WO2022133834A1 - 水箱组件、喷洒装置、可移动平台及水箱组件的控制方法 - Google Patents

水箱组件、喷洒装置、可移动平台及水箱组件的控制方法 Download PDF

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Publication number
WO2022133834A1
WO2022133834A1 PCT/CN2020/138729 CN2020138729W WO2022133834A1 WO 2022133834 A1 WO2022133834 A1 WO 2022133834A1 CN 2020138729 W CN2020138729 W CN 2020138729W WO 2022133834 A1 WO2022133834 A1 WO 2022133834A1
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WO
WIPO (PCT)
Prior art keywords
water tank
control valve
control
liquid
assembly
Prior art date
Application number
PCT/CN2020/138729
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English (en)
French (fr)
Inventor
孟祥�
舒展
农贵升
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/138729 priority Critical patent/WO2022133834A1/zh
Publication of WO2022133834A1 publication Critical patent/WO2022133834A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
    • A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
    • 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
    • A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
    • A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
    • 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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D7/00—Control of flow
    • G05D7/06—Control of flow characterised by the use of electric means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto

Definitions

  • the present application relates to the technical field of spraying equipment, and in particular, to a water tank assembly, a spraying device, a movable platform and a control method for the water tank assembly.
  • the water tank is one of the important loads for plant protection drone spraying. With the expansion of the drone's load, the capacity of the water tank is also expanding. The expansion of the water tank capacity will inevitably lead to more and more weight of the water tank. In order to facilitate users to plug and unplug the water tank and reduce the capacity of a single water tank, the plant protection drone with dual water tanks has emerged as the times require. However, the water tank assembly of the existing dual water tank plant protection drone has an unreasonable structure, it is difficult to accurately control the flow rate of the liquid flowing out of each water tank in the water tank assembly, and the practicability is insufficient.
  • the present application provides a water tank assembly, a spray device, a movable platform and a control method for the water tank assembly, aiming at controlling the flow rate of the liquid flowing out of each water tank in the water tank assembly.
  • an embodiment of the present application provides a water tank assembly of a movable platform, the movable platform includes a spray assembly and a control assembly, and the water tank assembly includes:
  • a connecting pipe used for mixing the liquids in the first water tank and the second water tank after being exported, and conveying the mixed liquids to the spray assembly
  • the first control valve and the second control valve are used to respectively control the flow rate of the liquid in the first water tank flowing to the connecting pipe and the flow rate of the liquid in the second water tank flowing to the connecting pipe in response to the control signal of the control assembly. flow.
  • an embodiment of the present application provides a spraying device for a movable platform, the spraying device comprising:
  • the spraying component is connected with the connecting pipe and is used for spraying the mixed liquid.
  • an embodiment of the present application provides a movable platform, including:
  • a spray assembly arranged on the movable platform body
  • a water tank assembly arranged on the movable platform body
  • a control assembly for controlling the flow of liquid in the first water tank of the water tank assembly to the connection pipe of the water tank assembly and the flow of liquid in the second water tank of the water tank assembly to the connection pipe; wherein , the water tank assembly includes:
  • a connecting pipe used for mixing the liquids in the first water tank and the second water tank after being exported, and conveying the mixed liquids to the spray assembly
  • the first control valve and the second control valve are used to respectively control the flow rate of the liquid in the first water tank flowing to the connecting pipe and the flow rate of the liquid in the second water tank flowing to the connecting pipe in response to the control signal of the control assembly. flow.
  • an embodiment of the present application provides a control method for a water tank assembly, which is used for a movable platform, the movable platform includes a movable platform body, a spray assembly and a control assembly, and the water tank assembly is provided on the movable platform. on the mobile platform body; the control method includes:
  • the water tank assembly including a connecting pipe, a first water tank and a second water tank;
  • the control signal is used to make the first control valve and the second control valve respectively control the flow of the liquid in the first water tank to the connection pipe and the flow of the liquid in the second water tank to the connection pipe. flow rate, so as to deliver the liquid flowing to the connecting pipe to the spraying assembly after the connecting pipe is mixed.
  • Embodiments of the present application provide a water tank assembly, a spraying device, a movable platform and a control method for the water tank assembly.
  • a first control valve of the water tank assembly can control the flow of liquid in the first water tank to the connecting pipe in response to a control signal of the control assembly.
  • the second control valve can control the flow of the liquid in the second water tank to the connecting pipe in response to the control signal of the control component, so as to control the mixing ratio of the liquid in the first water tank and the liquid in the second water tank in the connecting pipe, which is highly practical.
  • FIG. 1 is a schematic structural diagram of a conventional water tank assembly
  • FIG. 2 is a schematic structural diagram of a movable platform provided by an embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of a movable platform provided by an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of a water tank assembly provided by an embodiment of the present application.
  • FIG. 5 is a schematic flowchart of a control method of a water tank assembly provided by an embodiment of the present application.
  • movable platform body 1011, fuselage; 1012, arm; 1013, power system; 1014, propeller; 1015, power motor; 102, spraying device; 103, control assembly;
  • 60 connecting assembly; 61, one-way valve; 61a, first one-way valve; 61b, second one-way valve;
  • 200 a spray assembly
  • 201 a nozzle mechanism
  • 202 a catheter.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined as “first”, “second” may expressly or implicitly include one or more of said features. In the description of the present application, “plurality” means two or more, unless otherwise expressly and specifically defined.
  • the water tank is one of the important loads used for agricultural drone spraying.
  • the capacity of the water tank is also constantly expanding.
  • the expansion of the capacity of the water tank will inevitably lead to the heavier and heavier quality of the water tank.
  • agricultural drones with dual water tanks came into being.
  • the confluence of the double-tank liquids is realized through the principle of the connector.
  • the two water tanks 1001 are connected with the spraying assembly of the agricultural drone through the pipeline connector 1002 .
  • the water in the two water tanks 1001 is opened through the two one-way valves 1003 and merged together through the pipe connector 1002 to achieve communication. That is, the communication between each water tank 1001 and the pipeline connector 1002 is realized through the one-way valve 1003 .
  • the one-way valve 1003 corresponding to the water tank 1001 is closed, and the water in the water tank 1001 cannot flow out through the one-way valve 1003 .
  • the corresponding one-way valve 1003 When the water tank 1001 is placed on the pipeline connector 1002, the corresponding one-way valve 1003 is subjected to the pressure of the pipeline connector 1002, the corresponding one-way valve 1003 is opened, and the water flows from the water tank 1001 into the pipeline connector 1002.
  • the inventors of the present application have improved the water tank assembly, the spray device, the movable platform and the control method of the water tank assembly, so as to control the flow rate of the liquid flowing out of each water tank in the water tank assembly.
  • a movable platform 1000 provided by an embodiment of the present application includes a movable platform body 101 , a spraying device 102 and a control assembly 103 .
  • Spray device 102 includes tank assembly 100 and spray assembly 200 .
  • the spray assembly 200 and the water tank assembly 100 are both disposed on the movable platform body 101 .
  • the movable platform 1000 can be used for spraying liquids such as pesticides and water on agricultural products and forest trees in the agricultural industry.
  • the movable platform 1000 can move, rotate, and flip, and the movable platform body 101 can drive the spraying device 102 to move to different positions or different angles to perform spraying operations in a preset area.
  • the movable platform 1000 may include an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, or a robot, etc.; or the movable platform 1000 may be an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, or a robot, etc. in one form. One of them, in another form, is at least one of an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, or a robot.
  • the unmanned aerial vehicle can be a quad-rotor drone, a six-rotor drone, an eight-rotor drone, or a fixed-wing drone.
  • the movable platform 1000 is a plant protection drone and the spraying liquid is a medicinal liquid. It can be understood that the specific form of the movable platform 1000 is not limited to the plant protection drone, which is not limited here.
  • the movable platform body 101 includes a fuselage 1011 , an arm 1012 and a power system 1013 .
