WO2020063057A1 - 一种物料撒播装置、无人机及物料撒播方法 - Google Patents

一种物料撒播装置、无人机及物料撒播方法 Download PDF

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Publication number
WO2020063057A1
WO2020063057A1 PCT/CN2019/096417 CN2019096417W WO2020063057A1 WO 2020063057 A1 WO2020063057 A1 WO 2020063057A1 CN 2019096417 W CN2019096417 W CN 2019096417W WO 2020063057 A1 WO2020063057 A1 WO 2020063057A1
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WO
WIPO (PCT)
Prior art keywords
spreading
material spreading
spreading device
flight
drone
Prior art date
Application number
PCT/CN2019/096417
Other languages
English (en)
French (fr)
Inventor
苏家豪
李晟华
Original Assignee
广州极飞科技有限公司
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 广州极飞科技有限公司 filed Critical 广州极飞科技有限公司
Priority to AU2019348761A priority Critical patent/AU2019348761A1/en
Priority to JP2021510647A priority patent/JP2021534781A/ja
Priority to EP19866922.8A priority patent/EP3858126A4/en
Priority to US17/281,072 priority patent/US20210329828A1/en
Publication of WO2020063057A1 publication Critical patent/WO2020063057A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
    • A01C7/085—Broadcast seeders
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
    • A01C7/12—Seeders with feeding wheels
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C15/00—Fertiliser distributors
    • A01C15/005—Undercarriages, tanks, hoppers, stirrers specially adapted for seeders or fertiliser distributors
    • A01C15/006—Hoppers
    • A01C15/007—Hoppers with agitators in the hopper
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C15/00—Fertiliser distributors
    • A01C15/04—Fertiliser distributors using blowers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C15/00—Fertiliser distributors
    • A01C15/16—Fertiliser distributors with means for pushing out the fertiliser, e.g. by a roller
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C21/00—Methods of fertilising, sowing or planting
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/06—Seeders combined with fertilising apparatus
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
    • A01C7/081—Seeders depositing seeds in rows using pneumatic means
    • A01C7/082—Ducts, distribution pipes or details thereof for pneumatic seeders
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
    • A01C7/10—Devices for adjusting the seed-box ; Regulation of machines for depositing quantities at intervals
    • A01C7/102—Regulating or controlling the seed rate
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
    • A01C7/12—Seeders with feeding wheels
    • A01C7/127—Cell rollers, wheels, discs or belts
    • A01C7/128—Cell discs
    • 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
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS 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; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/22—Taking-up articles from earth's surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C15/00—Fertiliser distributors
    • 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
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • 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
    • B64U2101/40—UAVs specially adapted for particular uses or applications for agriculture or forestry operations
    • 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 present application relates to the technical field of agricultural machinery, and in particular, to a material spreading device, an unmanned aerial vehicle, and a material spreading method.
  • mechanical seeding in agricultural production can include handheld mechanical seeding and walking mechanical seeding.
  • handheld mechanical seeding laborers still need to carry seeding equipment to the ground for seeding.
  • walking mechanical seeding has many problems, such as difficulty in getting down to the field, low travel speed, and difficulty in turning around when the terrain of the farmland is complicated.
  • the drones As the flying technology of small and medium-sized drones gradually matures, the drones have the advantages of vertical take-off and landing and are not affected by terrain, which makes it possible to seed the drones.
  • most of the material spreading devices mounted on agricultural drones are of a centrifugal turntable structure.
  • the centrifugal force of the centrifugal turntable is used to achieve material collection and spreading.
  • the centrifugal turntable structure has the problems of uneven spreading and inability to accurately control the spreading amount.
  • the drone material spreading method only controls the rotation speed of the centrifugal turntable according to the preset amount, and it cannot achieve accurate control of the material amount. Therefore, the current material spreading device and the material spreading method have the problem that the spread amount cannot be accurately controlled.
  • the purpose of the embodiments of the present application is to provide a material spreading device, an unmanned aerial vehicle, and a material spreading method to solve the problem that the current material spreading device and the material spreading method cannot accurately control the spreading amount.
  • a material spreading device including:
  • the picker includes:
  • a housing having an upper opening and a lower opening, the upper opening being in communication with the material box;
  • a picking wheel which is located at the lower opening and is driven to rotate by a driving member, and the picking wheel is provided with a picking cavity for containing materials;
  • the controller is electrically connected to the driving member
  • the feeder is located below the picking wheel and communicates with the feeder, and the material in the picking cavity enters the feeder through the feeder and is spread by the feeder.
  • the feeder includes:
  • a disturbance member which is located at an upper opening of the casing and is driven by the driving member.
  • the plurality of disturbance members are driven by one or more of the driving members.
  • two sides of the lower opening are respectively provided with a guide plate and a scraper bar extending to the circumferential surface of the reclaiming wheel.
  • a funnel-shaped diversion frame is nested in the casing, and a smaller opening end of the diversion frame faces the lower opening.
  • a partition is provided at a lower opening of the diversion frame to divide the lower opening into a plurality of extraction outlets corresponding to the extraction chamber.
  • the receiving device includes a receiving tube
  • the feeder includes a feeding tube.
  • One end of the receiving tube is located below the picking wheel and is opposite to the picking cavity, and the other end is connected to the picking cavity.
  • the feeding pipe is connected.
  • At least one row of the reclaiming cavities is provided on the reclaiming wheel along the axial direction, and each row includes the same number of reclaiming cavities.
  • the number of the feeding tubes and the feeding tubes is the same as the number of the feeding chambers in each row, and the feeding tubes are in one-to-one correspondence with the feeding tubes.
  • the material receiving device further includes a material receiving tray.
  • a funnel-shaped connecting portion is provided at the bottom of the material receiving tray, and the material receiving tube is connected to the connecting portion.
  • a gasket is provided between the receiving pan and the mating surface of the casing.
  • the feeder further includes a fixing frame for fixing the feeding tube, and a blowing member electrically connected to the controller;
  • the feeding pipe is a three-way pipe provided with an air source inlet, a material inlet, and a material outlet, the material inlet is located between the gas source inlet and the material outlet, and the blowing member is provided at the gas source inlet Where the receiving pipe is in communication with the feeding pipe through the material inlet.
  • the area of the gas source inlet is larger than the area of the material outlet.
  • the feeder further includes a diverter, and the diverter is detachably connected to an end of the feeding pipe provided with the material outlet.
  • a cross-section of an end of the diverter far from the feeding tube is oval.
  • the shunt is a retractable shunt.
  • the material spreading device further includes a temperature sensor and / or a lighting device electrically connected to the controller.
  • An unmanned aerial vehicle which includes a main body of the UAV, a material box, a flight control module, and a material spreading device described in the embodiments of the present application.
  • the extractor of the material spreading device is connected below the material box.
  • the feeder of the material spreading device is connected to the main body of the drone, and the controller is electrically connected to the flight control module.
  • the method includes:
  • the target spreading amount is determined according to the pre-obtained flight status information and preset spreading parameters
  • a driving member controlling the material spreading device drives the reclaiming wheel to rotate at the target rotation speed, so that the material spreading device performs material spreading with the target spreading amount.
  • the flight status information includes a real-time flight speed of the drone
  • the preset spreading parameters include a preset flight speed and a preset spread amount
  • the pre-obtained flight status information and preset spread Parameters to determine the target spread including:
  • a target broadcast amount corresponding to the real-time flight speed is determined according to the preset flight speed, the preset spread amount, and the real-time flight speed.
  • the material spreading method further includes:
  • the blowing member controlling the material spreading device provides a high-speed air flow.
  • the flight status information includes a real-time flying altitude of the drone
  • the preset spreading parameters include a spread
  • the material spreading method further includes:
  • the material spreading method further includes:
  • the flight control module is configured to send the working state information to a ground station.
  • the work status information includes at least one of battery information, work information of the driver, communication connection status information, and blower work information.
  • the method before determining the target broadcasting amount according to the pre-acquired flight status information and preset broadcasting parameters, the method includes:
  • the flight information including flight status information and current route information
  • the drone enters an automatic spreading mode after takeoff, and the material spreading method further includes:
  • the material spreading device controlling the drone exits the automatic spreading mode.
  • the drone enters an automatic spreading mode after takeoff
  • the flight status information includes current route information
  • the material spreading method further includes:
  • the material spreading device controlling the drone stops spreading the material.
  • the material spreading device in the embodiment of the present application includes a reclaimer, a receiver, a feeder, and a controller; wherein the reclaimer includes a reclaimer wheel located at an opening under the casing, and the reeler wheel is provided with a reclaimer for accommodating the material.
  • the material cavity and the reclaiming wheel are driven by a driving member, and the controller is electrically connected to the driving member.
  • the controller controls the driving member to drive the reeling wheel to rotate at a corresponding speed during the material spreading process. It can realize accurate reclaiming by the reeling wheel, solve the problem that the existing material spreading device cannot accurately control the spreading amount, and realize the precise control of the material spreading amount by the drone.
  • the material spreading method in the embodiment of the present application can determine the target spreading amount based on the pre-obtained flight status information and preset spreading parameters, and then determine the target rotation speed of the reeling wheel according to the target spreading amount to drive the reeling wheel to reclaim and perform the material spreading.
  • the material spreading method in the embodiment of the present application combines the flight status information of the drone and the preset spreading parameters to control the material spreading device, which can adjust the material spreading amount in real time in combination with the flight status information during the spreading process to achieve precise control.
  • the spreading amount of the material improves the spreading effect of the material.
  • FIG. 1 is a schematic perspective view of a material spreading device according to an embodiment of the present application.
