CN108427329B - Discharging device, control method thereof and moving device - Google Patents
Discharging device, control method thereof and moving device Download PDFInfo
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- CN108427329B CN108427329B CN201810230185.3A CN201810230185A CN108427329B CN 108427329 B CN108427329 B CN 108427329B CN 201810230185 A CN201810230185 A CN 201810230185A CN 108427329 B CN108427329 B CN 108427329B
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000007599 discharging Methods 0.000 title claims description 27
- 239000000463 material Substances 0.000 claims abstract description 152
- 238000003860 storage Methods 0.000 claims abstract description 111
- 238000001514 detection method Methods 0.000 claims abstract description 30
- 238000004891 communication Methods 0.000 claims description 21
- 238000012544 monitoring process Methods 0.000 claims description 11
- 238000003756 stirring Methods 0.000 claims description 10
- 238000003892 spreading Methods 0.000 claims description 5
- 230000007480 spreading Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 abstract description 15
- 238000009331 sowing Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 5
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- 239000012773 agricultural material Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 4
- 239000011344 liquid material Substances 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000007790 scraping Methods 0.000 description 4
- 210000005056 cell body Anatomy 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 3
- 238000005303 weighing Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
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- 238000009826 distribution Methods 0.000 description 1
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- 239000003337 fertilizer Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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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- Engineering & Computer Science (AREA)
- 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 application discloses a blanking device, a control method thereof and a moving device, which comprise a storage box, a blanking device, a detection element and a driving device, wherein the blanking device is arranged at an outlet position of the storage box, the detection element is arranged on the storage box or the blanking device, the storage box is used for accommodating materials, a controller is electrically connected with the detection element and the blanking device, the detection element monitors the change amount of the materials in the storage box, the driving device is connected with the blanking device, and the driving device controls the blanking of the blanking device.
Description
[ field of technology ]
The application relates to the technical field of agro-industry sowing, in particular to a blanking device, a control method applied to the blanking device and a mobile device.
[ background Art ]
As society develops and labor costs increase, more and more rural labor is shifted to towns, resulting in fewer people engaged in the first industry. In addition, the terrains of China are complex and changeable, the planting areas of crops in mountain areas and hilly areas are large, but large ground machines are difficult to develop. Unmanned aerial vehicle is because of small, takes off and land in a flexible way, and the flight is not influenced by topography advantage such as, participate in agricultural production more and more. At present, unmanned aerial vehicle flight technology is mature gradually, and besides spraying agents, the demands of sowing agricultural materials such as fertilizers, feeds, pollen and seeds are increasingly strong. The existing broadcasting device is simple in structure, broadcasting quantity cannot be accurately controlled, and the final broadcasting effect is not ideal, so that the related mechanical structure and control method are needed to be perfected.
[ invention ]
The embodiment of the invention aims to provide a blanking device which is simple in control mode, simple in structure and capable of automatically blanking and accurately obtaining blanking quantity, a control method of the blanking device and a mobile device with the blanking device and the control method.
In order to achieve the above purpose, the invention discloses a blanking device, which comprises a storage box, a blanking device, a detection element and a driving device, wherein the blanking device is arranged at an outlet position of the storage box, the detection element is arranged on the storage box or the blanking device, the storage box is used for accommodating materials, the detection element is used for monitoring the change amount of the materials in the storage box, the driving device is connected with the blanking device, and the driving device is used for controlling the blanking of the blanking device.
Further, the device also comprises a controller, wherein the controller is connected and communicated with the driving device and the detection element, and the controller is used for automatically controlling the operation of the driving device according to the data detected by the detection element.
Further, the blanking device comprises a main body, a scraper and a blanking handle, wherein the scraper and the blanking handle are respectively connected with the main body, the blanking handle is connected with a driving device, and the driving device drives the main body or the scraper to rotate by controlling the blanking handle so as to stir the materials in the storage box.
Further, the scraper and the blanking handle are respectively located at two opposite ends of the main body, the scraper is arranged at the outlet position of the storage box, the blanking handle is connected with the driving device, and the driving device drives the scraper to rotate by controlling the blanking handle, so that the material is stirred.
Further, a groove body structure is arranged on the main body, and the groove body structure extends from the scraper position to the blanking handle position.
Further, the groove body structure is in a spiral shape, and the spiral part of the groove body structure extends from the scraper position to the blanking handle position.
Further, the main body is of an elastic structure, and when the main body stretches, the width of the groove body structure changes.
Further, the groove body structure is a linear groove structure, and the groove structure extends from the scraper position to the blanking handle position.
Further, the scraper rotates relative to the main body, or the scraper and the blanking handle rotate relative to the main body, or the scraper, the main body and the blanking handle rotate together.
Further, the main body is flat plate type, the scraper is arranged on the main body in a storable manner, the blanking handle is connected with the driving equipment, and the driving equipment drives the main body to rotate by controlling the blanking handle, so that the material is stirred.
Further, a support member is provided for suspending and supporting the storage box, and the detection element is clamped between the support member and the storage box to monitor the weight of the storage box and the internal materials.
Further, an electromagnetic valve is arranged on the blanking device and used for controlling the opening and closing of the blanking device.
Further, a wired or wireless communication module is arranged on the controller, and the wired or wireless communication module is in communication with a client associated with the blanking device in a connection manner and performs data display.
The invention also discloses a control method of the blanking device, which comprises the following steps:
acquiring an initial state value of a material to be scattered;
receiving a blanking instruction, and driving a blanking device to perform blanking according to the blanking instruction;
monitoring a real-time status value for the material;
comparing the real-time state value with an initial state value to obtain a comparison result; and
and adjusting the blanking state of the blanking device according to the comparison result.
Further, the real-time state value is compared with the initial state value to obtain a comparison result; and a method for adjusting the blanking state of the blanking device according to the comparison result, wherein the method comprises the steps of manually obtaining the comparison result and manually controlling the blanking of the blanking device.
