WO2022088562A1 - Structure de tige de pulvérisation à multiples rotors et son procédé de commande - Google Patents

Structure de tige de pulvérisation à multiples rotors et son procédé de commande Download PDF

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Publication number
WO2022088562A1
WO2022088562A1 PCT/CN2021/077616 CN2021077616W WO2022088562A1 WO 2022088562 A1 WO2022088562 A1 WO 2022088562A1 CN 2021077616 W CN2021077616 W CN 2021077616W WO 2022088562 A1 WO2022088562 A1 WO 2022088562A1
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Prior art keywords
rotor
boom
rotors
support rod
control
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PCT/CN2021/077616
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English (en)
Chinese (zh)
Inventor
沈跃
张念
孙志伟
王德伟
刘慧�
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江苏大学
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Publication of WO2022088562A1 publication Critical patent/WO2022088562A1/fr

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • A01M7/0071—Construction of the spray booms
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • A01M7/006—Mounting of the nozzles
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • 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

Definitions

  • the invention relates to a multi-rotor spray rod structure which can control the rotor to make the yaw movement when working in the corner area of the farmland, and belongs to the technical field of agricultural machinery automation and flight control.
  • the present invention discloses a multi-rotor boom structure that is convenient and flexible, and can control the rotor to make the yaw movement.
  • the technical scheme of the present invention includes: a multi-rotor spray rod structure, comprising a support rod (10), and the support rod (10) is provided with a rotor, a motor (2), a connection flange (3), a liquid medicine pipeline ( 4), spray head (5), GPS module, vision module (8), liquid medicine and battery box assembly (11), millimeter wave radar (13); a plurality of pairs of rotors are symmetrically distributed on the support rod (10).
  • the main rotors provide most of the lift required for the boom to fly, and the angles of the auxiliary rotors and regulating rotors can be adjusted to provide lift for the overall boom and control the attitude of the boom, and at the same time
  • the downward airflow generated by the downward airflow can accelerate the liquid medicine to adhere to the surface of the crops;
  • the liquid medicine and the battery box assembly (11) are fixed in the center of the support rod (10), and the two ends of the support rod (10) are provided with auxiliary rotors, and the auxiliary rotors and Adjusting rotors are arranged between the legs of the support rod (10), and main rotors are symmetrically arranged at the two ends adjacent to the liquid medicine and the battery box assembly (11);
  • the nozzle corresponding to the lower end of the rotor is replaced with a rotor of the same model and opposite direction to provide greater lift for the boom;
  • the lower end is connected with a motor
  • the motor (2) is connected with a connecting flange (3), and the lower end of the connecting flange (3) is a liquid medicine pipeline (4), and the connecting flange (3) connects the motor.
  • the liquid medicine pipeline (4) is tightly fixed, and the liquid medicine pipeline (4) connects the nozzles (5) and provides the liquid medicine for the spray rod;
  • the GPS module is tightly and symmetrically fixed on the multi-stage through the connecting flange (3).
  • the GPS module is used to provide accurate GPS data to the controller during the path planning and flight stages;
  • the vision module (8) and the millimeter-wave radar (13) are also symmetrically fixed on both sides of the multi-rotor boom, The support is fixed by the connecting flange and then extends downward;
  • the vision module (8) estimates the motion information through the image and obtains a more accurate motion speed after being fused with the data of the accelerometer, and at the same time identifies the crop information during the operation of the system;
  • the millimeter wave radar (13) is used together with the barometer to obtain the real-time height of the multi-rotor boom.
  • the support rod (10) is formed by connecting a hollow tube and two tripods, which provides support and load-bearing functions for the entire spray rod structure, and the hollow structure of the support rod (10) also serves as the passage of liquid medicine and electric wires pipeline.
  • the support rod (10) is a carbon fiber tube.
  • the medicinal solution and battery box assembly (11) includes a battery, medicinal solution and control system hardware, and the battery provides power for the motor (2), the GPS module, the vision module (8), and the millimeter-wave radar (13);
  • the control system hardware is used to implement navigation and path planning, and to perform precise estimation of position and attitude.
  • control system hardware includes a flight controller and an embedded processor, and the flight controller is respectively connected with a GPS module, a millimeter-wave radar (13), a multi-sensor redundancy module, and a plurality of ESCs for controlling the rotor;
  • the flight controller is also connected with an embedded processor, and the embedded processor is connected with the vision module (8) and the solenoid valve driver at the same time, and the solenoid valve driver is connected with the solenoid valve for controlling the spray head (5).
  • the multi-sensor redundancy The module integrates a magnetic compass, barometer and two sets of gyroscopes and accelerometers inside.
  • the main rotor adopts the upper and lower paddle layout
  • the auxiliary rotor adopts the axial horizontal setting
  • the adjusting rotor adopts the axial angle to be set within the adjustment range of 0-90 degrees.
  • a control method of a multi-rotor spray rod structure of the present invention comprises the following steps:
  • the initialization operation is performed first. First, the GPS information of the working area is collected through the GPS module, and the upcoming flight trajectory is planned by the path planning algorithm.
  • the GPS module provides accurate positioning information for the multi-rotor boom during the flight. ; After the path planning is completed and the take-off command is received, the take-off procedure is executed. After take-off and before landing, the cascade PID controller controls the attitude, speed, height, etc. of the multi-rotor boom to make it follow the planned route. flight path;
  • the image data returned by the vision module (8) is processed by the embedded processor.
