CN117369346A - Agricultural unmanned aerial vehicle control module - Google Patents
Agricultural unmanned aerial vehicle control module Download PDFInfo
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- CN117369346A CN117369346A CN202311608582.7A CN202311608582A CN117369346A CN 117369346 A CN117369346 A CN 117369346A CN 202311608582 A CN202311608582 A CN 202311608582A CN 117369346 A CN117369346 A CN 117369346A
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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
- G05B19/0423—Input/output
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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
- G05B2219/00—Program-control systems
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Abstract
The application provides an agricultural unmanned aerial vehicle control module, mainly relates to unmanned aerial vehicle control field. The control module that this application provided is arranged in spraying the operation and adjusts unmanned aerial vehicle shower nozzle interval. The control module comprises a parameter setting module and a control module, wherein the parameter setting module is used for inputting operation parameters of the agricultural unmanned aerial vehicle; the calculating module is used for calculating the spraying amplitude of the centrifugal spray head when the atomizing disc in the centrifugal spray head is at different rotating speeds according to the first mapping relation; the fitting module is used for fitting a relation between the rotating speed and the spraying amplitude of the atomizing disk according to the result calculated by the calculating module, and determining the value of the coefficient to be determined corresponding to the relation; the calculating module is also used for calculating a first amplitude of the centrifugal nozzle spraying when the atomizing disk is at the first rotating speed according to the relation. This application is through equipment automatic calculation and adjust in order to realize the best interval of spraying to promote the coverage that the medicament was sprayed, improve agricultural unmanned aerial vehicle's operating efficiency, reduce medicament waste and cost of labor.
Description
Technical Field
The application relates to the field of unmanned aerial vehicle control, and more particularly, to an agricultural unmanned aerial vehicle control module.
Background
The agricultural unmanned aerial vehicle has wide application prospect, especially in the aspect of agricultural spraying. The crop protection and regulation can be realized by replacing manual high-altitude spraying of chemical agents, nutritional agents and the like, so that the loss rate is reduced and the yield is increased. The unmanned aerial vehicle is widely applied to the plant diseases and insect pests spraying on crops such as fruit trees, vegetables, corns, paddy rice and the like, and can also spray liquid fertilizer, microelements and other hormones so as to improve the quality and the growth efficiency of the crops.
However, there are some disadvantages in the current technology. Most unmanned aerial vehicles all adopt the overall arrangement of fixed shower nozzle interval when dispatching from the factory, can't adjust according to the growth state and the environmental change of different crops. Such a fixed arrangement may lead to undesirable spray effects, wastage of medicament and inconvenience in use.
In recent years, how to enable an unmanned aerial vehicle to automatically calculate and adjust the distance between spray heads in the actual operation process according to set operation parameters so as to ensure the uniformity of sprayed medicament becomes a research hot spot. Nowadays, the functions of an agricultural unmanned aerial vehicle are more and more complex, so that the operation of unmanned aerial vehicle spraying can be realized only by setting a small amount of parameters, the self-adaptive adjustment distance of the unmanned aerial vehicle in the spraying process is ensured, and the spraying effect is ensured.
How to enable the unmanned aerial vehicle to automatically calculate and adjust the distance between the spray heads according to the actual conditions of the operation in the current operation process and the set few operation parameters so as to ensure the uniformity of the spraying of the medicament is a popular direction of research in recent years.
Disclosure of Invention
The application provides an agricultural unmanned aerial vehicle control module. The parameter setting module is used for inputting operation parameters of the unmanned aerial vehicle, the calculating module is used for determining the optimal rotating speed of the atomizing disk based on the operation parameters set by the current unmanned aerial vehicle through calculation, so that the spraying distance of the centrifugal spray nozzle reaches the maximum spraying amplitude under the current operation condition, and the driving module is used for driving the spray nozzle arm to adjust according to the calculation result of the calculating module, so that the spray nozzle reaches the set first operation distance. According to the method, the optimal rotating speed and the optimal spraying amplitude of the atomizing disk can be automatically calculated through equipment according to the operation parameters, so that the automatic adjustment is performed aiming at the distance to improve the coverage range of medicament spraying; the parameter setting is simplified, the parameter is not required to be reset every time in the use process, an unmanned aerial vehicle manufacturer can build the unmanned aerial vehicle according to the model to the equipment parameter before leaving the factory, the convenience of agricultural unmanned aerial vehicle operation is improved, the operation efficiency of the agricultural unmanned aerial vehicle is improved, and the medicament waste and the labor cost are reduced.