Further, the real-time state value is compared with the initial state value to obtain a comparison result; and a method for adjusting the blanking state of the blanking device according to the comparison result, which comprises the steps of automatically obtaining the comparison result and automatically adjusting the blanking state of the blanking device.
Further, the step of automatically obtaining the comparison result includes:
calculating the real-time blanking quantity according to the real-time state value and the initial state value;
calculating the difference between the real-time blanking amount and the reference blanking amount;
and judging whether the difference value exceeds a set numerical range.
Further, the method for automatically adjusting the blanking state of the blanking device comprises the following steps:
when the difference value is smaller than the minimum value of the set numerical range, automatically controlling the blanking device to increase the blanking amount;
when the difference value is larger than the maximum value of the set numerical range, automatically controlling the blanking device to reduce the blanking amount;
and when the difference value is in the set numerical range, maintaining the current blanking state of the blanking device.
Further, the real-time status value is obtained by detecting a specific frequency.
Further, the method for adjusting the blanking state of the blanking device comprises the following steps: and adjusting the speed of driving the driving device or the size of an opening of the electromagnetic valve.
Further, the initial state value and the real-time state value are respectively the weight value of the material or the total weight value of the storage box and the material.
Further, the initial state value and the real-time state value are respectively the sowing time of the material.
Further, the initial state value and the real-time state value are respectively operating parameters of the driving device.
The invention also discloses a mobile device, comprising: the blanking device, the controller provided with any one of the control methods and the movable body, wherein the blanking device is arranged on the movable body, and the controller is in connection communication with a blanking device, a detection element and a client associated with the blanking device.
Compared with the prior art, the blanking device disclosed by the invention has the advantages that the structure is simple, the control method is simple, convenient and intelligent, related parameters are detected in real time by installing the detection element, and the blanking device is controlled to achieve the aim of accurately controlling the blanking according to the change of the materials in the storage box monitored by the detection element. The blanking device is simple in structure, is automatically controlled by the controller with the control method, is convenient to operate, and is arranged in the moving device, so that the aim of accurate sowing operation is fulfilled;
The material in the storage box is stirred by controlling the rotation of the blanking device, so that the material can flow outwards conveniently;
the main body is provided with a groove body structure which extends from the scraper to the blanking handle so as to facilitate the material to fall from the storage box, and when the main body is of an elastic structure, the width of the groove body can be changed by compressing or stretching the main body so as to facilitate the passing of materials of different sizes;
the controller is arranged to achieve the purposes of automatic control and blanking adjustment, and the communication module is arranged to control the blanking device conveniently through the client, so that the control modes are various.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
[ description of the drawings ]
The foregoing and/or additional aspects and advantages of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a block diagram of a manual control structure of a blanking device of the present invention;
FIG. 2 is a block diagram of an automatic control structure of the blanking device of the present invention;
FIG. 3 is a schematic structural diagram of an embodiment of a blanking apparatus according to the present invention;
FIG. 4 is a schematic diagram of a blanking apparatus according to a first embodiment of the present invention;
FIG. 5 is a schematic diagram of a blanking apparatus according to a second embodiment of the present invention;
FIG. 6 is a schematic diagram of a blanking apparatus according to a third embodiment of the present invention;
FIG. 7 is a schematic view showing a structure of a blanking device accommodated in a storage box according to a third embodiment of the present invention;
FIG. 8 is a schematic view of a material depth measurement in another embodiment of the blanking apparatus of the present invention;
FIG. 9 is a flow chart of a method of controlling a blanking apparatus according to the present invention;
FIG. 10 is a flow chart of a method for comparing a real-time status value with an initial status value according to the present invention;
fig. 11 is a connection block diagram of the unmanned aerial vehicle control blanking device according to the present invention.
[ detailed description ] of the invention
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein includes all or any element and all combination of one or more of the associated listed items.
It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs unless defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Referring to fig. 1, the invention discloses a blanking device 10, which comprises a storage box 11, a blanking device 13, a detecting element 14 and a driving device 16, wherein a material 15 is contained in the storage box 11, the blanking device 13 is arranged at an outlet position of the storage box 11, the detecting element 14 is arranged on the storage box 11 or the blanking device 13 to detect the blanking amount of the material 15 in the storage box 11 in real time, and the blanking amount or the material 15 allowance in the storage box 11 is displayed. The driving device 16 is connected with the blanking device 13, controls the blanking of the blanking device 13, artificially checks the real-time detection value of the detection element 14, and can artificially control the blanking state of the blanking device 13 by controlling the driving device 16 when the real-time blanking state reaches the target state. The above is a blanking device by manual control blanking.
However, in another embodiment, a controller 20 for receiving the monitored data and controlling the operation of the driving device 16 may be further provided, where the controller 20 is connected to the driving device 16 and the detecting element 14 in communication, and the connection mode is an electrical connection or a wireless communication connection, so as to achieve the purpose of automatically controlling the blanking state of the blanking device 13. Further, referring to fig. 2, the blanking device 10 mainly includes a storage box 11, a blanking device 13, a detecting element 14, a driving device 16 and a controller 20, wherein the detecting element 14 is electrically connected with the controller 20, the blanking device 13 is electrically connected with the driving device 16, the driving device 16 is electrically connected with the controller 20, the controller 20 receives real-time detection data of the detecting element 14 and analyzes the real-time detection data, and controls the motion of the driving device 16 according to the analysis result so as to control the blanking state of the blanking device 13. Meanwhile, the controller 20 may be further connected to the client 30, and send the received detection data and the processing result to the client 30 for display, or may receive a control instruction from the client 30, and execute the control instruction to control the blanking state of the blanking device 13.
Further, referring to fig. 3, an embodiment of the automatic blanking control structure of the blanking device 10 according to the present invention is shown. In this embodiment, the blanking device 10 of the present invention includes a storage box 11, a blanking device 13, a detecting element 14, a driving device and a controller 20, the blanking device 13 is installed at an outlet position of the storage box 11, the detecting element 14 is disposed on the storage box 11, and the storage box 11 contains a material 15. The controller 20 is electrically connected to the sensing element 14 and the driving device 16. The detecting element 14 monitors the amount of change of the material 15 in the storage tank 11, thereby determining the amount of the material scattered outside the discharging device 10.