  • the image processing is divided into two threads: first, the motion information is obtained by the optical flow method, and it is more accurate after being fused with the IMU data.
  • the movement speed of the multi-rotor boom is sent back to the flight controller; the second is to identify the presence or absence of crops and the dense information after image processing, so as to prepare for the subsequent precise variable spray;
  • the flight controller estimates the accurate Height value, control its own height to maintain a suitable working height
  • the embedded processor drives the solenoid valve to control all nozzles to operate through the solenoid valve driver; in the corner area, the embedded processor operates according to the calculation results. Only some solenoid valves are controlled to work to realize variable spray.
  • the cascade PID is used to control the posture and attitude of the unmanned boom.
  • the angular velocity is used as the first inner loop, and the angular velocity is measured by the gyroscope; then the angle control is used as the second inner loop, and the angle is estimated by It is estimated by gyroscope and magnetic compass sensors; the third inner loop is the speed control loop, and the speed estimation is obtained by fusing image data and IMU data; the final outer loop is height control, and here we also fuse millimeter waves
  • the data of sensors such as radar, barometer, and gyroscope are used to control the posture and movement of the rotor boom to realize the spray operation based on path planning.
  • this design can adjust its load by means of paddle alignment and adjustment of the installation angle of the auxiliary rotor, which increases the flexibility of the design.
  • This design can be used as a basic unit. When needed, multiple basic units can be connected through quick joints to achieve larger area operations.
  • the connecting parts between the main lift rotor and the boom can use damped connectors, so that when the multi-rotor boom is working, even if it is occasionally affected by gusts, the attitude changes can be weakened by the damped connectors, increasing the stability of the equipment sex.
  • Fig. 1 is the overall structure diagram of the multi-rotor boom
  • Fig. 2 is the hardware structure diagram of the control system
  • FIG. 1 Cascade PID control diagram
  • Fig. 4 is the structure diagram of PID controller
  • FIG. 6 is a schematic diagram of an optical flow method algorithm
  • 1-auxiliary rotor a 2-motor; 3-connecting flange; 4-liquid pipe; 5-spray head; 6-adjusting rotor a; 7-GPS module a; 8-vision module; 9-main force Rotor a; 10- support rod; 11- liquid medicine and battery box assembly; 12- main rotor b; 13- millimeter wave radar; 14- GPS module b; 15- adjusting rotor b; 16- auxiliary rotor b;
  • the boom As shown in the overall structure diagram of the boom as shown in Figure 1, it is mainly composed of the following parts: 1- auxiliary rotor a; 2- motor; 3- connecting flange; 4- liquid medicine Pipe; 5-Sprinkler; 6-Adjusting Rotor a; 7-GPS Module a; 8-Vision Module; 9-Main Rotor a; 10-Support Rod; 11-Medical Liquid and Battery Box Assembly; 12-Main Rotor B; - Millimeter wave radar; 14 - GPS module b; 15 - Regulating rotor b; 16 - Auxiliary rotor b; There are multiple rotors evenly distributed on the boom throughout the structure (1, 6, 9, 12, 15, 16) , their installation angles can be appropriately changed according to the application scenario, as shown in Figure 1, the axes 1 and 16 are set horizontally, the axes 6 and 15 are set at 0-90 degrees, and the axes 9 and 12 are set vertically. Differences.
  • the rotors include auxiliary rotors (auxiliary rotors a1, auxiliary rotors b16), adjustment rotors (adjustment rotors a6, adjustment rotors b15) and main force rotors (main force rotor a9, main force rotor b12),
  • the main rotor provides most of the lift required for the boom to fly, and can be multiple as needed; the angle of the auxiliary rotor and the adjustment rotor can be adjusted, which can be multiple according to their respective needs, providing lift for the overall boom and countermeasures to the boom.
  • the downward airflow generated by it can accelerate the liquid medicine to adhere to the surface of crops.
  • the medicinal liquid and battery box assembly 11 are tightly fixed by bolts and the spray rod; the structural shape of the medicinal liquid and the battery box assembly is an upper triangle and a lower rectangular shape, and the shape of the medicinal liquid and the battery box is conducive to lowering the center of gravity of the entire multi-rotor spray rod , to increase its stability.
  • the GPS module (GPS module a7, GPS module b14) and the visual module detail diagram
  • the GPS module is composed of the GPS-RTK signal receiving module, which is firmly fixed by the connecting flange 3, the support rod and the tripod, because here Using RTK technology, there are two GPS modules distributed symmetrically.
  • the vision module 8 is fixed with a bracket that is connected to the connecting flange and extends vertically downward, and its spatial position is symmetrically distributed with the millimeter wave radar 13 .
  • the liquid medicine and battery box are mainly divided into three parts inside the liquid medicine and battery box assembly 11, and their functions are mainly to accommodate the battery, control system hardware and store the liquid medicine.
  • FIG. 2 shows the hardware structure diagram of the control system, including a flight controller and an embedded processor.
  • the flight controller is connected to the GPS module, the millimeter-wave radar 13, the multi-sensor redundancy module, and multiple electrical circuits for controlling the rotor.
  • the flight controller is also connected with the embedded processor, the embedded processor is connected with the vision module 8 and the solenoid valve driver at the same time, and the solenoid valve driver is connected with the solenoid valve controlling the nozzle 5, and the multi-sensor redundancy module
  • a magnetic compass, barometer and two sets of gyroscopes and accelerometers are integrated internally, so that when one of the sensors fails, it can immediately switch to a backup sensor, increasing the stability and reliability of the system.
  • the underlying driver includes ESC and solenoid valve driver; the actuator has multiple rotor motors and solenoid valves corresponding to the number of nozzles.
  • FIG 3 shows the cascade PID control diagram. Because in the engineering field, PID control is still the most widely used one in practical applications, and the common quadrotor flight control systems currently on the market also use PID control algorithms. This patent uses cascade PID to control the pose of the unmanned boom.
