CN108427329A - A kind of blanking device and its control method, mobile device - Google Patents
A kind of blanking device and its control method, mobile device Download PDFInfo
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- CN108427329A CN108427329A CN201810230185.3A CN201810230185A CN108427329A CN 108427329 A CN108427329 A CN 108427329A CN 201810230185 A CN201810230185 A CN 201810230185A CN 108427329 A CN108427329 A CN 108427329A
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- 238000010276 construction Methods 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 9
- 230000008859 change Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 238000005259 measurement Methods 0.000 description 8
- 238000012544 monitoring process Methods 0.000 description 7
- 238000009331 sowing Methods 0.000 description 7
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- 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
-
- 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
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- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Filling Or Emptying Of Bunkers, Hoppers, And Tanks (AREA)
Abstract
The present invention discloses a kind of blanking device and its control method, mobile device, including storage box, blanking device, detecting element and driving equipment, blanking device is mounted on the outlet port of the storage box, detecting element is arranged in storage box or blanking device, storage box is for housing material, controller is electrically connected to the detecting element and blanking device, detecting element monitors the variable quantity of material in the storage box, driving equipment is connect with blanking device, driving equipment controls the blanking of blanking device, blanking device disclosed by the invention and control method, it is simple in structure, and by installing detecting element, detection relevant parameter in real time, and the variable quantity that material in storage box is monitored according to the detecting element achievees the purpose that accurately control blanking to control blanking device.
Description
【Technical field】
This application involves peasants and workers to sow technical field, more particularly to a kind of blanking device, applied to the blanking device
Control method and mobile device.
【Background technology】
As social development and human cost improve, more and more country labor force transfers to cities and towns, so as to cause from
The number of the thing primary industry is fewer and fewer.In addition, that Chinese terrain is complex is changeable, mountainous region and knob crop acreage compared with
Greatly, but large-scale ground machinery is difficult to carry out operation.For unmanned plane because small, landing is flexible, and flight is not excellent by the influence of topography etc.
Point, increasingly participates in agricultural production.Currently, unmanned plane during flying technology is gradually ripe, in addition to spraying medicament, fertilizer is broadcasted sowing
The demand of the means of agricultural productions such as material, feed, pollen, seed is increasingly strong.Existing spreading gear structure is simple and crude, and the amount of broadcasting sowing can not be controlled accurately
System, it is undesirable to lead to finally to broadcast sowing effect, therefore relevant mechanical structure and control method demand perfection urgently.
【Invention content】
It is simple that the purpose of the embodiment of the present invention is intended to provide a kind of control mode, simple in structure, can automatic blanking, accurately
Obtain the blanking device and its control method of discharge quantity, and the mobile device with the blanking device and control method.
To achieve the goals above, the invention discloses a kind of blanking devices, including storage box, blanking device, detecting element
And driving equipment, the blanking device are mounted on the outlet port of the storage box, the detecting element is arranged in the storage box
Or on the blanking device, for the storage box for housing material, the detecting element monitors the variation of material in the storage box
Amount, the driving equipment are connect with blanking device, the blanking of the driving equipment control blanking device.
Further, further include controller, the controller and driving equipment and detecting element connection communication, the control
The data that device is used to be detected according to the detecting element automatically control the operating of the driving equipment.
Further, the blanking device includes main body, scraper and blanking handle, and the scraper and blanking handle connect with main body respectively
It connects, the blanking handle is connect with driving equipment, and the driving equipment drives main body or scraper to rotate by controlling blanking handle, to dial
Move the material in the storage box.
Further, the scraper and blanking handle are located at the opposite end of main body, and the scraper is arranged in storage box
Outlet port, the blanking handle connect with the driving equipment, and the driving equipment is driven described by controlling blanking handle
Scraper rotates, to stir the material.
Further, trough body structure is provided in the main body, the trough body structure extends to institute from the doctor position
State blanking handle position.
Further, in the shape of a spiral, spire extends to blanking handle position to the trough body structure from doctor position.
Further, the main body is elastic construction, and when the main body is flexible, the width of the trough body structure becomes
Change.
Further, the trough body structure is the groove structure of linear, and the groove structure prolongs from the doctor position
Extend to blanking handle position.
Further, the scraper rotates either scraper relative to main body and rotates or scrape relative to main body with blanking handle
Knife, main body rotate together with blanking handle.
Further, the main body is in plate, and the scraper is arranged in main body in which can store, the blanking handle and institute
Driving equipment connection is stated, the driving equipment is by controlling blanking handle to drive the main body to rotate, to stir the material.
Further, it is additionally provided with support element, for storage box described in suspension strut, the detecting element is clamped in support
Between part and storage box, to monitor the weight of storage box and materials inside.
Further, solenoid valve is provided on the blanking device, the solenoid valve is used to control the opening of the blanking device
And closing.
Further, wired or wireless communication module, the wire communication module or wireless are provided on the controller
Communication module and the client connection communication for being associated with the blanking device simultaneously display data.
Invention additionally discloses a kind of control methods of blanking device, include the following steps：
Obtain the initial state value about material to be sowed；
Blanking instruction is received, blanking is carried out according to the blanking order-driven blanking device；
Monitor the real-time status value about material；
Compare the real-time status value and is worth to comparison result with original state；And
The blanking state of blanking device is adjusted according to the comparison result.
Further, the real-time status value is worth to comparison result with original state；And according to described
The method that comparison result adjusts the blanking state of blanking device, including comparison result is artificially obtained, and manually control the blanking
The blanking of device.
Further, the real-time status value is worth to comparison result with original state；And according to described
The method that comparison result adjusts the blanking state of blanking device, including comparison result is automatically derived, and blanking described in adjust automatically
The blanking state of device.