  • FIG. 2 is a schematic perspective view of a feeder according to an embodiment of the present application.
  • FIG. 3 is a schematic cross-sectional structure diagram of a material spreading device according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of an exploded structure of a feeder according to an embodiment of the present application.
  • FIG. 5 is a perspective view of a three-dimensional structure of a picking wheel according to an embodiment of the present application.
  • FIG. 6 is a perspective view of a three-dimensional structure of a receiver according to an embodiment of the present application.
  • FIG. 7 is a schematic perspective structural diagram of a feeder according to an embodiment of the present application.
  • FIG. 8 is a top view of a diversion frame according to an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a disturbance member provided in an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a disturbance member according to an embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of another disturbance member according to an embodiment of the present application.
  • FIG. 12 is a three-dimensional structure diagram of a feeding tube according to an embodiment of the present application.
  • FIG. 13 is a schematic diagram of a three-dimensional structure of a shunt according to an embodiment of the present application.
  • FIG. 14 is a schematic perspective structural diagram of another diverter according to an embodiment of the present application.
  • FIG. 15 is a schematic diagram of a three-dimensional structure of a drone according to an embodiment of the present application.
  • FIG. 16 is a flowchart of steps of a material spreading method according to an embodiment of the present application.
  • FIG. 17 is a schematic diagram of a modular structure of a control system of a drone according to an embodiment of the present application.
  • FIG. 18 is a flowchart of steps of another material spreading method according to an embodiment of the present application.
  • FIG. 19 is a flowchart of steps of another material spreading method according to an embodiment of the present application.
  • connection should be understood in a broad sense unless explicitly stated and limited otherwise.
  • they may be fixed connections, detachable connections, or integrated ; It can be mechanical or electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction between two elements.
  • the specific meanings of the above terms in this application can be understood in specific situations.
  • the "first" or “under” of the second feature may include the first and second features in direct contact, and may also include the first and second features. Not directly, but through another characteristic contact between them.
  • the first feature is “above”, “above”, and “above” the second feature, including that the first feature is directly above and obliquely above the second feature, or merely indicates that the first feature is higher in level than the second feature.
  • the first feature is “below”, “below”, and “below” of the second feature, including the fact that the first feature is directly below and obliquely below the second feature, or merely indicates that the first feature is less horizontal than the second feature.
  • the embodiment of the present application provides a material spreading device, which is used to be mounted on an unmanned aerial vehicle for material spreading.
  • the material may be granular plant seeds, agricultural fertilizers, agricultural medicines, and other materials.
  • the material spreading device includes a reclaimer 1, a receiver 2, a feeder 3, and a controller 4.
  • the reclaimer 1 may be a device that transfers materials to the receiver 2 according to a certain amount from the material box in which the materials are stored; the receiver 2 may be a device that receives the materials from the reclaimer 1 and transfers them to the feeder 3 Device; the feeder 3 may be a device that accelerates the material fed by the receiver 2 to discharge the material according to a certain spread to achieve the material spreading, and the controller 4 may be a device that controls the electronic devices on the spreading device.
  • the reclaimer 1 includes a casing 110 and a reclaiming wheel 18.
  • the housing 110 has an upper opening 1101 and a lower opening 1102.
  • the upper opening 1101 is in communication with a material box (not shown).
  • the picking wheel 18 is located at the lower opening 1102 and is driven to rotate by the driving member 15.
  • a retrieving cavity 181 is provided for accommodating materials.
  • the controller 4 is electrically connected to the driving member 15.
  • the receiver 2 is located below the retrieving wheel 18 and communicates with the feeder 3.
  • the materials in the retrieving cavity 181 pass through the receiver 2. Enter feeder 3 and spread by feeder 3.
  • the housing 110 of the picker 1 is a square housing with an upper and lower openings.
  • a funnel-shaped diversion frame 13 may be nested inside the casing 110.
  • One end of the small opening forms the lower opening 1102, and the end of the larger opening 13 communicates with the material box to form the upper opening 1101.
  • the material has good fluidity and the material flows more easily. ⁇ ⁇ ⁇ 18 ⁇ Withdrawing wheel 18.
  • a bearing housing 19 is provided near the lower opening 1102 on the outer side surfaces of the deflector frame 13.
  • the picking wheel 18 is rotatably connected to the deflector frame 13 through a bearing 182 and a bearing seat 19. And the picking wheel 18 is located at the lower opening 1102; the housing 110 is provided with an accommodating cavity that can accommodate the driving member 15, and the accommodating cavity is covered by the cover plate 14 to prevent dust from entering the driving member 15 and affecting the driving member 15
  • the driving member 15 may be a motor, for example, a speed-adjustable servo motor.
  • the driving member 15 may drive the take-up wheel 18 to rotate by engaging the first gear 16 and the second gear 17.
  • the driving member 15 can also directly drive the take-up wheel 18 to rotate, or drive the take-up wheel 18 to rotate through a transmission method such as a belt or a chain.
  • the picker 1 includes a disturbance member 11.
  • the disturbance member 11 is located at the upper opening 1101 of the casing 110 and is driven by the driving member 15.
  • the driving member 15 can drive the disturbance member 11 to rotate through a transmission method such as a belt or a chain to disturb the animal material.
  • the disturbance member 11 may be driven by another driving member, for example, the taker 1 may further be provided with a steering gear 12.
  • the side wall of the housing 110 and the side wall of the deflector frame 13 form an installation space.
  • the steering gear 12 is located in the installation space, and the through hole on the side wall of the deflector frame 13 and the disturbance member inside the deflector frame 13 are formed.
  • 11 is connected to drive the disturbance member 11 to disturb the animal feed.
  • a detachable door panel 111 is provided on the housing 110. After the user removes the door panel 111, maintenance can be performed on the steering gear 12, the driving member 15, or other electronic components in the housing 110.
  • the controller 4 controls the steering gear 12 to drive the disturbance member 11 to disturb the animal material, so that the material in the diversion frame 13 flows to the lower opening 1102 under the disturbance action, and at the same time, the controller 4 controls the drive member 15
  • the reclaiming wheel 18 is driven to rotate, and the reclaiming cavity 181 on the reclaiming wheel 18 is used for reclaiming.
  • the disturbance of the disturbance member 11 can prevent the agglomeration of the material or the material from mixing with impurities to cause insufficient fluidity, which leads to the The problem that the material cavity 181 cannot be taken or cannot be taken in a sufficient amount.
  • the amount of spreading material can be controlled.
  • a guide plate 112 and a scraper strip 113 extending to the circumferential surface of the picking wheel 18 are respectively provided on both sides of the lower opening 1102.
  • the material plate 112 may be a rubber pad, and the material guide plate 112 may extend from the lower opening 1102 formed by the deflector frame 13 to the arc surface of the picking wheel 18; the scraper strip 113 may be a brush, and the brush may be from the housing
  • the inner wall of 110 near the lower opening 1102 extends to the arc surface of the reclaiming wheel 18, and through the material guide plate 112 and the scraper strip 113, the material at the lower opening 1102 can fall above the reclaiming cavity 181.
  • the material overflowing the reclaiming cavity 181 can be prevented from falling into the receiver 2 by the scraper strip 113, further Improved accuracy of reclaiming.
  • the feeder 2 includes a feeder tube 23, and the feeder 3 includes a feeder tube 33.
  • One end of the feeder tube 23 is located below the reel 18 and is connected with The feeding cavity 181 is directly opposite, and the other end is in communication with the feeding pipe 33.
  • the receiving pipe 23 and the feeding pipe 33 communicate with each other to form a relatively closed receiving channel and feeding channel, which can avoid material splashing during the receiving and feeding process.
  • the problem of inaccurate spreading of materials affects the spreading effect, which further improves the accuracy of the spreading of materials.
  • At least one row of the extraction chambers 181 is provided on the reel 18 in the axial direction, and each row includes the same number of the extraction chambers 181,
  • the number of the receiving tubes 23 and the feeding tubes 33 is the same as the number of the feeding chambers 181 in each row, and the receiving tubes 23 and the feeding tubes 33 are in one-to-one correspondence.
  • the number of the receiving tubes 23 and the feeding tubes 33 is four, and the receiving tubes 23 and the feeding tubes 33 correspond one to one They are connected to form 4 independent receiving and feeding channels.
  • a partition plate 131 is provided at the lower opening 1102 of the deflector frame 13 to divide the lower opening 1102 into a plurality of extraction outlets corresponding to the extraction cavity 181.
  • the number of the disturbance members 11 may be one or more, and the plurality of disturbance members 11 may be driven by one or more steering gears 12. In practical applications, different numbers of disturbance members 11 can be set according to the size of the diversion frame 13 to effect the disturbance of animal feed.
  • the disturbance member 11 includes a rotation shaft 1111, a disturbance support 1112 connected to the rotation shaft 1111, and there may be multiple disturbance supports 1112.
  • Each disturbance support 1112 is provided with a disturbance body. 1113.
  • the disturbance body 1113 and the disturbance support 1112 may be fixed or rotatable.
  • the disturbance body 1113 is substantially a cylindrical body, and a plurality of grooves consistent with the axial direction of the cylindrical body may be distributed on the circumferential surface of the cylindrical body.
  • the disturbance body 1113 is substantially a columnar body, and a plurality of grooves perpendicular to the axis direction of the columnar body may be distributed on the circumferential surface of the columnar body. Smooth connection.
  • the disturbance body 1113 is provided with grooves of different directions, which can be applied to materials of various types or sizes. In actual applications, different disturbance bodies 1113 can be replaced according to different materials, which improves the material spreading device. Versatility.
  • the receiving device 2 further includes a receiving tray 22.
