WO2022061771A1 - 农业植保无人机、播撒控制方法及存储介质 - Google Patents
农业植保无人机、播撒控制方法及存储介质 Download PDFInfo
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- WO2022061771A1 WO2022061771A1 PCT/CN2020/117906 CN2020117906W WO2022061771A1 WO 2022061771 A1 WO2022061771 A1 WO 2022061771A1 CN 2020117906 W CN2020117906 W CN 2020117906W WO 2022061771 A1 WO2022061771 A1 WO 2022061771A1
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- WIPO (PCT)
- Prior art keywords
- plant protection
- agricultural plant
- spreading
- sowing
- protection drone
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- 238000009331 sowing Methods 0.000 title claims abstract description 129
- 238000000034 method Methods 0.000 title claims description 29
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- 238000009987 spinning Methods 0.000 claims abstract description 55
- 230000009471 action Effects 0.000 claims abstract description 4
- 230000007480 spreading Effects 0.000 claims description 224
- 238000003892 spreading Methods 0.000 claims description 224
- 239000002245 particle Substances 0.000 claims description 42
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 2
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- 230000005484 gravity Effects 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
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- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
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Images
Classifications
-
- 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
Definitions
- the embodiments of the present invention relate to the technical field of agricultural equipment design, and in particular, to an agricultural plant protection drone, a seeding control method and a storage medium.
- the embodiments of the present invention provide an agricultural plant protection drone, a seeding control method and a storage medium.
- a first aspect of the embodiments of the present invention provides an agricultural plant protection drone, including a body and a sowing device, wherein the sowing device is installed on the body of the agricultural plant protection drone, and the sowing device includes:
- the spreading disc includes a feeding port, a spreading port and a spinning disk.
- the angle between the rotation plane of the spinning disk and the heading axis of the agricultural plant protection drone is greater than or equal to 0°, and less than or equal to 0°. 90°; the sowing material enters the spinning disc through the feeding port, and is thrown out through the sowing port; the sowing port faces the lower or obliquely downward of the agricultural plant protection drone;
- a driving device connected with the spreading disc, is used for driving the spinning disc to rotate, so as to generate centrifugal force to the sowing material in the spinning disc, so that the spreading material can pass from the spreading opening under the action of the centrifugal force throw out.
- a second aspect of the embodiment of the present invention provides a method for controlling the sowing of an agricultural plant protection drone, including:
- the feeding port of the spreading disc enters into the spinning disc, and is thrown out through the spreading opening of the spreading disc, and the spreading port faces the downward or obliquely downward of the agricultural plant protection drone;
- the driving parameters of the driving device are adjusted to adjust the inclination angle of the sowing material thrown downward.
- a third aspect of the embodiments of the present invention provides a computer-readable storage medium on which a computer program is stored, and the computer program can be executed by a processor to perform the following methods:
- the feeding port of the spreading disc enters into the spinning disc, and is thrown out through the spreading opening of the spreading disc, and the spreading port faces the downward or obliquely downward of the agricultural plant protection drone;
- the driving parameters of the driving device are adjusted to adjust the inclination angle of the sowing material thrown downward.
- the agricultural plant protection drone, the seeding control method and the storage medium provided by the embodiments of the present invention are designed such that the angle between the rotation plane and the heading axis of the agricultural plant protection drone is greater than or equal to 0° and less than
- the spreading port on the swinging disc faces the bottom or obliquely downward of the agricultural plant protection drone, so that the material particles are directly thrown out by centrifugal force under the agricultural plant protection drone or obliquely below, instead of being thrown flat.
- the form is thrown out, and the initial velocity in the vertical direction is large, so the directional spreading ability of the spreading equipment is effectively improved, and it has the advantages of high efficiency and convenience.
- FIG. 1 is a schematic structural diagram of an agricultural plant protection drone provided by an embodiment of the present invention.
- FIG. 2 is a schematic diagram of a first sowing state of a sowing device of an agricultural plant protection unmanned aerial vehicle provided by another embodiment of the present invention
- FIG. 3 is a schematic diagram of a second sowing state of a sowing device of an agricultural plant protection drone provided by another embodiment of the present invention.
- FIG. 4 is a schematic diagram of a third sowing state of a sowing device of an agricultural plant protection drone provided by another embodiment of the present invention.
- FIG. 5 is a schematic diagram of the fourth sowing state of the sowing equipment of the agricultural plant protection unmanned aerial vehicle provided by another embodiment of the present invention.
- FIG. 6 is a schematic diagram 1 of the electrical control of an agricultural plant protection drone provided by an embodiment of the present invention.
- FIG. 7 is a schematic diagram 2 of the electrical control principle of the agricultural plant protection drone provided by the embodiment of the present invention.
- FIG. 8 is a control flow chart of an agricultural plant protection drone provided by an embodiment of the present invention.
- connection herein includes any direct and indirect means of connection. Therefore, if it is described herein that a first device is connected to a second device, it means that the first device can be directly connected to the second device or indirectly connected to the second device through another device.
- the present invention provides an agricultural plant protection drone and a control method of the agricultural plant protection drone, which can improve the ability of directional sowing and have the advantages of high efficiency and convenience.
- FIG. 1 is a schematic structural diagram of an agricultural plant protection drone provided by an embodiment of the present invention
- FIG. 6 is a schematic diagram 1 of an electrical control principle of an agricultural plant protection drone provided by an embodiment of the present invention.
- the agricultural plant protection drone provided in this embodiment includes a body 10 and a spreading device 20.
- the spreading device 20 is installed on the fuselage 10 of the agricultural plant protection drone, and the spreading device 20 includes : Spreading disc 21 and drive device 30 .
- the spreading device 20 can be fixedly mounted below the agricultural plant protection drone to ensure that the center of gravity of the agricultural plant protection drone is stable.
- the spreading equipment 20 can be separately detached from the agricultural plant protection drone, so as to facilitate the maintenance or replacement of the spreading equipment 20 .
- the spreading plate 21 includes a feeding port 211, a spreading port 212 and a spinning disk 213.
- the sowing material enters the spinning disk 213 through the feeding port 211 and is thrown out through the spreading port 212; the spreading port 212 faces the agricultural plant protection drone below or diagonally below.
- the driving device 30 is connected to the spreading disc 21 for driving the spinning disc 213 to rotate, thereby generating centrifugal force to the spreading material in the spinning disc 213, so that the spreading material is thrown out from the spreading opening 212 under the action of centrifugal force.
- the sowing material described in this embodiment may include at least one of the following: powdered fertilizer, seed particles, pesticides, and the like.
- the shape, size and material of the spinning disc 213 are not limited, and those skilled in the art can select or design according to actual needs.
- the overall shape of the slinger 213 can be in the shape of a disc, and the entire slinger 213 can be made of a metal material, which has good strength, stable performance and is not easily deformed.
- the spinner 213 can also be made of plastic material.
- the spreading disc 21 at least includes a rotatable spinner 213.
- the spreading disc 21 may include a non-rotatable fixed disc (not shown in the figure) in addition to the rotatable spinner 213. shown), the fixed disc can include two, the spinner 213 can be arranged between the two fixed discs, and the fixed disc can be used to block the spreading material, prevent the spreading material from splashing on both sides of the throwing disc 213, and further ensure the spreading The material is spread in a predetermined direction.
- the structure and shape of the fixed disk can be the same as the size and shape of the spinning disk 213, and the material of the fixed disk can be the same as the material of the spinning disk 213, so as to facilitate molding and simplify the processing process.
- the spreading opening 212 may be located at the edge of the spreading disc 21, or at a position close to the edge, and there may be only one spreading opening 212.
- the feeding port 211 can be set at the center of the spinning disc 213 , so that when the spreading disc 21 rotates, the feeding port 211 will not follow the rotation, and the feeding of the feeding port 211 will not be affected.
- the radial edge of the spinner 213 has an opening, the opening forms the spreading port 212, and the spinner 213 has a spreading channel (not shown in the figure) that communicates with the spreading port 212. out), the sowing channel is also communicated with the feed port 211.