  • the power system 1013 may include one or more electronic governors (referred to as ESCs for short), one or more propellers 1014 , and one or more power motors 1015 corresponding to the one or more propellers 1014 .
  • the power motor 1015 is connected between the electronic governor and the propeller 1014 , and the power motor 1015 and the propeller 1014 are arranged on the arm 1012 .
  • the electronic governor is used for receiving the driving signal generated by the control assembly 103 and providing a driving current to the power motor 1015 according to the driving signal, so as to control the rotational speed of the power motor 1015 .
  • the power motor 1015 is used to drive the propeller 1014 to rotate, so as to provide power for the flight of the movable platform body 101 , and the power enables the movable platform body 101 to realize one or more degrees of freedom movement.
  • the movable platform body 101 can rotate about one or more axes of rotation.
  • the above-mentioned rotation axis may include at least one of a roll axis (roll axis), a pan axis (yaw axis), and a pitch axis (pitch axis).
  • the power motor 1015 may be a DC motor or an AC motor.
  • the power motor 1015 may be a brushless motor or a brushed motor.
  • the spray assembly 200 includes a water pump mechanism (not shown), a spray head mechanism 201 and a liquid conduit 202 .
  • the tank assembly 100 can communicate with the water pump mechanism. Both the water pump mechanism and the nozzle mechanism 201 are connected to the liquid conduit 202, so that the liquid pumped by the water pump mechanism can be transported to the nozzle mechanism 201 through the liquid pipe 202, and sprayed out through the nozzle mechanism 201, thereby realizing the spraying operation.
  • the number of spray head mechanisms 201 includes at least one, such as one, two, three or more, which is not limited herein.
  • control assembly 103 is used to control the movement of the movable platform body 101; and/or, to control the spraying operation of the spraying device 102. It should be understood that the control component 103 can control the movable platform body 101 and/or the spraying device 102 according to pre-programmed instructions, and can also control the movable platform body 101 and/or the spraying device 102 by responding to one or more control commands from the control terminal. and/or spray device 102 is controlled.
  • the water tank assembly 100 includes a first water tank 10 , a second water tank 20 , a connecting pipe 30 , a first control valve 40 and a second control valve 50 .
  • the connecting pipe 30 is used to lead out and mix the liquids in the first water tank 10 and the second water tank 20 , and deliver the mixed liquids to the spray assembly 200 .
  • the first control valve 40 and the second control valve 50 are used to respectively control the flow of the liquid in the first water tank 10 to the connecting pipe 30 and the flow of the liquid in the second water tank 20 to the connecting pipe 30 in response to the control signal of the control assembly 103 .
  • the first control valve 40 can respond to the control signal of the control assembly 103 to control the flow rate of the liquid in the first water tank 10 to the connecting pipe 30
  • the second control valve 50 can respond to the control signal of the control assembly 103.
  • the flow of the liquid in the second water tank 20 to the connecting pipe 30 controls the mixing ratio of the liquid in the first water tank 10 and the liquid in the second water tank 20 in the connecting pipe 30.
  • the spray assembly 200 is connected to the connecting pipe 30 . After the liquid in the first water tank 10 and the liquid in the second water tank 20 are mixed in the connecting pipe 30 , they can be transported to the spraying assembly 200 to perform the spraying operation.
  • control assembly 103 is used to send control signals to the first control valve 40 and the second control valve 50 of the water tank assembly 100 .
  • the control signal is used to make the first control valve 40 and the second control valve 50 respectively control the flow of the liquid in the first water tank 10 to the connecting pipe 30 and the flow of the liquid in the second water tank 20 to the connecting pipe 30, so that the flow to the connecting pipe After the liquid of 30 is mixed in the connecting pipe 30, it is delivered to the spray assembly 200.
  • the control assembly 103 can send control signals to the first control valve 40 and the second control valve 50 of the water tank assembly 100 .
  • the first control valve 40 and the second control valve 50 can respectively control the flow of the liquid in the first water tank 10 to the connecting pipe 30 and the flow of the liquid in the second water tank 20 to the connecting pipe 30 in response to the control signal of the control assembly 103, thereby controlling the two.
  • the mixing ratio of different liquids can be used to control the liquid in the first water tank 10 to the connecting pipe 30 and the flow of the liquid in the second water tank 20 to the connecting pipe 30 in response to the control signal of the control assembly 103, thereby controlling the two.
  • the first water tank 10 stores the medicinal solution A
  • the second water tank 20 stores the medicinal solution B
  • the medicinal solution A is different from the medicinal solution B.
  • the chemical liquid C sprayed from the spray unit 200 is a liquid including the chemical liquid A and the chemical liquid B mixed.
  • the control assembly 103 sends a first control signal and a second control signal to the first control valve 40 and the second control valve 50 respectively. After the first control valve 40 receives the first control signal, the first control valve 40 controls the flow of the medicinal solution A flowing from the first water tank 10 to the connecting pipe 30 in response to the first control signal.
  • the first control valve 40 responds to the second control signal to control the flow rate of the medicinal solution B flowing from the second water tank 20 to the connecting pipe 30, thereby controlling the medicinal solution A and the medicinal solution B
  • the mixing ratio in the connecting pipe 30 further controls the spraying parameters of the chemical liquid C sprayed from the spraying assembly 200 .
  • control signal sent by the control component 103 is used to adjust the opening of the first control valve 40 to control the flow of the liquid in the first water tank 10 to the connecting pipe 30 , and to adjust the opening of the second control valve 50 to The flow rate of the liquid in the second water tank 20 to the connecting pipe 30 is controlled.
  • the opening includes fully open, fully closed, and any other suitable opening size from fully closed to fully open.
  • the opening degrees of the first control valve 40 when the opening degrees of the first control valve 40 are different, the flow rate of the liquid in the first water tank 10 flowing to the connecting pipe 30 is also different.
  • the flow rate of the liquid in the first water tank 10 flowing to the connecting pipe 30 is Q1.
  • the opening degree of the first control valve 40 is half-open, the flow rate of the liquid in the first water tank 10 flowing to the connecting pipe 30 is Q2.
  • Q1 is greater than Q2. Therefore, by adjusting the opening degree of the first control valve 40 , the flow rate of the liquid in the first water tank 10 flowing to the connecting pipe 30 can be adjusted.
  • the relationship between the opening degree of the second control valve 50 and the flow rate is the same, and will not be repeated here.
  • the first control valve 40 adjusts the opening of the first control valve 40 in response to the control signal, so as to control the flow direction of the liquid in the first water tank 10 . Connect the flow of the pipe 30.
  • the second control valve 50 After the second control valve 50 receives the control signal sent by the control assembly 103 , the second control valve 50 adjusts the opening of the second control valve 50 in response to the control signal, thereby controlling the flow of the liquid in the second water tank 20 to the connecting pipe 30 .
  • control signal is used to adjust the opening of the first control valve 40 by adjusting the valve parameter of the first control valve 40 , and/or to adjust the opening of the second control valve 50 by adjusting the valve parameter of the second control valve 50 . opening.
  • the first control valve 40 adjusts the valve parameters of the first control valve 40 in response to the control signal, thereby adjusting the opening of the first control valve 40 .
  • the second control valve 50 After the second control valve 50 receives the control signal sent by the control assembly 103 , the second control valve 50 adjusts the valve parameters of the second control valve 50 in response to the control signal, thereby adjusting the opening of the second control valve 50 .
  • valve parameters include frequency and/or duty cycle.
  • valve parameters include frequency and duty cycle.
  • the opening degree of the first control valve 40 and the opening degree of the second control valve 50 can be controlled, thereby controlling The flow of the liquid in the first water tank 10 to the connecting pipe 30 and the flow of the liquid in the second water tank 20 to the connecting pipe 30 are controlled, thereby controlling the mixing ratio of the liquid in the first water tank 10 and the liquid in the second water tank 20 .
  • control assembly 103 is further configured to adjust the opening degree of the first control valve 40 and/or the second control valve 50 to be fully closed according to the information of the water tank.