In a first aspect, an agricultural unmanned aerial vehicle control module is provided, the control module being mounted to an agricultural unmanned aerial vehicle. The agricultural unmanned aerial vehicle further comprises a rotor wing, a centrifugal spray head, a liquid storage tank and a driving module, wherein the centrifugal spray head is fixed on one side of the liquid storage tank through the driving module, and the liquid storage tank is used for storing a medicament to be sprayed. The control module comprises a parameter setting module, a calculation module and a fitting module, and the parameter setting module is specifically used for inputting operation parameters of the agricultural unmanned aerial vehicle; the calculating module is used for calculating the spraying amplitude of the centrifugal spray head when the atomizing disc in the centrifugal spray head is at different rotating speeds according to the first mapping relation; the fitting module is used for fitting a relation between the rotating speed and the spraying amplitude of the atomizing disk according to the result calculated by the calculating module, and determining the value of the coefficient to be determined corresponding to the relation, wherein the relation comprises R f ＝A 1 n 3 +B 1 n 2 +C 1 n+D 1 ，R f The spraying amplitude of the centrifugal spray head is that n is the rotating speed of the atomizing disk, A 1 、B 1 、C 1 、D 1 Is a coefficient to be determined; the calculating module is also used for calculating a first amplitude of spraying of the centrifugal nozzle when the atomizing disk is at the first rotating speed according to the relation, and determining a first operation interval of the centrifugal nozzle according to the first amplitude. The driving module drives the centrifugal spray heads to move relatively along the horizontal direction to adjust the distance between the centrifugal spray heads to reach the first operation distance based on the first operation distance output by the calculating module.
Based on the technical scheme, the parameter setting module of the agricultural unmanned aerial vehicle is used for inputting operation parameters of the unmanned aerial vehicle, the calculating module is used for determining the optimal rotating speed of the atomizing disk based on the operation parameters set by the current unmanned aerial vehicle through calculation, so that the spraying distance of the centrifugal spray head reaches the maximum spraying amplitude under the current operation condition, and the driving module is used for driving the spray head arm to adjust according to the calculation result of the calculating module, so that the spray head reaches the set first operation distance. The application can automatically calculate the optimal rotating speed and the optimal spraying amplitude of the atomizing disk according to the operation parameters through the equipment, so that the automatic adjustment is performed to the distance, the coverage range of the pesticide spraying is improved, the operation efficiency of the agricultural unmanned aerial vehicle is improved, and the pesticide waste and the labor cost are reduced.
It is understood that the first operation interval comprises a distance between centrifugal spray heads determined according to current operation parameters of the unmanned aerial vehicle, when the interval between two centrifugal spray heads in any horizontal direction is smaller than or equal to the first interval, the medicament sprayed by the two spray heads can be uniformly covered to the operation range below the unmanned aerial vehicle of the spray heads in the environment of room temperature, standard atmospheric pressure and no wind, so that full coverage of medicament spraying is realized, and the coverage of medicament spraying is improved.
It will be appreciated that the spray amplitude of the centrifugal spray head increases with increasing rotational speed of the atomizer disk, and when the rotational speed of the atomizer disk increases to a first rotational speed value, the spray amplitude reaches a first amplitude, the atomizer disk rotational speed increases again on the basis of the first rotational speed value, and the spray amplitude decreases on the basis of the first amplitude. The first rotating speed and the first amplitude have a corresponding relation, the first amplitude is a peak value of the spraying amplitude, and the first rotating speed is a value of the corresponding rotating speed when the peak value of the spraying amplitude is displayed.
With reference to the first aspect, in certain implementation manners of the first aspect, the job parameters input by the parameter setting module include: radius of atomizing disk, flow of atomizing disk, density of medicament to be sprayed, number of rotor wings, diameter of rotor wings, load capacity of agricultural unmanned aerial vehicle and operation height of agricultural unmanned aerial vehicle.
Based on the technical scheme, the parameter setting module of the agricultural unmanned aerial vehicle is used for inputting operation parameters of the unmanned aerial vehicle, the calculating module is used for determining the optimal rotating speed of the atomizing disk based on the operation parameters set by the current unmanned aerial vehicle through calculation, so that the spraying distance of the centrifugal spray head reaches the maximum spraying amplitude under the current operation condition, and the driving module is used for driving the spray head arm to adjust according to the calculation result of the calculating module, so that the spray head reaches the set first operation distance. The application can automatically calculate the optimal rotating speed and the optimal spraying amplitude of the atomizing disk according to the operation parameters through the equipment, so that the automatic adjustment is performed to the distance, the coverage range of the pesticide spraying is improved, the operation efficiency of the agricultural unmanned aerial vehicle is improved, and the pesticide waste and the labor cost are reduced.
With reference to the first aspect, in certain implementations of the first aspect, the determining, by the computing module, a first working distance of the centrifugal spray head includes:
N≤1.7R f
wherein N is the first working distance.
Based on the technical scheme, the distance between the set spray heads of the agricultural unmanned aerial vehicle is smaller than or equal to 1.7 times of spraying amplitude. The application can automatically calculate the optimal rotating speed and the optimal spraying amplitude of the atomizing disk according to the operation parameters through the equipment, so that the automatic adjustment is performed to the distance, the coverage range of the pesticide spraying is improved, the operation efficiency of the agricultural unmanned aerial vehicle is improved, and the pesticide waste and the labor cost are reduced.