  • a funnel-shaped connection portion is provided at the bottom of the receiving tray 22, and the receiving tube 23 and the connecting portion The connection part is located below the extraction cavity 181 and is directly opposite the extraction cavity 181.
  • a sealing pad 21 is provided on the receiving tray 22, and the gap between the receiving tray 22 and the mating surface of the housing 110 can be sealed by the sealing pad 21, so that the gap between the feeder 1 and the feeder 2 can be sealed.
  • the formation of a closed material receiving space prevents material splash from affecting the spreading amount of the material and further improves the accuracy of the spreading amount of the material.
  • the feeder 3 includes a fixing frame 32 for fixing the feeding tube 33, and a blowing member 31 electrically connected to the controller 4.
  • the feeding pipe 33 is a three-way pipe provided with an air source inlet 331, a material inlet 332, and a material outlet 333.
  • the material inlet 332 is located between the gas source inlet 331 and the material outlet 333 and is close to the material. Exit 333 is set.
  • the feeding pipe 33 can communicate with the receiving pipe 23 through the material inlet 332.
  • the blowing member 31 may be a fan or an air compressor.
  • the controller 4 controls the blowing member 31 to provide high-speed airflow at the air source inlet 331, thereby forming a negative pressure at the material inlet 332, so that the connection
  • the material in the material pipe 23 is accelerated into the material feeding pipe 33, and the material entering the material pipe 33 is discharged from the material outlet 333 under the acceleration of the high-speed airflow, so that the material is spread.
  • the blowing member 31 By setting the blowing member 31 to provide high-speed airflow, the speed of the material entering the feeding pipe 33 and the speed of discharging the material from the feeding pipe 33 are improved, so that the material is spread with good directivity, and the material is prevented from being affected by natural crosswind or drone rotor wind. The impact guarantees the spread of material.
  • the area of the gas source inlet 331 is larger than the area of the material outlet 333, and the area of the gas source inlet 331 is less than or equal to the area of the material outlet 333, and the air flow rate per unit time
  • the feeding pipe 33 of the embodiment of the present application can form a higher-speed airflow. That is, by setting the area of the air source inlet 331 larger than the area of the material outlet 333, the blowing member 31 can be reduced under the airflow requiring the same flow rate. Power consumption improves the battery life of the drone or the material spreading device.
  • the feeder 3 further includes a diverter 34, and the diverter 34 is detachably connected to the end of the feeding pipe 33 provided with a material outlet 333.
  • the feeding pipe 33 and The splitter 34 is connected by a rotary hook.
  • the outer circumferential surface of the material outlet 333 is provided with a boss 334, and the diverter inlet 341 connected to the diverter 34 and the feeding pipe 33 is provided with a clamping slot 343 adapted to the boss 334.
  • the boss 334 is rotated into the slot 343 to form a rotary hook connection.
  • the cross section of the splitter outlet 342 of the splitter 34 is oval, and the spread material can be spread in a fan shape to make the material spread to the ground more uniform.
  • the diverter 34 is a retractable diverter.
  • a warped edge 344 may be provided on the outer circumference of the diverter outlet 342.
  • the length of the diverter 34 can be extended by the tubular material on the raised edge 344, thereby extending the time for the blowing member 31 to accelerate the material, so that the material is spread at a higher speed.
  • the material spread has good wind resistance, which further improves the directivity of the material spread, making the spread more stable and the material spread more uniform.
  • the material spreading device further includes a temperature sensor 35 and / or a lighting device 36 electrically connected to the controller 4.
  • the temperature sensor 35 can detect the inside of the material spreading device. Or the temperature of the spreading environment can be adjusted to adjust the material spreading device, and the lighting device 36 can facilitate the user to perform the night spreading operation.
  • an embodiment of the present application provides an unmanned aerial vehicle, including an unmanned aerial vehicle body 10, a material box 20, a flight control module, and a material spreading device and a material take-out device 1 of the embodiment of the present application.
  • an unmanned aerial vehicle including an unmanned aerial vehicle body 10, a material box 20, a flight control module, and a material spreading device and a material take-out device 1 of the embodiment of the present application.
  • the feeder 3 of the material spreading device is connected to the drone body 10
  • the controller is electrically connected to the flight control module (not shown).
  • the drone of the embodiment of the present application can adjust the reclaiming amount of the feeder 1 in the material spreading device according to the real-time flying speed and the preset spreading amount, so as to accurately control the amount of the spreading amount of material, and at the same time, it can adjust the flying height according to the terrain And control the feeding speed of the feeder 3 to adjust the spread, so that the material is spread more evenly.
  • FIG. 16 is a flowchart of steps of a material spreading method according to an embodiment of the present application, which is applied to a drone.
  • the material spreading method may specifically include the following steps:
  • the target spreading amount is determined according to the pre-obtained flight status information and preset spreading parameters.
  • the drone may enter the automatic flight and material spreading mode after take-off self-test by default, or may determine whether to perform material spreading according to the flight status and the current route after the self-check.
  • the material spreading device 100 is provided with a controller 4, and a driving member 15, a steering gear 12, and a blowing member 31 electrically connected to the controller 4.
  • the steering gear 12 is used to drive the disturbance member 22 of the material spreading device 100.
  • the driving member 15 is used to drive the take-up wheel 18 of the material spreading device 100 to rotate at a corresponding speed, so as to achieve accurate control of the material spreading amount, and the blowing member 31 is used to provide high-speed airflow to achieve the spreading.
  • the ground station 300 may be a device for controlling the drone, for example, it may be a remote controller.
  • the flight control module 200 is the main control module of the drone, and is used to control the flight speed, flight height, and flight attitude of the drone.
  • the material spreading device 100 is a device mounted on an unmanned aerial vehicle to implement the material spreading.
  • the controller 100 may communicate with the flight control module 200, for example, through a CAN bus or wireless communication of the unmanned aerial vehicle.
  • the surveying and mapping data of the broadcasting area may be obtained in advance or in real time, and the surveying and mapping data may include data such as terrain information, latitude and longitude coordinates, and calibrated waypoint information of the broadcasting area.
  • a flight route can be automatically generated, and the flight route can be identified with the spreading route that needs to be spread and the preset spreading parameters corresponding to the spreading route.
  • the ground station sends the flight route to the flight control module, and the drone flight is controlled by the flight control module. Therefore, the material spreading device can communicate with the flight control module and obtain flight status information and preset spreading parameters from the flight control module in real time. In practical applications, the current flight status of the drone may be inconsistent with the flight status corresponding to the preset spreading parameters. Therefore, the spreading amount needs to be adjusted according to the current flight status information and the preset spreading parameters to determine the target spreading amount.
  • the material spreading amount can be controlled by the rotation speed of the picking wheel in the material spreading device. Therefore, the target speed of the picking wheel can be determined according to the target spreading amount. For example, the target spreading amount and each of the picking wheel can be determined. Revolve the amount of material to determine the target speed.
  • the driving member of the material spreading device is controlled to drive the reclaiming wheel to rotate at the target rotation speed, so that the material spreading device performs material spreading according to the target spreading amount.
  • the driving member may be a motor, and by controlling the rotation speed of the motor, the purpose of controlling the revolving wheel connected to the target rotation speed is achieved, and the effect of accurately controlling the spreading amount is finally achieved.
  • the material spreading method in the embodiment of the present application can determine the target spreading amount based on the pre-obtained flight status information and preset spreading parameters, and then determine the target rotation speed of the reeling wheel according to the target spreading amount to determine the reeling wheel reclaiming.
  • the flying state information and preset spreading parameters of the UAV are used to control the spreading amount of the material spreading device.
  • the spreading amount of the material can be adjusted in real time in combination with the flying state information during the spreading process, and the precise spreading amount of the material is controlled, which improves the The spreading effect of the material.
  • FIG. 18 is a flowchart of steps of a material spreading method according to another embodiment of the present application, which is applied to a drone.
  • the material spreading method may specifically include the following steps:
  • the ground station automatically generates a flight route based on the surveying and mapping data, and the flight route can be identified with a spreading route that requires material to be spread and a spreading parameter corresponding to the spreading route.
  • the ground station sends the flight path to the flight control module.
  • the flight control module controls the drone to fly according to the flight path. Therefore, the controller of the material spreading device can obtain the flight path, the current flight status information and Current route information, where flight status information includes the real-time flight speed of the drone.
  • S202 Determine whether the flight status of the UAV satisfies a preset spreading condition according to the flight status information.
  • Flight status information can be used to measure whether the drone is in a stable state, such as the rate of change in flight speed and the rate of change in flight height. You can use the flight status information to determine whether the current flight status of the drone will affect the spreading of the material. For example, if the change rate of the flying speed and the change rate of the flying height are less than a preset value, and if they are less than the preset value, the spreading effect of the material is not affected, then step S203 is performed.
  • the material spreading device on the drone is controlled to switch to the automatic spreading mode.
  • the automatic spreading mode may be a mode in which the material spreading device enters a standby state after a self-test.
  • the flight control module of the drone may receive a pre-planned flight route from a ground station and execute a flight mission.
  • the flight route is marked with a route that requires material spread, that is, a preset broadcast route. It is determined whether the current route is a preset broadcast route, and if it is, it indicates that the current route is a route requiring material to be broadcast, then step S205 is performed.
  • the broadcasting parameters corresponding to the preset broadcasting route may be obtained from the flight control module, and the broadcasting parameters include a preset flying speed and a preset broadcasting amount.
  • the drone may be affected by natural wind during the flight. If the real-time flight speed is different from the preset flight speed, the real-time flight can be determined according to the preset flight speed, the preset spreading amount, and the real-time flight speed. The target spread amount for speed.