Further, the blanking device 10 further comprises a supporting member 12, and the detecting element 14 is clamped between the supporting member 12 and the storage box 11. Correspondingly, the storage box 11 is provided with a hanging part 111 matched with the supporting piece 12, the storage box 11 is fixed by hanging on the supporting piece 12, the whole storage box 11 is in a T-shaped structure, and under a normal hanging state, the hanging part 111 and the outer wall of the storage box 11 are directly contacted with the supporting piece 12.
In the present invention, the blanking device 13 includes a main body 131, a scraper 132, and a blanking handle 133. The scraping knife 132 and the blanking handle 133 are respectively connected with the main body 131, the blanking handle 133 is connected with the driving device 16, and the driving device 16 drives the main body 131 or the scraping knife 132 to rotate by controlling the blanking handle 133 so as to stir the material 15 in the storage box 11.
Further, referring to fig. 4, in one structure of the blanking device 13 of the present invention, the scraping blade 132 and the blanking handle 133 are respectively located at two ends of the main body 131. The scraper 132 is located at an opening position of the discharger 13, and is used for stirring the material 15 at the opening position, so as to prevent the material 15 from blocking the opening position of the discharger 13.
The main body 131 may be in a conical or cylindrical structure, preferably, in the first embodiment, the main body 131 is integrally in a conical shape, one end of the connecting scraper 132 is narrow, and the position of the end of the connecting blanking handle 133 is wide, so that the material 15 scraped by the scraper 132 can slide down the conical slope smoothly and spill outwards. Since the body 131 is connected to the scraper 132 at a narrow position, the scraper 132 may be designed in a bar-shaped structure. The width of the scraper 132 is greater than the width of the top end of the main body 131, and in general, the blanking device 13 may include a plurality of the scrapers 132, and the plurality of scrapers 132 are disposed at a certain angle interval from each other, so that the maximum area contacts the material 15, and the material 15 is stirred to slide along the main body 131. In this embodiment, the scraper 132 has a straight-line structure, and when the scraper 132 rotates, the material 15 at the position of the scraper 132 is stirred, so that the material 15 slides down. Further, three blades 132 may be provided, each blade 132 is disposed at an angle of 120 degrees, or four blades 132 may be provided, each blade 132 is disposed at a certain angle interval, and the animal material 15 is scraped by using the gap between each blade 132.
Further, a groove structure may be provided on the outer surface of the main body 131, so that the material 15 slides down the groove structure from the top to the bottom of the main body 131. In this embodiment, the groove body is a spiral groove 1311, and preferably, the spiral grooves 1311 have equal width and equal depth, are disposed on the outer surface of the main body 131 in a spiral shape and equidistant, and extend from the scraper 132 to the blanking handle 133. The spiral groove 1311 is used for guiding the material 15 to slide from the scraper 132 to the blanking handle 133 at the bottom end and spill out.
Further, the main body 131 may also have an elastic structure, so that when the main body 131 is compressed or stretched, the width of the tank body may be changed to facilitate the passage of materials with different sizes.
It should be understood that the groove structure is not limited to the spiral groove 1311, and in other embodiments, the groove structure may take other forms, and referring to fig. 5, in a second embodiment, the groove structure includes a plurality of grooves 1312 extending from the top to the bottom of the main body 131 directly downward, and the plurality of grooves 1312 are the same size and are uniformly distributed on the outer surface of the main body 131. After the material 15 falls into the groove 1312, it directly falls downward and is sprayed outward. Due to the groove structure provided on the main body 131, even when the material 15 is a granular object with a larger radius, the position of the spreading opening of the feeder 13 is not blocked.
Further, a plurality of through holes (not shown) for material to leak out may be provided at the position of the storage box 11 where the main body 131 is accommodated, when the groove 1312 on the main body 131 is located at the position of the through hole, the material on the groove 1312 leaks out through the through hole, when the main body 131 rotates to deviate the groove 1312 from the position of the through hole, the material is blocked and cannot flow out, so that the material discharging speed and the material discharging amount are controlled by the structure.
In this embodiment, the scraper 132 scrapes the material 15 by rotating. The scraper 132 is rotated by the driving device 16, in this embodiment, the driving device 16 is connected to the blanking handle 133 of the blanking device 13, the driving device 16 controls the blanking handle 133 to rotate, and the scraper 132 and the blanking handle 133 are integrally formed, so that the scraper 132 rotates together when the blanking handle 133 rotates. It can be appreciated that the scraper 132, the main body 131 and the blanking handle 133 can be of an integral structure, and can rotate simultaneously, so that the main body 131 also rotates together, and the material 15 is not easy to be blocked in the groove structure, thereby ensuring the smoothness of blanking, and being more beneficial to preventing blocking.
It should be understood that the operation mode of the driving device 16 is not limited to the above, in other embodiments, when the main body 131, the scraper 132, and the discharging handle 133 of the discharging device 13 may rotate relatively, in this way, the driving device 16 may drive any part to rotate, for example, only drive the main body 131 to rotate, and utilize the conical structure of the main body 131 to stir the material 15, or only drive the scraper 132 to rotate at the upper end, stir the material 15 at the upper end and drop the material, or make the discharging handle 133 and the scraper 132 as an integral structure, and the external driving device 16 drives the discharging handle 133 to rotate and simultaneously drive the scraper 132 at the upper end to rotate, so as to stir the material 15.
Referring to fig. 6, in the structure of the blanking device 13 of the third embodiment, the blanking device includes a main body 131, a scraper 132, a blanking handle 133, the blanking handle 133 is connected with the main body 131, the scraper 132 is storably disposed on the main body 131, further, the main body 131 is in a flat plate shape, a hollow groove 134 is disposed at a side edge of the main body 131, the scraper 132 is storably disposed at the hollow groove 134, and a groove 1314 is symmetrically disposed at a middle position of the main body 131, so that the main body 131 is in a flat 8 shape overall, and the scraper 132 and the hollow groove 134 are disposed in two positions, which are symmetrically disposed at two grooves 1314 of the main body 131 respectively. The driving device 16 is connected with the blanking handle 133, and the driving device 16 controls the main body 131 to carry the scraper 132 to rotate.
