A single-duct swing-type precise variable air-delivered spray structure and swing control method

Abstract

The present invention discloses a single-duct swing-type precise variable air-delivered spray structure and a swing control method, comprising a system bracket, a swing spray mechanism rotatably mounted on the system bracket, the swing spray mechanism adopting a single-duct design, with a centrifugal nozzle and a blower disposed at the center of the duct; the swing spray mechanism is equipped with an actuating mechanism for achieving the rotation of the swing spray mechanism; the centrifugal nozzle is connected to the spray mechanism via a pipeline; the swing spray mechanism, the actuating mechanism, and the spray mechanism are connected to a central processing unit (CPU) via signals, and the CPU controls the swing and spraying of the entire system. The present invention implements a control process for the swing control of the swing spray mechanism, wherein the middle section of the overall motion stroke is fast and the ends are slow, thereby reducing liquid medicine waste in single-duct operations. The angle control of the single spray structure is more flexible, and the operation flexibility is strong.

Description

Technical Field

[0001] The present invention relates to an air-delivered spray structure, and more particularly to a single-duct swing-type precise variable air-delivered spray structure and a swing control method thereof. Background Art

[0002] As a major agricultural country, my country has a large area of ​​forest and orchard operating environment. The development of forest and orchard agriculture plays a vital role in the development of my country's agriculture and has a huge impact on the development of the national economy. Plant protection of crops in forest and orchards is undoubtedly a very important part of forest and orchard operations. However, with the development of society and technological progress, people have put forward higher requirements for the quality of fruits and vegetables, which has brought new challenges to forest and orchard plant protection operations. In order to ensure crop quality and prevent and control pests and diseases, large amounts of pesticides are usually required to be sprayed multiple times during the crop growth stage. However, most of the spray structures currently on the market have problems such as fixed angles, small operating areas, and large equipment size that are difficult to use in low forest and orchards. To address these problems, a single-duct swing-type precision variable air-delivered spray structure is designed.

[0003] At present, there are still many problems with the spraying methods commonly used in domestic agricultural production. For example, traditional manual spraying usually uses extremely inefficient backpack manual sprayers, which require people to carry heavy medicine boxes to carry out spraying and disinfection operations. The labor demand is large and the labor intensity is very high. In the actual spraying process, due to the relatively backward spray equipment, it is difficult to adjust the droplet size according to the actual situation, and manual spraying is difficult to accurately adjust the spray volume according to the actual needs of the target. These problems often result in the actual amount of liquid medicine reaching the target application area during the spraying process being limited, and the liquid medicine suffers a lot of sedimentation losses in the working canopy. Most of the liquid medicine is spread into the forest and orchard environment, causing environmental pollution. What's worse, it permeates the air and harms the health of the spraying workers. The traditional mechanical operations commonly used in my country currently have common problems such as uneven spraying, limited spraying area, missed spraying, multiple spraying, fixed spray range, and being restricted by the working environment. It is difficult to apply to various crops and has poor versatility. Summary of the Invention

[0004] In response to the current status of traditional spray equipment and technology, the present invention designs a single-duct swinging precision variable air-transport spray structure, which can automatically set the swing angle and swing frequency of the spray structure, realize flexible operation over a large area, improve spray efficiency, and is widely applicable to a variety of crops and various operating environments, greatly meeting the complexity and variability of forest and orchard scenes.

[0005] To achieve the above object, the technical solution of the present invention is as follows:

[0006] A single-duct swing-type precise variable air-delivered spray structure, comprising:

[0007] System bracket,

[0008] A swing spray mechanism rotatably mounted on a system bracket, wherein the swing spray mechanism adopts a single duct design, a centrifugal nozzle is axially arranged at the center of the duct, and a fan is circumferentially arranged at the center of the duct;

[0009] The swing spray mechanism is equipped with an action mechanism, and the action mechanism is used to realize the rotation of the swing spray mechanism;

[0010] The centrifugal nozzle is connected to the spraying mechanism through a pipeline; the spraying mechanism transports the liquid medicine to the centrifugal nozzle, and the centrifugal nozzle atomizes and sprays the liquid medicine;

[0011] The swing spray mechanism, the action mechanism and the spray mechanism are all connected to the central processing unit through signals, and the central processing unit controls the swing and spraying of the entire system.