  • the preset spreading amount is 500g / s
  • the real-time flight speed is 10m / s
  • the target spreading amount is 1000g / s to achieve the preset flight speed of 5m / s
  • the preset The spreading amount is 500g / s to perform the same effect of material spreading.
  • S207 Determine a target rotation speed of a picking wheel in the material spreading device according to the target spreading amount.
  • the amount of material spread in the material spreading device, can be controlled by the rotation speed of the picking wheel, and then the target speed of the picking wheel can be determined according to the target spreading amount. For example, the target spreading amount and each of the picking wheels can be determined. Revolve the amount of material to determine the target speed.
  • S208 Control the driving member of the material spreading device to drive the reclaiming wheel to rotate at the target rotation speed, so that the material spreading device performs material spreading with the target spreading amount.
  • the driving member may be a motor.
  • the rotation speed of the motor By controlling the rotation speed of the motor, the purpose of controlling the revolving wheel connected to rotate at the target rotation speed is achieved, and the effect of accurately controlling the spreading amount is finally achieved.
  • the steering gear of the material spreading device when the material is spread, can be controlled to drive the disturbance member to disturb; and the blowing member of the material spreading device is controlled to provide high-speed airflow.
  • the disturbing parts and blowing parts need to be activated according to the type of material and the spreading environment.
  • the material has good fluidity, no crosswind effect during spreading, and the disturbance of the single material can be avoided.
  • blowing parts can reduce the total power consumption of the material spreading device and improve the endurance of the drone.
  • the disturbance and blowing parts can be turned on to improve the accuracy of the material collection and ensure the spreading width.
  • the target spreading amount corresponding to the real-time flying speed may be determined according to the preset flying speed, the preset spreading amount, and the real-time flying speed, and according to the target spreading amount, the driving wheel is driven by the driving member to rotate and take the corresponding rotation speed.
  • the target spreading amount On the one hand, it achieves real-time adjustment and precise control of the spreading amount, on the other hand, it avoids adjusting the flying speed to match the preset spreading amount, which causes frequent adjustment of the output of the electronic governor and reduces the life of the electronic governor. problem.
  • the material spreading device can be controlled to perform the material spreading operation according to the flight status information and preset spreading parameters, thereby realizing the automatic flight of the drone and Spread automatically without manual intervention.
  • FIG. 19 is a flowchart of steps of a material spreading method according to another embodiment of the present application, which is applied to a drone.
  • the material spreading method may specifically include the following steps:
  • S305 Obtain preset broadcast parameters corresponding to the current route, where the preset broadcast parameters include a preset flight speed, a preset spread amount, and a broadcast width.
  • S306. Determine a target broadcasting amount corresponding to the real-time flying speed according to the preset flying speed, the preset broadcasting amount, and the real-time flying speed.
  • S307. Determine a target rotation speed of a picking wheel in the material spreading device according to the target spreading amount.
  • S308 Control the driving member of the material spreading device to drive the reclaiming wheel to rotate at the target rotation speed, so that the material spreading device performs material spreading according to the target spreading amount.
  • the broadcasting width is determined in the feeder of the material spreading device. In actual applications, it can be set according to a preset Correspondence between the spread and height determines the target spread height corresponding to the spread.
  • the drone's flight control module can control the drone's rotors to adjust the real-time flight height of the drone to the target spread height.
  • the embodiment of the present application can adjust the flying height of the drone in real time, so that the material is spread with a preset spread, on the one hand, it avoids the problem of replay or missed material, and makes the material spread more evenly; on the other hand, It can avoid the problem of re-spreading caused by the instability of the broadcasting range by planning the route, reducing the difficulty of route planning.