Further, referring to fig. 7, the blanking device 13 is disposed at an outlet position 112 at the bottom of the storage tank 11, in this embodiment, the outlet position 112 of the storage tank 11 has a strip-shaped structure, the main body 131 is just clamped at the outlet position 112, when the longest edge of the main body 131 rotates to approach to both ends of the outlet position 112, the main body 131 just seals the blanking opening 111, at this time, the storage tank 11 stops blanking, and when the longest edge of the main body 131 is far away from the outlet position 112, the material 15 in the storage tank 11 leaks from the outlet position 112. When the main body 131 rotates, the scraper 132 in the empty groove 134 protrudes under the centrifugal force and assists in scraping the material 15 in the storage bin 11.
Typically, the drive device 16 may be a motor or an electrically driven cylinder driven by a battery or other possible energy source module, such as wind, solar or oil, driven by conversion of wind or solar energy into electrical energy. The drive device 16 may also be a hydraulic cylinder driven by oil.
Further, the feeder 13 is not limited to the above structure, and may be a solenoid valve (not shown), which is electrically connected to the controller 20, and the controller 20 controls the scattering of the material 15 by controlling the opening and closing of the solenoid valve. This is suitable for use with a material 15 having a relatively good flowability.
The detecting element 14 is mainly used for monitoring the change of the material 15 in the storage box 11, and can be a weighing sensor for measuring weight, an infrared sensor and the like. In this embodiment, the detecting element 14 is a weighing sensor, which is disposed outside the storage box 11, and can detect the total weight of the storage box 11 and the material 15 in the storage box at the same time, so as to achieve the purpose of monitoring the blanking amount. Specifically, referring to fig. 2, the detecting element 14 is clamped between the hanging portion 111 and the supporting member 12, so that the detecting element 14 can detect a downward gravity from the storage tank 11, the storage tank 11 holds the material 15, when the material 15 is continuously scattered outward by the feeder 13, the total weight of the storage tank 11 and the material 15 will change, the detecting element 14 monitors the total weight of the storage tank 11 and the internal material 15 in real time, and the relevant data is transmitted to the controller 20, so as to obtain the specific weight value of the scattered material 15.
It will be appreciated that the detection means of the detection element 14 may be another. Referring to fig. 8, the detecting element 14 is an infrared sensor 14B, in this embodiment, the infrared sensor 14B may be disposed outside the storage box 11B or inside the storage box 11B, and since the storage box 11B is a fixed container, the internal capacity is fixed, and the materials 15 are located at different depths in the storage box 11B, and the weights thereof are different, and are easily calculated, the weight of the materials 15 scattered outside can be determined by measuring the depth variation of the materials 15 inside the storage box 11B through the infrared sensor 14B. This measurement is particularly suitable for liquid materials, but the above-described weight sensor can also be used for measuring liquid materials.
The above two sensors are only two of the structures listed for better explanation in the present invention, but the sensor of the present invention is not limited to the above two, but may be other types of sensors, and the position of the sensor may be any position, which is adjusted according to the type and function of the sensor.
In this embodiment, the controller 20 is provided with a wired communication module or a wireless communication module, and is connected to communicate with a client through the wired communication module or the wireless communication module, and performs data display, so that a user obtains, in real time, data monitored by the detecting element 14 and the operation condition of the driving device 16 through the client. Meanwhile, the operation condition of the driving device 16 can be manually controlled by the client, and a wired communication module or a wireless communication module is arranged to facilitate the transmission of relevant control parameters between the client and the controller 20, so that the blanking device 10 can have the functions of manual control and automatic control at the same time, and the control is more convenient.
In this embodiment, the amount of the material 15 may be obtained in various ways, and the following main obtaining manners are listed below:
the first way is: when the discharger 13 is controlled by the solenoid valve, the discharge amount of the material 15 is obtained by the time period during which the solenoid valve is opened. Specifically, the solenoid valve is opened, and the material 15 is spread outward along the opening position of the solenoid valve. Because the opening of the blanking device 13 is constant, the seeding quantity of the blanking device 13 is basically constant in unit time under the action of gravity, and the accurate blanking quantity of the blanking device 13 can be obtained by recording the opening time of the electromagnetic valve. This is preferably done in that the material 15 is a relatively fluid substance, such as a liquid like water, a pesticide, or it is a fine particulate substance.
The second way is: and a weighing sensor is adopted as a detection element 14, and the blanking amount of the material 15 is calculated through real-time data of the storage box 11 and the material 15 detected by the detection element 11. Specifically, the initial weight of the material 15 is obtained, and the residual weight of the material 15 is detected in real time by the detecting element 14, wherein the initial weight and the residual weight can be the total weight value of the storage tank 11 and the material, but the storage tank 11 is constant, and no matter what weight value, the accurate blanking amount can be obtained by the difference value between the initial weight and the residual weight.
Third mode: the infrared sensor is used as the detecting element 14, the depth of the material 15 in the storage box 11 is sensed, and the volume of the material 15 is obtained through the change of the depth of the detecting element, so that the blanking amount is obtained. This method is suitable for the case where the storage tank 11 is of a regular shape, the volume is easily calculated, and the material 15 is of a good fluidity.
The blanking device 10 provided in this embodiment can monitor relevant parameters in real time through the detecting element 14, and control the blanking device 13 through the variable quantity of the materials in the storage box 11 monitored by the detecting element 14, so as to achieve the purpose of accurately controlling blanking. The blanking device 10 is simple in structure and convenient to operate. Further, the controller 20 can control the blanking device 13 to achieve the purpose of automatically controlling blanking, the operation is simpler and more convenient, manual control is not needed, the labor cost is saved, the mobile device with the blanking device and the control method thereof can be applied to agricultural sowing, the amount of sowing agricultural materials is more accurate, and the operation is more convenient.