[0012] Furthermore, the swing spray mechanism consists of a rotating shaft that radially passes through the duct, and is fixed with flanges at two points outside the duct, and is respectively connected to the upper vertical bearing and the lower vertical bearing. Therefore, the two ends of the swing spray mechanism are respectively connected to the system bracket upwardly through the upper vertical bearing and the lower vertical bearing.

[0013] Furthermore, the action mechanism includes a swing motor, which is connected to the system bracket through a motor bearing plate; the rotor of the swing motor is dynamically connected to the rotating shaft of the swing spray mechanism.

[0014] Furthermore, the rotating shaft of the swing spray mechanism is made of a carbon fiber tube.

[0015] Furthermore, the spraying mechanism includes a water tank, a water pump and connecting pipes; wherein the water tank is installed at the bottom of the system bracket and is used to store liquid medicine; the water tank is connected to the centrifugal spray head through the water pump and corresponding pipes.

[0016] Furthermore, a three-dimensional laser radar is also configured, and the three-dimensional laser radar signal is connected to the central processing unit for realizing the recognition of the working target and the establishment of a laser map of the working environment.

[0017] Furthermore, a battery is also configured, and the battery is connected to the water pump, central processing unit, three-dimensional laser radar, swing motor, centrifugal nozzle, and fan through wires to provide electrical energy.

[0018] A swing control method for a single-duct swing-type precise variable air-delivered spray structure includes the following steps:

[0019] S1, receive the control information of the single duct swing type precise variable air delivery spray structure, and extract the maximum expected angle θ from the control information max , minimum expected angle θ min and the desired operating frequency f; based on the maximum desired angle θmax , minimum expected angle θ min Fit the ideal angular velocity change curve omega and the ideal angle change curve angle;

[0020] S2. Discretize the ideal angle change curve and the ideal angular velocity change curve according to the desired operating frequency f to obtain discretized curves;

[0021] S3. Optimize the discretized curve according to the actual frequency requirements, shorten the overall curve appropriately, leave a buffer space, and give a boundary speed;

[0022] S4. Based on the real-time angle feedback of the swing motor, the central processing unit makes a comparison and judgment to obtain the discrete interval position of the current motor's actual angle in the ideal angle curve angle, and sends the angular velocity control information of the corresponding interval to the motor for swing control; when the actual angle of the motor exceeds or lags behind the discrete interval where it should be at the moment, the control instruction will correspondingly reduce or increase the motion instruction data sent at the next moment, to ensure that the operating angle of the swing motor can be consistent with the expected angle angle at the expected working frequency f, thereby realizing the angle closed-loop and speed closed-loop control of the swing spray mechanism.

[0023] Furthermore, the method for optimizing the discretized curve in S3 is:

[0024] The angular velocity curve is divided into 10% of the length of the discrete points at both ends of the discretized curve according to the total number of discrete points. The expected angular velocity of the discrete points is replaced by a minimum operating speed, and the angular velocity discrete curve is shortened to 80% of the length of the original point number and placed between the two minimum operating speeds.

[0025] Furthermore, the minimum operating speed is the minimum operating speed of the swing motor (1) under load obtained in actual testing.

[0026] Beneficial effects

[0027] 1. In response to the shortcomings of the prior art, the single-duct air-delivered spray system adopted in the present invention can accurately and quickly deliver the liquid medicine to the required application site of the target canopy, effectively reducing the waste of liquid medicine and reducing environmental pollution in the orchard. At the same time, the controllable wind force means that the system has good penetration for canopies of different thicknesses, and performs efficient application operations; the centrifugal nozzle used can atomize the liquid medicine to different degrees through its high-speed rotation, which fully reduces the sedimentation waste in the spray operation and increases the spray operation area. Different degrees of atomization can adapt to a variety of crops, working environments and climatic conditions, and fully improve the adaptability of the spray system in agricultural production; the single-duct swing mechanism adopted greatly reduces the overall volume of the spray system, making its center of gravity lower, the overall structure more stable and able to adapt to various low orchard environments, but the design of its spray structure facing 45° upward can largely maintain the operating height of the system in actual operation, so that the system has a higher spray application coverage rate for crops of different heights.