  • the material spreading method may further include: obtaining working status information of the material spreading device; sending the working status information to a flight control module of the drone, the flight control The module is configured to send the working status information to a ground station.
  • the work status information may include at least one of battery information, work information of the driver, communication connection status information, and blower work information, where the battery information may be battery information of the material spreading device or battery information of the drone.
  • Battery information can be battery voltage, battery remaining power, battery temperature and other information; driver's work information can be the driver's working current; connection status information can be whether the wireless connection is connected or disconnected; blower work information It can be information such as the rotation speed or air flow of the blower.
  • After obtaining the working status information it is sent to the ground station through the flight control module. The user can learn the working status of the material spreading device through the ground station, understand the load of each device, and make corresponding adjustments.
  • the drone enters an automatic spreading mode after takeoff, and the material spreading method further includes: judging whether the flight status of the drone satisfies a preset spreading condition according to the flight status information. If not, controlling the material spreading device of the drone to exit the automatic spreading mode.
  • the drone automatically enters the spreading mode by default after take-off.
  • the drone's flight status is affected by the environment or the drone's own equipment. For example, excessive natural wind affects the stability of the drone's flight. If the drone battery is low, you can control the drone ’s material spreading device to exit the automatic spreading mode, wait for preset spreading conditions to be met, and then perform the automatic spreading mode again. You can determine whether the material spreading device is based on the flight status in real time. Enter the automatic spreading mode to avoid the instability of the drone's flight affecting the spreading effect.
  • the drone enters an automatic spreading mode after takeoff
  • the flight status information includes current route information
  • the material spreading method further includes: judging whether the current route is a preset broadcast based on the current route information. Air routes; if not, the material spreading device controlling the drone stops spreading materials.
  • the drone defaults to the automatic spreading mode after takeoff.
  • the drone flies according to a pre-planned flight course.
  • the flight route includes the spreading route and the non-spreading route.
  • the non-spreading route can It is the corresponding route segment for turns, U-turns, obstacles, etc. If the drone flies from the spreading route to the non-spreading route, the material spreading device can be controlled to stop performing the material spreading operation, avoiding materials in the turn, U-turn and obstacle Spread the issue of wasted materials.

Abstract

提供一种物料撒播装置、无人机以及物料撒播方法。物料撒播装置包括取料器（1）、接料器（2）、送料器（3）和控制器（4），取料器（1）包括具有上开口（1101）和下开口（1102）的壳体（110）以及位于下开口（1102）处且由驱动件（15）驱动旋转的取料轮（18），上开口（1101）与物料箱相连通，取料轮（18）上设有用于容纳物料的取料腔（181）；控制器（4）与驱动件（15）电连接；接料器（2）位于取料轮（18）下方且与送料器（3）连通，取料腔（181）的物料经接料器（2）进入送料器（3）撒播。物流撒播方法结合无人机飞行状态信息和预设撒播参数对物料撒播进行精确控制，提高了物料的撒播效果。

Description

一种物料撒播装置、无人机及物料撒播方法
本申请基于申请号为201811162341.3，申请日为2018年9月30日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及农业机械技术领域，尤其涉及一种物料撒播装置、无人机及物料撒播方法。
背景技术
随着农业机械的发展，农业逐渐实现半自动化甚至全自动化，目前农业生产中机械式播种可以包括手持式机械播种和行走式机械播种，对于手持式机械播种仍需劳动者背负播种设备下地播种，而行走式机械播种，在农田地形复杂的情况下，存在下田困难，行进速度低和转弯掉头困难等诸多问题。
而随着中小型无人机飞行技术逐渐成熟，无人机由于具备垂直起降和不受地形影响等优点，使得无人机播种成为可能。目前农用无人机上挂载的物料撒播装置大部分为离心转盘式结构，通过离心转盘的离心力实现取料和撒播，离心转盘结构存在撒播不均匀、无法精确控制撒播用量的问题，并且现有针对无人机的物料撒播方法仅仅是根据预设用量控制离心转盘的转速，也无法实现对物料用量的精准控制，因此目前的物料撒播装置及物料撒播方法均存在无法精确控制撒播用量的问题。
发明内容
本申请实施例的目的在于：提供一种物料撒播装置、无人机及物料撒播方法，以解决目前的物料撒播装置和物料撒播方法无法精确控制撒播用量的问题。
为达此目的，本申请实施例采用以下技术方案：
提供一种物料撒播装置，包括：
取料器、接料器、送料器和控制器；
所述取料器包括：
壳体，所述壳体具有上开口和下开口，所述上开口与物料箱相连通；
取料轮，位于所述下开口处，由驱动件驱动旋转，所述取料轮上设有用于容纳物料的取料腔；
所述控制器与所述驱动件电连接；
所述接料器位于所述取料轮下方且与所述送料器连通，所述取料腔内的物料经所述接料器进入所述送料器，并由所述送料器撒播。
可选地，所述取料器包括：
扰动件，所述扰动件位于所述壳体的上开口处，由所述驱动件驱动。
可选地，所述扰动件为多个，多个所述扰动件由一个或多个所述驱动件驱动。
可选地，所述下开口两侧分别设置有延伸至所述取料轮圆周面的导料板和刮料条。
可选地，所述壳体内嵌套有漏斗状的导流框，所述导流框较小开口的一端朝向所述下开口。
可选地，所述导流框的下开口处设置有隔板，以将所述下开口分割为与所述取料腔对应的多个取料出口。
可选地，所述接料器包括接料管，所述送料器包括送料管，所述接料管一端位于所述取料轮下方且与所述取料腔正对设置，另一端与所述送料管相连通。
可选地，所述取料轮上沿轴向方向设置至少一行所述取料腔，每行中均包括相同个数的取料腔。
可选地，所述接料管与所述送料管的数量与每行中取料腔的个数相同，所述接料管与所述送料管一一对应相连通。
可选地，所述接料器还包括接料盘，所述接料盘底部设置有漏斗状的连接部，所述接料管与所述连接部连接。
可选地，所述接料盘与所述壳体的配合面之间设置有密封垫。
可选地，所述送料器还包括固定所述送料管的固定架、和与所述控制器电连接的吹送件；
所述送料管为设置有气源入口、物料入口和物料出口的三通管，所述物料入口位于所述气源入口和所述物料出口之间，所述吹送件设置于所述气源入口处，所述接料管通过所述物料入口与所述送料管相连通。
可选地，所述气源入口的面积大于所述物料出口的面积。
可选地，所述送料器还包括分流器，所述分流器与所述送料管设置有所述物料出口的一端可拆卸式连接。
可选地，所述分流器远离所述送料管的一端的截面为椭圆形。
可选地，所述分流器为可伸缩式分流器。
可选地，所述物料撒播装置还包括与所述控制器电连接的温度传感器和/或照明装置。