  • PID control is a general term for proportional control, integral control and differential control. In the process of practical application, in the face of different controlled objects, it is necessary to select methods that meet the requirements to make different combinations of P, I, and D controls to achieve the best control purpose. We usually combine these freely combined controls.
  • the controller is collectively called a PID controller.
  • the PID controller is essentially a second-order linear low-pass filter, which can effectively reduce the influence of disturbance and error on the output result.
  • the following figure shows the structure of a traditional PID controller:
  • r(t) in the above figure is the input of the system at time t
  • y(t) is the output of the system at time t
  • e(t) as the deviation is the input of the regulator, which is t
  • the difference between the input and output of the system at time is:
  • u(t) is the output of the regulator at time t, which is obtained by linearly summing the deviation e(t) after proportional, integral and differential calculations.
  • e(t) is the expression for the traditional PID controller.
  • K p represents the proportional coefficient
  • K i represents the integral coefficient
  • K d represents the differential coefficient
  • cascade PID controller In the actual use process, in order to optimize the performance of the PID control system, it is necessary to continuously adjust the three parameter values of proportional, integral and differential.
  • the use of cascade PID controller to control the system can effectively reduce the influence of errors caused by external interference and improve the robustness of the system.
  • the principle of cascade PID control is to control each other by multiple single-loop feedback controls.
  • the angle control is taken as the second inner loop, and the angle is estimated by the gyroscope, magnetic compass and other sensors.
  • the third inner loop is the speed control loop, and the speed estimation is obtained by fusing image data and IMU data
  • the final outer loop is altitude control, here we also fuse sensors such as millimeter wave radar, barometer, gyroscope, etc. data in order to obtain a more accurate height value.
  • Figure 5 shows the system control flow chart. After the system is powered on, the initialization operation is performed first, and then the path planning is carried out according to the GPS data of the operation area collected in advance. After the path planning is completed and the take-off command is received, the take-off procedure is executed. After takeoff and before landing, the cascade PID controller controls the attitude, speed, height, etc. of the multi-rotor boom so that it can fly along the planned path. After the take-off is successful, the image data returned by the embedded processor to the vision module is divided into two threads: first, the motion information is obtained by the optical flow method, and it is fused with the IMU data to obtain a more accurate multi-rotor jet.
  • the movement speed of the rod is sent back to the flight controller; the second is to identify the presence or absence of crops and the dense information after image processing, so as to prepare for the subsequent precise variable spray. Since the mist-like liquid is easily lost in the air, the multi-rotor boom should maintain a suitable altitude and stable flight during operation.
  • the flight controller estimates the accurate altitude through the data of sensors such as millimeter wave radar and barometer. value, control its own height to maintain a suitable working height. After judging whether it is a standard working area, different operations will be performed according to the results.
  • the processor controls all the nozzles to operate through the solenoid valve driver; in the corner area, the processor only controls some of the solenoid valves to work according to the calculation results to realize variable spraying.
  • the above-mentioned vision module 8 uses the optical flow method to detect the motion of objects in the field of view.
  • the principle is as follows:
  • Optical flow is a way to describe the movement of pixels between images over time, as shown in Figure 6. Over time, the same pixel moves in an image, and we want to track its movement.
  • the calculation of the motion of some pixels is called sparse optical flow, and the calculation of the motion of all pixels is called dense optical flow.
  • LK Lucas-Kanade
  • the main function of the rotor is to provide lift and control the attitude of the boom. At the same time, the downward airflow generated by the rotor can accelerate the attachment of the liquid to the surface of the crop and reduce the loss of the liquid in the air; the connection between the rotor, the boom and the nozzle as follows:
  • FIG. 7 is a structural deformation diagram of a multi-rotor spray rod.
  • the installation angles of the auxiliary rotor, the main rotor and the adjusting rotor are adjusted to the axis Towards a vertical setting, all rotors provide upward lift for maximum lift on the multi-rotor boom.
  • the lower ends of the main rotor, the auxiliary rotor and the adjusting rotor are all connected with a motor 2 to provide power for the rotor.
  • the motor 2 is connected with a connecting flange 3, and the lower end of the connecting flange 3 is a liquid medicine pipeline 4, and the connecting flange 3 is connected to the motor 2.
  • the liquid medicine pipeline 4 is tightly fixed, and the liquid medicine pipeline 4 connects the nozzles 5 and provides the liquid medicine for the spray rod.
  • the main rotor adopts the layout of the upper and lower paddles
  • the auxiliary rotor adopts the axial horizontal setting
  • the adjustment rotor is used.
  • the axial angle is set within the adjustment range of 0-90 degrees.
  • any one of the main rotor, auxiliary rotor and adjustment rotor adopts the layout of the upper and lower paddles (as shown in Figure 8)
  • the nozzle corresponding to the lower end of the rotor is replaced with a rotor of the same model and opposite direction to provide greater lift for the boom ( At this time, the nozzle is not connected to the bottom of the paddle, and a motor is connected to the upper and lower paddles).
  • the auxiliary rotor a1 and the auxiliary rotor b16 are arranged axially horizontally, the adjustment rotor a6 and the adjustment rotor b15 are arranged at 0-90 degrees in the axial direction, and the main rotor a9 and the main rotor b12 are arranged in the vertical direction.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Pest Control & Pesticides (AREA)
  • Insects & Arthropods (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Catching Or Destruction (AREA)