[0028] 2. The present invention implements a control process in which the swing mechanism controls the swing speed in the middle of the entire stroke and slows down the sides, which fully reduces the waste of liquid medicine in single duct operation. The angle control of the single spray structure is more flexible, and two operation modes, fixed angle operation and self-set angle range operation, can be realized. The system has strong operational flexibility for target environments of different orchards. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a left rear view of the present invention;

[0030] Figure 2 This is a schematic diagram of the installation of the swing motor of the present invention;

[0031] Figure 3 It is a schematic diagram of the swing mechanism of the present invention;

[0032] Figure 4 This is a schematic diagram of the motor swing control process of the present invention;

[0033] Among them: 1. Swing motor; 2. Motor bearing plate; 3. Coupling; 4. Upper vertical bearing; 5. 3D laser radar; 6. Swing spray mechanism; 7. System bracket; 8. Water tank; 9. Water pump; 10. Battery; 11. CPU; 12. Lower vertical bearing 12; 61. Carbon fiber tube; 62. Duct; 63. Centrifugal nozzle; 64. Fan; 65. Flange. DETAILED DESCRIPTION

[0034] The invention scheme is described in detail below with reference to the accompanying drawings in the invention examples.

[0035] like Figure 1A single-duct swing type precise variable air delivery spray structure includes: a swing spray mechanism 6, a system bracket 7, an action mechanism, a three-dimensional laser radar 5, and a spraying mechanism. The various mechanisms are as follows:

[0036] 1. System bracket 7

[0037] The system bracket 7 is made of aluminum profiles and aluminum plates connected by metal angle pieces, providing sufficient support for the entire system and reducing the overall weight of the platform as much as possible while ensuring the load-bearing capacity.

[0038] 2. Swing spray mechanism

[0039] The swing spray mechanism 6 can be rotatably mounted on the system bracket 7. Figure 3 The schematic diagram of the swing spray mechanism 6 shown in FIG. The swing spray mechanism 6 consists of a relatively thick carbon fiber tube 61 extending through a duct 62. The carbon fiber tube 61 is securely fastened with flanges 65 at two locations where it exits the duct 62, and is respectively connected to the upper vertical bearing 4 and the lower vertical bearing 12. Therefore, the two ends of the swing spray mechanism 6 are connected to the system bracket 7 at a 45° angle via the upper vertical bearing 4 and the lower vertical bearing 12, respectively. A centrifugal nozzle 63 is axially disposed at the center of the duct 62, and a fan 64 is circumferentially disposed at the center of the duct 62. Specifically, the centrifugal nozzle 63 and the fan 64 are securely fastened to the carbon fiber tube 61 using fasteners such as bolts and nuts. This allows the rotation of the carbon fiber tube 61 to drive the synchronous rotation of the duct 62, the centrifugal nozzle 63, and the fan 64. This synchronizes the rotation of the various components within the swing spray mechanism 6, thereby ensuring the synergy of the various components of the system during spray operation.

[0040] 3. Action mechanism

[0041] Action mechanism such as Figure 2 As shown, it includes a swing motor 1 and a motor carrier plate 2. The swing motor 1 is fixed on the motor carrier plate 2 by bolts and nuts. The center of the motor carrier plate 2 is hollowed out, so that the rotor of the swing motor 1 can be connected to the lower flange through the central hollowing. The flange is connected and fixed to the thin carbon fiber tube by bolts and nuts, and the upper vertical bearing 4 is connected and fixed to the thick carbon fiber tube 61 by bolts and nuts. The thin carbon fiber tube and the thick carbon fiber tube 61 are tightly fixed by a coupling 3, so that the motor rotor and the swing spray mechanism 6 can rotate synchronously.