提供一种无人机，包括无人机主体、物料箱、飞行控制模块和本申请实施例所述的物料撒播装置，所述物料撒播装置的取料器连接于所述物料箱的下方，所述物料撒播装置的送料器与所述无人机主体连接，所述控制器与所述飞行控制模块电连接。
提供一种物料撒播方法，应用于本申请实施例的无人机，所述方法包括：
在所述无人机撒播物料时，依据预先获取的飞行状态信息和预设撒播参数，确定目标撒播用量；
依据所述目标撒播用量确定所述无人机的物料撒播装置中取料轮的目标转速；
控制所述物料撒播装置的驱动件驱动所述取料轮以所述目标转速旋转，以使得所述 物料撒播装置以所述目标撒播用量进行物料撒播。
可选地，所述飞行状态信息包括所述无人机的实时飞行速度，所述预设撒播参数包括预设飞行速度和预设撒播用量，所述依据预先获取的飞行状态信息和预设撒播参数，确定目标撒播用量，包括：
依据所述预设飞行速度、所述预设撒播用量和所述实时飞行速度，确定所述实时飞行速度对应的目标撒播用量。
可选地，当所述物料撒播装置的取料器包括扰动件并且送料器包括吹送件时，所述物料撒播方法还包括：
控制所述物料撒播装置的驱动件驱动所述物料撒播装置的扰动件扰动；
控制所述物料撒播装置的吹送件提供高速气流。
可选地，所述飞行状态信息包括所述无人机的实时飞行高度，所述预设撒播参数包括播幅，所述物料撒播方法还包括：
依据所述播幅确定所述物料撒播装置的目标撒播高度；
将所述实时飞行高度调整为所述目标撒播高度。
可选地，所述物料撒播方法还包括：
获取所述物料撒播装置的工作状态信息；
将所述工作状态信息发送至所述无人机的飞行控制模块，所述飞行控制模块用于将所述工作状态信息发送至地面站。
可选地，所述工作状态信息包括电池信息、驱动件的工作信息、通信连接状态信息和吹送件工作信息中的至少一个。
可选地，在依据预先获取的飞行状态信息和预设撒播参数，确定目标撒播用量之前，包括：
获取所述无人机的飞行信息，所述飞行信息包括飞行状态信息和当前航线信息；
依据所述飞行状态信息，判断所述无人机的飞行状态是否满足预设撒播条件；
若是，控制所述无人机的物料撒播装置切换至自动撒播模式；
依据所述当前航线信息判断当前航线是否是预设撒播航线；
若是，获取所述当前航线对应的预设撒播参数。
可选地，所述无人机起飞后进入自动撒播模式，所述物料撒播方法还包括：
依据所述飞行状态信息，判断所述无人机的飞行状态是否满足预设撒播条件；
若否，控制所述无人机的物料撒播装置退出所述自动撒播模式。
可选地，所述无人机起飞后进入自动撒播模式，所述飞行状态信息包括当前航线信息，所述物料撒播方法还包括：
依据所述当前航线信息判断当前航线是否是预设撒播航线；
若否，控制所述无人机的物料撒播装置停止撒播物料。
本申请实施例的有益效果为：
本申请实施例的物料撒播装置包括取料器、接料器、送料器和控制器；其中，取料 器包括位于壳体下开口处的取料轮，取料轮设有用于容纳物料的取料腔，取料轮由驱动件驱动，控制器与驱动件电连接，本申请实施例的物料撒播装置，在物料撒播过程中，通过控制器控制驱动件驱动取料轮以相应的速度旋转，能够实现取料轮精准取料，解决了现有物料撒播装置无法精确控制撒播用量的问题，实现了无人机对物料撒播用量的精准控制。
本申请实施例的物料撒播方法，可以依据预先获取的飞行状态信息和预设撒播参数，确定目标撒播用量，然后根据目标撒播用量确定取料轮的目标转速以驱动取料轮取料进行物料撒播，本申请实施例的物料撒播方法，结合了无人机的飞行状态信息和预设撒播参数对物料撒播装置进行控制，能够在撒播过程中结合飞行状态信息实时调整物料的撒播用量，实现精准控制物料的撒播用量，提高了物料的撒播效果。
附图说明
下面根据附图和实施例对本申请作进一步详细说明。
图1为本申请实施例的物料撒播装置的立体结构示意图。
图2为本申请实施例的取料器的立体示意图。
图3为本申请实施例的物料撒播装置的剖面结构示意图。
图4为本申请实施例的取料器的分解结构示意图。
图5为本申请实施例的取料轮的立体结构示意图。
图6为本申请实施例的接料器的立体结构示意图。
图7为本申请实施例的送料器的立体结构示意图。
图8为本申请实施例的导流框的俯视图。
图9为本申请实施例中设置一个扰动件的结构示意图。
图10为本申请实施例的扰动件的结构示意图。
图11为本申请实施例的另一扰动件的结构示意图。
图12为本申请实施例的送料管的立体结构示意图。
图13为本申请实施例的分流器的立体结构示意图。
图14为本申请实施例的另一分流器的立体结构示意图。
图15为本申请实施例的无人机的立体结构示意图。
图16为本申请实施例的物料撒播方法的步骤流程图。
图17为本申请实施例的无人机的控制系统的模块化结构示意图。
图18为本申请实施例的另一物料撒播方法的步骤流程图。
图19为本申请实施例的又一物料撒播方法的步骤流程图。
图中：
1-取料器；110-壳体；1101-上开口；1102-下开口；11-扰动件；1111-转轴；1112-扰动支架；1113-扰动本体；12-舵机；13-导流框；131-隔板；14-盖板；15-驱动件；16-第一齿轮；17-第二齿轮；18-取料轮；181-取料腔；182-轴承；19-轴承座；112-导料板； 113-刮料条；2-接料器；21-密封垫；22-接料盘；23-接料管；3-送料器；31-吹送件；32-固定架；33-送料管；331-气源入口；332-物料入口；333-物料出口；334-凸台；34-分流器；341-分流器入口；342-分流器出口；343-卡槽；344-翘边；35-温度传感器；36-照明装置；4-控制器；10-无人机主体；20-物料箱。
具体实施方式
为使本申请解决的技术问题、采用的技术方案和达到的技术效果更加清楚，下面将结合附图对本申请实施例的技术方案作进一步的详细描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域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，都属于本申请保护的范围。
在本申请的描述中，除非另有明确的规定和限定，术语“相连”、“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
本申请实施例提供一种物料撒播装置，用于挂接在无人机上实现物料撒播，其中，物料可以是颗粒状的植物种子、农业肥料、农业用药等物质。
如图1所示，本申请实施例的物料撒播装置，包括取料器1、接料器2、送料器3和控制器4。
取料器1可以是从存储物料的物料箱中，按照一定的用量将物料传送至接料器2的装置；接料器2可以是从取料器1中接收物料后传送至送料器3的装置；送料器3可以是将接料器2送入的物料经加速后按照一定的播幅排出物料以实现物料撒播的装置，控制器4可以是对撒播装置上的电子器件进行控制的装置。
如图2-图4所示，在本申请实施例中，取料器1包括壳体110和取料轮18。其中，壳体110具有上开口1101和下开口1102，上开口1101与物料箱(图未示)相连通，取料轮18位于下开口1102处，由驱动件15驱动旋转，取料轮18上设有用于容纳物料的取料腔181，控制器4与驱动件15电连接，接料器2位于取料轮18下方且与送料器3连通，取料腔181内的物料经接料器2进入送料器3，并由送料器3撒播。
具体地，如图2-图4所示，取料器1的壳体110为一上下开口的方形壳体，壳体110内可嵌套有漏斗状的导流框13，导流框13较小开口的一端即形成下开口1102，导流框13 较大开口的一端与物料箱连通，形成上开口1101，通过漏斗状的导流框13，使得物料具良好的流动性，物料更容易流向取料轮18。
如图4和图5所示，导流框13的外部两侧面上靠近下开口1102处设置有轴承座19，取料轮18通过轴承182和轴承座19可转动地与导流框13连接，并且使得取料轮18位于下开口1102处；壳体110内设置有可容纳驱动件15的容置腔，并通过盖板14覆盖该容置腔以避免灰尘进入驱动件15中影响驱动件15的使用寿命，可选地，驱动件15可以是电机，例如可以是可调速的伺服电机，优选地，驱动件15可以通过第一齿轮16和第二齿轮17啮合驱动取料轮18旋转。在实际应用中，驱动件15还可以直接驱动取料轮18旋转，或者通过皮带、链条等传动方式驱动取料轮18旋转。
在本申请的一种优选实施例中，如图3和图4所示，取料器1包括扰动件11。具体地，扰动件11位于壳体110的上开口1101处，由驱动件15驱动，例如驱动件15可以通过皮带、链条等传动方式驱动扰动件11旋转以扰动物料。
可选地，如图3所示，扰动件11可以通过另外的驱动件驱动，例如，取料器1还可以设置舵机12。具体地，壳体110侧壁与导流框13侧壁形成一安装空间，舵机12位于该安装空间中，且通过导流框13侧壁上的通孔与导流框13内部的扰动件11连接，以驱动扰动件11扰动物料。
如图4所示，壳体110上设置有可拆卸的门板111，用户拆卸门板111后可以对壳体110内的舵机12、驱动件15或者其它电子器件等进行维护。
本申请实施例的物料撒播装置取料原理如下：
物料撒播装置在撒播物料时，控制器4控制舵机12驱动扰动件11扰动物料，使得导流框13中的物料在扰动作用下流动至下开口1102处，同时，控制器4控制驱动件15驱动取料轮18旋转，取料轮18上的取料腔181进行取料，一方面，通过扰动件11的扰动作用，可以避免物料结块或者物料掺杂杂物造成流动性不足，导致取料腔181无法取料或者无法足量取料的问题，另一方面，通过控制取料轮18的转速，可以控制物料的撒播用量。
如图3和图4所示，在本申请的优选实施例中，下开口1102两侧分别设置有延伸至取料轮18的圆周面的导料板112和刮料条113，具体地，导料板112可以为胶垫，导料板112可以从导流框13形成的下开口1102上延伸至取料轮18的弧面上；刮料条113可以为毛刷，毛刷可以从壳体110靠近下开口1102的内侧壁上延伸至取料轮18的弧面上，通过导料板112和刮料条113，一方面可以使得下开口1102处的物料落在取料腔181的上方，避免物料从下开口1102与取料轮18之间的间隙落入接料器2中，另一方面，通过刮料条113可以阻挡溢出取料腔181的物料落入接料器2中，进一步提高了取料的准确度。
如图1和图3所示，在本申请的可选实施例中，接料器2包括接料管23，送料器3包括送料管33，接料管23一端位于取料轮18下方且与取料腔181正对设置，另一端与送料管33相连通，通过接料管23和送料管33相互连通形成相对封闭的接料通道和送料通道，可以避免接料和送料过程中物料飞溅造成物料撒播用量不准确影响撒播效果的问题，进一步提高了物料撒播用量的准确度。
如图5-图8所示，在本申请的优选实施例中，取料轮18上沿轴向方向设置至少一行取料腔181，每行中又均包括相同个数的取料腔181，接料管23与送料管33的数量与每行中取料腔181的个数相同，接料管23与送料管33一一对应相连通。具体地，以取料轮18上每行设置有4个取料腔181为示例，则接料管23与送料管33的数量均为4个，并且接料管23与送料管33一一对应相连通以形成4个独立的接料和送料通道，通过设置多个取料腔181，以及对应的多个接料管23与送料管33，可以增大播幅和提高物料的撒播效率。
相应地，如图8所示，导流框13的下开口1102处设置有隔板131，以将下开口1102分割为与取料腔181对应的多个取料出口。通过设置隔板131，一方面可以将物料均分至每一个取料腔181中，另一方面可以提高导流框13的结构强度。
如图2和图9所示，扰动件11的数量可以为一个或者多个，多个扰动件11可以通过一个或多个舵机12驱动。在实际应用中可以根据导流框13的大小设置不同数量的扰动件11以起到扰动物料的效果。
如图10所示，在本申请的可选实施例中，扰动件11包括转轴1111、与转轴1111连接的扰动支架1112，扰动支架1112可以为多个，每个扰动支架1112上设置有扰动本体1113，扰动本体1113与扰动支架1112可以是固定连接或者可转动连接。扰动本体1113大致为一柱形体，在柱形体的圆周表面可以分布有多条与柱形体轴线方向一致的凹槽。