- a spreading channel may be formed between the spinning disc 213 and the fixed disc, and the spreading opening 213 may be formed at the end of the spreading channel.
- the angle between the rotation plane of the spinner 213 and the heading axis of the agricultural plant protection drone is greater than or equal to 0° and less than 90°. That is to say, the rotating plane of the spinner 213 is not set horizontally, and the spinner 213 can be rotated at high speed under the drive of the driving device 30 such as a motor, so as to generate a large centrifugal force, and the material to be spread on the spreader 21 is thrown through the spreader 212. Specifically, the spreading material can be thrown out at the spreading port 212 in a direction tangential to the contour of the spinner 213. Since the spinner 213 is not set horizontally, when the spreading material is thrown out, it has a vertical initial velocity, which makes the spreading The directional spreading ability of the material is improved.
- the spreading opening 212 can throw out the material to be sown along the oblique tangential line before it completely reaches the bottom, and when the rotational speed of the spinner 213 is low, the spreading When the mouth 212 is close to or located directly below, the sowing material is thrown out, so the spreading distance of the sowing material can be controlled by controlling the rotation speed of the throwing disc 213 .
- the direction in which the material is thrown out is also different. For example, as shown in FIG. The dotted line in FIG.
- the rotational speed and/or the direction of rotation of the spinner 213 can be controlled by the driving device to achieve the purpose of directional spreading.
- the included angle between the rotation plane of the spinner 213 and the heading axis of the agricultural plant protection drone is less than or equal to 45 degrees.
- the angle between the rotation plane of the slinger 213 and the heading axis of the agricultural plant protection drone is small, so that when the centrifugal force generated by the slinger 213 rotates at a high speed to throw out the sowing material, the throwing out direction of the sowing material is as low as possible. , and make the vertical initial velocity as large as possible, and the horizontal initial velocity as small as possible.
- the agricultural plant protection unmanned aerial vehicle provided by the embodiment of the present invention is designed such that the angle between the rotation plane and the heading axis of the agricultural plant protection unmanned aerial vehicle is greater than or equal to 0° and less than 90°, and
- the sowing port on the plate faces the bottom or obliquely downward of the agricultural plant protection drone, so that the material particles are thrown out directly under or obliquely below the agricultural plant protection drone by centrifugal force, instead of being thrown out in a vertical direction.
- the initial speed of the sprayer is large, and its motion trajectory is close to a straight line, so the directional spreading ability of the spreading equipment is improved, and it has the advantages of high efficiency and convenience.
- the rotation plane of the spinner 213 may be substantially parallel to the heading axis of the agricultural plant protection drone. It should be noted that the so-called “substantially parallel” means that within the allowable range of installation or manufacturing errors, the included angle between the two can be within the range of -5° to +5°.
- the rotation plane of the spinner 213 is roughly parallel to the heading axis of the agricultural plant protection drone, and the spinner 213 is basically arranged vertically, so that the sowing material can basically be thrown out from the spinner 213 according to the predetermined landing direction, so that the spreading range is the most Controllable, with the strongest directional spreading ability.
- FIG. 2 is a schematic diagram of the first sowing state of the sowing equipment of the agricultural plant protection drone provided by another embodiment of the present invention
- FIG. 3 is the second sowing state of the sowing device of the agricultural plant protection drone provided by another embodiment of the present invention.
- Schematic diagram Fig. 4 is a schematic diagram of the third sowing state of the sowing device of the agricultural plant protection drone provided by another embodiment of the present invention
- Fig. 5 is the fourth sowing state of the sowing device of the agricultural plant protection drone provided by another embodiment of the present invention.
- the present embodiment provides at least two spreading discs 21 (two spreading discs 21 shown in Figs. 2 to 5).
- At least two spreading discs 21 are arranged side by side or staggered in the direction of the roll axis of the agricultural plant protection drone. In some embodiments, in the installed state, at least two spreading discs 21 are arranged side by side or staggered in the direction of the pitch axis of the agricultural plant protection drone.
- the so-called staggered arrangement means that at least two spreading discs 21 are respectively inclined with respect to the yaw axis, so that the rotation planes on which the at least two spreading discs 21 are located have intersecting lines.
- the sowing material can be spread in the front and rear directions of the fuselage 10 of the agricultural plant protection drone.
- the sowing material can be spread in the left and right directions of the fuselage 10 of the agricultural plant protection drone.
- the number of spreading discs 21 includes at least two
- the number of spinning discs 213 includes at least two.
- at least two spreading discs 21 are arranged in the direction of the roll axis of the agricultural plant protection drone.
- the angle between the rotation planes of the at least two spinners 213 and the heading axis of the agricultural plant protection drone is substantially equal, and the inclination directions of the rotation planes of the at least two spinners 213 are opposite.
- the at least two spreading discs 21 are arranged in the direction of the roll axis of the agricultural plant protection drone, and the inclination directions of the rotation planes of the at least two spinning discs 213 are opposite, and the inclination angles are substantially equal, so that the at least two spinning discs 213 are inclined in opposite directions.
- the sowing material of 213 should be thrown out symmetrically in the front and rear directions of the fuselage 10 as much as possible, so as to improve the spreading uniformity of the agricultural plant protection drone.
- the number of spreading discs 21 includes at least two, and correspondingly, the number of spinning discs 213 includes at least two.
- at least two spreading discs 21 are arranged in the direction of the pitch axis of the agricultural plant protection drone.
- the cloth is arranged, and the at least two spreading discs 21 are respectively inclined toward the direction of the roll axis, and the inclination directions of the rotation planes of the at least two spinning discs 213 are opposite.
- the rotation planes of the at least two slingers 213 are inclined in opposite directions, and the inclination angles are basically the same, so that the sowing material of the at least two slingers 213 is thrown out symmetrically on the fuselage 10 with respect to the roll axis and the pitch axis, respectively, Improve the spreading uniformity of agricultural plant protection drones.
- the driving device 30 can drive at least two spreading discs 21 to rotate at different rotational speeds and directions, so that the agricultural plant protection drone can throw out the seeds in different spreading modes, thereby improving the operational flexibility of the agricultural plant protection drone.
- the two spreading discs 21 are arranged along the direction of the roll axis, and the rotation planes of the throwing discs 213 of the two spreading discs 21 are parallel to the heading axis.
- the spreading disc 21 on the left rotates counterclockwise, the spreading material is thrown out from the spreading opening 212 of the spreading disc 21 on the left along the lower right, the spreading disc 21 on the right rotates clockwise, and the spreading material is spread from the spreading disc 21 on the right
- the mouth 212 is thrown out along the lower left, so that the materials under the two spreading discs 21 are spread close to each other and concentratedly spread toward the middle.
- the two spreading discs 21 are arranged along the direction of the roll axis, and the rotation planes of the throwing discs 213 of the two spreading discs 21 are parallel to the heading axis.
- the spreading disc 21 on the left rotates clockwise, the spreading material is thrown out from the spreading opening 212 of the spreading disc 21 on the left along the lower left, the spreading disc 21 on the right rotates counterclockwise, and the spreading material is spread from the spreading disc 21 on the left
- the mouth 212 is thrown out along the lower right side, so that the sowing material under the two spreading discs 21 is thrown out toward the two sides below the fuselage 10 away from each other.
- the two spreading discs 21 are arranged in the direction of the roll axis, and the rotation planes of the throwing discs 213 of the two spreading discs 21 are parallel to the heading axis.
- the spreading disc 21 on the left rotates counterclockwise, the spreading material is thrown out from the spreading opening 212 of the spreading disc 21 on the left along the lower right, the spreading disc 21 on the right rotates counterclockwise, and the spreading material is spread from the spreading disc 21 on the right
- the mouth 212 is thrown out in the lower right direction, so that the sowing material under the two spreading discs 21 is thrown out in the same direction, so as to realize fixed-point sowing on the right side.
- the two spreading discs 21 are arranged along the direction of the roll axis, and the rotation planes of the throwing discs 213 of the two spreading discs 21 are parallel to the heading axis.