The invention also discloses a control method of the blanking device 10, referring to fig. 9, comprising the following steps:
S1, acquiring an initial state value of a material to be scattered;
the main purpose of this step is to obtain the relevant parameters of the initial state, and since the relevant parameters will change after the blanking by the blanking device 10, the final blanking amount can be obtained by calculating the difference between the state value in the initial state and the real-time state value after blanking.
The initial state value may be a current time, and the driving parameters of the current driving device 16, such as the rotation speed, the power level, etc., may be a change value of the weight or the volume of the material 15, or a weight value for the combination of the storage tank 11 and the material 15. When the amount of blanking per unit time is constant, the driving parameter of the driving device 16 at the current time may be used as the initial state value and the corresponding real-time state value, however, this method is suitable for use in the material 15 with good fluidity, otherwise the accuracy is not high. When fluidity is poor and the bonding strength between the storage tank 11 and the blanking member 13 is not critical, a weight measurement method is preferable. In the present embodiment, the amount of change in the material 15 is measured by the sensor by utilizing the characteristic that the weight and the volume of the container of the storage tank 11 are constant. For further explanation, in the present invention, two ways of weight measurement are described. Mode one: the weight measuring sensor is arranged outside the storage box 11, the total weight of the storage box 11 and the material 15 inside can be detected at the same time, and when the material 15 is added, the total weight of the material 15 and the storage box 11 can be monitored, and the weight of the material 15 can be easily obtained because the weight of the storage box 11 is constant. Of course, the sensor for measuring the weight of the material 15 may be placed inside the storage box 11, and the weight of the material 15 may be obtained by providing a structure and a device for measuring the weight of the material 15 inside the storage box 11.
In the second way, the change amount of the material 15 is obtained by measuring the depth of the material 15 in the storage tank 11 by an infrared sensor, and the real-time weight of the material 15 is obtained according to the change of the depth of the material 15 in the storage tank 11, which is suitable for use in the liquid material 15, and the capacity of the storage tank 11 is in a structure which is easy to calculate. In the invention, the infrared sensor can be arranged in the storage box 11, and can also be arranged outside the storage box 11 at any position which can conveniently detect the depth of the material 15 in the storage box 11. This measurement is particularly suitable when the material 15 is in a liquid state.
The above two ways are only two ways listed in the invention for better explaining the working principle of the invention, but the sensor and the way of measuring the initial state value of the invention are not limited to the two ways, and can also be other ways, the adopted measuring object can be other types of original, and the mounting position of the monitoring element can also be any position, and the adjustment can be carried out according to the type and the action of the monitoring element.
S2, receiving a blanking instruction, and driving a blanking device to perform blanking according to the blanking instruction;
When the controller 20 receives the discharging command of the discharging device 10, the discharging device 13 is controlled to perform discharging. The controller 20 may be a control device that is located inside the blanking device 13 and specifically controls the blanking, or may be a general controller 20 that is connected to the entire blanking device 10, and any type of controller 20 may control the driving device 16 to operate so long as it receives a blanking command, thereby controlling the blanking. Further, the driving device 16 may be a component inside the blanking apparatus 13 or may be an external additional device.
The structure of the blanking device 13 is various, when the material 15 is a material with better fluidity, the driving device 16 can directly select an electromagnetic valve, and the broadcasting of the material 15 is controlled by controlling the switch of the electromagnetic valve. When the material 15 is a granular or semi-moist material with poor flowability, a device is needed to agitate the material 15 to ensure that the material 15 can pass smoothly through the hopper 13. In an embodiment, the feeder 13 may be configured to have a stirring function, and the feeder is driven by the driving device 16 to stir, so as to avoid the blockage of the material 15. Such a driving device 16 may be a motor or a cylinder, the motor may be powered by an external power source, or may be a motor driven by converting electric energy similar to solar energy, wind energy, or the like, and the cylinder may be an electric cylinder, or may be a hydraulic cylinder driven by oil. The structure of the discharger 13 using such a driving device 16 may adopt several types of the above-mentioned discharger 13 structures, that is, the discharger 13 includes a main body 131, a scraper 132 and a discharge handle 133, a groove 1311 for facilitating the passage of the material 15 is provided in the main body 131, and the driving device 16 drives any part of the main body 131, the scraper 132 and the discharge handle 133 to rotate so as to agitate the material 15, thereby enabling the material 15 to be normally spread outwards.
In order to further illustrate the manner in which the controller 20 controls the blanking of the blanking apparatus 13, several embodiments are also illustrated in the present invention. In an embodiment, the controller 20 is connected to the driving device 16 and the detecting element 14, and after receiving the discharging command, the controller 20 controls the detecting element 14 to detect the initial state value of the material 15 or the combination of the storage tank 11 and the material 15, or the controller 20 directly reads the initial state value detected on the detecting element 14, and then controls the driving device 16 to move, and the driving device 16 is opened or rotated, so that the material 15 is scattered outwards.
S3, monitoring a real-time state value of the material 15;
each outward spreading of the material 15 is accompanied by a change in a related parameter, and this real-time status value may be the duration of the material 15 being discharged. When the blanking device 10 is used and the blanking amount is constant in unit time, the real blanking amount can be obtained by monitoring the blanking time in real time, and the real-time state value is from the beginning of blanking to the current time or the time length. The above-mentioned discharging device 10 having a constant discharging amount per unit time may be the discharging device 10 controlled by a solenoid valve, because the opening size of the solenoid valve is constant, and when the opening is opened, the discharging amount per unit time is constant under the action of gravity, but this is suitable for the material 15 having a relatively good fluidity.