  • the water tank information includes at least one of presence information and liquid storage of the first water tank 10 and/or the second water tank 20 , and the presence information includes whether the first water tank 10 and/or the second water tank 20 is connected to the connecting pipe 30 .
  • the presence information may be detected by a Hall sensor or an inductive switch.
  • the liquid storage amount can be detected by a liquid level gauge or the like.
  • control assembly 103 is configured to adjust the opening degree of the first control valve 40 to be fully closed according to at least one of the presence information of the first water tank 10 and the liquid storage volume.
  • the control assembly 103 is configured to adjust the opening degree of the second control valve 50 to be fully closed according to at least one of the presence information and the liquid storage amount of the second water tank 20 .
  • the opening degree of the first control valve 40 is adjusted to be fully closed. If the second water tank 20 is not connected to the connecting pipe 30, the opening degree of the second control valve 50 is adjusted to be fully closed.
  • the opening degree of the first control valve 40 is controlled to be fully closed, and the second water tank 40 is controlled to be fully closed.
  • the control valve 50 is opened, which can not only ensure the normal spraying operation of the movable platform 1000, but also prevent the liquid in the connecting pipe 30 from flowing out of the interface used for connecting with the first water tank 10 in the connecting pipe 30, thereby preventing the water tank assembly 100 from leaking.
  • the water tank assembly 100 of this embodiment can also prevent air from entering the connecting pipe 30 through the interface used for connecting with the first water tank 10 in the connecting pipe 30, preventing the water tank assembly 100 from entering air and affecting the spraying operation.
  • the first control valve 40 and the second control valve 50 are controlled to open.
  • the normal spraying operation of the movable platform 1000 can be ensured, and the liquid in the connecting pipe 30 or the liquid in the first water tank 10 can be prevented from flowing out from the interface in the connecting pipe 30 for connecting with the second water tank 20.
  • the water tank assembly 100 of this embodiment can also prevent air from entering the connecting pipe 30 through the interface used for connecting with the second water tank 20 in the connecting pipe 30, preventing the water tank assembly 100 from entering air and affecting the spraying operation.
  • the opening degree of the first control valve 40 is adjusted to be fully closed. If the liquid storage volume of the second water tank 20 is less than or equal to the second preset liquid volume, the opening degree of the second control valve 50 is adjusted to be fully closed.
  • the first preset liquid amount and the second preset liquid amount can be designed as any suitable values according to actual requirements, which are not limited herein.
  • the first preset liquid amount and the second preset liquid amount may be the same or different.
  • the first control is adjusted.
  • the opening of the valve 40 is fully closed, and the second control valve 50 is opened to prevent the air in the first water tank 10 from entering the connecting pipe 30 and causing the water tank assembly 100 to enter air.
  • the first control is adjusted.
  • the valve 40 is opened, and the opening degree of the second control valve 50 is fully closed, which prevents the air in the second water tank 20 from entering the connecting pipe 30 and causing the problem of air entering the water tank assembly 100 .
  • the movable platform 1000 usually has a certain inclination angle when flying.
  • the air in the second water tank 20 will enter the connecting pipe 30 and cause the problem of air intake of the water tank assembly 100 .
  • control assembly 103 is used when both the first water tank 10 and the second water tank 20 are connected to the connecting pipe 30, and the liquid storage volume of the first water tank 10 is greater than the first preset liquid volume and the storage volume of the second water tank 20.
  • the first control valve 40 and the second control valve 50 are controlled to open, so that both the first water tank 10 and the second water tank 20 are connected to the connecting pipe 30 to realize the spraying operation.
  • the connecting pipe 30 includes a first liquid outlet pipe 31 , a second liquid outlet pipe 32 and a mixing pipe 33 .
  • the first liquid outlet pipe 31 is used for communicating with the first water tank 10 .
  • the second liquid outlet pipe 32 is used for communicating with the second water tank 20 .
  • the mixing pipe 33 is used for mixing the liquid flowing out of the first liquid outlet pipe 31 and the liquid flowing out of the second liquid outlet pipe 32 , and conveying the mixed liquid to the spray assembly 200 .
  • one end of the first liquid outlet pipe 31 can be connected to the first water tank 10 , and the other end of the first liquid outlet pipe 31 can be connected to the mixing pipe 33 .
  • One end of the second liquid outlet pipe 32 can be connected to the second water tank 20 , and the other end of the second liquid outlet pipe 32 can be connected to the mixing pipe 33 .
  • the first liquid outlet pipe 31 and the second liquid outlet pipe 32 are respectively connected to different positions of the mixing pipe 33 .
  • the first control valve 40 is disposed in the first liquid outlet pipe 31
  • the second control valve 50 is disposed in the second liquid outlet pipe 32 .
  • first control valve 40 and the second control valve 50 may be arranged at any suitable position of the connecting pipe 30 .
  • first control valve 40 and the second control valve 50 are respectively provided in the first liquid outlet pipe 31 and the second liquid outlet pipe 32 .
  • both the first control valve 40 and the second control valve 50 are provided in the mixing pipe 33 .
  • the first control valve 40 is provided in the first liquid outlet pipe 31
  • the second control valve 50 is provided in the mixing pipe 33 .
  • the first control valve 40 is provided in the mixing pipe 33
  • the second control valve 50 is provided in the second liquid outlet pipe 32 and the like.
  • the first control valve 40 is used to control the flow rate of the liquid in the first water tank 10 flowing through the first liquid outlet pipe 31 to the mixing pipe 33 according to the control signal.
  • the second control valve 50 is used to control the flow rate of the liquid in the second water tank 20 flowing through the second liquid outlet pipe 32 to the mixing pipe 33 according to the control signal.
  • the liquid in the first tank 10 is different from the liquid in the second tank 20 .
  • the first control valve 40 can control the flow rate of the liquid in the first water tank 10 flowing to the mixing pipe 33 through the first liquid outlet pipe 31 in response to the control signal of the control assembly 103
  • the second control valve 50 can control the second control valve 50 in response to the control signal of the control assembly 103 .
  • the flow rate of the liquid in the water tank 20 flows to the mixing pipe 33 through the second liquid outlet pipe 32 , so as to control the mixing ratio of the liquid in the first water tank 10 and the liquid in the second water tank 20 .
  • the liquid in the first water tank 10 and the liquid in the second water tank 20 can be delivered to the spray assembly 200 after being mixed by the mixing pipe 33 .
  • the first water tank 10 and the second water tank 20 are detachably connected to the connecting pipe 30 respectively, so as to facilitate the replacement of the first water tank 10 and the second water tank 20 , or to facilitate the timely replenishment of the first water tank 10 and/or the liquid in the second tank 20.
  • the first water tank 10 is detachably connected to the first liquid outlet pipe 31 .
  • the second water tank 20 is detachably connected to the second liquid outlet pipe 32 .
  • the first control valve 40 and/or the second control valve 50 comprise electronically controlled valves.
  • both the first control valve 40 and the second control valve 50 are electrically controlled valves.
  • the first control valve 40 and the second control valve 50 can automatically control the flow of the liquid in the first water tank 10 to the connecting pipe 30 and the flow of the liquid in the second water tank 20 to the connecting pipe 30 in response to the control signal of the control assembly 103, respectively, Therefore, the flow rate and mixing ratio of the liquid in the first water tank 10 and the liquid in the second water tank 20 are automatically controlled, and the control accuracy of the flow rate and the mixing ratio is improved.
  • first control valve 40 and/or the second control valve 50 may also be manual valves.
  • the electronically controlled valve includes a solenoid valve or an electric valve.
  • the solenoid valve includes a direct-acting solenoid valve, a step-by-step direct-acting solenoid valve, a pilot-operated solenoid valve, and the like.
  • the first water tank 10 and the second water tank 20 are respectively provided with connecting components 60 , and the first water tank 10 or the second water tank 20 is connected to the connecting pipe 30 through the connecting components 60 .
  • connection assembly 60 corresponding to the first water tank 10 may be an integral structure, fixed connection or detachable connection with the first water tank 10 .