Further, described the step of automatically deriving comparison result, includes：
Real-time discharge quantity is calculated according to the real-time status value and the initial state value；
Calculate the real-time discharge quantity and with reference to the difference between discharge quantity；
Judge the difference whether beyond the numberical range set.
Further, the method for the blanking state of blanking device described in the adjust automatically includes：
When the difference is less than the numberical range minimum value of setting, the blanking device is automatically controlled to increase blanking
Amount；
When the difference is more than the numberical range maximum value of setting, the blanking device is automatically controlled to reduce blanking
Amount；
When the difference is in the numberical range of setting, the blanking state that the blanking device is current is kept.
Further, the real-time status value is obtained by specific frequency detecting.
Further, the method for the blanking state of the adjustment blanking device is：Adjust the fast of driving equipment driving
The size of slow or solenoid valve opening.
Further, the initial state value and real-time status value are respectively the gravimetric value or storage box and object of material
The gross weight magnitude of material.
Further, the initial state value and real-time status value are respectively that material sows duration.
Further, the initial state value and real-time status value are respectively the operating parameter of driving equipment.
Invention additionally discloses a kind of mobile devices, including：Blanking device described in any one of the above embodiments, configured with any of the above-described
The controller of control method and mobile ontology, the blanking device are mounted on the mobile ontology, the controller with
Blanking device, detecting element in the blanking device and the client connection communication for being associated with the blanking device.
Compared with prior art, blanking device disclosed by the invention, simple in structure, control method is easy, intelligence, and passes through
Detecting element is installed, detects relevant parameter in real time, and the variable quantity of material in storage box is monitored to control according to the detecting element
Blanking device processed achievees the purpose that accurately control blanking.The blanking device is simple in structure, passes through the control with above-mentioned control method
Device processed automatically controls, easy to operate, and in the mobile device by blanking device setting, to reach the accurate mesh for sowing operation
's；
Rotation by controlling blanking device facilitates material to flow outwardly to stir the material in storage box；
Trough body structure is provided in main body, trough body structure extends to blanking handle from doctor position, in order to which material is from storage
It is slid in case, and when main body is elastic construction, the width of groove body can be changed, by compression or elongated body in order to not
Material with size passes through；
Controller is set, to achieve the purpose that automatically control and adjust blanking, and communication module is set, conveniently passes through client
It holds to control blanking device, control mode is various.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
【Description of the drawings】
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, wherein：
Fig. 1 is blanking device Manual control structure block diagram of the present invention；
Fig. 2 is blanking device automatic control structure block diagram of the present invention；
Fig. 3 is the structural schematic diagram in one embodiment of blanking device of the present invention；
Fig. 4 is the blanking device structural schematic diagram in first embodiment of the invention；
Fig. 5 is the blanking device structural schematic diagram in second embodiment of the invention；
Fig. 6 is the blanking device structural schematic diagram in third embodiment of the invention；
Fig. 7 is that the blanking device of third embodiment of the invention is accommodated in the structural schematic diagram in storage box；
Fig. 8 is material depth instrumentation plan in another embodiment of blanking device of the present invention；
Fig. 9 is blanking device control method flow chart of the present invention；
Figure 10 is method flow diagram of the real-time status value of the present invention compared with initial state value；
Figure 11 is unmanned aerial vehicle (UAV) control blanking device link block figure of the present invention.
【Specific implementation mode】
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not construed as limiting the claims.
Technical field technical staff is appreciated that unless expressly stated, singulative " one " used herein, "one",
" described " and "the" may also comprise plural form.It is to be further understood that wording " the packet used in the specification of the present invention
Include " refer to there are the feature, integer, step, operation, element and/or component, but it is not excluded that presence or addition one or
Other multiple features, integer, step, operation, element, component and/or their group.It should be understood that when we claim element by " even
Connect " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be cental elements
Part.In addition, " connection " used herein or " coupling " may include being wirelessly connected or wirelessly coupling.Wording used herein " and/
Or " include that the whole of one or more associated list items or any cell are combined with whole.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific terminology), there is meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art
The consistent meaning of meaning, and unless by specific definitions as here, the meaning of idealization or too formal otherwise will not be used
To explain.
Referring to Fig. 1, the invention discloses a kind of blanking device 10, including storage box 11, blanking device 13, detecting element 14
With driving equipment 16, material 15 is equipped in storage box 11, blanking device 13 is mounted on the outlet port of storage box 11, detecting element
14 are arranged in storage box 11 or blanking device 13 to detect the discharge quantity of material 15 in storage box 11 in real time, and show discharge quantity
Or 15 surplus of material in storage box 11.Driving equipment 16 is connect with blanking device 13, is controlled the blanking of blanking device 13, is artificially looked into
The real-time detected value for seeing detecting element 14 can artificially be driven by controlling when real-time blanking state reaches dbjective state
Equipment 16 controls the blanking state of blanking device 13.It is a kind of blanking device by manually controlling blanking above.
But in another embodiment, the data that one receives monitoring can be further set and control the fortune of driving equipment 16
The controller 20 turned, controller 20 and 14 connection communication of driving equipment 16 and detecting element, connection type be electrically connected or
Communication connects, to achieve the purpose that automatically control 13 blanking state of blanking device.Further, referring to Fig. 2, under
It includes storage box 11, blanking device 13, detecting element 14, driving equipment 16 and controller 20, the detection member to expect device 10 mainly
Part 14 is electrically connected with controller 20, and blanking device 13 is electrically connected with driving equipment 16, and the driving equipment 16 is electrically connected with controller 20
It connects, controller 20 receives the real-time detector data of detecting element 14 and analyzed, and driving equipment 16 is controlled according to analysis result
Movement, to control the blanking state of blanking device 13.Meanwhile controller 20 can also further be connect with client 30, will be connect
The detection data and handling result received, which is sent in client 30, to be shown, the control from client 30 can also be received
System instruction, and execute the blanking state of control instruction control blanking device 13.