- the spreading disc 21 on the left rotates clockwise, the spreading material is thrown out from the spreading opening 212 of the spreading disc 21 on the left along the lower left, the spreading disc 21 on the right rotates clockwise, and the spreading material is spread from the spreading disc 21 on the right
- the mouth 212 is thrown out in the lower left direction, so that the sowing material under the two spreading discs 21 is thrown out in the same direction, so as to realize fixed-point sowing on the left side.
- the rotation speed of the throwing disc 213 is different, and the distances thrown out by the sowing objects are also different. Therefore, according to different spreading requirements, the rotation and rotation speed of the spinners 213 of each spreading disc 21 can be controlled to achieve fixed-point spreading of the sowing material.
- the sowing material can only be thrown out at any position within the 180° downward range of the throwing disc 213, but it is not necessarily positive. If it is thrown from the bottom, the problem of inconsistent sparseness of blanking on the left and right sides will occur at this time. For example, as shown in Figure 1, the blanking is to the right, which will make the blanking on the right side denser and the blanking on the left side more sparse.
- the blanking on the left and right sides of the fuselage will be symmetrical and complementary, and the blanking on the left and right sides will have the same degree of sparseness, thereby improving the uniformity of spreading.
- the number of spreading discs 21 of the agricultural plant protection drone in this embodiment is not limited to two, for example, it can also be three, four, etc.
- the three spreading discs 21 can be arranged along the direction of the roll axis.
- the rotation planes of the throwing discs 213 of the spreading discs 21 at the front and rear ends of the fuselage 10 can be inclined forward and backward respectively, and the inclination angles are equal.
- the plane of rotation of the spinner 213 of the spreading disk 21 is vertically downward.
- two spreading discs 21 can be arranged along the roll axis direction, and two spreading discs 21 can be arranged along the pitch axis direction.
- the connecting line can form a square, and the throwing discs 213 of the spreading discs 21 arranged in the pitch axis direction can be symmetrically arranged, and the throwing discs 213 of the spreading discs 21 arranged in the roll axis direction can be arranged symmetrically.
- the spreading device of this embodiment further includes an external storage container, and the spreading material can be accommodated in an external storage container independent of the spreading disc 21 , and flow into the spreading disc 21 through the discharge port of the external storage container, so as to be thrown from the spreading disc 21 .
- the feeding port 211 of the spreading disc 21 can communicate with the discharging port of the external storage container.
- the external storage container can be a charging box 22, the charging box 22 is arranged above the spreading plate 21, the charging box 22 is used for accommodating the sowing material, and the charging box 22 can have a discharging port 221, the discharging port 221 communicates with the feeding port 211 through a feeding channel, and the feeding channel is used to guide the sowing material from the charging box 22 into the sowing channel of the spinner 213 .
- the charging box 22 By arranging the charging box 22, it is ensured that the agricultural plant protection drone can have a larger storage capacity of the broadcast material, without the need to frequently add the broadcast material and reduce the labor intensity.
- the charging box 22 includes one, and the spreading disc 21 includes at least two.
- the number of discharge ports 221 on the charging box 22 is equal to the number of the spinning discs 213.
- Each spreading disc 21 has a feeding port 211.
- Each discharge port 221 on the material box 22 is respectively connected to the feed port 211 of a spreading plate 21 , respectively.
- the number of the charging boxes 22 is equal to the number of the spreading discs 21 , and the discharge ports 221 of each charging box 22 are respectively connected to the feeding ports of one spreading disc 21 .
- At least two spreading discs 21 share one charging box 22, so that the spreading material is accommodated in one space, and the amount of spreading material contained in multiple storage containers is prevented from being different and the quantity of spreading material entering each spreading disc 21 is avoided.
- the number of charging boxes 22 may be equal to the number of spinning discs 213 , and one charging box 22 may correspond to one spinning disc 213 .
- the inside of the spreading disc 21 may have a bin body for storing and accommodating the sowing material, and all the spreading materials may be accommodated in the internal bin body of the spreading disc 21.
- the spreading disc 21 The feeding port 211 can be communicated with the discharging port of the internal bin body of the spreading disc 21.
- the sowing material of the bin body inside the spreading disc 21 flows out from the discharging port to the feeding port of the spreading disc 21. , and thrown out through the spreading port 212 of the spreading plate 21 .
- the spreading device may further include: an adjusting device 40 .
- the adjusting device 40 is used to adjust the feeding amount of the feeding port 211 . Therefore, the feeding amount of the feeding port 211 can be adjusted according to different sowing requirements, and the sowing flexibility of the agricultural plant protection drone can be improved.
- the adjusting device 40 can be provided in the feeding channel, and the adjusting device 40 can include a regulating valve, and the regulating valve can specifically adjust the opening of the feeding port 211 to adjust the feeding amount of the feeding port 211 .
- the adjusting device 40 may be provided at any position of the feed channel, for example, may be provided at the feed port 211, or may be provided in the middle of the feed channel.
- FIG. 7 is a schematic diagram 2 of the electrical control of the agricultural plant protection drone provided by the embodiment of the present invention.
- the agricultural plant protection drone of the present embodiment further includes a first collection device 50 , and the first collection device 50 uses
- the adjusting device 40 is connected to the first collecting device 50 , and the adjusting device 40 is used for adjusting the feeding amount of the feeding port 211 according to the particle information of the sowing material collected by the first collecting device 50 .
- the particle information of the sowing material includes at least one of the following: particle mass, particle size, and particle density.
- particle mass includes at least one of the following: particle mass, particle size, and particle density.
- the particles referred to in this embodiment are not necessarily solid particles, such as seed particles and powder particles; they may also include liquid particles, such as particles after liquefaction of pesticides.
- the agricultural plant protection drone may also be communicatively connected with an input device (not shown in the figure), and the input device may be a mobile terminal located on the ground, or the input device may be located on the fuselage 10, for example, the input device It is a touch screen located on the fuselage 10, or a display screen with an operating keyboard.
- the input device can be connected with the first collection device 50, and the first collection device 50 can collect the particle information input by the input device, before using the plant protection drone for sowing, or in the process of using the plant protection drone for sowing. , the user can actively input particle information.
- the first collection device 50 may include a high concentration particle counter, a weight sensor, a particle detector, etc. to detect and collect particle information.
- the first collecting device 50 sends the particle information to the adjusting device 40 , so that the adjusting device 40 adjusts the feeding amount of the feeding port 211 .
- Particles with different weights and different densities have different trajectories thrown out under the same rotational speed of the spinning disc 213 .
- the sowing port follows the rotation. According to the difference in the number and weight of particles, the feeding amount of the feed port 211 is adjusted, that is, the flow rate of the feed port 211 is controlled, so that when the spinner 213 rotates, The spreading material can be thrown out only when the spreading opening 212 is rotated to the bottom, so as to avoid the occurrence of the spreading material being thrown out from the top of the throwing disc 213 .
- the adjusting device 40 is also connected with the driving device 30 , and the adjusting device 40 is also used to adjust the opening of the feeding channel according to the particle information of the sowing material and the driving parameters of the driving device 30 to adjust the feeding amount of the feeding port 211 . Since the driving device 30 is used to drive the slinger 213 to rotate, the rotational speed, direction and rotation frequency of the slinger 213 are different, which also have an impact on the throwing trajectory of the sowing material. The feeding amount of the feeding port 211 is adjusted according to the driving parameters and the particle information of the sowing material, wherein the driving parameters include at least one of the following: motor rotation speed, motor rotation direction, and motor frequency.
- how to adjust the feeding amount of the feeding port 211 according to the driving parameters of the driving device and the particle information of the sowing material can be specifically designed according to the actual situation, or obtained through multiple experimental simulations or tests, which is not particularly limited in this embodiment. .
- the agricultural plant protection drone provided in this embodiment further includes: a processing device 70 , the processing device 70 is connected with the driving device 30 for determining the driving parameters of the driving device 30 ; the control device 60 is connected with the processing device 70 and the driving device 30 The connection is used for adjusting the driving parameters of the driving device 30 according to the target driving parameters determined by the processing device 70, so that the driving device 30 drives the spinner 213 to rotate according to the determined target driving parameters.