  • the connecting assembly 60 of the first water tank 10 is detachably connected to the first liquid outlet pipe 31 , so as to realize the detachable connection between the first water tank 10 and the connecting pipe 30 .
  • the connecting assembly 60 of the second water tank 20 is detachably connected to the second liquid outlet pipe 32 , so as to realize the detachable connection of the second water tank 20 and the connecting pipe 30 .
  • connection assembly 60 includes a one-way valve 61 .
  • the one-way valve 61 is used to control the first water tank 10 and/or the second water tank 20 to communicate with the connecting pipe 30 .
  • connection assembly 60 includes a first one-way valve 61a and a second one-way valve 61b.
  • the first one-way valve 61 a is used to control the communication between the first water tank 10 and the first liquid outlet pipe 31 .
  • the second one-way valve 61b is used to control the second water tank 20 to communicate with the second liquid outlet pipe 32 .
  • the first one-way valve 61a on the first water tank 10 is closed, and the liquid in the first water tank 10 cannot flow out through the first one-way valve 61a.
  • the first one-way valve 61a on the first water tank 10 is subjected to the pressure from the interface of the first liquid outlet pipe 31, and the first one-way valve 61a is opened, The liquid in the first water tank 10 can flow out through the first one-way valve 61 a and enter the first liquid outlet pipe 31 .
  • the second one-way valve 61b on the second water tank 20 is closed, and the liquid in the second water tank 20 cannot flow out through the second one-way valve 61b.
  • the second one-way valve 61b on the second water tank 20 is subjected to the pressure from the interface of the second liquid outlet pipe 32, the second one-way valve 61b is opened, and the first one-way valve 61b is opened.
  • the liquid in the second water tank 20 can flow out through the second one-way valve 61b and enter the second liquid outlet pipe 32 .
  • FIG. 5 is a schematic flowchart of a control method for a water tank assembly provided by an embodiment of the present application.
  • the control method can be applied to the water tank assembly or movable platform in any of the above embodiments, for controlling the flow rate of the liquid in the first water tank to the connecting pipe when the connecting pipe is connected with the first water tank and the second water tank, and Processes such as controlling the flow rate of the liquid in the second water tank to the connecting pipe.
  • control method of the water tank assembly includes step S110.
  • Step S110 Send a control signal to the first control valve and the second control valve of the water tank assembly.
  • the water tank assembly includes a connecting pipe, a first water tank and a second water tank.
  • the control signal is used to make the first control valve and the second control valve respectively control the flow of the liquid in the first water tank to the connection pipe and the flow of the liquid in the second water tank to the connection pipe. flow rate, so as to deliver the liquid flowing to the connecting pipe to the spraying assembly after the connecting pipe is mixed.
  • control method can be implemented by a processor, or can be implemented by a control component constructed of multiple electronic devices.
  • control signal is used to adjust the opening of the first control valve to control the flow of the liquid in the first tank to the connecting pipe, and to adjust the opening of the second control valve So as to control the flow of the liquid in the second water tank to the connecting pipe.
  • control signal is used to adjust the opening degree of the first control valve by adjusting the valve parameter of the first control valve, and/or adjust the valve parameter of the second control valve to adjust the opening degree of the first control valve. the opening of the second control valve.
  • valve parameters include frequency and/or duty cycle.
  • the method further includes: adjusting the opening of the first control valve and/or the second control valve to be fully closed according to water tank information; the water tank information includes the first water tank and/or all At least one of the presence information and the liquid storage volume of the second water tank, the presence information includes whether the first water tank and/or the second water tank are connected to the connecting pipe.