Further, referring to Fig. 3, a specific embodiment knot of the automatic control blanking for blanking device 10 of the present invention
Structure.In the present embodiment, blanking device 10 of the invention includes storage box 11, blanking device 13, detecting element 14, driving equipment
With controller 20, the blanking device 13 is mounted on the outlet port of storage box 11, and the detecting element 14 is arranged in storage box 11
On, material 15 is equipped in the storage box 11.The controller 20 is electrically connected to the detecting element 14 and the driving
Equipment 16.The detecting element 14 monitors the variable quantity of 11 materials inside 15 of storage box, so that it is determined that being sowed outside blanking device 10
The amount of material.
Further, the blanking device 10 further includes support element 12, and the detecting element 14 is clamped in the support element
Between 12 and the storage box 11.Correspondingly, one and 12 matched suspension of the support element are set in the storage box 11
Portion 111, storage box 11 is by being suspended on support element 12 to be fixed, 11 " T " shape structure of entire storage box, normal to hang
Under state, the outer wall of suspension part 111 and storage box 11 can be contacted directly with support element 12.
In the present invention, the blanking device 13 includes main body 131, scraper 132 and blanking handle 133.The scraper 132 and blanking
Handle 133 is connect with main body 131 respectively, and the blanking handle 133 is connect with driving equipment 16, and the driving equipment 16 is by under control
Material handle 133 is to drive main body 131 or scraper 132 to rotate, to stir the material 15 in the storage box 11.
Further, referring to Fig. 4, the one of which structure of the blanking device 13 for the present invention, the scraper 132 and blanking
Handle 133 is located at the both ends of main body 131.The scraper 132 is located at the aperture position that blanking device 13 is sowed outward, for stirring
The material 15 of aperture position, to prevent material 15 from blocking the aperture position of blanking device 13.
The main body 131 can be taper or column structure, it is preferable that in the first embodiment, the main body 131 is whole
In tapered, the one end for connecting scraper 132 is narrow, and the position of 133 one end of connection blanking handle is wide, and such structure facilitates scraper 132 to scrape
The material 15 fallen successfully glides along tapered slope, and spills outward.Since the position that main body 131 is connect with scraper 132 is narrow,
Therefore scraper 132 can be designed to strip structure.The width of the scraper 132 is greater than the width on 131 top of main body, usually,
The blanking device 13 may include multiple scrapers 132, and multiple scrapers 132 are pressed certain angle interval and are arranged each other, with
Material 15 is touched convenient for maximum area, and stirring material 15 makes it be slid along 131 position of main body.In the present embodiment, scraper
132 stir the material 15 of 132 position of scraper in linear type structure when scraper 132 rotates, make material 15 to
Lower landing.Further, scraper 132 is also provided with three pieces, and every scraper 132 is in 120 degree of angle settings or scraper 132
Four are provided with, certain angle interval is pressed respectively and is arranged, using the gap between every scraper 132, scrape material 15.
Further, trough body structure can be set on the outer surface of the main body 131, in order to which the material 15 is along described
Trough body structure slides from the top down of the main body 131 to bottom.In the present embodiment, the trough body structure is helicla flute
1311, it is preferable that 1311 width of the helicla flute is equal, and depth is identical, in the shape of a spiral and is set in qually spaced in the main body 131
Outer surface on, and extend to 133 position of blanking handle from 132 position of scraper.The helicla flute 1311 is for guiding the material
15 slide from 132 position of scraper to 133 position of blanking handle of bottom end, and spill outward.
Further, the main body 131 can also be elastic construction, in this way, when main body 131 is compressed or stretched
It waits, thus it is possible to vary the width of groove body, in order to passing through for different size of material.
It is understood that the trough body structure is not limited to above-mentioned 1311 structure of helicla flute, in other embodiments, institute
It can also be other forms to state trough body structure, and please also refer to Fig. 5, in a second embodiment, the trough body structure includes multiple
The groove 1312 of bottom is downwardly extended to from 131 top of the main body, 1312 size of multiple grooves is identical, is evenly distributed on
The outer surface of the main body 131.After the material 15 falls into groove 1312, falls and spill outward directly down.Due to described
It is provided with trough body structure in main body 131, even if when the material 15 is the granular substance of relatively large radius, will not be caused down
Glassware 13 is sowed mouthful position and is blocked.
Further, multiple through-holes leaked out for material are arranged in the position that main body 131 can be housed in the storage box 11
(not shown), when the groove 1312 in main body 131 is located at lead to the hole site, the material on groove 1312 is leaked out by through-hole, when
Main body 131 rotates, and when so that groove 1312 is deviateed lead to the hole site, material is blocked, can not flow out, and object is controlled with this structure
The blanking velocity and discharge quantity of material.
In the present embodiment, the scraper 132 is to scrape the material 15 by rotation.Scraper 132 is set by driving
It is rotated for 16, in the present embodiment, the driving equipment 16 connects the blanking handle 133 of the blanking device 13, and driving is set
Standby 16 control blanking handles 133 rotate, scraper 132 is arranged with blanking handle 133 it is into a single integrated structure, therefore the rotation of blanking handle 133 when
It waits, scraper 132 also rotates together.It is understood that scraper 132, main body 131 and blanking handle 133 can all be structure as a whole,
It can rotate simultaneously, main body 131 also rotates together, to make material 15 be not easy to block in trough body structure, ensure that blanking
Smooth degree, be more conducive to prevent from blocking.
It is understood that the working method of the driving equipment 16 be also not necessarily limited to it is above-mentioned shown in, in other embodiments,
When can be with relative rotation, in this way, the driving between the main body 131 of the blanking device 13, scraper 132 and blanking handle 133
Equipment 16 can drive any one position to be rotated, for example, only driving main body 131 is rotated, utilize the cone of main body 131
Shape structure, to stir material 15, or only driving scraper 132 is rotated in upper end, stirs the material 15 of upper end and it is made to fall
Under, also or it is that blanking handle 133 and scraper 132 are structure as a whole, external drive equipment 16 drives the same of 133 rotation of blanking handle
When, drive the scraper 132 of upper end to rotate, to stir material 15.