- the driving device 30 may be a motor
- the control device 60 may be a control chip in the motor, or a control device independent of the motor, which is not limited in this embodiment, as long as it is a control device
- the device 60 has an electrical connection relationship with the driving module in the driving device 30, and can give a control signal to the driving module so that the driving module can be driven, which is not particularly limited in this embodiment.
- the agricultural plant protection drone in this embodiment further includes: a second collection device 80 .
- the second collection device 80 can be used to collect the driving parameters input by the user; the processing device 70 is connected to the second collection device 80 , and the processing device 70 can be specifically configured to determine the target driving parameters of the driving device 30 according to the driving parameters input by the user.
- the user can also input the desired driving parameters of the driving device through the input device. It is noted that “+” can be pre-defined as forward rotation (clockwise rotation) and “—” as reverse rotation (counterclockwise rotation), and the user can directly input “+” or “—” to select the rotation direction of the spinner 213 .
- the processing device 70 may determine the driving parameters input by the user as the driving parameters of the driving device 30, and the control device 60 controls the driving device 30 to drive the spinner 213 to rotate according to the determined target driving parameters.
- the input device in this embodiment may be an input device corresponding to the input particle information, or may be another input device provided separately, which is not limited in this embodiment.
- processing device 70 is also connected with the flight control system 90 of the agricultural plant protection drone and the photographing device 100 of the agricultural plant protection drone; At least one of the attitude information of the machine and the image information captured by the photographing device determines the driving parameters of the driving device.
- the landing points of the sowing materials thrown by the spreading equipment will also be different, and when the agricultural plant protection drones are in different positions (that is, the flight trajectory of the drone), the spreading equipment The landing point of the sowing material thrown from the top will also be different.
- the image information captured by the shooting equipment can accurately reflect the ground image below the agricultural plant protection drone, so the area to be sowing can be accurately known, and the driving parameters of the driving device determine the throwing disc.
- the speed and direction of rotation determine the trajectory of the material to be thrown out and the final sowing point.
- the driving parameters of the driving device can be determined by at least one of the trajectory information of the agricultural plant protection drone, the attitude information of the agricultural plant protection drone, and the image information captured by the photographing equipment, so that the spreading equipment can spread according to the actual spreading requirements, and realize The purpose of precise and targeted sowing.
- FIG. 7 is a control flow chart of an agricultural plant protection drone provided by an embodiment of the present invention. As shown in Figure 7, the present embodiment provides a method for controlling the sowing of agricultural plant protection drones, including:
- control method of the agricultural plant protection drone provided by the embodiment of the present invention can be realized by the control device of the agricultural plant protection drone provided by the embodiment of the present invention.
- the driving device in this embodiment includes a motor, and the driving parameters include at least one of the following: motor rotation speed, motor rotation direction, and motor frequency.