With reference to the first aspect, in certain implementations of the first aspect, the drive module includes a spray head arm and a slide rail, and the centrifugal spray head is slidably fixed on the slide rail by the spray head arm. The driving module receives the first operation interval output by the calculating module, and drives the spray head arm to move relatively on the sliding rail along the horizontal direction to adjust the interval of the centrifugal spray head to reach the first operation interval.
Based on the technical scheme, the parameter setting module of the agricultural unmanned aerial vehicle is used for inputting operation parameters of the unmanned aerial vehicle, the calculating module is used for determining the optimal rotating speed of the atomizing disk based on the operation parameters set by the current unmanned aerial vehicle through calculation, so that the spraying distance of the centrifugal spray head reaches the maximum spraying amplitude under the current operation condition, and the driving module is used for driving the spray head arm to adjust according to the calculation result of the calculating module, so that the spray head reaches the set first operation distance. The application can automatically calculate the optimal rotating speed and the optimal spraying amplitude of the atomizing disk according to the operation parameters through the equipment, so that the automatic adjustment is performed to the distance, the coverage range of the pesticide spraying is improved, the operation efficiency of the agricultural unmanned aerial vehicle is improved, and the pesticide waste and the labor cost are reduced.
With reference to the first aspect, in certain implementation manners of the first aspect, the calculating module calculates a spray amplitude of the centrifugal spray head according to the first mapping relation includes: the calculation module determines the air resistance coefficient of the fogdrops according to the density of the medicament to be sprayed and the particle size of the fogdrops of the medicament; the calculation module determines the wind speed of a downward wind field generated by the rotor according to the load of the agricultural unmanned aerial vehicle, the number of the rotors and the diameter of the rotors; the calculation module determines the falling time of the fog drops according to the operation height of the agricultural unmanned aerial vehicle by combining the air resistance coefficient of the fog drops and the wind speed of the downward-pressing wind field; the calculation module determines the initial speed of spraying the fog drops along the horizontal direction according to the rotating speed of the atomizing disk and the radius of the atomizing disk; the calculation module determines a first amplitude of spraying of the fog drops along the horizontal direction according to the falling time and the initial speed.
Based on the technical scheme, the parameter setting module of the agricultural unmanned aerial vehicle is used for inputting operation parameters of the unmanned aerial vehicle, the calculating module is used for determining the optimal rotating speed of the atomizing disk based on the operation parameters set by the current unmanned aerial vehicle through calculation, so that the spraying distance of the centrifugal spray head reaches the maximum spraying amplitude under the current operation condition, and the driving module is used for driving the spray head arm to adjust according to the calculation result of the calculating module, so that the spray head reaches the set first operation distance. The application can automatically calculate the optimal rotating speed and the optimal spraying amplitude of the atomizing disk according to the operation parameters through the equipment, so that the automatic adjustment is performed to the distance, the coverage range of the pesticide spraying is improved, the operation efficiency of the agricultural unmanned aerial vehicle is improved, and the pesticide waste and the labor cost are reduced.
With reference to the first aspect, in certain implementations of the first aspect, the first mapping relationship includes:
wherein H is the value of the working height of the agricultural unmanned aerial vehicle, V S For the wind speed of the downward wind field, mu is the air resistance coefficient, and the calculation module determines the drop time of the fog drops according to the first mapping relation.
Based on the technical scheme, the parameter setting module of the agricultural unmanned aerial vehicle is used for inputting operation parameters of the unmanned aerial vehicle, the calculating module is used for determining the optimal rotating speed of the atomizing disk based on the operation parameters set by the current unmanned aerial vehicle through calculation, so that the spraying distance of the centrifugal spray head reaches the maximum spraying amplitude under the current operation condition, and the driving module is used for driving the spray head arm to adjust according to the calculation result of the calculating module, so that the spray head reaches the set first operation distance. The application can automatically calculate the optimal rotating speed and the optimal spraying amplitude of the atomizing disk according to the operation parameters through the equipment, so that the automatic adjustment is performed to the distance, the coverage range of the pesticide spraying is improved, the operation efficiency of the agricultural unmanned aerial vehicle is improved, and the pesticide waste and the labor cost are reduced.
With reference to the first aspect, in certain implementations of the first aspect, the first mapping relationship includes:
Wherein R is f For spraying the mist drops along the horizontal direction at a first amplitude, V X For the initial speed of the fog drops, mu is the air resistance coefficient, t is the landing time, and the calculation module determines a first amplitude R of the fog drops sprayed along the horizontal direction according to the landing time t f 。
Based on the technical scheme, the parameter setting module of the agricultural unmanned aerial vehicle is used for inputting operation parameters of the unmanned aerial vehicle, the calculating module is used for determining the optimal rotating speed of the atomizing disk based on the operation parameters set by the current unmanned aerial vehicle through calculation, so that the spraying distance of the centrifugal spray head reaches the maximum spraying amplitude under the current operation condition, and the driving module is used for driving the spray head arm to adjust according to the calculation result of the calculating module, so that the spray head reaches the set first operation distance. The application can automatically calculate the optimal rotating speed and the optimal spraying amplitude of the atomizing disk according to the operation parameters through the equipment, so that the automatic adjustment is performed to the distance, the coverage range of the pesticide spraying is improved, the operation efficiency of the agricultural unmanned aerial vehicle is improved, and the pesticide waste and the labor cost are reduced.