Referring to Fig. 6, in the structure of the blanking device 13 of 3rd embodiment, including main body 131, scraper 132, blanking handle
133, blanking handle 133 is connect with main body 131, and scraper 132 is arranged in main body 131 in which can store, and further, main body 131 is in
Plate, and the side of main body 131 is provided with empty slot 134, scraper 132 is arranged in 134 position of empty slot in which can store, and described
The centre position of main body 131 is symmetrical arranged fluted 1314, is in " 8 " font to lie low to make main body 131 integrally, and scraper
132 and empty slot 134 setting there are two, be symmetrically arranged at two grooves, 1314 position of main body 131.The driving equipment 16 with
Blanking handle 133 connects, and driving equipment 16 controls main body 131 and carries the rotation of scraper 132.
Further, referring to Fig. 7, blanking device 13 is arranged in the outlet port 112 of the bottom of storage box 11, in this implementation
In example, the 112 elongated structure of outlet port of storage box 11, main body 131 is just clamped in outlet port 112, when main body 131
Longest edge rotate to when tending to 112 both ends of outlet port, main body 131 just seals feed opening 111, at this time storage box 11 stop
Blanking, when the longest edge of main body 131 is far from outlet port 112, the material 15 in storage box 11 leaks down from outlet port 112.
When main body 131 rotates, the scraper 132 in empty slot 134 stretches out under the action of the centrifugal force, and assisting will be in storage box 11
Material 15 scrapes.
Usually, the driving equipment 16 can be motor or electrically driven (operated) cylinder, pass through battery or other possibility
Energy module driving, for example either oil is converted into electric energy to drive by wind energy or solar energy for wind energy, solar energy.Driving
Equipment 16 can also be the hydraulic cylinder by oil driving.
Further, blanking device 13 be not limited to more than structure, can also be solenoid valve (not shown), solenoid valve with control
Device 20 processed is electrically connected, and controller 20 is by controlling the opening and closing of solenoid valve, to control sowing for the material 15.Such side
Formula is adapted for use on the relatively good material 15 of mobility.
The detecting element 14 is mainly used for monitoring the variation of the material 15 in the storage box 11, can be to survey
Measure the weighing sensor of weight, or infrared sensor etc..In the present embodiment, the detecting element 14 is weighing and sensing
The position for the total weight that storage box 11 and internal material 15 can be detected simultaneously by the outside of storage box 11 is arranged in device,
It can reach the purpose for implementing monitoring discharge quantity.Specifically, further referring to Fig. 2, the detecting element 14 is clamped in suspension
Between portion 111 and support element 12, in this way, detecting element 14 can detect one from the downward gravity of storage box 11, storage
Material 15 is equipped in case 11, after material 15 is constantly sowed outward by blanking device 13, the total weight of storage box 11 and material 15
It can change, detecting element 14 monitors the total weight of storage box 11 and materials inside 15 in real time, and related data is passed to
Controller 20, you can obtain the specific gravimetric value of the material sowed away 15.
It is understood that the detection mode of detecting element 14 can also be another.Referring to Fig. 8, the detection
Element 14 is infrared sensor 14B, in the present embodiment, infrared sensor 14B can be arranged in the outside of storage box 11B or
The inside of storage box 11B, since storage box 11B is a fixed container, internal capacity is fixed, and material 15, which is located at, to be deposited
Different depth in storage tank 11B, weight is different, and is easy to by being calculated, therefore can pass through the infrared biography
Sensor 14B, to measure the depth variance of storage box 11B materials insides 15, to judge the weight of the material sowed outward 15.This
Kind measurement method is especially suitable for applying to the material of liquid, but the sensor of above-mentioned measurement weight equally can be used for measuring
The material of liquid.
Both the above sensor is in the present invention in order to preferably explain cited two of which structure, but this hair
Bright sensor is not limited to above two, can also be other kinds of sensor, and the position of sensor can also be
Any position, according to the type of sensor and effect is adjusted.
In the present embodiment, it is provided with wire communication module or wireless communication module in the controller 20, by wired
Communication module or wireless communication module and client connection communication, and display data, user is obtained in real time by client
The working order of data and the driving equipment 16 that the detecting element 14 monitors.It simultaneously can also be artificial by client
The working order of the driving equipment 16 is controlled, wire communication module is set or wireless communication module facilitates client and control
Associated control parameters are transmitted between device 20, blanking device 10 is enable to be provided simultaneously with the function of manually controlling and automatically control, are controlled
System is got up more convenient.
In the present embodiment, the discharge quantity of the material 15 can be exemplified below several main obtain by a variety of acquisitions
Take mode：
First way：When blanking device 13 passes through solenoid valve control, the duration opened by solenoid valve is described to obtain
The discharge quantity of material 15.Specifically, the solenoid valve is opened, the material 15 is broadcast outward along the aperture position of the solenoid valve
It spreads.Since the opening of the blanking device 13 can be invariable, under gravity, the blanking device 13 broadcasts in the unit interval
The amount of spreading substantially constant, the duration opened by recording solenoid valve, you can obtain the accurate discharge quantity of blanking device 13.This kind of mode ratio
Relatively be suitble to the material 15 to be the relatively good substance of mobility, such as water, pesticide liquid or its be particulate substance.
The second way：Using weighing sensor as detecting element 14, the institute detected by the detecting element 11
The real time data for stating storage box 11 and material 15 calculates the discharge quantity of the material 15.Specifically, the first of the material 15 is obtained
Starting weight amount, and the remaining weight of the material 15 is detected by detecting element 14 in real time, the initial weight and the remaining weight
Amount can also be the gross weight magnitude of storage box 11 and material, but storage box 11 be it is invariable, no matter which kind of gravimetric value, it is logical
The difference of initial weight and remaining weight is crossed, accurate discharge quantity can be obtained.