- the driving parameters of the adjustment driving device in S102 include:
- the driving parameters of the driving device are adjusted.
- the driving parameters for adjusting the driving device in S102 include:
- the driving parameters of the driving device are adjusted.
- the control method of the agricultural plant protection drone provided by the embodiment of the present invention is the same as the implementation process of the agricultural plant protection drone of the first embodiment. For details, please refer to the record of the above-mentioned agricultural plant protection drone, which will not be repeated here. .
- the driving parameters of the driving device are adjusted by adjusting the driving parameters of the driving device. It can effectively adjust the inclination angle of the material to be thrown downward, realize the switching and adjustment of the spreading mode, and improve the flexibility of the spreading operation.
- This embodiment provides a computer-readable storage medium on which a computer program is stored, and the computer program can be executed by a processor to perform the following methods:
- the seeding port is thrown out, and the seeding port is facing the bottom or diagonally downward of the agricultural plant protection drone;
- the method executed by the processor in this embodiment is the control method described in Embodiment 2.
- the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.
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Abstract
一种农业植保无人机，包括机身（10）和播撒设备（20），播撒设备（20）安装于农业植保无人机的机身上，播撒设备（20）包括：播撒盘（21），包括进料口（211）、播撒口（212）以及甩盘（213），在安装状态下，甩盘（213）的转动平面与农业植保无人机的航向轴的夹角大于或等于0°，且小于90°；播撒物通过进料口（211）进入甩盘（213）内，并通过播撒口甩出；播撒口朝向农业植保无人机的下方或斜下方；驱动装置（30），与播撒盘（21）连接，用于驱动甩盘（213）转动，从而产生离心力给甩盘（213）内的播撒物，以使播撒物在离心力的作用下从播撒口（212）甩出，其能够提高播撒设备的定向播撒的能力。
Description
本发明实施例涉及农用设备设计技术领域，尤其涉及农业植保无人机、播撒控制方法及存储介质。
近年来，农业现代化以及精准农业不断向前发展，农用机械的发展为农业现代化提供了极大便利。通过在无人机上搭载播撒系统以实现颗粒、粉末形态物料颗粒的播撒，如水稻播种，施肥等场景，为农业现代化提供了高效、便捷的作业方法。
相关技术中，无人机的播撒系统在播撒物时，是将物料颗粒水平甩出，物料颗粒经平抛的方式落至地面，物料颗粒向下的运动仅依靠重力，无法实现控制物料按预定方向定向播撒。
发明内容
针对现有技术中的上述缺陷，本发明实施例提供一种农业植保无人机、播撒控制方法及存储介质。
本发明实施例第一方面提供一种农业植保无人机，包括机身和播撒设备，所述播撒设备安装于所述农业植保无人机的机身上，所述播撒设备包括：
播撒盘，包括进料口、播撒口以及甩盘，在所述安装状态下，所述甩盘的转动平面与所述农业植保无人机的航向轴的夹角大于或等于0°，且小于90°；播撒物通过所述进料口进入所述甩盘内，并通过所述播撒口甩出；所述播撒口朝向所述农业植保无人机的下方或斜下方；
驱动装置，与所述播撒盘连接，用于驱动所述甩盘转动，从而产生离心力给所述甩盘内的播撒物，以使所述播撒物在所述离心力的作用下从所述播撒口甩出。
本发明实施例第二方面提供一种农业植保无人机的播撒控制方法，包括：
控制驱动装置驱动播撒盘的甩盘转动，其中，所述甩盘的转动平面与所述农业植保无人机的航向轴的夹角大于或等于0°，且小于90°，播撒物通过所述播撒盘进料口进入所述甩盘内，并通过所述播撒盘播撒口甩出，所述播撒口朝向所述农业植保无人机的下方或斜下方；
调节所述驱动装置的驱动参数，以调整所述播撒物向下抛出的倾斜角度。
本发明实施例第三方面提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序可被处理器执行以下方法：
控制驱动装置驱动播撒盘的甩盘转动，其中，所述甩盘的转动平面与所述农业植保无人机的航向轴的夹角大于或等于0°，且小于90°，播撒物通过所述播撒盘进料口进入所述甩盘内，并通过所述播撒盘播撒口甩出，所述播撒口朝向所述农业植保无人机的下方或斜下方；
调节所述驱动装置的驱动参数，以调整所述播撒物向下抛出的倾斜角度。
本发明实施例提供的农业植保无人机、播撒控制方法及存储介质，通过将播撒设备的甩盘设计成转动平面与农业植保无人机的航向轴的夹角为大于或等于0°且小于90°的形式，而甩盘上的播撒口朝向农业植保无人机的下方或斜下方，使得物料颗粒在农业植保无人机的下方或斜下方通过离心力直接甩出，而非以平抛的形式甩出，竖直方向上的初速度大，因此有效提高了播撒设备的定向播撒的能力，并且具有高效、便捷的优点。
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附 图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明一实施例提供的农业植保无人机的结构简图；
图2为本发明另一实施例提供的农业植保无人机的播撒设备的第一播撒状态示意图；
图3为本发明另一实施例提供的农业植保无人机的播撒设备的第二播撒状态示意图；
图4为本发明另一实施例提供的农业植保无人机的播撒设备的第三播撒状态示意图；
图5为本发明另一实施例提供的农业植保无人机的播撒设备的第四播撒状态示意图；
图6为本发明实施例提供的农业植保无人机的电控原理图一；
图7为本发明实施例提供的农业植保无人机的电控原理图二；
图8为本发明实施例提供的农业植保无人机的控制流程图。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。
在通篇说明书及权利要求当中所提及的“包括”为一开放式用语，故应解释成“包括但不限定于”。“大致”是指在可接收的误差范围内，本领域技术人员能够在一定误差范围内解决所述技术问题，基本达到所述技术效果。
此外，“连接”一词在此包含任何直接及间接的连接手段。因此，若文中描述一第一装置连接于一第二装置，则代表所述第一装置可直接连接于所述第二装置，或通过其它装置间接地连接至所述第二装置。
应当理解，本文中使用的术语“及/或、和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A1及/或B1，可以表示：单独存在A1，同时存在A1和B1，单独存在B1这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
下面结合附图，对本发明的一些实施方式作详细说明。在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