如图11所示，在另一可选实施例中，扰动本体1113大致为一柱形体，在柱形体的圆周表面可以分布有多条与柱形体轴线方向垂直的凹槽，各凹槽之间圆滑连接。
本申请实施例中，扰动本体1113设置不同走向的凹槽，可以适用各种类型或者各种粒度大小的物料，在实际应用中可以根据不同的物料更换不同的扰动本体1113，提高了物料撒播装置通用性。
如图6所示，在本申请的可选实施例中，接料器2还包括接料盘22，优选地，接料盘22底部设置有漏斗状的连接部，接料管23与连接部连接，连接部位于取料腔181的下方且与取料腔181正对设置。通过设置接料盘22以及漏斗状连接部，可以扩大接料管23的接料范围，避免了漏接从取料腔181中落下的物料造成撒播用量不准确的问题，进一步提高了物料撒播用量的准确度。
可选地，接料盘22上设置有密封垫21，通过该密封垫21可以密封接料盘22与壳体110的配合面之间的间隙，使得取料器1和接料器2之间形成密闭的接料空间，避免了物料飞溅影响物料的撒播用量，进一步提高了物料撒播用量的准确度。
如图7所示，在本申请的另一可选实施例中，送料器3包括固定送料管33的固定架32、和与控制器4电连接的吹送件31。
具体地，如图12所示，送料管33为设置有气源入口331、物料入口332和物料出口333的三通管，物料入口332位于气源入口331和物料出口333之间，且靠近物料出口333设置。送料管33可通过物料入口332与接料管23相连通。在实际应用中，吹送件31可以是风扇或者空气压缩机，在物料撒播时，控制器4控制吹送件31在气源入口331处提供高速气流，从而在物料入口332处形成负压，使得接料管23中的物料加速进入送料管33中， 进入送料管33中的物料在高速气流的加速下从物料出口333排出，实现了物料撒播。通过设置吹送件31提供高速气流，提高了物料进入送料管33的速度和物料从送料管33排出的速度，使得物料撒播具有良好的指向性，避免物料受自然侧风或者无人机旋翼风的影响，保证了物料撒播的播幅。
如图12所示，在本申请的优选实施例中，气源入口331的面积大于物料出口333的面积，相对于气源入口331的面积小于或等于物料出口333的面积，单位时间内气流量相同的情况下，本申请实施例的送料管33可以形成流速更高的气流，即通过设置气源入口331的面积大于物料出口333的面积，在需求相同流速的气流下，可以降低吹送件31的功耗，提高了无人机或者物料撒播装置的电池的续航能力。
如图7所示，在本申请的优选实施例中，送料器3还包括分流器34，分流器34与送料管33设置有物料出口333的一端可拆卸式连接，优选地，送料管33和分流器34采用旋转勾接的方式进行连接。
具体地，如图12和图13所示，物料出口333外圆周面设有凸台334，分流器34与送料管33连接的分流器入口341设置有与凸台334适配的卡槽343，通过凸台334旋转进入卡槽343中形成旋转勾接式连接。通过设置与送料管33可拆卸式连接的分流器34，可以根据不同的分流器34调整物料的撒播角度，能够方便地调整物料撒播的播幅。
如图13所示，在本申请的可选实施例中，分流器34的分流器出口342的截面为椭圆形，可以将撒播的物料呈扇形铺展，使撒播到地面的物料分布更为均匀。
如图14所示，在本申请的优选实施例中，分流器34为可伸缩式分流器，具体地，可以在分流器出口342的外圆周上设置翘边344，通过翘边344可以固定可伸缩的管状材料，当需要延长分流器34时，可以通过翘边344上的管状材料延长分流器34的长度，从而延长了吹送件31加速物料的时间，使得物料以更高的速度进行撒播，物料撒播具有良好的抗风性，进一步提高了撒播物料的指向性，使得播幅更为稳定，物料撒播也更为均匀。
如图7所示，在本申请的一种可选实施例中，物料撒播装置还包括与控制器4电连接的温度传感器35和/或照明装置36，通过温度传感器35可以检测物料撒播装置内或者撒播环境的温度，以对物料撒播装置进行调整，以及通过照明装置36可以方便用户进行夜间撒播操作。
如图15所示，本申请实施例提供了一种无人机，包括无人机主体10、物料箱20、飞行控制模块和本申请实施例的物料撒播装置，物料撒播装置的取料器1连接于物料箱20的下方，物料撒播装置的送料器3与无人机主体10连接，控制器与飞行控制模块电连接(图未示)。
本申请实施例的无人机，可以根据实时飞行速度和预设的撒播用量调整物料撒播装置中取料器1的取料用量，实现物料撒播用量的准确控制，同时可以根据地形实时调整飞行高度和控制送料器3送料速度对播幅进行调整，使得物料撒播更为均匀。
如图16所示为本申请实施例的一种物料撒播方法的步骤流程图，应用于无人机，该物料撒播方法具体可以包括如下步骤：
S101，在所述无人机撒播物料时，依据预先获取的飞行状态信息和预设撒播参数，确定目标撒播用量。
在本申请实施例中，无人机可以默认起飞自检后进入自动飞行和物料撒播模式，也可以是自检后根据飞行状态和当前航线确定是否进行物料撒播。
如图17所示，物料撒播装置100设置有控制器4，以及与控制器4电连接的驱动件15、舵机12和吹送件31，舵机12用于驱动物料撒播装置100的扰动件22扰动物料，驱动件15用于驱动物料撒播装置100的取料轮18以相应的转速旋转，从而实现对物料撒播用量的精准控制，吹送件31用于提供高速气流以实现撒播。
地面站300可以是对无人机进行控制的装置，例如可以是遥控器，飞行控制模块200是无人机的主要控制模块，用于控制无人机的飞行速度、飞行高度以及飞行姿态等，物料撒播装置100是挂载于无人机上实现物料撒播的装置，控制器100可以与飞行控制模块200通信，例如通过无人机的CAN总线或者无线通信方式通信。
本申请实施例中，可以预先或者实时获取撒播区域的测绘数据，该测绘数据可以包括撒播区域的地形信息、经纬度坐标以及标定的航点信息等数据。将测绘数据导入地面站后可以自动生成飞行航线，该飞行航线上可以标识有需要撒播物料的撒播航线以及该撒播航线对应的预设撒播参数。
地面站将飞行航线发送至飞行控制模块，通过飞行控制模块控制无人机飞行，因此，物料撒播装置可以与飞行控制模块通信，实时从飞行控制模块中获取飞行状态信息和预设撒播参数。在实际应用中，无人机当前飞行状态与预设撒播参数对应的飞行状态有可能不一致，因此需要根据当前飞行状态信息和预设撒播参数对撒播用量进行调整，即确定目标撒播用量。
S102，依据所述目标撒播用量确定所述无人机的物料撒播装置中取料轮的目标转速。
本申请实施例中，在物料撒播装置中可以通过取料轮的转速控制物料撒播的用量，因此可以根据目标撒播用量确定取料轮的目标转速，例如可以通过目标撒播用量和取料轮的每转取料量确定目标转速。
S103，控制所述物料撒播装置的驱动件驱动所述取料轮以所述目标转速旋转，以使得所述物料撒播装置以所述目标撒播用量进行物料撒播。
在本申请实施例中，驱动件可以是电机，则可以通过控制电机的转速从而达到控制与之连接的取料轮以目标转速旋转的目的，最终达到精准控制撒播用量的效果。
本申请实施例的物料撒播方法，可以依据预先获取的飞行状态信息和预设撒播参数，确定目标撒播用量，然后根据目标撒播用量确定取料轮的目标转速以确定取料轮取料，由于结合了无人机的飞行状态信息和预设撒播参数对物料撒播装置的撒播用量进行控制，能够在撒播过程中结合飞行状态信息实时调整物料的撒播用量，实现了精准控制物料的撒播用量，提高了物料的撒播效果。
如图18所示为本申请另一实施例的一种物料撒播方法的步骤流程图，应用于无人机，物料撒播方法具体可以包括如下步骤：
S201，获取无人机的飞行信息，所述飞行信息包括所述无人机的飞行状态信息和当前航线信息，所述飞行状态信息包括所述无人机的实时飞行速度。
本申请实施例中，地面站根据测绘数据自动生成飞行航线，该飞行航线上可以标识有需要撒播物料的撒播航线以及该撒播航线对应的撒播参数。
地面站将飞行航线发送至飞行控制模块，通过飞行控制模块控制无人机按照飞行航线飞行，因此物料撒播装置的控制器可以从飞行控制模块中获取飞行航线、当前无人机的飞行状态信息和当前航线信息，其中，飞行状态信息包括无人机的实时飞行速度。
S202，依据所述飞行状态信息，判断所述无人机的飞行状态是否满足预设撒播条件。
飞行状态信息可以是衡量无人机飞行是否处于稳定状态的信息，例如飞行速度变化率和飞行高度变化率等，则可以通过飞行状态信息判断无人机当前飞行状态是否会影响物料的撒播效果，例如飞行速度变化率和飞行高度变化率是否小于预设值，如果小于预设值则不影响物料的撒播效果，则执行步骤S203。
S203，控制所述无人机的物料撒播装置切换至自动撒播模式。
如果无人机的飞行状态满足预设撒播条件，则控制无人机上的物料撒播装置切换至自动撒播模式。本申请实施例中，自动撒播模式可以是物料撒播装置自检后进入待机状态的模式。
S204，依据所述当前航线信息判断当前航线是否是预设撒播航线。
在本申请实施例中，无人机的飞行控制模块可以从地面站中接收预先规划的飞行航线后执行飞行任务，该飞行航线上标识有需要进行物料撒播的航线，即预设撒播航线，可以判断当前航线是否是预设撒播航线，如果是则表明当前航线是需要撒播物料的航线，则执行步骤S205。
S205，获取所述当前航线对应的预设撒播参数，所述预设撒播参数包括预设飞行速度和预设撒播用量。
如果当前航线是预设撒播航线，则可以从飞行控制模块中获取该预设撒播航线对应的撒播参数，该撒播参数包括预设飞行速度和预设撒播用量。
S206，依据所述预设飞行速度、所述预设撒播用量和所述实时飞行速度，确定所述实时飞行速度对应的目标撒播用量。
在实际应用中，无人机在飞行过程中有可能受到自然风的影响，实时飞行速度和预设飞行速度不同，则可以根据预设飞行速度、预设撒播用量和实时飞行速度，确定实时飞行速度对应的目标撒播用量。
例如，预设飞行速度为5m/s，预设撒播用量为500g/s,实时飞行速度为10m/s,则目标撒播用量为1000g/s才能达到按照预设飞行速度为5m/s、预设撒播用量为500g/s执行物料撒播的同等效果。
S207，依据所述目标撒播用量确定所述物料撒播装置中取料轮的目标转速。
本申请实施例中，在物料撒播装置中可以通过取料轮的转速控制物料撒播的用量，则可以根据目标撒播用量确定取料轮的目标转速，例如可以通过目标撒播用量和取料轮的每转取料量确定目标转速。
S208，控制所述物料撒播装置的驱动件驱动所述取料轮以所述目标转速旋转，以使得所述物料撒播装置以所述目标撒播用量进行物料撒播。
在本申请实施例中驱动件可以是电机，则可以通过控制电机的转速从而达到控制与之连接的取料轮以目标转速旋转的目的，最终达到精准控制撒播用量的效果。
在本申请实施例中，在物料撒播时，还可以：控制所述物料撒播装置的舵机驱动所述扰动件扰动；控制所述物料撒播装置的吹送件提供高速气流。
在实际应用中可以根据物料的种类、撒播环境等确定是否需要启动扰动件和吹送件，例如物料流动性较好、撒播时无侧风影响、单个物料质量比较大的情况下可以不启动扰动件和吹送件，可以降低物料撒播装置的总功耗，提高无人机的续航能力。
如果物料流动性较差、撒播受侧风影响、单个物料质量比较小的情况下可以开启扰动件和吹送件，以提高物料的取料精度和保证撒播的播幅。
本申请实施例中，可以依据预设飞行速度、预设撒播用量和实时飞行速度，确定实时飞行速度对应的目标撒播用量，并根据目标撒播用量通过驱动件驱动取料轮以相应的转速旋转取料，一方面实现了实时调整和精准控制撒播用量，另一方面，避免了通过调整飞行速度以匹配预设撒播用量，造成频繁调整电子调速器的输出，降低了电子调速器使用寿命的问题。
进一步地，可以根据飞行状态信息判断是否进入自动撒播模式，并且在进入预设撒播航线后可以根据飞行状态信息和预设撒播参数控制物料撒播装置执行物料撒播操作，实现了无人机自动飞行和自动撒播，无需人工干预。
如图19所示为本申请又一实施例的一种物料撒播方法的步骤流程图，应用于无人机，物料撒播方法具体可以包括如下步骤：