With reference to the first aspect, in certain implementations of the first aspect, the first mapping relationship includes:
wherein mu is the air resistance coefficient, d is the particle size of the fog drops, rho is the density of the medicament to be sprayed, and the calculation module determines the air resistance coefficient according to the first mapping relation.
Based on the technical scheme, the parameter setting module of the agricultural unmanned aerial vehicle is used for inputting operation parameters of the unmanned aerial vehicle, the calculating module is used for determining the optimal rotating speed of the atomizing disk based on the operation parameters set by the current unmanned aerial vehicle through calculation, so that the spraying distance of the centrifugal spray head reaches the maximum spraying amplitude under the current operation condition, and the driving module is used for driving the spray head arm to adjust according to the calculation result of the calculating module, so that the spray head reaches the set first operation distance. The application can automatically calculate the optimal rotating speed and the optimal spraying amplitude of the atomizing disk according to the operation parameters through the equipment, so that the automatic adjustment is performed to the distance, the coverage range of the pesticide spraying is improved, the operation efficiency of the agricultural unmanned aerial vehicle is improved, and the pesticide waste and the labor cost are reduced.
With reference to the first aspect, in certain implementations of the first aspect, the first mapping relationship includes:
wherein V is S For the wind speed of the downward wind field, M is the number of the rotary wings, D is the diameter of the rotary wings, L is the load value of the agricultural unmanned aerial vehicle, g is the gravitational acceleration, and the calculation module determines the wind speed of the downward wind field according to the first mapping relation.
Based on the technical scheme, the parameter setting module of the agricultural unmanned aerial vehicle is used for inputting operation parameters of the unmanned aerial vehicle, the calculating module is used for determining the optimal rotating speed of the atomizing disk based on the operation parameters set by the current unmanned aerial vehicle through calculation, so that the spraying distance of the centrifugal spray head reaches the maximum spraying amplitude under the current operation condition, and the driving module is used for driving the spray head arm to adjust according to the calculation result of the calculating module, so that the spray head reaches the set first operation distance. The application can automatically calculate the optimal rotating speed and the optimal spraying amplitude of the atomizing disk according to the operation parameters through the equipment, so that the automatic adjustment is performed to the distance, the coverage range of the pesticide spraying is improved, the operation efficiency of the agricultural unmanned aerial vehicle is improved, and the pesticide waste and the labor cost are reduced.
With reference to the first aspect, in certain implementations of the first aspect, a method of determining a particle size of a mist droplet includes:
d＝An+Bf+C
wherein d is the particle size of the fog drops, n is the rotating speed of the atomizing disk, f is the flow rate of the atomizing disk, and A, B, C is the coefficient to be determined; determining the coefficient of uncertainty includes fitting by measuring the value of the droplet size d.
Based on the technical scheme, the parameter setting module of the agricultural unmanned aerial vehicle is used for inputting operation parameters of the unmanned aerial vehicle, the calculating module is used for determining the optimal rotating speed of the atomizing disk based on the operation parameters set by the current unmanned aerial vehicle through calculation, so that the spraying distance of the centrifugal spray head reaches the maximum spraying amplitude under the current operation condition, and the driving module is used for driving the spray head arm to adjust according to the calculation result of the calculating module, so that the spray head reaches the set first operation distance. The application can automatically calculate the optimal rotating speed and the optimal spraying amplitude of the atomizing disk according to the operation parameters through the equipment, so that the automatic adjustment is performed to the distance, the coverage range of the pesticide spraying is improved, the operation efficiency of the agricultural unmanned aerial vehicle is improved, and the pesticide waste and the labor cost are reduced.
In a second aspect, the present application provides an agricultural unmanned aerial vehicle, including the agricultural unmanned aerial vehicle control module of the first aspect and any implementation manner of the first aspect.
Drawings
Fig. 1 is a schematic structural diagram of a conventional agricultural unmanned aerial vehicle according to an embodiment of the present application.
Fig. 2 is a schematic view of a spraying operation scene of an agricultural unmanned aerial vehicle according to an embodiment of the present application.
Fig. 3 is an agricultural unmanned aerial vehicle provided in an embodiment of the present application.
Fig. 4 is a schematic diagram of data flow processing of an agricultural unmanned aerial vehicle according to an embodiment of the present application.
Fig. 5 is a schematic diagram of a method for calculating by a calculation module according to a first mapping relationship according to an embodiment of the present application.
Fig. 6 is a schematic diagram of a method for generating droplets sprayed by an agricultural unmanned aerial vehicle according to an embodiment of the present application.