The third mode：Using infrared sensor as detecting element 14, the depth of material 15 in storage box 11 is incuded, lead to
The variation for crossing detecting element depth obtains the volume of material 15, to obtain discharge quantity.Such mode is adapted for use with storage box
11 be regular shape, is easy to calculate volume, and material 15 is the preferable situation of mobility.
The blanking device 10 provided in this embodiment can monitor relevant parameter in real time by the detecting element 14, and
The variable quantity of material controls blanking device 13 in the storage box 11 monitored by the detecting element 14, to reach accurate control
The purpose of blanking processed.The blanking device 10 is simple in structure, easy to operate.It is possible to further be controlled by the controller 20
The blanking device 13 is made, achievees the purpose that automatically control blanking, is operated more simple and convenient, manual control is not necessarily to, is saved
Human cost, the mobile device with the blanking device and its control method can be used in agricultural and sow, and make to sow agriculture
The amount of money is more accurate, and it is also more convenient to operate.
The invention also discloses a kind of control methods of blanking device 10, referring to Fig. 9, including the following steps：
The initial state value of S1, acquisition about material to be sowed；
The main purpose of this step is to obtain the relevant parameter of original state, related after 10 blanking of blanking device
Parameter can change, therefore under being obtained finally by the difference of the state value under calculating original state and the real-time status value after blanking
The amount of material.
It can be much current time, driving the parameter such as rotating speed, power of current drive device 16 that initial state value, which has,
Size etc. can also be the weight or volume changing value about material 15, or for the weight that storage box 11 is combined with material 15
Magnitude.When in the unit interval discharge quantity it is constant in the case of, the driving parameter of current time driving equipment 16 can be used as just
Beginning state value and corresponding real-time status value, still, such mode is suitable for use in the material 15 of good fluidity, otherwise accurately
Degree is not high.When mobility is bad, and to the conjugation compactness of storage box 11 and blanking device 13 require it is not stringent in the case of, it is excellent
Select weight measurement mode.In the present embodiment, the weight and volume using 11 container of storage box is constant this feature, passes through biography
Sensor measures the variable quantity of material 15.In order to further illustrate in the present invention, introducing the mode of two kinds of weight measurements.Side
Formula one：Using the sensor for measuring weight, the outside of storage box 11 is placed a sensor at, and storage box can be detected simultaneously by
11 and internal material 15 total weight position, when the addition of material 15 finishes, you can monitor material 15 and storage box 11
Total weight since the weight of storage box 11 is invariable, therefore is readily available the weight of material 15.Certainly, material is measured
The sensor of 15 weight can also be placed on the inside of storage box 11, by the way that a measurement material 15 is arranged inside storage box 11
The construction and device of weight can be obtained the weight of material 15.
The second way is to be obtained by a kind of infrared sensor by measuring the depth of material 15 in storage box 11
The variable quantity of material 15 obtains the real-time weight of material 15, this mode according to the variation of the depth in storage box 11 of material 15
It is adapted for use in liquid material 15, and 11 capacity of storage box is in the structure for being easy to calculate.In the present invention, infrared sensor can
With mounted on the inside of storage box 11, can also being mounted on 11 outside of storage box, any one can facilitate in detection storage box 11
The position of 15 depth of portion's material.This measurement method is especially suitable for when material 15 is liquid.
Both the above mode is wherein two cited by the operation principle in the present invention in order to preferably explain the present invention
Kind mode, but sensor of the invention and the mode of measurement initial state value are not limited to above two, can also be it
His mode, the measurement object of use can be other kinds of original paper, and the installation site of monitoring element can also be arbitrary
Position is adjusted according to the type of monitoring element and effect.
S2, blanking instruction is received, blanking is carried out according to the blanking order-driven blanking device；
After controller 20 receives the blanking instruction of blanking device 10, blanking device 13 can be controlled and carry out blanking.This place
The controller 20 said can be the control device for being located at the special control blanking inside blanking device 13, can also be and entire blanking
Total controller 20 that device 10 connects, no matter what type of controller 20 can all be controlled as long as it has received blanking instruction
Driving equipment 16 processed is acted, to control blanking.Further, driving equipment 16 can be one inside blanking device 13
Component can also be the equipment of external add-in.
There are many structures of blanking device 13, and when material 15 is the relatively good substance of mobility, driving equipment 16 can be straight
Selecting solenoid valve, by switch the broadcasting sowing with control material 15 for controlling solenoid valve.When material 15 is not strong of mobility
When granular object or semi-moist substance, then a kind of device that can stir material 15 is needed, it is ensured that material 15 can be suitable
Profit passes through from blanking device 13.In one embodiment, blanking device 13 can be arranged to the structure with agitating function, is set by driving
It is stirred for standby 16 driving, and material 15 is avoided to block.This driving equipment 16 can be motor or cylinder, and motor can lead to
External power supply power supply is crossed, can also be to be converted into driving motor after electric energy by being similar to solar energy, wind energy etc., and cylinder can be with
It is electrical cylinder, can also be the hydraulic cylinder driven by oil.It can using the structure of the blanking device 13 of this kind of driving equipment 16
With using 13 structure of several blanking devices being mentioned above, i.e. blanking device 13 includes main body 131, scraper 132 and blanking handle
133, be provided in main body 131 convenient for material 15 by groove 1311, driving equipment 16 drives aforementioned body 131, scraper 132
It is rotated with a 133 arbitrary part of blanking handle, to stir material 15, material 15 is made normally to sow outward.
