传动部件的行程、所述挡板的行程、或者所述挡板的转动角度。
  52. 根据权利要求51所述的植保无人机，其特征在于，所述马达的实时转动角度等于所述出料口的实时开度。
  53. 根据权利要求51所述的植保无人机，其特征在于，在向遥控装置发送报警信号时，所述处理器还进一步控制植保无人机返航。
  54. 根据权利要求51所述的植保无人机，其特征在于，在向遥控装置发送报警信号时，所述处理器还进一步控制所述播撒装置的转盘停止转动。
  55. 根据权利要求54所述的植保无人机，其特征在于，在控制所述播撒装置的转盘停止转动时，所述处理器还进一步控制植保无人机返航。
  56. 根据权利要求41-52任一项所述的植保无人机，其特征在于，当所述实时开度大于零、且小于所述目标开度时，所述处理器向所述遥控装置发送舱门开启过小的报警信号。
  57. 根据权利要求41-52任一项所述的植保无人机，其特征在于，当所述目标开度大于零、且小于所述实时开度时，所述处理器向所述遥控装置发送舱门开启过大的报警信号。
  58. 根据权利要求41、49、50、51、52、53、54、或55所述的植保无人机，其特征在于，当所述目标开度大于零、且所述实时开度在第一预设时间内始终等于零时，所述处理器向所述遥控装置发送舱门无法开启的报警信号。
  59. 根据权利要求41、49、50、51、52、53、54、或55所述的植保无人机，其特征在于，当所述目标开度等于零、且所述实时开度在第二预设时间内始终大于零时，所述处理器向所述遥控装置发送舱门无法关闭的报警信号。
  60. 根据权利要求41-52任一项所述的植保无人机，其特征在于，所述处理器，还用于接收关闭出料口的指令；并根据所述指令控制所述播撒装置的开度调节机构关闭所述出料口；以及，检测所述出料口的开度是否逐渐变为零，如果没有，则向所述遥控装置发送舱门无法关闭的报警信号。
  61. 根据权利要求41所述的植保无人机，其特征在于，所述播撒装置的处理器与安装所述机身内的飞行控制器集成在一起。
  62. 根据权利要求61所述的植保无人机，其特征在于，还包括遥控装置，所述遥控装置与所述飞行控制器通信连接。
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