发明人经过创造性地劳动发现，现有技术中对于农业播撒物的播撒，通常采用以下传统的播撒方式：1、轮式拖拉机搭载播撒机，该种方式效率低，且容易压坏农作物。2、人工背负式播撒机，该种方式人工作业强度高，有毒物料损伤人体，且效率低。3、手抛式，人工作业强度高，有毒物料损伤人体，且效率低。
为解决上述传统播撒方式的弊端，相关技术中有利用农业植保无人机播撒物料的方式，但其是利用高速气流将种子、肥料等固体颗粒喷向地面，但是由于无人机在飞行时，螺旋桨高速转动，气流较大，而播撒系统的气流没有无人机螺旋桨的气流强，会使得螺旋桨的气流阻碍播撒物料按照预设方向播撒，使得颗粒物反向拍回地面，无法达到精准定向播撒的目的。
为解决现有技术中的上述技术问题，本发明提供一种农业植保无人机及农业植保无人机的控制方法，能够提高定向播撒的能力，并且具有高效、便捷的优点。
实施例一
图1为本发明一实施例提供的农业植保无人机的结构简图；图6为本发明实施例提供的农业植保无人机的电控原理图一。请参照附图1和附图 6，本实施例提供的农业植保无人机，包括机身10和播撒设备20，播撒设备20安装于农业植保无人机的机身10上，播撒设备20包括：播撒盘21和驱动装置30。具体的，播撒设备20可以固定地挂载于农业植保无人机的下方，以保证农业植保无人机的重心平稳。播撒设备20可以单独从农业植保无人机上拆卸下来，以便于对播撒设备20的维修或更换。
具体的，播撒盘21包括进料口211、播撒口212以及甩盘213，播撒物通过进料口211进入甩盘213内，并通过播撒口212甩出；播撒口212朝向农业植保无人机的下方或斜下方。驱动装置30与播撒盘21连接，用于驱动甩盘213转动，从而产生离心力给甩盘213内的播撒物，以使播撒物在离心力的作用下从播撒口212甩出。
具体的，本实施例所描述的播撒物可以包括以下至少一种：粉末状肥料、种子颗粒、农药等。
在本实施例中，对于甩盘213的形状、大小、材料不做限定，本领域技术人员可以根据实际需要来选择或设计。在一优选实施例中，甩盘213的整体形状可以呈圆盘状，并且整个甩盘213可以为金属材料制成，强度较好，性能稳定，不易变形，当然，在其他一些实施例中，甩盘213也可以为塑料材料制成。
需要说明的是，播撒盘21至少包括可转动的甩盘213，在其他一些实施例中，播撒盘21除了包括可转动地甩盘213之外，还可以包括不可转动的固定盘(图中未示出)，该固定盘可以包括两个，甩盘213可以设于两个固定盘之间，固定盘可以用于挡住播撒物，防止播撒物在甩盘213的两侧飞溅，更进一步保证播撒物沿预定方向播撒。固定盘的结构形状可以与甩盘213的大小和形状相同，且固定盘的材料可以与甩盘213的材料相同，以便于成型，简化加工工艺。
在本实施例中，播撒口212可以位于播撒盘21的边缘位置，或者靠近边缘的位置，且播撒口212可以仅具有一个，甩盘213在转动过程中， 只有在播撒口212转动到下方时，播撒物才能被甩出。而进料口211可以设于甩盘213的中心位置，以使得播撒盘21在转动时，进料口211不会跟随转动，不影响进料口211的进料。
更进一步的，在本实施例中，优选的，甩盘213的径向边缘具有一开口，该开口形成播撒口212，在甩盘213内具有与播撒口212连通的播撒通道(图中未示出)，该播撒通道与还与进料口211连通。
当然，在其他一些实施例中，甩盘213与固定盘之间可以形成播撒通道，而播撒口213可以形成于播撒通道的末端。
在安装状态下，甩盘213的转动平面与农业植保无人机的航向轴的夹角大于或等于0°，且小于90°。也就是说，甩盘213的转动平面并非水平设置，甩盘213可以在例如电机等驱动装置30的驱动下高速转动，以产生较大的离心力，将播撒盘21的播撒物经播撒口212甩出，具体的，播撒物在播撒口212可以以与甩盘213的轮廓相切的方向甩出，由于甩盘213非水平设置，因此，播撒物甩出时，具有竖向初速度，使得播撒物的定向播撒能力得以提高。
值得注意的是，当甩盘213的转速较高时，播撒口212可以在未完全到达正下方时即可将播撒物沿斜向切线甩出，而当甩盘213的转速较低时，播撒口212在接近于或位于正下方时才将播撒物甩出，因此，可以通过控制甩盘213的转速控制播撒物的播撒距离。并且，可以理解的是，当甩盘213的转向不同时，播撒物所甩出的方向也不同，例如，如图1所示，甩盘213逆时针转动，播撒物沿右下方甩出(如图1虚线所示为播撒物甩出轨迹)，而甩盘213顺时针转动时，则播撒物会沿左下方甩出。从而可以通过驱动装置控制甩盘213的转速和/或转向来达到定向播撒的目的。
优选的，在本实施例中，在安装状态下，甩盘213的转动平面与农业植保无人机的航向轴的夹角小于等于45度。甩盘213的转动平面与农业植保无人机的航向轴的夹角较小，使得甩盘213在高速转动时所产生的离 心力将播撒物甩出时，播撒物的甩出方向尽可能朝下，而使得竖向初速度尽可能大，水平方向的初速度尽可能小。可以理解的是，在甩盘213以同等转速转动的前提下，甩盘213的转动平面与农业植保无人机的航向轴的夹角越小，播撒物甩出时的竖向初速度越大，定向播撒能力越强。
本发明实施例提供的农业植保无人机，通过将播撒设备的甩盘设计成转动平面与农业植保无人机的航向轴的夹角为大于或等于0°且小于90°的形式，而甩盘上的播撒口朝向农业植保无人机的下方或斜下方，使得物料颗粒在农业植保无人机的下方或斜下方通过离心力直接甩出，而非以平抛的形式甩出，竖直方向上的初速度大，其运动轨迹接近于直线，因此提高了播撒设备的定向播撒的能力，并且具有高效、便捷的优点。
更优选的，在安装状态下，甩盘213的转动平面可以基本平行于农业植保无人机的航向轴。需要说明的是，所谓基本平行，是指在安装或制造误差允许的范围内，两者之间的夹角可以在-5°至+5°范围内。此时，甩盘213的转动平面大致与农业植保无人机的航向轴平行，甩盘213基本竖向布置，使得播撒物基本能够按照预定的落地方向从甩盘213甩出，使得播撒范围最为可控，定向播撒能力最强。
图2为本发明另一实施例提供的农业植保无人机的播撒设备的第一播撒状态示意图；图3为本发明另一实施例提供的农业植保无人机的播撒设备的第二播撒状态示意图；图4为本发明另一实施例提供的农业植保无人机的播撒设备的第三播撒状态示意图；图5本发明另一实施例提供的农业植保无人机的播撒设备的第四播撒状态示意图。请参照附图2-附图5，本实施例提供的播撒盘21包括至少两个(图2至图5中所示出的播撒盘21为两个)，在安装状态下，至少两个播撒盘21在农业植保无人机的横滚轴方向上并列或交错设置。在一些实施例中，在安装状态下，至少两个播撒盘21在农业植保无人机的俯仰轴方向上并列或交错设置。
需要说明的是，所谓交错设置，是指至少两个播撒盘21分别相对于 航向轴倾斜设置，以使得至少两个播撒盘21所在的转动平面具有交线。
当至少两个播撒盘21在横滚轴方向上并列或交错设置，并且两个播撒盘21的转向不同时，可以使得播撒物在农业植保无人机的机身10的前后方向播撒。当至少两个播撒盘21在俯仰轴方向行并列或交错设置，并且两个播撒盘21的转向不同时，可以使得播撒物在农业植保无人机的机身10的左右方向播撒。通过设置至少两个播撒盘21，能够有效地提高播撒效率。
当播撒盘21的数量包括至少两个，对应的，甩盘213的数量包括至少两个，在安装状态下，至少两个播撒盘21在农业植保无人机的横滚轴方向上排布设置，至少两个甩盘213的转动平面与农业植保无人机的航向轴之间的夹角大小基本相等，且至少两个甩盘213的转动平面的倾斜方向相反。至少两个播撒盘21在农业植保无人机的横滚轴方向上排布设置，并且，至少两个甩盘213的转动平面的倾斜方向相反，且倾斜角度基本相等，使得至少两个甩盘213的播撒物尽量在机身10的前后方向上对称甩出，提高农业植保无人机的播撒均匀性。
可选的，播撒盘21的数量包括至少两个，对应的，甩盘213的数量包括至少两个，在安装状态下，至少两个播撒盘21在农业植保无人机的俯仰轴方向上排布设置，且至少两个播撒盘21分别朝横滚轴方向倾斜，至少两个甩盘213的转动平面的倾斜方向相反。同样的，至少两个甩盘213的转动平面倾斜方向相反，且倾斜角度基本相同，使得至少两个甩盘213的播撒物尽量在机身10上关于横滚轴和俯仰轴分别对称甩出，提高农业植保无人机的播撒均匀性。
进一步的，驱动装置30可以通过驱动至少两个播撒盘21以不同的转速和转向转动，可以实现农业植保无人机以不同的播撒模式甩出播撒物，提高农业植保无人机的作业灵活性。
下面具体结合图2至图5，举例来说明农业植保无人机的不同播撒模 式。
如图2所示，两个播撒盘21沿横滚轴方向排布，且两个播撒盘21的甩盘213的转动平面均平行于航向轴。左侧的播撒盘21逆时针转动，播撒物从左侧的播撒盘21的播撒口212沿右下方甩出，右侧的播撒盘21顺时针转动，播撒物从右侧的播撒盘21的播撒口212沿左下方甩出，使得两个播撒盘21下方的播撒物相互靠近地朝中部集中播撒。
如图3所示，两个播撒盘21沿横滚轴方向排布，且两个播撒盘21的甩盘213的转动平面均平行于航向轴。左侧的播撒盘21顺时针转动，播撒物从左侧的播撒盘21的播撒口212沿左下方甩出，右侧的播撒盘21逆时针转动，播撒物从左侧的播撒盘21的播撒口212沿右下方甩出，使得两个播撒盘21下方的播撒物相互远离地朝机身10下方的两侧甩出。