  • the adjusting the opening degree of the first control valve and/or the second control valve to be fully closed according to the water tank information includes:
  • first water tank is not connected to the connecting pipe, adjust the opening of the first control valve to be fully closed; if the second water tank is not connected to the connecting pipe, adjust the second control valve The opening of the valve is fully closed.
  • the adjusting the opening degree of the first control valve and/or the second control valve to be fully closed according to the water tank information includes:
  • liquid storage volume of the first water tank is less than or equal to the first preset liquid volume, adjust the opening of the first control valve to be fully closed; if the liquid storage volume of the second water tank is less than or equal to the second preset liquid volume Set the liquid volume and adjust the opening of the second control valve to be fully closed.
  • the terms “installed”, “connected” and “connected” should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection connected, or integrally connected. It can be a mechanical connection or an electrical connection. It can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two elements or the interaction relationship between the two elements.
  • installed should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection connected, or integrally connected. It can be a mechanical connection or an electrical connection. It can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two elements or the interaction relationship between the two elements.
  • a first feature "on” or “under” a second feature may include direct contact between the first and second features, or may include the first and second features Not directly but through additional features between them.
  • the first feature being “above”, “over” and “above” the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature is “below”, “below” and “below” the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.

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Abstract

一种水箱组件(100)包括第一水箱(10)、第二水箱(20)、连接管(30)、第一控制阀(40)和第二控制阀(50)；连接管(30)用于将第一水箱(10)与第二水箱(20)中的液体导出后混合，并将混合后的液体向喷洒组件(200)输送；第一控制阀(40)和第二控制阀(50)，用于响应控制组件(103)的控制信号分别控制第一水箱(10)中液体流向连接管(30)的流量和第二水箱(20)中液体流向连接管(30)的流量。还涉及喷洒装置(102)、可移动平台(1000)及水箱组件(100)的控制方法。

Description

水箱组件、喷洒装置、可移动平台及水箱组件的控制方法 技术领域
本申请涉及喷洒设备技术领域，尤其涉及一种水箱组件、喷洒装置、可移动平台及水箱组件的控制方法。
背景技术
水箱是用于植保无人机喷洒的重要负载之一，随着无人机载重的扩大，水箱的容量也在不断的扩大。水箱容量的扩大，必然会导致水箱的质量越来越重，为了方便用户插拔水箱，并减轻单个水箱的容量，双水箱的植保无人机应运而生。然而，现有双水箱的植保无人机的水箱组件，结构不够合理，难以精准控制水箱组件中各水箱流出液体的流量，实用性不足。
发明内容
本申请提供了一种水箱组件、喷洒装置、可移动平台及水箱组件的控制方法，旨在实现控制水箱组件中各水箱流出液体的流量。
第一方面，本申请实施例提供了一种可移动平台的水箱组件，所述可移动平台包括喷洒组件和控制组件，所述水箱组件包括：
第一水箱和第二水箱；
连接管，用于将所述第一水箱与所述第二水箱中的液体导出后混合，并将混合后的液体向所述喷洒组件输送；
第一控制阀和第二控制阀，用于响应所述控制组件的控制信号分别控制所述第一水箱中液体流向所述连接管的流量和所述第二水箱中液体流向所述连接管的流量。
第二方面，本申请实施例提供了一种喷洒装置，用于可移动平台，所述喷洒装置包括：
上述任一项所述的水箱组件；以及
喷洒组件，与所述连接管连接，用于喷洒所述混合后的液体。
第三方面，本申请实施例提供了一种可移动平台，包括：
可移动平台本体；
喷洒组件，设于所述可移动平台本体上；
水箱组件，设于所述可移动平台本体上；
控制组件，所述控制组件用于控制所述水箱组件的第一水箱中液体流向所述水箱组件的连接管的流量和所述水箱组件的第二水箱中液体流向所述连接管的流量；其中，所述水箱组件包括：
第一水箱和第二水箱；
连接管，用于将所述第一水箱与所述第二水箱中的液体导出后混合，并将混合后的液体向所述喷洒组件输送；
第一控制阀和第二控制阀，用于响应所述控制组件的控制信号分别控制所述第一水箱中液体流向所述连接管的流量和所述第二水箱中液体流向所述连接管的流量。
第四方面，本申请实施例提供了一种水箱组件的控制方法，用于可移动平台，所述可移动平台包括可移动平台本体、喷洒组件和控制组件，所述水箱组件设于所述可移动平台本体上；所述控制方法包括：
向所述水箱组件的第一控制阀和第二控制阀发送控制信号，所述水箱组件包括连接管、第一水箱和第二水箱；
所述控制信号用于使所述第一控制阀和所述第二控制阀分别控制所述第一水箱中液体流向所述连接管的流量和所述第二水箱中液体流向所述连接管的流量，以将流向所述连接管的液体在所述连接管混合后，向所述喷洒组件输送。
本申请实施例提供了一种水箱组件、喷洒装置、可移动平台及水箱组件的控制方法，该水箱组件的第一控制阀能够响应控制组件的控制信号控制第一水箱中液体流向连接管的流量，第二控制阀能够响应控制组件的控制信号控制第二水箱中液体流向连接管的流量，从而控制第一水箱中液体和第二水箱中液体在连接管中混合的混合比例，实用性强。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请实施例的公开内容。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是传统的一种水箱组件的结构示意图；
图2是本申请实施例提供的一种可移动平台的结构示意图；
图3是本申请实施例提供的一种可移动平台的结构示意图；
图4是本申请实施例提供的一种水箱组件的结构示意图；
图5是本申请实施例提供的一种水箱组件的控制方法的流程示意图。
附图标记说明：
1000、可移动平台；
101、可移动平台本体；1011、机身；1012、机臂；1013、动力系统；1014、螺旋桨；1015、动力电机；102、喷洒装置；103、控制组件；
100、水箱组件；
10、第一水箱；20、第二水箱；
30、连接管；31、第一出液管；32、第二出液管；33、混合管；
40、第一控制阀；50、第二控制阀；
60、连接组件；61、单向阀；61a、第一单向阀；61b、第二单向阀；