The mode of 13 blanking of blanking device is controlled in order to further illustrate controller 20, and several implementations have been also listed in the present invention
Example is to illustrate.In one embodiment, controller 20 is connect with driving equipment 16 and detecting element 14, receives blanking instruction
Afterwards, controller 20 control detecting element 14 detect the initial state value that either storage box 11 and material 15 combine of material 15 or
It is that controller 20 directly reads the initial state value being had been detected by detecting element 14, then controls driving equipment 16 and move,
Driving equipment 16 is opened or rotation, to make material 15 sow outward.
The real-time status value of S3, monitoring about material 15；
Material 15 is sowed outward each time, and all along with the variation of relevant parameter, this real-time status value can be object
Expect the duration of 15 blankings.It, then can be by monitoring in real time when the blanking device 10 of use is that discharge quantity is constant in the unit interval
The blanking time, to obtain actual discharge quantity, real-time status value is then that current time, Huo Zheshi are expected under starting at this time
It is long.The constant blanking device 10 of discharge quantity, can be the blanking device by solenoid valve control in the above-mentioned described unit interval
10, because the openings of sizes of solenoid valve is certain, when opening is opened, under the effect of gravity, discharge quantity is permanent in the unit interval
Fixed, but this mode is suitable for the relatively good material 15 of mobility.
The constant structure of blanking is to control the rotation of blanking device 13 using motor or cylinder in another unit interval
Structure, with specific reference to several rotatable baiting structures of above-mentioned introduction, when the cylinder or motor as driving equipment 16
When controlling the rotation of blanking device 13, for each revolution, discharge quantity is constant, therefore can pass through and record the driving blanking of driving equipment 16
The number that device 13 rotates, to obtain specific discharge quantity.At this point, real-time parameter is the driving parameter of driving equipment 16, for example drive
The parameters such as voltage change, positive and negative rotation number, the Telescopic-cylinder number of number or driving equipment 16 that dynamic blanking device 13 rotates.
But above-mentioned mode, be suitable for that mobility is relatively good or blanking device 13 combined with storage box 11 it is tighter
It is close, it does not have in the structure that extra material 15 leaks out and uses, it is bad in 15 mobility of material, it is readily adsorbed in storage box 11
In the case of being blocked when wall or easy blanking, the data that aforesaid way obtains are not fully accurate.
In order to obtain more subject to practical discharge quantity, preferably real-time status value is the gravimetric value of material 15 in the present invention, or
The mode of the gross weight magnitude of person's storage box 11 and material 15, initial state value is also the gravimetric value of material 15 in such mode, or
The gross weight magnitude of person's storage box 11 and material 15.After material 15 is sowed outward, the weight of material 15 will change, and utilize
The method of the measurement initial state value of above-mentioned introduction, you can obtain real-time status value, real-time status value herein must be with it is upper
The initial state value stated is a type, i.e., initial state value is that the weight of material 15 measured directly or material 15 are storing
Depth in case 11, then real-time status value herein is also the depth of the weight or material 15 of material 15 in storage box 11,
When initial state value is the direct total weight for measuring material 15 and storage box 11, then real-time status value is also material 15 and storage
The total weight of case 11, is only consistent, and could preferably judge actual discharge quantity.
Real-time status value and original state described in S4, comparison are worth to comparison result；
No matter real-time status value is joined with initial state value for the operation of gravimetric value or time value or driving equipment 16
Numerical value, as long as having carried out blanking action, the weight of material 15, the parameter value that the time of blanking and driving equipment 16 are run is all
It can change, then the difference being readily available between initial state value and real-time status value.
Referring to Fig. 7, the step further includes the following steps：
S41, real-time discharge quantity is calculated according to real-time status value and initial state value；
As long as ensuring that the type of real-time status value and initial state value is consistent, the difference of the two can be readily available
Value, to according to corresponding relationship, obtain accurate discharge quantity.For example, when initial state value and real-time status value are material 15
Gravimetric value when, discharge quantity be initial state value subtract real-time status value.When initial state value and real-time status value are that driving is set
When the number of turns or angle that standby 16 control blanking device 13 rotates, real-time discharge quantity is under the corresponding number of turns and angle generation
Doses；When initial state value and real-time status value are the time of blanking, discharge quantity is that constant blanking was open in the unit interval
Discharge quantity and blanking time product.
S42, real-time discharge quantity is calculated and with reference to the difference between discharge quantity；
After having obtained real-time discharge quantity, it is easy to the difference of real-time discharge quantity and reference discharge quantity can be obtained.With reference under
Doses refers to the calculation of the real-time discharge quantity according to current selected, a kind of mark for real-time discharge quantity as reference of setting
Quasi- value, with reference to discharge quantity setting can by it is wired or wirelessly in controller 20 input one can be used as weighing apparatus
Measure the standard reference value of discharge quantity accuracy.For example, under the judgment mode of selected initial state value and real-time status value is
When expecting the time,
Value with reference to discharge quantity is the product of standard discharge quantity and blanking time in the unit time in the ideal situation, by
In the practical discharge quantity in the unit interval may there are errors with standard discharge quantity, therefore within the identical blanking time, with reference under
It can be there are one difference between doses and real-time discharge quantity.
S43, judge difference whether beyond the numberical range set；
In order to accurately control discharge quantity, a numberical range is set, this numberical range is about real-time discharge quantity
It is more than this when above-mentioned real-time discharge quantity and with reference to the difference between discharge quantity with the range intervals with reference to the difference between discharge quantity
The maximum value of a numberical range either minimum value when then may determine that and currently sow excessive velocities or excessively slow.
Numberical range mentioned here can be embedded in relevant parameter in blanking device 13, or the side for passing through data transmission
Parameter is sent in controller 20 by formula.
S5, the blanking state that blanking device 10 is adjusted according to the comparison result.