如图4所示，两个播撒盘21沿横滚轴方向排布，且两个播撒盘21的甩盘213的转动平面均平行于航向轴。左侧的播撒盘21逆时针转动，播撒物从左侧的播撒盘21的播撒口212沿右下方甩出，右侧的播撒盘21逆时针转动，播撒物从右侧的播撒盘21的播撒口212沿右下方向甩出，使得两个播撒盘21下方的播撒物朝同一方向甩出，实现右侧定点播撒。
如图5所示，两个播撒盘21沿横滚轴方向排布，且两个播撒盘21的甩盘213的转动平面均平行于航向轴。左侧的播撒盘21顺时针转动，播撒物从左侧的播撒盘21的播撒口212沿左下方甩出，右侧的播撒盘21顺时针转动，播撒物从右侧的播撒盘21的播撒口212沿左下方向甩出，使得两个播撒盘21下方的播撒物朝同一方向甩出，实现左侧定点播撒。
另外，可以理解的是，甩盘213的转速不同，播撒物所甩出的距离也不同，转速越快，播撒物所甩出的距离越远，转速越慢，播撒物所甩出的距离越近，因此可以根据不同的播撒需求，控制每个播撒盘21的甩盘213的转向和转速实现播撒物的定点播撒。
值得注意的是，当农业植保无人机只有一个播撒盘21时，由于甩盘 213转动，播撒物只能在甩盘213向下的180°范围内的任意位置甩出，但是并不一定是正下方甩出，则此时便会出现左右两侧落料稀疏程度不一致的问题，例如如图1所示，落料偏右，会使得右侧落料较密，左侧落料较稀疏。而当采用两个播撒盘21以图2或图3中不同的转动方向转动时，会使得机身左右两侧的落料对称互补，左右两侧落料稀疏程度一致，提高播撒均匀性。
当然，可以理解的是，本实施例的农业植保无人机的播撒盘21并不限于两个，例如还可以为三个、四个等，当农业植保无人机的播撒盘21为三个时，三个播撒盘21可以沿横滚轴的方向排布，机身10前后两端的播撒盘21的甩盘213的转动平面可以分别朝前和朝后倾斜，且倾斜角度相等，中间位置的播撒盘21的甩盘213的转动平面竖直向下。当农业植保无人机的播撒盘21为四个时，沿横滚轴方向上可以排布两个播撒盘21，沿俯仰轴方向上可以排布两个播撒盘21，四个播撒盘21的连线可以构成正方形，且在俯仰轴方向上排布的播撒盘21的甩盘213可以对称设置，在横滚轴方向上排布的播撒盘21的甩盘213可以对称设置。由此，提高了播撒宽度和播撒范围的同时，保证了播撒的均匀性。
本实施例的播撒设备还包括外部存储容器，播撒物可以容纳于与播撒盘21相独立的外部存储容器中，并通过外部存储容器的出料口流向播撒盘21中，以从播撒盘21甩出，在该种方式下，播撒盘21的进料口211可以与外部存储容器的出料口连通。具体的，外部存储容器可以为装料箱22，装料箱22设于播撒盘21的上方，装料箱22用于容纳播撒物，装料箱22上可以具有出料口221，出料口221与进料口211通过进料通道连通，进料通道用于引导播撒物从装料箱22进入甩盘213的播撒通道。通过设置装料箱22，保证农业植保无人机可以具有较大的播撒物存储量，而无需频繁添加播撒物，降低劳动程度。
装料箱22包括一个，播撒盘21包括至少两个，装料箱22上的出料 口221的数量与甩盘213的数量相等，每个播撒盘21上各具有一进料口211，装料箱22上的各个出料口221分别对应连通一个播撒盘21的进料口211。或者，装料箱22的数量与播撒盘21的数量相等，且各个装料箱22的出料口221分别对应连通一个播撒盘21的进料口。至少两个播撒盘21共用一个装料箱22，使得播撒物容纳于一个空间内，而避免多个存储容器中所容纳的播撒物的量不同而使得进入到各个播撒盘21的播撒物的量差异较大的问题，有效地减小进入各个播撒盘21的播撒物的量的差异，使得从各个播撒盘21甩出的播撒物的量基本相同，使得播撒物能够更为均匀地播撒。当然，在其他一些实施例中，装料箱22的数量可以与甩盘213的数量相等，一个装料箱22可以对应一个甩盘213。
另外，在其他一些实施例中，播撒盘21内部可以具有用于存储和容纳播撒物的仓体，播撒物可以全部容纳于播撒盘21的内部的仓体，在该种方式下，播撒盘21的进料口211可以与播撒盘21的内部仓体的出料口连通，在甩盘213转动时，播撒盘21内部的仓体的播撒物从出料口流出至播撒盘21的进料口，并经过播撒盘21的播撒口212甩出。
如图6所示，在上述实施例的基础上，进一步的，播撒设备还可以包括：调节装置40。调节装置40用于调节进料口211的进料量。由此可以根据不同的播撒需求调节进料口211的进料量，提高农业植保无人机的播撒灵活性。
具体而言，调节装置40可以设于进料通道，调节装置40可以包括调节阀，调节阀可以具体调节进料口211的开度，从而调节进料口211的进料量。调节装置40可以设于进料通道的任何位置处，例如，可以设于进料口211，也可以设于进料通道的中部。
图7为本发明实施例提供的农业植保无人机的电控原理图二，如图7所示，本实施例的农业植保无人机还包括第一采集装置50，第一采集装置50用于采集播撒物的颗粒信息，调节装置40与第一采集装置50连接，调 节装置40用于根据第一采集装置50所采集的播撒物的颗粒信息而调节进料口211的进料量。
具体的，播撒物的颗粒信息包括以下至少一种：颗粒质量、颗粒大小、颗粒密度。需要说明的是，本实施例中所指的颗粒并不一定是固体颗粒，例如种子颗粒、粉末颗粒；还可以包括液体颗粒，例如农药液化后的颗粒。
在本实施例中，农业植保无人机还可以通信连接有输入装置(图中未示出)，输入装置可以为位于地面端的移动终端，或者，输入装置位于机身10上，例如，输入装置为位于机身10上的触摸屏，或者带操作键盘的显示屏。输入装置可以与第一采集装置50连接，第一采集装置50可以采集输入装置所输入的颗粒信息，在利用该植保无人机进行播撒之前，或者在利用该植保无人机进行播撒的过程中，用户可以主动输入颗粒信息。在一些可选的实施例中，第一采集装置50可以包括高浓度颗粒计数器，重量传感器、颗粒检测仪等检测和采集颗粒信息。第一采集装置50将颗粒信息发送给调节装置40，使得调节装置40调节进料口211的进料量。
不同重量，不同密度的颗粒在同样的甩盘213转速下，所甩出的轨迹不同。甩盘213在转动的过程中，播撒口跟随转动，根据颗粒数量和重量的不同，调节进料口211的进料量，即控制进料口211的流量，可以使得甩盘213的转动时，只有播撒口212转动至下方时播撒物才能被甩出，而避免出现播撒物从甩盘213上方甩出的情况发生。
进一步的，调节装置40还与驱动装置30连接，调节装置40还用于根据播撒物的颗粒信息，以及驱动装置30的驱动参数调节进料通道的开度以调节进料口211的进料量。由于驱动装置30是用于驱动甩盘213转动的，甩盘213的转速、转向、转动频率的不同，对播撒物的甩出轨迹也有影响，因此，本实施例的调节装置40根据驱动装置的驱动参数和播撒物的颗粒信息来调节进料口211的进料量，其中，驱动参数包括以下至少一种：电机转速、电机转向、电机频率。由此，来达到播撒口212转动至 下方时播撒物才被甩出的目的。而具体如何根据驱动装置的驱动参数和播撒物的颗粒信息来调节进料口211的进料量，可以根据实际情况具体设计，或者经过多次试验模拟或测试得到，本实施例不做特别限定。
进一步的，本实施例提供的农业植保无人机还包括：处理装置70，处理装置70与驱动装置30连接，用于确定驱动装置30的驱动参数；控制装置60与处理装置70和驱动装置30连接，用于根据处理装置70所确定的目标驱动参数，调节驱动装置30的驱动参数，以使驱动装置30根据所确定的目标驱动参数驱动甩盘213转动。
需要说明的是，在本实施例中，驱动装置30可以为电机，而控制装置60可以为电机内的控制芯片，也可以为独立于电机的控制设备，本实施例不做限定，只要是控制装置60与驱动装置30内的驱动模块具有电连接关系，并且能够给控制信号给驱动模块而使得驱动模块驱动均可，本实施例不做特别限定。
进一步的，本实施例的农业植保无人机还包括：第二采集装置80。第二采集装置80可以用于采集用户输入驱动参数；处理装置70与第二采集装置80连接，处理装置70可以具体用于根据用户输入的驱动参数确定为驱动装置30的目标驱动参数。用户除了可以输入颗粒物的颗粒信息之外，类似的，用户还可以通过输入装置输入所希望驱动装置驱动的驱动参数，例如，用户可以直接在输入装置输入甩盘213的转速、转向等参数，需要说明的是，可以预先定义“+”为正转(顺时针转)“—”为反转(逆时针转)，用户可以直接输入“+”或“—”以选择甩盘213的转向。处理装置70可以将用户所输入的驱动参数确定为驱动装置30的驱动参数，控制装置60控制驱动装置30以所确定的目标驱动参数驱动甩盘213转动。
需要说明的是，本实施例中的输入装置可以为与输入颗粒信息所对应的输入装置，也可以为另外设置的其他输入装置，本实施例不做限定。
进一步的，处理装置70还与农业植保无人机的飞行控制系统90和农 业植保无人机的拍摄设备100连接；处理装置70具体用于根据农业植保无人机的轨迹信息、农业植保无人机的姿态信息、拍摄设备所拍摄的图像信息中的至少一个确定驱动装置的驱动参数。
由于农业植保无人机以不同姿态飞行时，播撒设备所甩出的播撒物的落地点也会不同，而农业植保无人机处于不同位置(也就是无人机的飞行轨迹)时，播撒设备上所甩出的播撒物的落地点也会不同，拍摄设备所拍摄的图像信息可以准确反映农业植保无人机下方地面图像，因此可以准确获知待播撒区域，而驱动装置的驱动参数决定甩盘的转速和转向，由此决定播撒物的甩出轨迹和最终的播撒点。因此通过农业植保无人机的轨迹信息、农业植保无人机的姿态信息、拍摄设备所拍摄的图像信息中的至少一个确定驱动装置的驱动参数，能够使得播撒设备根据实际播撒需求进行播撒，实现精准、定向播撒的目的。