S301，获取无人机的飞行信息，所述飞行信息包括所述无人机的飞行状态信息和当前航线信息，所述飞行状态信息包括所述无人机的实时飞行速度和实时飞行高度。
S302，依据所述飞行状态信息，判断所述无人机的飞行状态是否满足预设撒播条件，若是，执行S303。
S303，控制所述无人机的物料撒播装置切换至自动撒播模式。
S304，依据所述当前航线信息判断当前航线是否是预设撒播航线，若是，执行S305。
S305，获取所述当前航线对应的预设撒播参数，所述预设撒播参数包括预设飞行速度、预设撒播用量和播幅。
S306，依据所述预设飞行速度、所述预设撒播用量和所述实时飞行速度，确定所述实时飞行速度对应的目标撒播用量。
S307，依据所述目标撒播用量确定所述物料撒播装置中取料轮的目标转速。
S308，控制所述物料撒播装置的驱动件驱动所述取料轮以所述目标转速旋转，以使得 所述物料撒播装置以所述目标撒播用量进行物料撒播。
S309，依据所述播幅确定所述物料撒播装置的目标撒播高度。
在本申请实施例中，物料撒播装置的送料器中，在分流器的角度不变的情况下，分流器到地面高度确定时，其播幅是确定的，在实际应用中可以根据预先设置的播幅和高度对应关系确定播幅对应的目标撒播高度。
S310，将所述实时飞行高度调整为所述目标撒播高度。
确定目标撒播高度后，无人机的飞行控制模块可以控制无人机的旋翼，以将无人机的实时飞行高度调整为目标撒播高度。
本申请实施例可以实时调整无人机的飞行高度，以使得物料以预设的播幅进行撒播，一方面避免了出现物料重播或者漏播的问题，使得物料撒播更为均匀，另一方面，可以避免通过规划航线弥补播幅不稳定造成需要重新撒播的问题，降低了航线规划的难度。
在本申请的可选实施例中，物料撒播方法还可以包括：获取所述物料撒播装置的工作状态信息；将所述工作状态信息发送至所述无人机的飞行控制模块，所述飞行控制模块用于将所述工作状态信息发送至地面站。
具体地，工作状态信息可以包括电池信息、驱动件的工作信息、通信连接状态信息和吹送件工作信息中的至少一个，其中，电池信息可以是物料撒播装置的电池信息或者无人机的电池信息，电池信息可以是电池电压、电池剩余电量、电池温度等信息；驱动件的工作信息可以是驱动件的工作电流；连接状态信息可以是无线连接是否处于连接或者断开等信息；吹送件工作信息可以是吹送件的转速或者风流量等信息。获取工作状态信息后通过飞行控制模块发送至地面站，用户可以通过地面站获知物料撒播装置的工作状态，了解各器件的负荷，以便做出相应的调整。
在本申请的可选实施例中，无人机起飞后进入自动撒播模式，所述物料撒播方法还包括：依据所述飞行状态信息，判断所述无人机的飞行状态是否满足预设撒播条件；若否，控制所述无人机的物料撒播装置退出所述自动撒播模式。
具体地，无人机起飞后默认自动进入撒播模式，在物料撒播的过程中，无人机飞行状态受环境或者无人机自身设备的影响，例如，自然风过大影响无人机飞行的稳定性，或者无人机电池电量不足时，则可以控制无人机的物料撒播装置退出自动撒播模式，等待满足预设撒播条件后，再次进行自动撒播模式，可以实时根据飞行状态确定物料撒播装置是否进入自动撒播模式，避免无人机飞行的不稳定影响撒播效果的问题。
在本申请的可选实施例中，无人机起飞后进入自动撒播模式，飞行状态信息包括当前航线信息，所述物料撒播方法还包括：依据所述当前航线信息判断当前航线是否是预设撒播航线；若否，控制所述无人机的物料撒播装置停止撒播物料。
在实际应用中，无人机起飞后默认进入自动撒播模式，在物料撒播的过程中，无人机按照预先规划的飞行航向飞行，飞行航线上包括撒播航线和非撒播航线，例如非撒播航线可以是转弯、掉头、障碍物等对应的航线段，如果无人机由撒播航线飞行至非撒播航线，则可以控制物料撒播装置停止执行物料撒播操作，避免了在转弯、掉头和障碍物处进行物料 撒播浪费物料的问题。
于本文的描述中，需要理解的是，术语“上”、“下”、“右”、等方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述和简化操作，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”，仅仅用于在描述上加以区分，并没有特殊的含义。
在本说明书的描述中，参考术语“一实施例”、“示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚器件，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以适当组合，形成本领域技术人员可以理解的其他实施方式。
以上结合具体实施例描述了本申请的技术原理。这些描述只是为了解释本申请的原理，而不能以任何方式解释为对本申请保护范围的限制。基于此处的解释，本领域的技术人员不需要付出创造性的劳动即可联想到本申请的其它具体实施方式，这些方式都将落入本申请的保护范围之内。

Claims (27)

  1. 一种物料撒播装置，其特征在于，包括：
    取料器、接料器、送料器和控制器；
    所述取料器包括：
    壳体，所述壳体具有上开口和下开口，所述上开口与物料箱相连通；
    取料轮，位于所述下开口处，由驱动件驱动旋转，所述取料轮上设有用于容纳物料的取料腔；
    所述控制器与所述驱动件电连接；
    所述接料器位于所述取料轮下方且与所述送料器连通，所述取料腔内的物料经所述接料器进入所述送料器，并由所述送料器撒播。
  2. 如权利要求1所述的物料撒播装置，其特征在于，所述取料器包括：
    扰动件，所述扰动件位于所述壳体的上开口处，由所述驱动件驱动。
  3. 如权利要求2所述的物料撒播装置，其特征在于，所述扰动件为多个，多个所述扰动件由一个或多个所述驱动件驱动。
  4. 如权利要求1-3任一项所述的物料撒播装置，其特征在于，所述下开口两侧分别设置有延伸至所述取料轮圆周面的导料板和刮料条。
  5. 如权利要求1-4中任一项所述的物料撒播装置，其特征在于，所述壳体内嵌套有漏斗状的导流框，所述导流框较小开口的一端朝向所述下开口。
  6. 如权利要求5所述的物料撒播装置，其特征在于，所述导流框的下开口处设置有隔板，以将所述下开口分割为与所述取料腔对应的多个取料出口。
  7. 如权利要求1-6中任一项所述的物料撒播装置，其特征在于，所述接料器包括接料管，所述送料器包括送料管，所述接料管一端位于所述取料轮下方且与所述取料腔正对设置，另一端与所述送料管相连通。
  8. 如权利要求7所述的物料撒播装置，其特征在于，所述取料轮上沿轴向方向设置至少一行所述取料腔，每行中均包括相同个数的取料腔。
  9. 如权利要求8所述的物料撒播装置，其特征在于，所述接料管与所述送料管的数量与每行中取料腔的个数相同，所述接料管与所述送料管一一对应相连通。
  10. 如权利要求7-9任一项所述的物料撒播装置，其特征在于，所述接料器还包括接料盘，所述接料盘底部设置有漏斗状的连接部，所述接料管与所述连接部连接。
  11. 如权利要求10所述的物料撒播装置，其特征在于，所述接料盘与所述壳体的配合面之间设置有密封垫。
  12. 如权利要求7-9任一项所述的物料撒播装置，其特征在于，所述送料器还包括固定所述送料管的固定架、和与所述控制器电连接的吹送件；
    所述送料管为设置有气源入口、物料入口和物料出口的三通管，所述物料入口位于所 述气源入口和所述物料出口之间，所述吹送件设置于所述气源入口处，所述接料管通过所述物料入口与所述送料管相连通。
  13. 如权利要求12所述的物料撒播装置，其特征在于，所述气源入口的面积大于所述物料出口的面积。
  14. 如权利要求12所述的物料撒播装置，其特征在于，所述送料器还包括分流器，所述分流器与所述送料管设置有所述物料出口的一端可拆卸式连接。
  15. 如权利要求14所述的物料撒播装置，其特征在于，所述分流器远离所述送料管的一端的截面为椭圆形。
  16. 如权利要求14或15所述的物料撒播装置，其特征在于，所述分流器为可伸缩式分流器。
  17. 如权利要求1-16中任一项所述的物料撒播装置，其特征在于，所述物料撒播装置还包括与所述控制器电连接的温度传感器和/或照明装置。
  18. 一种无人机，其特征在于，包括无人机主体、物料箱、飞行控制模块和如权利要求1-17任一项所述的物料撒播装置，所述物料撒播装置的取料器连接于所述物料箱的下方，所述物料撒播装置的送料器与所述无人机主体连接，所述控制器与所述飞行控制模块电连接。
  19. 一种物料撒播方法，其特征在于，应用于如权利要求18所述的无人机，所述方法包括：
    在所述无人机撒播物料时，依据预先获取的飞行状态信息和预设撒播参数，确定目标撒播用量；
    依据所述目标撒播用量确定所述无人机的物料撒播装置中取料轮的目标转速；
    控制所述物料撒播装置的驱动件驱动所述取料轮以所述目标转速旋转，以使得所述物料撒播装置以所述目标撒播用量进行物料撒播。
  20. 如权利要求19所述的物料撒播方法，其特征在于，所述飞行状态信息包括所述无人机的实时飞行速度，所述预设撒播参数包括预设飞行速度和预设撒播用量，所述依据预先获取的飞行状态信息和预设撒播参数，确定目标撒播用量，包括：
    依据所述预设飞行速度、所述预设撒播用量和所述实时飞行速度，确定所述实时飞行速度对应的目标撒播用量。
  21. 如权利要求19-20中任一项所述的物料撒播方法，其特征在于，当所述物料撒播装置的取料器包括扰动件并且送料器包括吹送件时，所述物料撒播方法还包括：
    控制所述物料撒播装置的驱动件驱动所述物料撒播装置的扰动件扰动；
    控制所述物料撒播装置的吹送件提供高速气流。
  22. 如权利要求19-21中任一项所述的物料撒播方法，其特征在于，所述飞行状态信息包括所述无人机的实时飞行高度，所述预设撒播参数包括播幅，所述物料撒播方法还包括：
    依据所述播幅确定所述物料撒播装置的目标撒播高度；
    将所述实时飞行高度调整为所述目标撒播高度。
  23. 如权利要求19-22中任一项所述的物料撒播方法，其特征在于，所述物料撒播方法还包括：
    获取所述物料撒播装置的工作状态信息；
    将所述工作状态信息发送至所述无人机的飞行控制模块，所述飞行控制模块用于将所述工作状态信息发送至地面站。
  24. 如权利要求23所述的物料撒播方法，其特征在于，所述工作状态信息包括电池信息、驱动件的工作信息、通信连接状态信息和吹送件工作信息中的至少一个。
  25. 如权利要求19-24任一项所述的物料撒播方法，其特征在于，在依据预先获取的飞行状态信息和预设撒播参数，确定目标撒播用量之前，包括：
    获取所述无人机的飞行信息，所述飞行信息包括飞行状态信息和当前航线信息；
    依据所述飞行状态信息，判断所述无人机的飞行状态是否满足预设撒播条件；
    若是，控制所述无人机的物料撒播装置切换至自动撒播模式；
    依据所述当前航线信息判断当前航线是否是预设撒播航线；
    若是，获取所述当前航线对应的预设撒播参数。
  26. 如权利要求19-24所述的物料撒播方法，其特征在于，所述无人机起飞后进入自动撒播模式，所述物料撒播方法还包括：
    依据所述飞行状态信息，判断所述无人机的飞行状态是否满足预设撒播条件；
    若否，控制所述无人机的物料撒播装置退出所述自动撒播模式。
  27. 如权利要求19-24所述的物料撒播方法，其特征在于，所述无人机起飞后进入自动撒播模式，所述飞行状态信息包括当前航线信息，所述物料撒播方法还包括：
    依据所述当前航线信息判断当前航线是否是预设撒播航线；
    若否，控制所述无人机的物料撒播装置停止撒播物料。
PCT/CN2019/096417 2018-09-30 2019-07-17 一种物料撒播装置、无人机及物料撒播方法 WO2020063057A1 (zh)

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