200、喷洒组件；201、喷头机构；202、导液管。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，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，都属于本申请保护的范围。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、 “右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，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”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
还应当理解，在本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。
还应当进一步理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
本申请的发明人发现，水箱是用于农业无人机喷洒的重要负载之一，随着农业无人机载重的扩大，水箱的容量也在不断的扩大。水箱容量的扩大，必然会导致水箱的质量越来越重。为了方便用户插拔水箱，并减轻单个水箱的容量，双水箱的农业无人机应运而生。
传统的双水箱的农业无人机，双水箱液体的合流，是通过连通器的原理实现。请参阅图1，具体地，两个水箱1001均通过管道连通器1002与农业无人机的喷洒组件连接。两个水箱1001的水通过两个单向阀1003打开并通过管道连通器1002汇合在一起，实现连通。即每个水箱1001与管道连通器1002的连通是通过单向阀1003实现的。具体地，当水箱1001离开管道连通器1002时，水箱1001对应的单向阀1003关闭，水箱1001内的水不能通过单向阀1003流出。当水箱1001放在管道连通器1002上时，对应的单向阀1003受到了管道连通器1002的压力，对应的单向阀1003打开，水从水箱1001流出进入管道连通器1002内。
然而，现有的双水箱的农业无人机，难以控制各水箱流向连接管的流量，限制了农业无人机的应用。
为此，本申请的发明人对水箱组件、喷洒装置、可移动平台及水箱组件的控制方法进行了改进，以控制水箱组件中各水箱流出液体的流量。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图2和图3，本申请实施例提供的一种可移动平台1000包括可移动平台本体101、喷洒装置102和控制组件103。喷洒装置102包括水箱组件100和喷洒组件200。喷洒组件200和水箱组件100均设于可移动平台本体101上。该可移动平台1000可以用于农耕产业中对农产品、林木等进行农药、水等液体喷洒作业。
可移动平台1000可以实现移动、转动、翻转等动作，可移动平台本体101可以带动喷洒装置102运动到不同的位置或者不同的角度以在预设区域内进行喷洒作业。可移动平台1000可以包括无人飞行器、无人驾驶车、无人驾驶船或者机器人等；或者可移动平台1000在一种形态下为无人飞行器、无人驾驶车、无人驾驶船或者机器人等中的一种，在另外的形态下为无人飞行器、无人驾驶车、无人驾驶船或者机器人等中的至少一种。无人飞行器可以为四旋翼无人机、六旋翼无人机、八旋翼无人机，也可以是固定翼无人机。
下面以可移动平台1000是植保无人机、喷洒液体是药液为例进行说明。可以理解，可移动平台1000的具体形式不限于植保无人机，在此不作限制。
请参阅图2，在一些实施例中，可移动平台本体101包括机身1011、机臂1012和动力系统1013。动力系统1013可以包括一个或多个电子调速器(简称为电调)、一个或多个螺旋桨1014以及与一个或多个螺旋桨1014相对应的一个或多个动力电机1015。其中，动力电机1015连接在电子调速器与螺旋桨1014之间，动力电机1015和螺旋桨1014设置在机臂1012上。电子调速器用于接收控制组件103产生的驱动信号，并根据驱动信号提供驱动电流给动力电机1015，以控制动力电机1015的转速。动力电机1015用于驱动螺旋桨1014旋转，从而为可移动平台本体101的飞行提供动力，该动力使得可移动平台本体101能够实现一个或多个自由度的运动。在某些实施例中，可移动平台本体101可以围绕一个或多个旋转轴旋转。例如，上述旋转轴可以包括横滚轴(roll轴)、航向轴(yaw轴)、俯仰轴(pitch轴)中的至少一个。应理解，动力电机1015可以是直流电机，也可以交流电机。另外，动力电机1015可以是无刷电机，也可以是 有刷电机。
请参阅图2，在一些实施例中，喷洒组件200包括水泵机构(图未示)、喷头机构201和导液管202。水箱组件100能够与水泵机构连通。水泵机构和喷头机构201均连接于导液管202，如此水泵机构泵出的液体能够通过导液管202输送至喷头机构201，并经喷头机构201喷出，从而实现喷洒作业。
示例性地，喷头机构201的数量包括至少一个，比如为一个、两个、三个或者更多，在此不作限制。
在一些实施例中，控制组件103用于控制可移动平台本体101的移动；和/或，控制喷洒装置102喷洒作业。应理解，控制组件103可以按照预先编好的程序指令对可移动平台本体101和/或喷洒装置102进行控制，也可以通过响应来自控制终端的一个或多个控制指令对可移动平台本体101和/或喷洒装置102进行控制。
请参阅图4，在一些实施例中，水箱组件100包括第一水箱10、第二水箱20、连接管30、第一控制阀40和第二控制阀50。连接管30用于将第一水箱10与第二水箱20中的液体导出后混合，并将混合后的液体向喷洒组件200输送。第一控制阀40和第二控制阀50用于响应控制组件103的控制信号分别控制第一水箱10中液体流向连接管30的流量和第二水箱20中液体流向连接管30的流量。
上述实施例的水箱组件100，第一控制阀40能够响应控制组件103的控制信号控制第一水箱10中液体流向连接管30的流量，第二控制阀50能够响应控制组件103的控制信号控制第二水箱20中液体流向连接管30的流量，从而控制第一水箱10中液体和第二水箱20中液体在连接管30中的混合比例，结构设计简单、合理，实用性强。
示例性地，喷洒组件200与连接管30连接。第一水箱10中的液体和第二水箱20中的液体在连接管30中混合后，能够输送至喷洒组件200，从而进行喷洒作业。
在一些实施例中，控制组件103用于向水箱组件100的第一控制阀40和第二控制阀50发送控制信号。该控制信号用于使第一控制阀40和第二控制阀50分别控制第一水箱10中液体流向连接管30的流量和第二水箱20中液体流向连接管30的流量，以将流向连接管30的液体在连接管30混合后，向喷洒组件 200输送。
示例性地，当第一水箱10和第二水箱20分别储存有不同液体，第一水箱10中的液体和第二水箱20中的液体需要在连接管30混合后再由喷洒组件200喷出时，控制组件103能够向水箱组件100的第一控制阀40和第二控制阀50发送控制信号。第一控制阀40和第二控制阀50能够响应控制组件103的控制信号分别控制第一水箱10中液体流向连接管30的流量和第二水箱20中液体流向连接管30的流量，从而控制两种不同液体的混合比例。
比如，第一水箱10储存有药液A，第二水箱20储存有药液B，药液A与药液B不同。从喷洒组件200喷出的药液C为由包括药液A和药液B混合而成的液体。当可移动平台1000需要喷洒药液C时，控制组件103向第一控制阀40和第二控制阀50分别发送发送第一控制信号和第二控制信号。第一控制阀40接收到第一控制信号后，第一控制阀40响应该第一控制信号控制从第一水箱10流向连接管30的药液A的流量。第二控制阀50接收到第二控制信号后，第一控制阀40响应该第二控制信号控制从第二水箱20流向连接管30的药液B的流量，从而控制药液A和药液B在连接管30内的混合比例，进而控制从喷洒组件200喷出的药液C的喷洒参数。
在一些实施例中，控制组件103发送的控制信号用于调节第一控制阀40的开度以控制第一水箱10中液体流向连接管30的流量，以及调节第二控制阀50的开度以控制第二水箱20中液体流向连接管30的流量。
示例性地，开度包括全开、全闭以及全闭至全开中任意其他合适的开口大小。
可以理解地，第一控制阀40的开度不同时，第一水箱10中液体流向连接管30的流量大小也不同。比如，第一控制阀40的开度为全开时，第一水箱10中液体流向连接管30的流量为Q1。第一控制阀40的开度为半开时，第一水箱10中液体流向连接管30的流量为Q2。Q1大于Q2。因而，可以通过调节第一控制阀40的开度，调节第一水箱10中液体流向连接管30的流量。第二控制阀50的开度与流量的关系同理，在此不再赘述。
示例性地，第一控制阀40接收到控制组件103发送的控制信号后，第一控制阀40响应该控制信号，调节第一控制阀40的开度，从而能够控制第一水箱10中液体流向连接管30的流量。
第二控制阀50接收到控制组件103发送的控制信号后，第二控制阀50响应控制信号调节第二控制阀50的开度，从而控制第二水箱20中液体流向连接管30的流量。
在一些实施例中，控制信号用于通过调节第一控制阀40的阀门参数调节第一控制阀40的开度，和/或通过调节第二控制阀50的阀门参数调节第二控制阀50的开度。
示例性地，第一控制阀40接收到控制组件103发送的控制信号后，第一控制阀40响应该控制信号调节第一控制阀40的阀门参数，从而调节第一控制阀40的开度。
第二控制阀50接收到控制组件103发送的控制信号后，第二控制阀50响应该控制信号调节第二控制阀50的阀门参数，从而调节第二控制阀50的开度。
示例性地，阀门参数包括频率和/或占空比。
比如，阀门参数包括频率和占空比。通过控制第一控制阀40的频率和占空比，以及控制第二控制阀50的频率和占空比，可以控制第一控制阀40的开度和第二控制阀50的开度，从而控制第一水箱10中液体流向连接管30的流量以及控制第二水箱20中液体流向连接管30的流量，进而控制第一水箱10中液体和第二水箱20中液体的混合比例。
在一些实施例中，控制组件103还用于根据水箱信息调节第一控制阀40和/或第二控制阀50的开度为全闭。水箱信息包括第一水箱10和/或第二水箱20的在位信息和储液量中的至少一个，在位信息包括第一水箱10和/或第二水箱20是否连接在连接管30上。
示例性地，在位信息可以通过霍尔传感器或者感应开关等进行检测。
示例性地，储液量可以通过液位计等进行检测。