Fig. 7 is a schematic diagram of stress analysis of droplets during spraying operation of an agricultural unmanned aerial vehicle according to an embodiment of the present application.
Fig. 8 is a schematic diagram of a relationship between the rotational speed of an atomizing disk and the spraying amplitude according to an embodiment of the present application.
Fig. 9 is a schematic view of a spraying range of mist droplets during spraying operation of an agricultural unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.
The terminology used in the description section of the present application is for the purpose of describing particular embodiments of the present application only and is not intended to be limiting of the present application.
The terms "first," "second," "third," and the like in this application are used for distinguishing between similar elements or similar elements having substantially the same function and function, and it should be understood that there is no logical or chronological dependency between "first," "second," and "third," and that there is no limitation on the amount and order of execution.
In the embodiments of the present application, words such as "exemplary," "for example," and the like are used to indicate by way of example, illustration, or description. Any embodiment or design described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, the term use of an example is intended to present concepts in a concrete fashion.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
In the present application, "at least one" means one or more, and "a plurality" means two or more.
It should be understood that the specific examples herein are intended only to facilitate a better understanding of the embodiments of the present application by those skilled in the art and are not intended to limit the scope of the embodiments of the present application.
It should also be understood that the various embodiments described in this specification may be implemented alone or in combination, and that the examples herein are not limited in this regard.
Unless defined otherwise, all technical and scientific terms used in the examples of this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
In the spraying operation process of agricultural unmanned aerial vehicles in the current market, most unmanned aerial vehicles adopt a nozzle with a fixed interval to realize agricultural operation. Fig. 1 is a schematic view of a common unmanned aerial vehicle structure according to an embodiment of the present application, as shown in fig. 1. In fig. 1, a coordinate system is established with gravity Y as a reference direction, and a side view of the agricultural unmanned aerial vehicle on the plane of the X-Y direction is drawn. Wherein unmanned aerial vehicle that uses has 4 rotor 11, and rotor 11 is through controlling the flight status of rotational speed etc. control unmanned aerial vehicle, and secondly, still has liquid reserve tank 12, and the liquid reserve tank is used for holding the medicament of waiting to spray, can set up agitating unit in the liquid reserve tank 12, makes and waits to spray the medicament and keep even at unmanned aerial vehicle operation in-process. The liquid storage tank 12 and the rotor 11 are arranged on a bearing frame 15, and the bearing frame 15 is further provided with 4 landing brackets 14 for assisting the unmanned aerial vehicle to stably land on the ground. A spraying device is fixed under the liquid storage tank 12, wherein the spraying device comprises at least one group of spray heads 13, each group of spray heads comprises at least two spray heads, the spray heads 13 are fixed on the lower side of the liquid storage tank 12 through mounting arms 16, and liquid guide pipes can be arranged in the mounting arms 16 and used for reversely flowing the spraying agent in the liquid storage tank 12 into the spray heads 13.
However, such a fixed-pitch spray head arrangement may result in poor working efficiency, waste of chemicals, or inconvenience in use due to different crop growth conditions and growth environments.
Meanwhile, the demand of the market for agricultural unmanned aerial vehicle capable of automatically calculating and adjusting the distance between the spray heads according to the operation parameters is continuously improved. Therefore, in recent years, a spray device capable of automatically calculating and adjusting the distance between spray heads becomes one of research hot spots, so that the distance between spray heads can be automatically calculated and adjusted according to actual conditions, and a more flexible, efficient and controllable scheme is provided for agricultural operation.
The spray head structure of the agricultural unmanned aerial vehicle is generally composed of components such as a spray nozzle, a liquid pipe, a sealing ring and the like. The spray head mainly plays a role in spraying the medicament into the air, and the spraying effect and the medicament spraying quality of the spray head have great relation with the designed spray head structure. Examples of commonly used nozzles include fan-shaped nozzles, spherical nozzles, dual-flow nozzles, quad-flow nozzles, etc., which have different spraying effects and coverage areas.
The fan-shaped spray head has a simpler structure and is suitable for occasions with a larger spraying range, such as farmlands, orchards, olive forests and the like. The spherical spray head can be used for 360-degree rotary spraying, and is suitable for small fruit trees with irregular shapes and other scenes. The double-flow spray head and the four-flow spray head can simultaneously carry out mixed spraying of liquid and air, have better spraying effect and medicament utilization efficiency, but have higher manufacturing cost and maintenance difficulty.
The application focuses on research and provides an agricultural unmanned aerial vehicle, and centrifugal nozzle wide application is in fields such as agriculture, gardens, fire control. The centrifugal spray head mainly comprises a fixed block, a centrifugal rotating mechanism, an atomizing disk and other parts. The principle of spraying is to use centrifugal force to send liquid into nozzle to make it become exciting flow and produce atomized spray. The centrifugal rotating mechanism and the atomizing disc in the internal structure form a central shaft and a rotating part respectively, and when the atomizing disc rotates, the centrifugal force can send liquid to the nozzle to form atomized spray.