Whether comparison result herein then exceeds numberical range for real-time discharge quantity and with reference to the difference between discharge quantity,
If exceeding, the blanking state of blanking device 10 is adjusted, as described above, this numberical range is about real-time discharge quantity and ginseng
The range intervals for examining the difference between discharge quantity, when above-mentioned difference is less than minimum value, then can determine whether currently to sow speed it is slow,
It needs to control the quickening velocity of rotation of driving equipment 16, or control solenoid valve enlarged openings area；When difference is more than maximum value,
It then can determine whether currently to sow excessive velocities, control driving equipment 16 needed to slow down velocity of rotation, or control solenoid valve reduction is broadcast
The opening width spread.When difference is in this numberical range, current operating parameter is kept.
In the present invention, detecting element 14 is to be detected to obtain by specific frequency to the detection of real-time status value
, exactly because in this way, just numberical range, which is established as an interval value controller 20, receives the reality that detecting element 14 detects
When state value after, calculate real-time discharge quantity, and the relationship between real-time judge difference and numberical range, in the present embodiment,
Final discharge quantity is also stored in controller 20, while judging the relationship between difference and numberical range, controller 20 is also
The second difference between real-time discharge quantity and final discharge quantity is judged whether within numberical range, when the second difference is in numerical value model
When within enclosing, then controller 20 controls the stopping blanking of blanking device 13, and blanking work terminates.If real-time discharge quantity is less than final blanking
Amount, and the second difference is within numberical range, controller 20 according to real-time discharge quantity and with reference between discharge quantity difference with
The relationship of numberical range adjusts the relevant parameter of blanking device 13, makes the real-time discharge quantity of blanking device 13 close to reference to discharge quantity,
Ensure the accuracy of 13 blanking of blanking device.
In one embodiment, when the detecting element 14 selected is the sensor of measurement storage box 11 and the total weight of material 15
When, real-time status value is also the total weight of storage box 11 and material 15, at this point, practical discharge quantity=Initial total weight-is total in real time
Weight；Equally, when the depth that the blanking state value selected is material 15 in storage box 11, then discharge quantity can pass through initial deep
The difference of angle value and real-time deep value is calculated, it should be noted that the mode of depth of the material 15 in storage box 11 is measured,
Suitable for using the liquid material 15 of good fluidity, the material 15 of solid-state or semi-moist is bad since there are mobility, is easy
It is adsorbed on chamber wall, is easy to cause the phenomenon that height is unevenly distributed, is not suitable for the mode using depth survey, for such object
Material 15 is preferential by the way of measuring weight.
Further, after stopping blanking, current real-time status value can be sent to display end and shown by controller 20,
Display end can be with entire blanking device 10 carry out wired connection display screen, can also be by radio communication mode carry out
The Terminal Server Client 30 of data transmission, with input or the correlation convenient for users to confirmation discharge quantity, and progress blanking instruction
The modification and display of parameter.
It is a kind of method carried out automatically controlling using controller 20 above, in the present invention, can also uses manually
Control method, the difference is that, the real-time status value in step S4 is worth to comparison result with original state
Process artificially carries out, while it is also by artificial to adjust the method for the blanking state of blanking device according to the comparison result
After comparing, the blanking of the blanking device is manually controlled.The relevant parameter manually detected by detecting element 14 and its change
Change value, the rule rule of thumb or in advance formulated or standard adjust manually the state of blanking.
Invention additionally discloses a kind of mobile devices, including the blanking device 10 of above-mentioned introduction, the control configured with above-mentioned introduction
The controller 20 of method processed and for carry installation blanking device 10 and controller 20 mobile ontology (not shown), in this hair
In bright, there are many mobile ontologies, can be the vehicle arrangement with the blanking device and control method in ground handling, such as
Planting machine, can also be the flight instruments of free flight in the air, such as unmanned plane, above-mentioned when mobile ontology is unmanned plane
The controller 20 of introduction be the unmanned plane flight control system 20A, referring to Fig. 8, flight control system 20A simultaneously with detecting element 14,
30 connection communication of blanking device 13 and client.Blanking device 10 is mounted on unmanned plane, the storage box described in blanking device 10
11 be hopper, the means of agricultural production to be sowed is housed in hopper, flight control system 20A control blanking devices 13 carry out sowing for the means of agricultural production, under utilization
Expect that the detecting element 14 in device 10 measures relevant parameter in real time, obtains accurate discharge quantity in time, control mode is simple, simultaneously
Relevant detection data and blanking parameter are also sent in client 30 by flight control system 20A, pass through the display in client 30
End (not shown) checks related data, meanwhile, user can also send dependent instruction by client 30 and give flight control system 20A, from
And control the blanking of blanking device 13.
Beneficial effects of the present invention are：
1) blanking device disclosed by the invention, it is simple in structure, and by installing detecting element, the related ginseng of detection in real time
Number, monitors the variable quantity of material in storage box according to the detecting element and reaches controlling blanking device and accurately control the mesh of blanking
's；
2) blanking device is simple in structure, automatically controls discharge quantity by the controller with above-mentioned control method, is provided with
Numberical range discharge quantity and is maintained at when real-time discharge quantity is less than final discharge quantity, and in real time with reference to the difference between discharge quantity
Between numberical range, then current blanking state is kept；
When difference exceeds numberical range, controller adjusts the relevant parameter of blanking, under adjusting real-time discharge quantity and referring to
Difference between doses achievees the purpose that automatic and accurate controls blanking；
When practical discharge quantity levels off to final discharge quantity, and the second difference between discharge quantity and final discharge quantity in real time
When reaching corresponding numberical range, controller controls blanking device and stops blanking, and blanking work terminates；
Whole device operate it is more simple and convenient, be not necessarily to manual control, save human cost；
3) carried out data transmission by wired or wireless mode, data transmission is convenient, and operability is strong；
4) in the mobile device by blanking device setting, to achieve the purpose that accurately to sow operation；
5) facilitate material to flow outwardly to stir the material in storage box by controlling the rotation of blanking device, avoid blocking
Feed opening；
6) trough body structure is provided in main body, trough body structure extends to blanking handle from doctor position, in order to which material is from depositing
It is slid in storage tank, and when main body is elastic construction, the width of groove body can be changed by compression or elongated body, in order to
Different size of material passes through.