示例性地，控制组件103用于根据第一水箱10的在位信息和储液量中的至少一个，调节第一控制阀40的开度为全闭。控制组件103用于根据第二水箱20的在位信息和储液量中的至少一个，调节第二控制阀50的开度为全闭。
在一些实施例中，若第一水箱10未连接在连接管30上，调节第一控制阀40的开度为全闭。若第二水箱20未连接在连接管30上，调节第二控制阀50的开度为全闭。
示例性地，在喷洒作业过程中，第一水箱10未连接在连接管30上、第二 水箱20连接在连接管30上时，控制第一控制阀40的开度为全闭、控制第二控制阀50打开，如此既能够保证可移动平台1000正常喷洒作业，又能够防止连接管30内的液体从连接管30中用于与第一水箱10连接的接口流出，从而防止水箱组件100发生漏水。此外，本实施例的水箱组件100，也能够防止空气经连接管30中用于与第一水箱10连接的接口进入连接管30内，防止水箱组件100进空气而影响喷洒作业的问题。
示例性地，在喷洒作业过程中，当第一水箱10连接在连接管30上、第二水箱20未连接在连接管30上时，控制第一控制阀40打开、第二控制阀50的开度为全闭，如此既能够保证可移动平台1000正常喷洒作业，又能够防止连接管30内的液体或者第一水箱10中的液体从连接管30中用于与第二水箱20连接的接口流出，从而防止水箱组件100发生漏水。此外，本实施例的水箱组件100，也能够防止空气经连接管30中用于与第二水箱20连接的接口进入连接管30内，防止水箱组件100进空气而影响喷洒作业的问题。
在一些实施例中，若第一水箱10的储液量小于或者等于第一预设液量，调节第一控制阀40的开度为全闭。若第二水箱20的储液量小于或者等于第二预设液量，调节第二控制阀50的开度为全闭。
第一预设液量和第二预设液量可以根据实际需求设计为任意合适的数值，在此不作限制。第一预设液量和第二预设液量可以相同，也可以不同。
示例性地，在喷洒作业过程中，当第一水箱10的储液量小于或者等于第一预设液量，第二水箱20的储液量大于第二预设液量时，调节第一控制阀40的开度为全闭、第二控制阀50打开，防止第一水箱10内的空气进入连接管30而造成水箱组件100进空气。
示例性地，在喷洒作业过程中，当第一水箱10的储液量大于第一预设液量，第二水箱20的储液量小于或者等于第二预设液量时，调节第一控制阀40打开、第二控制阀50的开度为全闭，防止第二水箱20内的空气进入连接管30而造成水箱组件100进空气的问题。
比如，可移动平台1000喷洒作业时，可移动平台1000飞行时通常会存在一定的倾角。当第一水箱10有液体、第二水箱20无液体时，若可移动平台1000存在一定倾角，则第二水箱20中的空气会进入连接管30而造成水箱组件100进空气的问题。
示例性地，控制组件103用于当第一水箱10和第二水箱20均连接在连接管30上，且第一水箱10的储液量大于第一预设液量、第二水箱20的储液量大于第二预设液量时，控制第一控制阀40和第二控制阀50打开，从而使得第一水箱10和第二水箱20均连通于连接管30，以实现喷洒作业。
请参阅图4，连接管30包括第一出液管31、第二出液管32和混合管33。第一出液管31用于与第一水箱10连通。第二出液管32用于与第二水箱20连通。混合管33用于混合第一出液管31流出的液体及第二出液管32流出的液体，并将混合后的液体向喷洒组件200输送。
示例性地，第一出液管31的一端能够与第一水箱10连接，第一出液管31的另一端与混合管33连接。第二出液管32的一端能够与第二水箱20连接，第二出液管32的另一端与混合管33连接。第一出液管31和第二出液管32分别连接在混合管33的不同位置。
请参阅图4，第一控制阀40设置于第一出液管31，第二控制阀50设置于第二出液管32。
可以理解地，第一控制阀40和第二控制阀50可以设置于连接管30的任意合适位置。比如，第一控制阀40和第二控制阀50分别设于第一出液管31和第二出液管32。又如，第一控制阀40和第二控制阀50均设于混合管33。再如，第一控制阀40设于第一出液管31，第二控制阀50设于混合管33。例如，第一控制阀40设于混合管33，第二控制阀50设于第二出液管32等。
在一些实施例中，第一控制阀40用于根据控制信号控制第一水箱10中液体经由第一出液管31流向混合管33的流量。第二控制阀50用于根据控制信号，控制第二水箱20中液体经由第二出液管32流向混合管33的流量。
示例性地，第一水箱10中液体与第二水箱20中液体不同。第一控制阀40能够响应控制组件103的控制信号控制第一水箱10中液体经由第一出液管31流向混合管33的流量，第二控制阀50能够响应控制组件103的控制信号控制第二水箱20中液体经由第二出液管32流向混合管33的流量，从而控制第一水箱10中液体与第二水箱20中液体的混合比例。第一水箱10中的液体和第二水箱20中的液体在混合管33混合后能够输送至喷洒组件200。
请参阅图4，在一些实施例中，第一水箱10和第二水箱20分别与连接管30可拆卸连接，以方便更换第一水箱10和第二水箱20，或者，便于及时补充 第一水箱10和/或第二水箱20中的液体。示例性地，第一水箱10与第一出液管31可拆卸连接。第二水箱20与第二出液管32可拆卸连接。
在一些实施例中，第一控制阀40和/或第二控制阀50包括电控阀。
示例性地，第一控制阀40和第二控制阀50均为电控阀。如此，第一控制阀40和第二控制阀50能够自动响应控制组件103的控制信号分别控制第一水箱10中液体流向连接管30的流量和第二水箱20中液体流向连接管30的流量，从而自动控制第一水箱10中液体和第二水箱20中液体的流量和混合比例，提高流量和混合比例的控制准确度。
在其他实施例中，第一控制阀40和/或第二控制阀50也可以是手动阀。
在一些实施例中，电控阀包括电磁阀或者电动阀。示例性地，电磁阀包括直动式电磁阀、分步直动式电磁阀或者先导式电磁阀等。
在一些实施例中，第一水箱10和第二水箱20上分别设有连接组件60，第一水箱10或者第二水箱20通过连接组件60与连接管30连接。
示例性地，第一水箱10对应的连接组件60可以与第一水箱10为一体结构、固定连接或者可拆卸连接。
请参阅图4，示例性地，第一水箱10的连接组件60与第一出液管31可拆卸连接，从而实现第一水箱10与连接管30的可拆卸连接。第二水箱20的连接组件60与第二出液管32可拆卸连接，从而实现第二水箱20与连接管30的可拆卸连接。
请参阅图4，连接组件60包括单向阀61。单向阀61用于控制第一水箱10和/或第二水箱20连通于连接管30。
示例性地，连接组件60包括第一单向阀61a和第二单向阀61b。第一单向阀61a用于控制第一水箱10连通于第一出液管31。第二单向阀61b用于控制第二水箱20连通于第二出液管32。
示例性地，当第一水箱10离开第一出液管31时，第一水箱10上的第一单向阀61a关闭，第一水箱10中的液体不能通过第一单向阀61a流出。当第一水箱10放在第一出液管31上时，第一水箱10上的第一单向阀61a受到了来自第一出液管31的接口的压力，第一单向阀61a打开，第一水箱10中的液体能够通过第一单向阀61a流出而进入第一出液管31。
当第二水箱20离开第二出液管32时，第二水箱20上的第二单向阀61b 关闭，第二水箱20中的液体不能通过第二单向阀61b流出。当第二水箱20放在第二出液管32上时，第二水箱20上的第二单向阀61b受到来自第二出液管32的接口的压力，第二单向阀61b打开，第二水箱20中液体能够通过第二单向阀61b流出而进入第二出液管32。
请结合前述实施例参阅图5，图5是本申请实施例提供的一种水箱组件的控制方法的流程示意图。所述控制方法可以应用在上述任一个实施例中的水箱组件或可移动平台中，用于在连接管连接有第一水箱和第二水箱时控制第一水箱中液体流至连接管的流量以及控制第二水箱中液体流至连接管的流量等过程。
如图5所示，本申请实施例的水箱组件的控制方法包括步骤S110。
步骤S110、向所述水箱组件的第一控制阀和第二控制阀发送控制信号。
所述水箱组件包括连接管、第一水箱和第二水箱。
所述控制信号用于使所述第一控制阀和所述第二控制阀分别控制所述第一水箱中液体流向所述连接管的流量和所述第二水箱中液体流向所述连接管的流量，以将流向所述连接管的液体在所述连接管混合后，向所述喷洒组件输送。
可以理解地，所述控制方法的步骤可以由处理器实现，也可以由多个电子器件搭建的控制组件实现。
在一些实施例中，所述控制信号用于调节所述第一控制阀的开度以控制所述第一水箱中液体流向所述连接管的流量，以及调节所述第二控制阀的开度以控制所述第二水箱中液体流向所述连接管的流量。
在一些实施例中，所述控制信号用于通过调节所述第一控制阀的阀门参数调节所述第一控制阀的开度，和/或通过调节所述第二控制阀的阀门参数调节所述第二控制阀的开度。
在一些实施例中，所述阀门参数包括：频率和/或占空比。
在一些实施例中，所述方法还包括：根据水箱信息调节所述第一控制阀和/或第二控制阀的开度为全闭；所述水箱信息包括所述第一水箱和/或所述第二水箱的在位信息和储液量中的至少一个，所述在位信息包括所述第一水箱和/或所述第二水箱是否连接在所述连接管上。
在一些实施例中，所述根据水箱信息调节所述第一控制阀和/或第二控制阀的开度为全闭，包括：
若所述第一水箱未连接在所述连接管上，调节所述第一控制阀的开度为全 闭；若所述第二水箱未连接在所述连接管上，调节所述第二控制阀的开度为全闭。
在一些实施例中，所述根据水箱信息调节所述第一控制阀和/或第二控制阀的开度为全闭，包括：
若所述第一水箱的储液量小于或者等于第一预设液量，调节所述第一控制阀的开度为全闭；若所述第二水箱的储液量小于或者等于第二预设液量，调节所述第二控制阀的开度为全闭。
本申请实施例提供的控制方法的具体原理和实现方式均与前述实施例的水箱组件类似，此处不再赘述。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接。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，可以根据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。
