Aircraft spraying control device, method thereof, and spraying system

Patent metadata

Field	Value
Publication number	US-2018099747-A1
Application number	US-201715561292-A
Country	US
Kind code	A1
Filing date	Feb 20, 2017
Priority date	Feb 22, 2016
Publication date	Apr 12, 2018
Grant date	—

Abstract

The embodiments of the disclosure discloses an aircraft spraying control device, a method thereof, and a spraying system, relating to the technical field of agricultural plant protection. The aircraft spraying control device comprises a micro-controller, a pump motor, and a nozzle motor; the micro-controller acquires the flight information of the aircraft and the preset pesticide spraying information of the aircraft, and acquires the target rotational speed n of the pump motor according to the flight information of the aircraft, the preset pesticide spraying information of the aircraft, and the pesticide discharging amount K per rotation of the pump motor so as to control the pump motor to rotate at the target rotational speed n of the pump motor so that the pump supplies pesticide to a nozzle. The micro-controller also controls the nozzle to spray.

First claim

1 . An aircraft spraying control device, comprising a micro-controller and a pump motor drive module;
wherein the micro-controller is configured to acquire the flight information of the aircraft and the preset pesticide spraying information of the aircraft, and acquire the target pesticide spraying amount Q of each nozzle per unit time; and the micro-controller is configured to read the pesticide discharging amount K per rotation of the pump motor, acquire the target rotational speed n of the pump motor according to the target pesticide spraying amount Q of each nozzle per unit time and the pesticide discharging amount K per rotation of the pump motor, and control the pump motor drive module to drive the pump motor to rotate at the target rotational speed n of the pump motor; and the micro-controller is configured to control the nozzle to spray; and the pump motor drive module is configured to drive the pump motor to rotate at the target rotational speed n of the pump motor so that the pump motor controls the pump to supply pesticide to the corresponding nozzle.

2 . The aircraft spraying control device according to claim 1 , further comprising a first rotational speed detection module, the micro-controller comprises a first control module;
the input of the first rotational speed detection module is connected with the pump motor and the output thereof is connected with the input of the first control module; the output of the first control module is connected with the input of the pump motor drive module; and the first control module is configured to control the pump motor drive module to drive the pump motor to rotate at the target rotational speed n of the pump motor according to the target rotational speed n of the pump motor and the rotational speed information of the pump motor collected by the first rotational speed detection module.

3 . The aircraft spraying control device according to claim 2 , wherein
the rotational speed information of the pump motor comprises a current rotational speed n i of the pump motor and a rotational speed n i−1 of the pump motor at a previous time; the first control module is configured to acquire a duty ratiocycle of a first control pulse according to the target rotational speed n of the pump motor, the current rotational speed n i of the pump motor, and the rotational speed n i−1 of the pump motor at a previous time, and transmit the first control pulse to the pump motor drive module according to the duty ratio of the first control pulse to control the pump motor drive module to drive the pump motor according to the first control pulse to rotate at the target rotational speed n of the pump motor; wherein the duty ratio of the first control pulse is =(n−n i )K p +(n−n i )K i +[(n−n i )−(n i −n i−1 )]K d , wherein K p is the rotational speed ratio coefficient of the pump motor, K i is the rotational speed integral coefficient of the pump motor, and K d is the rotational speed differential coefficient of the pump motor.

4 . The aircraft spraying control device according to claim 1 , further comprising a nozzle motor drive module;
wherein the micro-controller is further configured to determine a rotational speed range in which the target rotational speed n of the pump motor is located, determine the target rotational speed n′ of the nozzle motor according to the rotational speed range, and control the nozzle motor drive module to drive the nozzle motor to rotate at the target rotational speed n′ of the nozzle motor; the nozzle motor drive module is configured to drive the nozzle motor to rotate at the target rotational speed n′ of the nozzle motor so that the nozzle motor controls the nozzle corresponding to the nozzle motor to spray.

5 . The aircraft spraying control device according to claim 4 , further comprising a second rotational speed detection module, the micro-controller further comprises a second control module;
the input of the second rotational speed detection module is connected with the nozzle motor and the output thereof is connected with the input of the second control module; the output of the second control module is connected with the input of the nozzle motor drive module; and the second control module is configured to control the nozzle motor drive module to drive the nozzle motor to rotate at the target rotational speed n′ of the nozzle motor according to the target rotational speed n′ of the nozzle motor and the rotational speed information of the nozzle motor collected by the second rotational speed detection module.

6 . The aircraft spraying control device according to claim 5 , wherein
the rotational speed information of the nozzle motor comprises a current rotational speed n′ i of the nozzle motor and a rotational speed n′ i−1 of the nozzle motor at a previous time; the second control module is configured to acquire a duty ratio of a second control pulse according to the target rotational speed n′ of the nozzle motor, the current rotational speed n′ i of the nozzle motor, and the rotational speed n′ i−1 of the nozzle motor at a previous time, and transmit the second control pulse to the nozzle motor drive module according to the duty ratio of the second control pulse to control the nozzle motor drive module to drive the nozzle motor according to the second control pulse to rotate at the target rotational speed n′ of the nozzle motor; wherein the duty ratio of the second control pulse is =(n′−n′ i )K′ p +(n′−n′ i )K′ i +[(n′−n′ i )−(n′ i −n′ i−1 )]K′ d , wherein K′ p is the rotational speed ratio coefficient of the nozzle motor, K′ i is the rotational speed integral coefficient of the nozzle motor, and K′ d is the rotational speed differential coefficient of the nozzle motor.

7 . The aircraft spraying control device according to claim 1 , wherein the flight information of the aircraft comprises a flight velocity V of the aircraft, and the preset pesticide spraying information comprises the preset pesticide receiving amount M per unit area of crop and the preset spraying width H of the aircraft;
the micro-controller calculates the acquired target pesticide spraying amount Q of each nozzle per unit time using the flight information according to a preset algorithm.

8 . The aircraft spraying control device according to claim 1 , wherein the target rotational speed of the pump motor is

n
=

Q
K

.

9 . An aircraft spraying control method, comprising steps of:
acquiring the flight information of the aircraft and the preset pesticide spraying information of the aircraft; acquiring the target pesticide spraying amount Q of each nozzle per unit time according to the flight information of the aircraft and the preset pesticide spraying information of the aircraft; and reading the pesticide discharging amount K per rotation of the pump motor, acquiring the target rotational speed n of the pump motor according to the target pesticide spraying amount Q of each nozzle per unit time and the pesticide discharging amount K per rotation of the pump motor, and controlling the pump motor drive module to drive the pump motor to rotate at the target rotational speed n of the pump motor, and controlling the spraying of the nozzle so that the pump motor controls the pump to supply pesticide to the corresponding nozzle and the nozzle sprays.

10 . The aircraft spraying control method according to claim 9 , wherein controlling the pump motor drive module to drive the pump motor to rotate at the target rotational speed

Assignees

• Guangzhou Xaircraft Tech Co Ltd

Inventors

• Peng Bin
• Li Dengfeng

Classifications

• A01M7/0089

  Regulating or controlling systems (the delivery being related to the movement of a vehicle B05B9/06) · CPC title

• B64D1/18 Primary

  by spraying, e.g. insecticides · CPC title

• F04B49/06

  Control using electricity (regulating by means of floats actuating electric switches F04B49/04) · CPC title

• B05B12/08 Primary

  responsive to condition of liquid or other fluent material {to be} discharged, of ambient medium or of target {; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means} · CPC title

• B05B12/126

  responsive to target velocity, e.g. to relative velocity between spray apparatus and target (B05B9/06 takes precedence) · CPC title