The spray effect of a centrifugal spray head is affected by many factors, such as the flow rate of the liquid, gravity, the speed and angle at which the spray head rotates, etc. The application of the fertilizer in agriculture can be used for spraying and fertilizing crops, and has good effect under the condition that the spraying liquid is viscous. The centrifugal spray head is a spray head model with strong practicability, the spray effect is stable, the spray head angle and range are adjustable, the maintenance and management are convenient, the application range is wide, and the spray efficiency in the fields of agriculture, gardens and the like is improved.
The application provides an agricultural unmanned aerial vehicle. The parameter setting module is used for inputting operation parameters of the unmanned aerial vehicle, the calculating module is used for determining the optimal rotating speed of the atomizing disk based on the operation parameters set by the current unmanned aerial vehicle through calculation, so that the spraying distance of the centrifugal spray nozzle reaches the maximum spraying amplitude under the current operation condition, and the driving module is used for driving the spray nozzle arm to adjust according to the calculation result of the calculating module, so that the spray nozzle reaches the set first operation distance. The application can automatically calculate the optimal rotating speed and the optimal spraying amplitude of the atomizing disk according to the operation parameters through the equipment, so that the automatic adjustment is performed to the distance, the coverage range of the pesticide spraying is improved, the operation efficiency of the agricultural unmanned aerial vehicle is improved, and the pesticide waste and the labor cost are reduced.
In order to better understand the solution of the embodiment of the present application, a possible operation scenario of the embodiment of the present application will be briefly described with reference to fig. 2.
Fig. 2 is a schematic view of a spraying operation scene of an agricultural unmanned aerial vehicle according to an embodiment of the present application. In the figure, the unmanned aerial vehicle can generate a downward-pressed wind field by rotating the rotor wing in the flight operation process, and the direction parallel to the ground and the X direction are set by taking the gravity direction Y as a reference.
It should be understood that the X direction includes all directions parallel to the ground and perpendicular to the gravitational direction Y, and that only one X direction is schematically shown in the drawings, and does not limit the scope of the present application in any way.
It should be understood that the mist droplets ejected by the centrifugal nozzle are 360-degree encircling, and the drawings are only two-dimensional schematic plan views, and do not limit the protection scope of the application in any way.
It should be understood that the first amplitude includes a first amplitude calculated by a relational expression between the rotation speed of the atomizing disk and the spraying amplitude after the relational expression is calculated and fitted according to the currently input operation parameters of the unmanned aerial vehicle, and the atomizing disk is at the first rotation speed. Wherein, the atomizing disk rotational speed increases gradually, and the spraying range that the fog droplet sprayed also increases gradually, and when the atomizing disk rotational speed increased to certain extent, the spraying range that the fog droplet sprayed reached the peak value, and the atomizing disk that this moment was in first rotational speed, and the spraying range reached first range. The computing module determines a first working distance of the centrifugal spray head according to the first amplitude. When the interval between two centrifugal spray heads on any horizontal direction is smaller than or equal to the first interval, the medicament sprayed by the two spray heads can be uniformly covered on the operation range below the unmanned aerial vehicle of the spray heads under the environment of room temperature, standard atmospheric pressure and no wind, so that the full coverage of medicament spraying is realized, and the coverage of medicament spraying is improved.
It should be understood that in some embodiments, the first spacing is also referred to as an optimal spacing, an optimal nozzle spacing, etc., which are merely references by name and do not limit the scope of the present application, and the specific scope of protection shall be determined by the claims.
The fog drops sprayed by the centrifugal nozzle have an initial velocity V in the X direction X The fog drops do parabolic motion under the combined action of the initial speed in the X direction and the acting force of the wind field superimposed by the gravity of the fog drops. Defining the spraying height of the fog drop as H, and the radius of the fog drop sprayed by the spray head as breadth R f As can be seen from fig. 2, if the agricultural unmanned aerial vehicle is to be ensured to have no spraying dead angle in the spraying process, the spraying uniformity and comprehensiveness are ensured, and the distance N between the two spray heads is less than or equal to twice the width R f N.ltoreq.2R f 。
Fig. 3 is an agricultural unmanned aerial vehicle provided in an embodiment of the present application. In fig. 3, the agricultural unmanned aerial vehicle includes 6 rotors 21 (only 2 are drawn in the figure due to the view angle), and the 6 rotors 21 are symmetrically arranged. Still include liquid reserve tank 22, liquid reserve tank 22 is used for carrying the medicament that needs to spray, and liquid reserve tank 22 and 6 rotor 21 set up on bearing frame 25. A control module 29 and a drive module 28 are arranged under the reservoir 22, the drive module 28 being connected to the spray heads 23, the unmanned aerial vehicle having 4 spray heads 23 (only 2 are shown in the figure due to the view angle). The driving module 28 is used for adjusting the distance between the symmetrical spray heads 23, the driving module 28 comprises an adjusting slide rail 26 and a spray head arm 27, and the driving module 28 is used for adjusting the distance between the symmetrical spray heads 23 through the spray head arm 27 by receiving the driving instruction of the control module 29. Wherein the nozzle arm 27 is further enclosed with a liquid guiding tube for guiding the medicine in the liquid storage tank 22 to the nozzle 23.