Another structure for discharging in a constant unit time is a structure for controlling the rotation of the discharger 13 by using a motor or an air cylinder, and specifically referring to the above-described rotatable discharging structures, when the discharger 13 is controlled to rotate by using the air cylinder or the motor of the driving device 16, the discharging amount is constant every time the discharger 13 rotates, so that the specific discharging amount can be obtained by recording the number of times the discharger 13 is driven to rotate by the driving device 16. At this time, the real-time parameter is a driving parameter of the driving device 16, such as the number of times of driving the blanking device 13 to rotate, or a voltage variation, the number of times of forward and reverse rotation, the number of times of cylinder expansion and contraction, etc. of the driving device 16.
However, the above-described methods are suitable for use in a structure in which the fluidity is relatively good, or the combination of the discharging device 13 and the storage tank 11 is relatively tight, and no excessive material 15 is leaked, and in a case in which the fluidity of the material 15 is poor, the material is easily adsorbed on the inner wall of the storage tank 11 or is easily blocked during discharging, the data obtained in the above-described method is not completely accurate.
In order to obtain a more accurate actual discharge, the real-time state value is preferably the weight value of the material 15 or the total weight value of the storage tank 11 and the material 15, and the initial state value is also the weight value of the material 15 or the total weight value of the storage tank 11 and the material 15. When the material 15 is scattered outwards, the weight of the material 15 will change, and by using the method for measuring the initial state value described above, a real-time state value can be obtained, where the real-time state value must be of a type similar to the initial state value, that is, the initial state value is the weight of the material 15 or the depth of the material 15 in the storage tank 11, which is directly measured, and the real-time state value is the weight of the material 15 or the depth of the material 15 in the storage tank 11, and when the initial state value is the total weight of the material 15 and the storage tank 11, which is directly measured, the real-time state value is also the total weight of the material 15 and the storage tank 11, and only if the initial state value is consistent, the actual blanking amount can be better judged.
S4, comparing the real-time state value with an initial state value to obtain a comparison result;
the difference between the initial state value and the real-time state value can be easily obtained as long as the discharging action is performed, the weight of the material 15, the discharging time and the operating parameter value of the driving device 16 are all changed, no matter whether the real-time state value and the initial state value are the weight value or the time value or the operating parameter value of the driving device 16.
Referring to fig. 7, the steps further include the following steps:
s41, calculating the real-time blanking quantity according to the real-time state value and the initial state value;
as long as the real-time state value and the initial state value are ensured to be consistent, the difference value of the real-time state value and the initial state value can be obtained easily, and therefore the accurate blanking amount is obtained according to the corresponding relation. For example, when the initial state value and the real-time state value are the weight values of the material 15, the blanking amount is the initial state value minus the real-time state value. When the initial state value and the real-time state value are the number of turns or the angle of the rotation of the blanking device 13 controlled by the driving equipment 16, the real-time blanking amount is the blanking amount generated by the corresponding number of turns and angle; when the initial state value and the real-time state value are the blanking time, the blanking amount is the product of the blanking amount and the blanking time in the unit time of the constant blanking opening.
S42, calculating a difference value between the real-time blanking quantity and the reference blanking quantity;
after the real-time blanking amount is obtained, the difference value between the real-time blanking amount and the reference blanking amount can be easily obtained. The reference blanking amount refers to a standard value set for taking the real-time blanking amount as a reference according to the currently selected calculation mode of the real-time blanking amount, and the setting of the reference blanking amount can be achieved by inputting a standard reference value which can be used for measuring the blanking amount accuracy into the controller 20 in a wired or wireless mode. For example, when the selected initial state value and the real-time state value are judged as the blanking time,
the value of the reference blanking amount is the product of the standard blanking amount and the blanking time in the ideal state in unit time, and the actual blanking amount in unit time and the standard blanking amount possibly have errors, so that a difference exists between the reference blanking amount and the real-time blanking amount in the same blanking time.
S43, judging whether the difference value exceeds a set numerical range;
in order to accurately control the discharge amount, a numerical range is set, which is a range section of the difference between the real-time discharge amount and the reference discharge amount, and when the difference between the real-time discharge amount and the reference discharge amount exceeds the maximum value or the minimum value of the numerical range, the current sowing speed can be judged to be too fast or too slow.
The numerical ranges described herein may be embedded with the relevant parameters in the blanking apparatus 13 or the parameters may be transmitted to the controller 20 by means of data transmission.
And S5, adjusting the blanking state of the blanking device 10 according to the comparison result.
The comparison result here is whether the difference between the real-time blanking amount and the reference blanking amount exceeds a numerical range, and if so, the blanking state of the blanking device 10 is adjusted, and as described above, the numerical range is a range interval of the difference between the real-time blanking amount and the reference blanking amount, and when the difference is smaller than the minimum value, it can be determined that the current sowing speed is slow, the driving device 16 needs to be controlled to accelerate the rotation speed, or the electromagnetic valve needs to be controlled to expand the opening area; when the difference is greater than the maximum value, it may be determined that the current spreading speed is too high, and it is necessary to control the driving device 16 to slow down the rotation speed, or to control the solenoid valve to reduce the width of the spreading opening. When the difference is within this range, the current operating parameters are maintained.
In the present invention, the detection element 14 detects the real-time status value through a specific frequency, and therefore, the numerical range is defined as an interval value, after the controller 20 receives the real-time status value detected by the detection element 14, the controller calculates the real-time blanking amount, determines the relationship between the difference value and the numerical range in real time, in this embodiment, the controller 20 further stores the final blanking amount, while determining the relationship between the difference value and the numerical range, the controller 20 further determines whether the second difference value between the real-time blanking amount and the final blanking amount is within the numerical range, and when the second difference value is within the numerical range, the controller 20 controls the blanking device 13 to stop blanking, and the blanking operation is ended. If the real-time blanking amount is smaller than the final blanking amount and the second difference value is not within the numerical range, the controller 20 adjusts the relevant parameters of the blanking device 13 according to the relation between the difference value between the real-time blanking amount and the reference blanking amount and the numerical range, so that the real-time blanking amount of the blanking device 13 is close to the reference blanking amount, and the blanking accuracy of the blanking device 13 is ensured.