[0042] 4. Spraying mechanism

[0043] The spraying mechanism includes a water tank 8, a water pump 9 and connecting pipes; among them, the water tank 8 is installed at the bottom of the system bracket 7 and is used to store liquid medicine; the water tank 8 is connected to the centrifugal nozzle 63 through the water pump 9 and the corresponding pipes. The liquid medicine in the water tank 8 is pressurized and transported to the centrifugal nozzle 63 by the water pump 9. The centrifugal nozzle 63 rotates at high speed to atomize and spray the liquid medicine, and the swing motor 1 and the fan 64 start to operate synchronously.

[0044] 5. 3D LiDAR

[0045] The three-dimensional laser radar 5 is fixed on the system bracket 7; the three-dimensional laser radar 5 is set to face the front and is used to realize upper-level perception technologies such as identification of working targets and establishment of laser maps of the working environment.

[0046] 6. Central Processing Unit

[0047] The central processing unit 11 is mounted on the system bracket 7. In this embodiment, the central processing unit 11 is an STM32F4 control board, which controls the swing and spraying of the entire system through signal connection with the water pump 9, the swing motor 1, the centrifugal nozzle 63 and the fan 64.

[0048] The central processing unit 11 obtains more accurate control instructions based on the information collected by the host computer from the three-dimensional laser radar 5, thereby fully improving the operating accuracy of the mechanism.

[0049] The central processing unit 11 can control the water pump 9 and the swing spray mechanism 6 according to different control requirements.

[0050] The central processing unit 11 controls the swing of the motor in the action mechanism, thereby realizing synchronous swing control of the spray swing mechanism 6 .

[0051] 7. Battery

[0052] Battery 10 is mounted on system support 7 ; it is connected to the water pump 9 , CPU 11 , 3D laser radar 5 , swing motor 1 , centrifugal nozzle 63 , and fan 64 via wires, providing power for the operation of these units. In this embodiment, battery 10 is a lithium battery and is secured to the lower layer of system support 7 .

[0053] Based on the single-duct swing type precise variable air-delivered spray structure designed in this application, this application also proposes a swing control method for the single-duct swing type precise variable air-delivered spray structure. Figure 4 The control flow chart of the swing motor 1 is shown, and the specific steps are as follows:

[0054] First, the central processor 11 receives the control information and extracts the maximum expected angle θ max , minimum expected angle θ min and the desired operating frequency f;

[0055] First, we need to fit an idealized angle and angular velocity change curve. According to the operation requirements, the expected angle change curve is a "Z" or inverted "Z" curve with a large change rate in the middle of the stroke and a small change rate at both ends of the stroke; the expected angular velocity change curve is a convex curve with a large change rate in the middle and a small change rate at both ends and converges to the lowest operating angular velocity. After determining the curve shape, according to the maximum expected angle θ max , minimum angle expectation θ min Get the integral total value θ of the angular velocity curve Δ As well as the y-axis starting point of the angle curve, we use the integral total value and the derivative value characteristics of individual points to calculate and fit an ideal angular velocity change curve omega. After obtaining this curve, we integrate the angular velocity curve and substitute the y-axis starting point to obtain the ideal angle change curve angle. The two resulting curves are expressed as:

[0056]

[0057] Among them, x is the horizontal axis coordinate point of the curve before discretization, that is, the time axis coordinate point. Δ is the maximum expected angle θ max and the minimum desired angle θ min The angle difference between them is used as the basis for curve calculation, namely:

[0058] θ Δ =|θ max -θ min |

[0059] After obtaining the ideal continuous curve, the ideal angle change curve and the ideal angular velocity change curve are first discretized according to the received desired operating frequency f. The main purpose of discretizing the above curves is to use them for program counting in the central processing unit 11 to achieve controllable frequency of the swing motor 1. The obtained curves after discretization are:

[0060]

[0061] Where n is the coordinate point of the horizontal axis of the discretized curve, that is, the coordinate point of the internal count value of the program, and cnt is the total number of discrete points calculated based on the received expected operating frequency f, that is:

[0062]