实施例二
图7为本发明实施例提供的农业植保无人机的控制流程图。如图7所示，本实施例提供一种农业植保无人机的播撒控制方法，包括：
S101，控制驱动装置驱动播撒盘的甩盘转动，其中，甩盘的转动平面与农业植保无人机的航向轴的夹角大于或等于0°，且小于90°，播撒物通过播撒盘进料口进入甩盘内，并通过播撒盘播撒口甩出，播撒口朝向农业植保无人机的下方或斜下方。
S102，调节驱动装置的驱动参数，以调整播撒物向下抛出的倾斜角度。
本发明实施例提供的农业植保无人机的控制方法可以通过本发明实施例提供的农业植保无人机的控制装置实现。
进一步的，本实施例中的驱动装置包括电机，驱动参数包括以下至少一种：电机转速、电机转向、电机频率。
其中，S102中的调节驱动装置的驱动参数包括：
将用户输入的驱动参数确定为驱动装置的目标驱动参数；
根据所确定的目标驱动参数，调节驱动装置的驱动参数。
可选的，S102中的调节驱动装置的驱动参数包括：
根据农业植保无人机的轨迹信息、农业植保无人机的姿态信息、拍摄设备所拍摄的图像信息中的至少一个确定驱动装置的目标驱动参数；
根据所确定的目标驱动参数，调节驱动装置的驱动参数。本发明实施例提供的农业植保无人机的控制方法与实施例一的农业植保无人机实施例的实现过程相同，详细可以参考上述农业植保无人机实施例的记载，在此不再赘述。
本发明实施例提供的农业植保无人机的控制方法，由于甩盘的转速和转向影响播撒物向下抛出的倾斜角度，而甩盘通过驱动装置控制转动，因此通过调节驱动装置的驱动参数可以有效地调整播撒物向下抛出的倾斜角度，实现播撒模式切换和可调，提高播撒作业的灵活性。
实施例三
本实施例提供一种计算机可读存储介质，其上存储有计算机程序，计算机程序可被处理器执行以下方法：
控制驱动装置驱动播撒盘的甩盘转动，其中，甩盘的转动平面与农业植保无人机的航向轴的夹角为锐角，播撒物通过播撒盘进料口进入甩盘内，并通过播撒盘播撒口甩出，播撒口朝向农业植保无人机的下方或斜下方；
调节驱动装置的驱动参数，以调整播撒物向下抛出的倾斜角度。
本实施例中处理器所执行的方法为实施例二所描述的控制方法，具体可以参照实施例二的描述，本实施例不再赘述。
在本发明所提供的几个实施例中，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领 域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。
Claims (23)
- 一种农业植保无人机，包括机身和播撒设备，所述播撒设备安装于所述农业植保无人机的机身上，其特征在于，所述播撒设备包括：播撒盘，包括进料口、播撒口以及甩盘，在所述安装状态下，所述甩盘的转动平面与所述农业植保无人机的航向轴的夹角大于或等于0°，且小于90°；播撒物通过所述进料口进入所述甩盘内，并通过所述播撒口甩出；所述播撒口朝向所述农业植保无人机的下方或斜下方；驱动装置，与所述播撒盘连接，用于驱动所述甩盘转动，从而产生离心力给所述甩盘内的播撒物，以使所述播撒物在所述离心力的作用下从所述播撒口甩出。
- 根据权利要求1所述的农业植保无人机，其特征在于，在所述安装状态下，所述甩盘的转动平面基本平行于所述农业植保无人机的航向轴。
- 根据权利要求2所述的农业植保无人机，其特征在于，所述播撒盘包括至少两个，在所述安装状态下，至少两个所述播撒盘在所述农业植保无人机的横滚轴方向上并列或交错设置；或者，所述播撒盘包括至少两个，在所述安装状态下，至少两个所述播撒盘在所述农业植保无人机的俯仰轴方向上并列或交错设置。
- 根据权利要求1所述的农业植保无人机，其特征在于，在所述安装状态下，所述甩盘的转动平面与所述农业植保无人机的航向轴的夹角小于等于45度。
- 根据权利要求4所述的农业植保无人机，其特征在于，所述播撒盘包括至少两个，在所述安装状态下，至少两个所述播撒盘在所述农业植保无人机的横滚轴方向上排布设置，至少两个甩盘的转动平面与所述农业植保无人机的航向轴之间的夹角大小基本相等，且所述至少两个甩盘的转动平面的倾斜方向相反。
- 根据权利要求4所述的农业植保无人机，其特征在于，所述播撒盘包括至少两个，在所述安装状态下，至少两个所述播撒盘在所述农业植保无人机的俯仰轴方向上排布设置，且至少两个所述播撒盘分别朝横滚轴方向倾斜，至少两个甩盘的转动平面的倾斜方向相反。
- 根据权利要求1所述的农业植保无人机，其特征在于，所述甩盘的径向边缘具有一开口，所述开口形成所述播撒口，在所述甩盘内具有与所述播撒口连通的播撒通道。
- 根据权利要求7所述的农业植保无人机，其特征在于，所述播撒设备还包括：装料箱，用于容纳所述播撒物，所述装料箱上具有出料口，所述出料口与所述进料口通过进料通道连通，所述进料通道用于引导所述播撒物从所述装料箱进入所述甩盘的播撒通道。
- 根据权利要求8所述的农业植保无人机，其特征在于，所述装料箱包括一个，所述播撒盘包括至少两个，所述装料箱上的出料口的数量与所述播撒盘的数量相等，每个所述播撒盘上各具有一进料口，所述装料箱上的各个出料口分别对应连通一个播撒盘的进料口；或者，所述装料箱的数量与所述播撒盘的数量相等，且各个装料箱的出料口分别对应连通一个所述播撒盘的进料口。
- 根据权利要求8所述的农业植保无人机，其特征在于，所述播撒设备还包括：调节装置，所述调节装置用于调节所述进料口的进料量。
- 根据权利要求10所述的农业植保无人机，其特征在于，所述调节装置设于所述进料通道，所述调节装置包括调节阀，所述调节阀用于调节所述进料通道的开度以调节所述进料口的进料量。
- 根据权利要求10所述的农业植保无人机，其特征在于，还包括第一采集装置，所述第一采集装置用于采集所述播撒物的颗粒信息，所述调节装置与所述第一采集装置连接，所述调节装置用于根据所述第一采集 装置所采集的播撒物的颗粒信息而调节所述进料口的进料量。
- 根据权利要求12所述的农业植保无人机，其特征在于，所述播撒物的颗粒信息包括以下至少一种：颗粒质量、颗粒大小、颗粒密度。
- 根据权利要求12所述的农业植保无人机，其特征在于，所述调节装置还与所述驱动装置连接，所述调节装置还用于根据所述播撒物的颗粒信息，以及所述驱动装置的驱动参数调节所述进料通道的开度以调节所述进料口的进料量。
- 根据权利要求1所述的农业植保无人机，其特征在于，还包括：处理装置，用于确定所述驱动装置的目标驱动参数；控制装置，与所述处理装置和驱动装置连接，用于根据所述处理装置所确定的目标驱动参数，调节所述驱动装置的驱动参数，以使所述驱动装置根据所确定的目标驱动参数驱动所述甩盘转动。
- 根据权利要求14或15所述的农业植保无人机，其特征在于，所述驱动装置包括电机，所述驱动参数包括以下至少一种：电机转速、电机转向、电机频率。
- 根据权利要求15所述的农业植保无人机，其特征在于，还包括：第二采集装置，用于采集用户输入的驱动参数；所述处理装置还与所述第二采集装置连接，所述处理装置具体用于将用户输入的驱动参数确定为所述驱动装置的目标驱动参数。
- 根据权利要求15所述的农业植保无人机，其特征在于，所述处理装置还与所述农业植保无人机的飞行控制系统和所述农业植保无人机的拍摄设备连接；所述处理装置具体用于根据所述农业植保无人机的轨迹信息、所述农业植保无人机的姿态信息、所述拍摄设备所拍摄的图像信息中的至少一个确定所述驱动装置的目标驱动参数。
- 一种农业植保无人机的播撒控制方法，其特征在于，包括：控制驱动装置驱动播撒盘的甩盘转动，其中，所述甩盘的转动平面与所述农业植保无人机的航向轴的夹角大于或等于0°，且小于90°，播撒物通过所述播撒盘进料口进入所述甩盘内，并通过所述播撒盘播撒口甩出，所述播撒口朝向所述农业植保无人机的下方或斜下方；调节所述驱动装置的驱动参数，以调整所述播撒物向下抛出的倾斜角度。
- 根据权利要求19所述的农业植保无人机的播撒控制方法，其特征在于，所述驱动装置包括电机，所述驱动参数包括以下至少一种：电机转速、电机转向、电机频率。
- 根据权利要求19所述的农业植保无人机的播撒控制方法，其特征在于，所述调节所述驱动装置的驱动参数包括：将用户输入的驱动参数确定为驱动装置的目标驱动参数；根据所确定的目标区动参数，调节驱动装置的驱动参数。
- 根据权利要求19所述的农业植保无人机的播撒控制方法，其特征在于，所述调节所述驱动装置的驱动参数包括：根据所述农业植保无人机的轨迹信息、所述农业植保无人机的姿态信息、所述拍摄设备所拍摄的图像信息中的至少一个确定所述驱动装置的目标驱动参数；根据所确定的目标驱动参数，调节驱动装置的驱动参数。
- 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序可被处理器执行以下方法：控制驱动装置驱动播撒盘的甩盘转动，其中，所述甩盘的转动平面与所述农业植保无人机的航向轴的夹角大于或等于0°，且小于90°，播撒物通过所述播撒盘进料口进入所述甩盘内，并通过所述播撒盘播撒口甩出，所述播撒口朝向所述农业植保无人机的下方或斜下方；调节所述驱动装置的驱动参数，以调整所述播撒物向下抛出的倾斜角 度。
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