In one embodiment, when the selected detecting element 14 is a sensor for measuring the total weight of the storage tank 11 and the material 15, the real-time status value is also the total weight of the storage tank 11 and the material 15, and at this time, the actual feeding amount=the initial total weight-the real-time total weight; similarly, when the selected blanking state value is the depth of the material 15 in the storage tank 11, the blanking amount can be calculated by the difference between the initial depth value and the real-time depth value, and it should be noted that the method of measuring the depth of the material 15 in the storage tank 11 is suitable for using the liquid material 15 with good fluidity, and the solid or semi-moist material 15 is easy to be adsorbed on the wall of the container due to poor fluidity, thus easily causing uneven height distribution, and is not suitable for using the method of measuring the depth, and the method of measuring the weight is preferentially adopted for such material 15.
Further, after stopping the blanking, the controller 20 sends the current real-time status value to the display end for displaying, and the display end may be a display screen in wired connection with the whole blanking device 10, or may be a remote client 30 for performing data transmission in a wireless communication manner, so as to facilitate the user to confirm the blanking amount, and input the blanking instruction or modify and display related parameters.
The above is a method for performing automatic control by using the controller 20, and in the present invention, a manual control method may be also used, which is different in that the process of comparing the real-time state value with the initial state value in step S4 is performed manually, and the method of adjusting the blanking state of the blanking device according to the comparison result is also performed manually after the manual comparison. I.e. manually adjusting the blanking condition according to rules or criteria either empirically or established in advance, by manually detecting the relevant parameters and their changing values by the detecting element 14.
The invention also discloses a mobile device, which comprises the blanking device 10, the controller 20 provided with the control method and a mobile body (not shown) for bearing and installing the blanking device 10 and the controller 20, wherein the mobile body can be various vehicle equipment running on the ground and provided with the blanking device and the control method, such as a spreader, or a flying device capable of flying freely in the air, such as an unmanned aerial vehicle, when the mobile body is the unmanned aerial vehicle, the controller 20 is a flight control system 20A of the unmanned aerial vehicle, and referring to fig. 8, the flight control system 20A is simultaneously connected and communicated with the detection element 14, the blanking device 13 and the client 30. The blanking device 10 is arranged on the unmanned aerial vehicle, the storage box 11 in the blanking device 10 is a hopper, agricultural materials to be scattered are contained in the hopper, the flight control system 20A controls the blanking device 13 to scatter the agricultural materials, the detection element 14 in the blanking device 10 is used for measuring relevant parameters in real time, the accurate blanking amount is timely obtained, the control mode is simple, meanwhile, the flight control system 20A also sends relevant detection data and blanking parameters to the client 30, the relevant data are checked through a display end (not shown) on the client 30, and meanwhile, a user can also send relevant instructions to the flight control system 20A through the client 30, so that the blanking of the blanking device 13 is controlled.
The beneficial effects of the invention are as follows:
1) The blanking device disclosed by the invention is simple in structure, and related parameters are detected in real time by installing the detection element, and the blanking device is controlled to achieve the aim of accurately controlling blanking by monitoring the variation of materials in the storage box according to the detection element;
2) The blanking device is simple in structure, the blanking quantity is automatically controlled by the controller with the control method, a numerical range is set, and when the real-time blanking quantity is smaller than the final blanking quantity and the difference value between the real-time blanking quantity and the reference blanking quantity is kept between the numerical range, the current blanking state is kept;
when the difference value exceeds the numerical range, the controller adjusts the related parameters of the blanking, adjusts the difference value between the real-time blanking quantity and the reference blanking quantity, and achieves the aim of automatically and accurately controlling the blanking;
when the actual blanking amount approaches to the final blanking amount and the second difference value between the real-time blanking amount and the final blanking amount reaches a corresponding numerical range, the controller controls the blanking device to stop blanking, and the blanking work is finished;
the whole device is simpler and more convenient to operate, does not need manual control, and saves labor cost;
3) The data transmission is carried out in a wired or wireless mode, so that the data transmission is convenient and the operability is high;
4) The blanking device is arranged in the mobile device, so that the aim of accurate sowing operation is fulfilled;
5) The material in the storage box is stirred by controlling the rotation of the blanking device, so that the material can flow outwards conveniently, and the blanking opening is prevented from being blocked;
6) Be provided with cell body structure in the main part, cell body structure extends to the unloading handle from the scraper position to the material falls from the storage box in, and when the main part is elastic structure, accessible compression or tensile main part change the width of cell body, in order to the passage of the material of equidimension not.
The foregoing is only a partial embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (23)
1. The blanking device is characterized by comprising a storage box, a blanking device, a detection element and a driving device;
the blanking device is arranged at the outlet position of the storage box;
the detection element is arranged on the storage box or the blanking device and is used for monitoring the variation of materials in the storage box;
the storage box is used for accommodating materials;
The driving device is connected with the blanking device and used for controlling the blanking of the blanking device;
the storage box is also provided with a support piece for hanging and supporting the storage box, and the detection element is clamped between the support piece and the storage box so as to monitor the weight of the storage box and the internal materials;
the storage box is provided with a hanging part matched with the supporting piece, the storage box is fixed on the supporting piece through hanging, the storage box is of a T-shaped structure, and in a normal hanging state, the hanging part and the outer wall of the storage box are in contact with the supporting piece.
2. The blanking apparatus of claim 1 further including a controller in communication with the drive device and the sensing element, the controller being configured to control operation of the drive device based on data sensed by the sensing element.
3. The blanking device of claim 1, wherein the blanking device comprises a main body, a scraper and a blanking handle, the scraper and the blanking handle are respectively connected with the main body, the blanking handle is connected with a driving device, and the driving device drives the main body or the scraper to rotate by controlling the blanking handle so as to stir the materials in the storage box.
4. A blanking apparatus according to claim 3, wherein the scraper and the blanking handle are respectively located at opposite ends of the main body, the scraper is arranged at an outlet position of the storage box, the blanking handle is connected with the driving device, and the driving device drives the scraper to rotate by controlling the blanking handle, so that the material is stirred.