Abstract

La présente invention concerne une structure de pulvérisation à multiples rotors et son procédé de commande. La structure de tige de pulvérisation à multiples rotors comprend une tige de support (10) ; de multiples rotors, des moteurs (2), des brides de raccordement (3), des tuyaux de liquide de pesticide (4), des buses (5), des modules GPS (7), un module de vision (8), un ensemble de liquide de pesticide et de boîtier de batterie (11) et un radar à ondes millimétriques (13) qui sont disposés sur la tige de support ; de multiples paires de rotors sont réparties symétriquement sur la tige de support ; les rotors comprennent des rotors auxiliaires, des rotors de réglage et des rotors principaux. Les modules GPS sont utilisés pour fournir des données GPS précises pour un contrôleur pendant des étapes de planification et de vol de trajet ; le module de vision et le radar à ondes millimétriques sont également fixés de manière symétrique des deux côtés de la tige de pulvérisation à rotors multiples, respectivement, et s'étendent vers le bas au moyen de supports après avoir été fixés au moyen des brides de raccordement et sont utilisés pour mesurer une vitesse de déplacement et la hauteur de la tige de pulvérisation. Selon la structure de la tige de pulvérisation à rotors multiples, lorsque la tige de pulvérisation fonctionne dans des zones de bord et de coin d'un terrain agricole, les rotors peuvent être commandés, en commandant les multiples paires de rotors pour qu'elles adoptent des attitudes différentes, afin de permettre à la tige de pulvérisation d'effectuer un mouvement de lacet et les multiples buses de la tige de pulvérisation sont commandées en fonction de la densité de cultures, ce qui permet d'obtenir une pulvérisation variable précise.
PCT/CN2021/077616 2020-10-26 2021-02-24 Structure de tige de pulvérisation à multiples rotors et son procédé de commande WO2022088562A1 (fr)

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CN202011159966.1 2020-10-26
CN202011159966.1A CN112352759B (zh) 2020-10-26 2020-10-26 一种多旋翼喷杆结构及其控制方法

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