[0063] Optimize the discretized curve according to the actual frequency requirements, shorten the overall curve appropriately, leave enough buffer space, and give a lower boundary speed;

[0064] First, the optimized ideal angle change curve and ideal angular velocity change curve are expressed as follows:

[0065]

[0066] Secondly, the angular velocity curve is divided into 10% of the length of the discrete points at both ends of the discrete curve according to the total number of discrete points, and the expected angular velocity is replaced by a minimum operating speed. The angular velocity discrete curve is shortened to 80% of the length of the original number of points and placed between the two minimum operating speeds. Among them, the minimum operating speed is the lowest possible operating speed of the swing motor 1 under load obtained in the actual test. The addition of this minimum operating speed is, on the one hand, to minimize the sudden change in angular velocity when the motor swings to the boundary according to the control function, improve operating stability, and reduce structural conflict wear; on the other hand, it is to ensure that the motor can maintain operation at the boundary to avoid operation interruption caused by the function boundary being sent too low. The minimum operating speed can be flexibly changed according to the actual load requirements and the actual performance of the swing motor 1.

[0067] In the final control process, the core idea of ​​this method is to realize the closed-loop control of the overall running speed of the swing mechanism 6 through angle detection. First, the maximum angle expectation θ sent by the host computer is max , minimum angle expectation θ min The ideal curve is fitted and discretized based on the desired frequency f. The angle feedback provided by the swing motor 1 confirms the discrete point position at the time of motor startup. During actual operation, the central processing unit 11 compares and determines the position of the current motor 1's actual angle within the discrete interval of the ideal angle curve angle based on the real-time angle feedback of the swing motor 1. Because the discretization of the angle curve angle and the angular velocity curve oemga are of the same length and have a one-to-one correspondence, the angular velocity control information for the corresponding interval is sent to the motor for swing control based on the current moment. Simultaneously, when the motor begins to move, the timer within the program begins counting. The timer count value also corresponds one-to-one with the discrete interval of the ideal angle curve, and the upper limit of the count value is the number of discrete intervals. Ideally, the discrete interval of the angle during motor operation should always be consistent with the timer count value, that is, the motor 1 operates according to the desired frequency f. However, taking into account the time difference in issuing instructions and the error in motor speed regulation, the central processing unit 11 has added instructions for adjusting the speed of the swing motor 1. When the actual angle of the motor exceeds or lags behind the discrete interval it should be in at the moment, the control instruction will correspondingly reduce or increase the motion instruction data issued at the next moment to ensure that the operating angle of the swing motor 1 can be consistent with the ideal expected angle angle at the expected frequency f.

[0068] The present invention uses a program written in advance in the central processing unit to control the operation of the swing motor, thereby realizing multiple working modes of the swing spray mechanism, such as fixed-angle spraying, fixed-range reciprocating spraying, and ducted swing frequency controllable spraying.

[0069] The above embodiments are intended only to illustrate the design concepts and features of the present invention. Their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. The scope of protection of the present invention is not limited to the above embodiments. Therefore, any equivalent changes or modifications made based on the principles and design concepts disclosed in the present invention are within the scope of protection of the present invention.