It should be understood that in one possible embodiment provided in this application, the number of rotor wings 21 and spray heads 27, etc. are only illustrative, and should not be construed as limiting the application, and the claims should be looked to in order to avoid excessive torque.
It should be understood that the number of slide rails 26 and the number of nozzle arms 27 are related to the number of nozzles 26, and are set according to actual situations in practical use, and the present application is not limited thereto, and the claims should be based on the specific protection scope.
It should be understood that fig. 3 is a schematic view of an X-Y direction plane, the number of parts shown is only illustrative, and the embodiment of the present application uses the X-Y direction plane as a reference, and describes the automatic adjustment manner and the structure of the device between the symmetrical nozzles 23, and does not limit the present application, and the specific protection scope is set forth in the claims. It should also be understood that, in the scenario of multiple pairs of symmetrical nozzles, multiplexing the technical solution of the present application should also be within the protection scope of the present application.
Fig. 4 is a schematic diagram of data flow processing of an agricultural unmanned aerial vehicle according to an embodiment of the present application. The control module 29 of the present application includes a parameter setting module, a calculation module, and a fitting module. The parameter setting module is used for inputting operation parameters before operation of the unmanned aerial vehicle, wherein the operation parameters of the unmanned aerial vehicle include but are not limited to: radius of atomizing disk, flow of atomizing disk, density of medicament to be sprayed, number of rotor wings, diameter of rotor wings, load capacity of agricultural unmanned aerial vehicle and operation height of agricultural unmanned aerial vehicle. The calculating module calculates the amplitudes of fog drops sprayed by the centrifugal spray head when the atomizing discs in the centrifugal spray head are at different rotating speeds according to the first mapping relation. The fitting module is used for determining the value of the coefficient to be determined according to the value calculated by the calculating module through the relation between the fitting rotating speed and the spraying amplitude. The calculation module is also used for determining the peak value of the spraying amplitude of the centrifugal spray head according to the fitted relation, and determining the operation interval of the centrifugal spray head according to the value of the spraying amplitude. And outputs the calculation result to the driving module 28, and the driving module 28 adjusts the interval between the two heads 23 in the horizontal direction by driving the head arm 27 according to the calculation value of the calculation module.
It should be understood that the rotational speed of the atomizing disk is gradually increased, and the spraying amplitude of the mist spray is also gradually increased, when the rotational speed of the atomizing disk is increased to a certain range, the spraying amplitude of the mist spray reaches a peak value, and the atomizing disk at this time is at a first rotational speed, and the spraying amplitude reaches a first amplitude. The computing module determines a first operation interval of the centrifugal spray head according to the first amplitude; the application is not particularly limited thereto, and the specific scope of protection shall be determined by the claims.
The method of calculating the spray amplitude of the spray head when the atomizing disk is at different rotation speeds according to the first mapping relation by the calculating module will be described with reference to fig. 5 to 7.
Fig. 5 is a schematic diagram of a method for calculating by a calculation module according to a first mapping relationship according to an embodiment of the present application.
S201: fitting the relation between the particle diameter d of the sprayed fog drops and the rotating speed n and flow f of the atomizing disk, and calculating the initial speed V of the fog drops along the first direction by a calculating module X 。
When the centrifugal spray head sprays, the liquid medicine is atomized and thrown out by the high-speed rotating atomizing disk. The thrown fogdrop has the initial velocity V in the horizontal direction X And is acted by a rotor wing down-pressure wind field to be brought to the ground. The centrifugal atomizing disk rotates at a high speed, so that teeth on the outer edge of the atomizing disk collide with the liquid medicine, and the liquid is crashed and atomized under the high-speed collision. Here, crashing is to be performed The fog drops are similar to spheres, the particle size of the fog drops is defined as d, the rotating speed of an atomizing disk is n, and the flow rate of the medicament is f. The particle diameter d of the mist droplets which are atomized by impact is related to the rotating speed n of the atomizing disk and the flow f of the medicament, and the relation formula is as follows:
d＝An+Bf+C (1)
wherein A, B, C is the coefficient to be determined. The rotating speed n of the atomizing disk and the flow f of the medicament are known quantities which can be obtained through the machine setting of the unmanned aerial vehicle, the specific value of the undetermined coefficient of A, B, C can be determined through multiple experiments before the actual operation of the unmanned aerial vehicle, the value of the undetermined coefficient can be fitted according to the value of the particle size d which is actually measured and the set rotating speed n and the flow f, and the more accurate value of the undetermined coefficient A, B, C can be obtained after the multiple experiments and the multiple fitting average.