5. The blanking device of claim 4 wherein a channel structure is provided on said body, said channel structure extending from said doctor blade position to said blanking handle position.
6. The blanking apparatus of claim 5 wherein the channel structure is helical with a helical portion extending from a doctor blade position to the blanking shank position.
7. The blanking device of claim 6, wherein the main body is of an elastic structure, and the width of the channel structure changes when the main body stretches.
8. The blanking device of claim 5 wherein said channel structure is a rectilinear channel structure extending from said doctor blade position to said blanking handle position.
9. The blanking apparatus of claim 4 wherein the scraper rotates relative to the main body, or the scraper rotates with the blanking handle relative to the main body, or the scraper, the main body, and the blanking handle rotate together.
10. A blanking device according to claim 3, wherein the main body is in a flat plate shape, the scraper is arranged on the main body in a receivable manner, the blanking handle is connected with the driving equipment, and the driving equipment drives the main body to rotate by controlling the blanking handle so as to stir the material.
11. The blanking device of claim 1, wherein the blanking device is provided with a solenoid valve for controlling opening and closing of the blanking device.
12. The blanking device of claim 2, wherein the controller is provided with a wired communication module or a wireless communication module, and the wired communication module or the wireless communication module is in communication with a client associated with the blanking device and performs data display.
13. The control method of the blanking device is characterized by comprising the following steps:
acquiring an initial state value of a material to be scattered;
receiving a blanking instruction, and driving the blanking device according to any one of claims 1-12 to perform blanking according to the blanking instruction;
monitoring a real-time status value for the material;
comparing the real-time state value with an initial state value to obtain a comparison result; and
And adjusting the blanking state of the blanking device according to the comparison result.
14. The method according to claim 13, wherein the comparing the real-time status value with the initial status value yields a comparison result; and a method for adjusting the blanking state of the blanking device according to the comparison result, wherein the method comprises the steps of manually obtaining the comparison result and manually controlling the blanking of the blanking device.
15. The method according to claim 13, wherein the comparing the real-time status value with the initial status value yields a comparison result; and a method for adjusting the blanking state of the blanking device according to the comparison result, which comprises the steps of automatically obtaining the comparison result and automatically adjusting the blanking state of the blanking device.
16. The method of claim 15, wherein the step of automatically obtaining the comparison result comprises:
calculating the real-time blanking quantity according to the real-time state value and the initial state value;
calculating the difference between the real-time blanking amount and the reference blanking amount;
and judging whether the difference value exceeds a set numerical range.
17. The method for controlling a blanking device according to claim 16, wherein the method for automatically adjusting the blanking state of the blanking device includes:
When the difference value is smaller than the minimum value of the set numerical range, automatically controlling the blanking device to increase the blanking amount;
when the difference value is larger than the maximum value of the set numerical range, automatically controlling the blanking device to reduce the blanking amount;
and when the difference value is in the set numerical range, maintaining the current blanking state of the blanking device.
18. The method of claim 15, wherein the real-time status value is detected by a specific frequency.
19. The method for controlling a blanking device according to claim 13, wherein the method for adjusting the blanking state of the blanking device is as follows: and adjusting the speed of driving the driving device or the size of an opening of the electromagnetic valve.
20. The method of claim 13, wherein the initial state value and the real-time state value are weight values of the material or total weight values of the storage tank and the material, respectively.
21. The method for controlling a discharging device according to claim 13, wherein the initial state value and the real-time state value are respectively a spreading time of the material.
22. The method of claim 13, wherein the initial state value and the real-time state value are operation parameters of the driving device, respectively.
23. A mobile device, comprising: the blanking apparatus of any of the preceding claims 1-12, a controller configured with the control method of any of the preceding claims 13-22, and a mobile body, on which the blanking apparatus is mounted, the controller being in connected communication with a blanking apparatus, a detection element and a client associated with the blanking apparatus.
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| JP6756389B2 (en) * | 2019-03-08 | 2020-09-16 | 東洋製罐株式会社 | Aircraft discharge system |
| CN110108334A (en) * | 2019-03-29 | 2019-08-09 | 深圳高科新农技术有限公司 | A kind of unmanned plane liquid level detection device and unmanned plane |
| CN111654666A (en) * | 2020-05-19 | 2020-09-11 | 河南中烟工业有限责任公司 | Tray cigarette material residue identification system and identification method |
| CN112715508B (en) * | 2020-12-15 | 2022-09-13 | 广州极飞科技股份有限公司 | Method and device for determining position of feed opening |
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| CN104176254A (en) * | 2014-08-06 | 2014-12-03 | 华南农业大学 | Onboard device suitable for sowing job of unmanned aerial vehicle and sowing method |
| CN206212647U (en) * | 2016-11-22 | 2017-06-06 | 山西农业大学 | Crops nitrogenous fertilizer sows monitoring device |
| CN106714545A (en) * | 2016-11-23 | 2017-05-24 | 深圳市大疆创新科技有限公司 | Sowing machine and agricultural unmanned aerial vehicle |
| CN206743848U (en) * | 2017-05-04 | 2017-12-15 | 安阳全丰生物科技有限公司 | A kind of solid particle tossed device suitable for unmanned plane |
| CN206977991U (en) * | 2017-05-18 | 2018-02-09 | 青岛锐擎航空科技有限公司 | A kind of plant protection unmanned plane is sowed seeds device |
| CN107272722A (en) * | 2017-07-11 | 2017-10-20 | 广东容祺智能科技有限公司 | A kind of large-size particles fertilizer of unmanned plane broadcasts sowing system |
| CN107715727A (en) * | 2017-09-19 | 2018-02-23 | 中国计量大学 | The more component proportioning materials devices of screw and its controller |
| CN107750542A (en) * | 2017-10-11 | 2018-03-06 | 华南农业大学 | A kind of unmanned plane spreading gear and its control method for mass flow control |
| CN207992725U (en) * | 2018-03-20 | 2018-10-19 | 广州极飞科技有限公司 | A kind of blanking device and mobile device |
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| CN108427329A (en) | 2018-08-21 |
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