The above is only some embodiments of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (24)
1. a kind of blanking device, which is characterized in that including storage box, blanking device, detecting element and driving equipment, the blanking device
Mounted on the outlet port of the storage box, the detecting element is arranged in the storage box or the blanking device, described to deposit
For storage tank for housing material, the detecting element monitors the variable quantity of material in the storage box, the driving equipment and blanking
Device connects, the blanking of the driving equipment control blanking device.
2. blanking device according to claim 1, which is characterized in that further include controller, the controller is set with driving
Standby and detecting element connection communication, the controller are used to control the driving equipment according to the data that the detecting element detects
Operating.
3. blanking device according to claim 1, which is characterized in that the blanking device includes main body, scraper and blanking handle,
The scraper and blanking handle are connect with main body respectively, and the blanking handle is connect with driving equipment, and the driving equipment passes through control
Blanking handle drives main body or scraper rotation, to stir the material in the storage box.
4. blanking device according to claim 3, which is characterized in that the scraper and blanking handle are located at the phase of main body
To both ends, the scraper is arranged in the outlet port of storage box, and the blanking handle is connect with the driving equipment, and the driving is set
For by controlling blanking handle to drive the scraper to rotate, to stir the material.
5. blanking device according to claim 4, which is characterized in that be provided with trough body structure, the slot in the main body
Body structure extends to blanking handle position from the doctor position.
6. blanking device according to claim 5, which is characterized in that the trough body structure in the shape of a spiral, spire from
Doctor position extends to blanking handle position.
7. blanking device according to claim 6, which is characterized in that the main body is elastic construction, when the main body is stretched
When contracting, the width of the trough body structure changes.
8. blanking device according to claim 5, which is characterized in that the trough body structure is the groove structure of linear,
The groove structure extends to blanking handle position from the doctor position.
9. blanking device according to claim 4, which is characterized in that the scraper relative to main body rotate or scraper with
Blanking handle is rotated relative to main body or scraper, main body rotate together with blanking handle.
10. blanking device according to claim 3, which is characterized in that the main body is in plate, and the scraper can be stored
Ground is arranged in main body, and the blanking handle is connect with the driving equipment, and the driving equipment is by controlling blanking handle to drive
The main body rotation, to stir the material.
11. blanking device according to claim 1, which is characterized in that support element is additionally provided with, for described in suspension strut
Storage box, the detecting element are clamped between support element and storage box, to monitor the weight of storage box and materials inside.
12. blanking device according to claim 1, which is characterized in that be provided with solenoid valve, the electricity on the blanking device
Magnet valve is used to control the opening and closing of the blanking device.
13. blanking device according to claim 2, which is characterized in that be provided on the controller wired or wireless logical
Believe module, the wire communication module or wireless communication module are gone forward side by side with the client connection communication for being associated with the blanking device
Row data are shown.
14. a kind of control method of blanking device, which is characterized in that include the following steps：
Obtain the initial state value about material to be sowed；
Blanking instruction is received, blanking is carried out according to the blanking order-driven blanking device；
Monitor the real-time status value about material；
Compare the real-time status value and is worth to comparison result with original state；And
The blanking state of blanking device is adjusted according to the comparison result.
15. the control method of blanking device according to claim 14, which is characterized in that the real-time status
Value is worth to comparison result with original state；And the method that the blanking state of blanking device is adjusted according to the comparison result,
Including artificially obtaining comparison result, and manually control the blanking of the blanking device.
16. the control method of blanking device according to claim 14, which is characterized in that the real-time status
Value is worth to comparison result with original state；And the method that the blanking state of blanking device is adjusted according to the comparison result,
Including automatically deriving comparison result, and the blanking state of blanking device described in adjust automatically.
17. the control method of blanking device according to claim 16, which is characterized in that described to automatically derive comparison result
The step of include：
Real-time discharge quantity is calculated according to the real-time status value and the initial state value；
Calculate the real-time discharge quantity and with reference to the difference between discharge quantity；
Judge the difference whether beyond the numberical range set.
18. the control method of blanking device according to claim 16, which is characterized in that blanking described in the adjust automatically
The method of the blanking state of device includes：
When the difference is less than the numberical range minimum value of setting, the blanking device is automatically controlled to increase discharge quantity；
When the difference is more than the numberical range maximum value of setting, the blanking device is automatically controlled to reduce discharge quantity；
When the difference is in the numberical range of setting, the blanking state that the blanking device is current is kept.
19. the control method of blanking device according to claim 16, which is characterized in that the real-time status value passes through spy
Fixed frequency detecting obtains.
20. the control method of blanking device according to claim 14, which is characterized in that the adjustment blanking device
The method of blanking state be：Adjust the speed of driving equipment driving or the size of solenoid valve opening.
21. the control method of blanking device according to claim 14, which is characterized in that the initial state value and in real time
State value is respectively the gravimetric value of material or the gross weight magnitude of storage box and material.
22. the control method of blanking device according to claim 14, which is characterized in that the initial state value and in real time
State value is respectively that material sows duration.
23. the control method of blanking device according to claim 14, which is characterized in that the initial state value and in real time
State value is respectively the operating parameter of driving equipment.
24. a kind of mobile device, which is characterized in that including：Blanking device described in the claims 1-13 any one is matched
It is equipped with the controller of the control method described in the claims 14-23 any one and mobile ontology, the blanking device
On the mobile ontology, blanking device, detecting element in the controller and the blanking device and it is associated with described
The client connection communication of blanking device.
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