Claims

1. A swing control method for a single-duct swing type precise variable air-delivered spray structure, characterized in that: Based on a single-duct swing-type precise variable air-delivered spray structure, it includes: System bracket (7), A swing spray mechanism (6) rotatably mounted on a system bracket (7), wherein the swing spray mechanism (6) adopts a single duct design, a centrifugal nozzle (63) is axially arranged at the center of the duct (62), and a fan (64) is vertically arranged at the center of the duct (62); The swing spray mechanism (6) is equipped with an action mechanism, and the action mechanism is used to realize the rotation of the swing spray mechanism (6); The centrifugal nozzle (63) is connected to the medicine spraying mechanism through a pipeline; the medicine spraying mechanism transports the medicine liquid to the centrifugal nozzle (63), and the centrifugal nozzle (63) atomizes and sprays the medicine liquid; The swing spray mechanism (6), the action mechanism and the spray mechanism are all connected to the central processing unit (11) via signals, and the central processing unit (11) controls the swing and spraying of the entire system; The method comprises the following steps: S1, receive the control information of the single duct swing type precise variable air delivery spray structure, and extract the maximum expected angle θ from the control information max , minimum expected angle θ min and the desired operating frequency f; based on the maximum desired angle θ max , minimum expected angle θ min Fit the ideal angular velocity change curve omega and the ideal angle change curve angle; S2. Discretize the ideal angle change curve and the ideal angular velocity change curve according to the desired operating frequency f to obtain discretized curves; S3. Optimize the discretized curve according to the actual frequency requirements, shorten the overall curve appropriately, leave a buffer space, and give a boundary speed; S4. Based on the real-time angle feedback of the swing motor (1), the central processing unit (11) makes a comparison and judgment to obtain the discrete interval position of the actual angle of the current motor (1) in the ideal angle curve angle, and sends the angular velocity control information of the corresponding interval to the motor for swing control; when the actual angle of the motor exceeds or lags behind the discrete interval where it should be at the moment, the control instruction will perform a corresponding lowering or raising operation on the motion instruction data sent at the next moment, so as to ensure that the operating angle of the swing motor (1) can be consistent with the expected angle angle at the expected working frequency f, thereby realizing the angle closed-loop and angular velocity closed-loop control of the operation of the swing spray mechanism (6).

2. The swing control method of a single-duct swing type precise variable air-delivered spray structure according to claim 1 is characterized in that: The method for optimizing the discretized curve in S3 is: The angular velocity curve is divided into 10% of the length of the discrete points at both ends of the discretized curve according to the total number of discrete points. The expected angular velocity of the discrete points is replaced by a minimum operating speed after the discretization process. The angular velocity discrete curve is shortened to 80% of the length of the original point number and placed in the middle of the minimum operating speed at both ends.

3. The swing control method of a single-duct swing type precise variable air-delivered spray structure according to claim 2, characterized in that: The minimum operating speed is the minimum operating speed of the swing motor (1) under load obtained in actual testing.

4. The swing control method of a single-duct swing type precise variable air-delivered spray structure according to claim 1 is characterized in that: The swing spray mechanism (6) is composed of a rotating shaft that radially penetrates the duct (62). The two places where the shaft passes through the duct (62) are fixed with flanges (65) and are respectively connected to the upper vertical bearing (4) and the lower vertical bearing (12). Therefore, the two ends of the swing spray mechanism (6) are connected to the system bracket (7) in an upward tilt through the upper vertical bearing (4) and the lower vertical bearing (12).

5. The swing control method of a single-duct swing type precise variable air-delivered spray structure according to claim 1 is characterized in that: The action mechanism comprises a swing motor (1), which is connected to a system bracket (7) via a motor bearing plate (2); and a rotor of the swing motor (1) is dynamically connected to a rotating shaft of a swing spray mechanism (6).

6. The swing control method of a single-duct swing type precise variable air-delivered spray structure according to claim 1, characterized in that: The rotating shaft of the swing spray mechanism (6) is made of a carbon fiber tube.

7. The swing control method of a single-duct swing type precise variable air-delivered spray structure according to claim 1, characterized in that: The spraying mechanism comprises a water tank (8), a water pump (9) and connecting pipes; wherein the water tank (8) is installed at the bottom of the system bracket (7) and is used to store liquid medicine; the water tank (8) is connected to the centrifugal spray head (63) through the water pump (9) and corresponding pipes.

8. The swing control method of a single-duct swing type precise variable air-delivered spray structure according to claim 1, characterized in that: A three-dimensional laser radar (5) is also configured, and the three-dimensional laser radar (5) is connected to the central processing unit (11) for realizing the recognition of the working target and the establishment of a laser map of the working environment.

9. The swing control method of a single-duct swing type precise variable air-delivered spray structure according to claim 1, characterized in that: A battery (10) is also provided, and the battery (10) is connected to the water pump (9), the central processing unit (11), the three-dimensional laser radar (5), the swing motor (1), the centrifugal nozzle (63), and the fan (64) through wires to provide electric energy.

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