上文的公开提供了许多不同的实施方式或例子用来实现本申请的不同结构。为了简化本申请的公开，上文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本申请。此外，本申请可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本申请提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
在本说明书的描述中，参考术语“一个实施方式”、“一些实施方式”、 “示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合实施方式或示例描述的具体方法步骤、特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。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方式或示例。而且，描述的具体方法步骤、特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (35)

  1. 一种可移动平台的水箱组件，其特征在于，所述可移动平台包括喷洒组件和控制组件，所述水箱组件包括：
    第一水箱和第二水箱；
    连接管，用于将所述第一水箱与所述第二水箱中的液体导出后混合，并将混合后的液体向所述喷洒组件输送；
    第一控制阀和第二控制阀，用于响应所述控制组件的控制信号分别控制所述第一水箱中液体流向所述连接管的流量和所述第二水箱中液体流向所述连接管的流量。
  2. 根据权利要求1所述的水箱组件，其特征在于，所述连接管包括用于与所述第一水箱连通的第一出液管、用于与所述第二水箱连通的第二出液管和用于混合所述第一出液管流出的液体及所述第二出液管流出的液体并将混合后的液体向所述喷洒组件输送的混合管。
  3. 根据权利要求2所述的水箱组件，其特征在于，所述第一控制阀设置于所述第一出液管，所述第二控制阀设置于所述第二出液管。
  4. 根据权利要求2或3所述的水箱组件，其特征在于，所述第一控制阀用于根据所述控制信号控制所述第一水箱中液体经由所述第一出液管流向所述混合管的流量；以及所述第二控制阀用于根据所述控制信号，控制所述第二水箱中液体经由所述第二出液管流向所述混合管的流量。
  5. 根据权利要求1-4任一项所述的水箱组件，其特征在于，所述第一水箱和所述第二水箱分别与所述连接管可拆卸连接。
  6. 根据权利要求1-5任一项所述的水箱组件，其特征在于，所述第一控制阀和/或所述第二控制阀包括电控阀。
  7. 根据权利要求6所述的水箱组件，其特征在于，所述电控阀包括电磁阀或者电动阀。
  8. 根据权利要求1-7任一项所述的水箱组件，其特征在于，所述第一水箱和第二水箱上分别设有连接组件，所述第一水箱或者所述第二水箱通过所述连接组件与所述连接管连接。
  9. 根据权利要求8所述的水箱组件，其特征在于，所述连接组件包括：
    单向阀，所述单向阀用于控制所述第一水箱和/或所述第二水箱连通于所述连接管。
  10. 根据权利要求1-9任一项所述的水箱组件，其特征在于，所述可移动平台包括无人飞行器、无人驾驶车、无人驾驶船或者机器人。
  11. 一种喷洒装置，其特征在于，用于可移动平台，所述喷洒装置包括：
    权利要求1-10任一项所述的水箱组件；以及
    喷洒组件，与所述连接管连接，用于喷洒所述混合后的液体。
  12. 一种可移动平台，其特征在于，包括：
    可移动平台本体；
    喷洒组件，设于所述可移动平台本体上；
    水箱组件，设于所述可移动平台本体上；
    控制组件，所述控制组件用于控制所述水箱组件的第一水箱中液体流向所述水箱组件的连接管的流量和所述水箱组件的第二水箱中液体流向所述连接管的流量；其中，所述水箱组件包括：
    第一水箱和第二水箱；
    连接管，用于将所述第一水箱与所述第二水箱中的液体导出后混合，并将混合后的液体向所述喷洒组件输送；
    第一控制阀和第二控制阀，用于响应所述控制组件的控制信号分别控制所述第一水箱中液体流向所述连接管的流量和所述第二水箱中液体流向所述连接管的流量。
  13. 根据权利要求12所述的可移动平台，其特征在于，所述连接管包括用于与所述第一水箱连通的第一出液管、用于与所述第二水箱连通的第二出液管和用于混合所述第一出液管流出的液体及所述第二出液管流出的液体并将混合后的液体向所述喷洒组件输送的混合管。
  14. 根据权利要求13所述的可移动平台，其特征在于，所述第一控制阀设置于所述第一出液管，所述第二控制阀设置于所述第二出液管。
  15. 根据权利要求13或14所述的可移动平台，其特征在于，所述第一控制阀用于根据所述控制信号控制所述第一水箱中液体经由所述第一出液管流向所述混合管的流量；以及所述第二控制阀用于根据所述控制信号，控制所述第二 水箱中液体经由所述第二出液管流向所述混合管的流量。
  16. 根据权利要求12-15任一项所述的可移动平台，其特征在于，所述第一水箱和所述第二水箱分别与所述连接管可拆卸连接。
  17. 根据权利要求12-16任一项所述的可移动平台，其特征在于，所述第一控制阀和/或所述第二控制阀包括电控阀。
  18. 根据权利要求17所述的可移动平台，其特征在于，所述电控阀包括电磁阀或者电动阀。
  19. 根据权利要求12-18任一项所述的可移动平台，其特征在于，所述第一水箱和第二水箱上分别设有连接组件，所述第一水箱或者所述第二水箱通过所述连接组件与所述连接管连接。
  20. 根据权利要求19所述的可移动平台，其特征在于，所述连接组件包括：
    单向阀，所述单向阀用于控制所述第一水箱和/或所述第二水箱连通于所述连接管。
  21. 根据权利要求12-20任一项所述的可移动平台，其特征在于，所述可移动平台包括无人飞行器、无人驾驶车、无人驾驶船或者机器人。
  22. 根据权利要求12-21任一项所述的可移动平台，其特征在于，所述控制组件用于向所述水箱组件的第一控制阀和第二控制阀发送控制信号；所述控制信号用于使所述第一控制阀和所述第二控制阀分别控制所述第一水箱中液体流向所述连接管的流量和所述第二水箱中液体流向所述连接管的流量，以将流向所述连接管的液体在所述连接管混合后，向所述喷洒组件输送。
  23. 根据权利要求22所述的可移动平台，其特征在于，所述控制信号用于调节所述第一控制阀的开度以控制所述第一水箱中液体流向所述连接管的流量，以及调节所述第二控制阀的开度以控制所述第二水箱中液体流向所述连接管的流量。
  24. 根据权利要求23所述的可移动平台，其特征在于，所述控制信号用于通过调节所述第一控制阀的阀门参数调节所述第一控制阀的开度，和/或通过调节所述第二控制阀的阀门参数调节所述第二控制阀的开度。
  25. 根据权利要求24所述的可移动平台，其特征在于，所述阀门参数包括：频率和/或占空比。
  26. 根据权利要求22-25任一项所述的可移动平台，其特征在于，所述控 制组件还用于：根据水箱信息调节所述第一控制阀和/或第二控制阀的开度为全闭；所述水箱信息包括所述第一水箱和/或所述第二水箱的在位信息和储液量中的至少一个，所述在位信息包括所述第一水箱和/或所述第二水箱是否连接在所述连接管上。
  27. 根据权利要求26所述的可移动平台，其特征在于，所述控制组件用于：
    若所述第一水箱未连接在所述连接管上，调节所述第一控制阀的开度为全闭；
    若所述第二水箱未连接在所述连接管上，调节所述第二控制阀的开度为全闭。
  28. 根据权利要求26所述的可移动平台，其特征在于，所述控制组件用于：
    若所述第一水箱的储液量小于或者等于第一预设液量，调节所述第一控制阀的开度为全闭；
    若所述第二水箱的储液量小于或者等于第二预设液量，调节所述第二控制阀的开度为全闭。
  29. 一种水箱组件的控制方法，其特征在于，用于可移动平台，所述可移动平台包括可移动平台本体、喷洒组件和控制组件，所述水箱组件设于所述可移动平台本体上；所述控制方法包括：
    向所述水箱组件的第一控制阀和第二控制阀发送控制信号，所述水箱组件包括连接管、第一水箱和第二水箱；
    所述控制信号用于使所述第一控制阀和所述第二控制阀分别控制所述第一水箱中液体流向所述连接管的流量和所述第二水箱中液体流向所述连接管的流量，以将流向所述连接管的液体在所述连接管混合后，向所述喷洒组件输送。
  30. 根据权利要求29所述的控制方法，其特征在于，所述控制信号用于调节所述第一控制阀的开度以控制所述第一水箱中液体流向所述连接管的流量，以及调节所述第二控制阀的开度以控制所述第二水箱中液体流向所述连接管的流量。
  31. 根据权利要求30所述的控制方法，其特征在于，所述控制信号用于通过调节所述第一控制阀的阀门参数调节所述第一控制阀的开度，和/或通过调节所述第二控制阀的阀门参数调节所述第二控制阀的开度。
  32. 根据权利要求31所述的控制方法，其特征在于，所述阀门参数包括： 频率和/或占空比。
  33. 根据权利要求29-32任一项所述的控制方法，其特征在于，所述方法还包括：根据水箱信息调节所述第一控制阀和/或第二控制阀的开度为全闭；所述水箱信息包括所述第一水箱和/或所述第二水箱的在位信息和储液量中的至少一个，所述在位信息包括所述第一水箱和/或所述第二水箱是否连接在所述连接管上。
  34. 根据权利要求33所述的控制方法，其特征在于，所述根据水箱信息调节所述第一控制阀和/或第二控制阀的开度为全闭，包括：
    若所述第一水箱未连接在所述连接管上，调节所述第一控制阀的开度为全闭；
    若所述第二水箱未连接在所述连接管上，调节所述第二控制阀的开度为全闭。
  35. 根据权利要求33所述的控制方法，其特征在于，所述根据水箱信息调节所述第一控制阀和/或第二控制阀的开度为全闭，包括：
    若所述第一水箱的储液量小于或者等于第一预设液量，调节所述第一控制阀的开度为全闭；
    若所述第二水箱的储液量小于或者等于第二预设液量，调节所述第二控制阀的开度为全闭。
PCT/CN2020/138729 2020-12-23 2020-12-23 水箱组件、喷洒装置、可移动平台及水箱组件的控制方法 WO2022133834A1 (zh)

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