The centrifugal atomizing disk rotates at a high speed, so that teeth on the outer edge of the atomizing disk collide with the liquid medicine, the liquid is crashed and atomized under the high-speed collision, and fog drops are sprayed at an initial speed in the horizontal direction. It can be approximately understood here that the initial velocity V of droplet ejection X The same as the speed of movement of the teeth at the rim of the atomizer disk. The initial velocity V for mist droplets will be described below in connection with fig. 6 X Is described with respect to the determination and calculation of (a).
Fig. 6 is a schematic diagram of a method for generating droplets sprayed by an agricultural unmanned aerial vehicle according to an embodiment of the present application. Defining the rotation radius of the teeth on the atomizing disk as R and the rotation speed as n; wherein the unit of the radius R is millimeter mm, the unit of the rotating speed n is rpm, the rotation of the atomizing disk can be approximately uniform circular motion, and the initial speed V of mist spraying can be obtained according to a linear speed calculation formula of uniform circular motion X (i.e., the linear velocity of the teeth on the atomizing disk) is:
the mist drops, when being sprayed from the teeth on the atomizing disk in a rotating manner, have an initial velocity V parallel to the ground X Also receives the effect of air resistance in the horizontal direction, due toThe movement speed of the mist droplets in the X direction is also gradually reduced.
The calculation module calculates the initial velocity V of mist spraying by using the formula (2) by setting the rotation radius R and the rotation speed n of the teeth on the atomizing disk through the parameter setting module X Is a value of (2).
S202: the calculation module calculates the air resistance coefficient mu of the fog drops.
The movement trace and the stress condition of the mist drop are analyzed with reference to fig. 7.
Fig. 7 is a schematic diagram of stress analysis of droplets during spraying operation of an agricultural unmanned aerial vehicle according to an embodiment of the present application. Here, the mist is approximately regarded as a sphere, the diameter of the mist is d, and the mist has an initial velocity V in the X direction when the mist is sprayed from the nozzle X And receives an air resistance f in a direction opposite to the initial speed X Is effective in (1). In the gravity direction Y, the fog drops are subjected to self gravity mg and acting force f of wind field generated by unmanned plane rotor wing Y Under the combined action of the two components, the fog drops drop to the ground, the initial velocity of the fog drops in the Y direction is V Y At the moment when the mist drops are just sprayed, i.e. t=0, the initial velocity V of the mist drops in the Y direction Y ＝0。
The fog drops are approximately spherical, the diameter of the fog drops is defined as d, and the liquid density of the spraying agent is ρ; then the air resistance coefficient μ of the mist droplets can be calculated as:
the calculation module calculates the value of the air resistance coefficient μ of the mist droplets using the formula (3).
S203: the calculation module calculates the wind speed V of a downward wind field generated by the rotor wing S 。
Defining the speed of a downward wind field of a rotor wing of the unmanned aerial vehicle as V S The load of the unmanned aerial vehicle is L, the number of the unmanned aerial vehicle rotors is M, and the diameter of the unmanned aerial vehicle rotors is D, so that the wind degree V of a down-draft wind field of the unmanned aerial vehicle can be calculated under the conditions of the temperature of 25 ℃ and standard atmospheric pressure S The method comprises the following steps:
wherein g is gravitational acceleration.
The calculation module calculates the wind speed V of the unmanned aerial vehicle downward-pressing wind field by using a formula (4) through a load L of the unmanned aerial vehicle, the number M of unmanned aerial vehicle rotors and a rotor diameter D input parameter setting module of the unmanned aerial vehicle S Is a value of (2).
The fog drops do parabolic motion under the action of the wind field, and the initial velocity V in the horizontal direction X direction X At air resistance f X Is slowed down under the action of the device and is subjected to deceleration movement; initial velocity in gravity direction Y is 0, acting force f in wind field Y And under the action of self gravity mg, making acceleration movement; the overall fog drop makes parabolic motion. If the air resistance coefficient is μ, the mist drops receive an air resistance f in the horizontal direction X X The method comprises the following steps:
f X ＝μmV X 2 (5)
in the gravity direction Y, the initial velocity V of the mist drops Y =0, under the action of the downward wind field, the mist drops receive air resistance f Y The method comprises the following steps:
f Y ＝μm·(V S -V Y ) 2 (6)
wherein m is the mass of the fog drops.
Due to the air resistance f of the mist drops under the action of the downward wind field in actual condition Y Much greater than the own weight, so in order to simplify the calculation effort, the influence of the own weight acceleration to which the mist drops are subjected is neglected here. Therefore, a parameter equation of the flight trajectory of the fog drops under the action of the wind field can be obtained:
as can be seen in connection with FIG. 2, R f The width of spray for the fog drops, H is the drop height of the fog drops.
S204: the calculating module calculates the drop time t.
The calculation module presses down wind speed V of wind field of unmanned aerial vehicle S And (3) substituting the value of the air resistance coefficient mu of the fog drops and the value of the flying height H of the unmanned aerial vehicle into a formula (8) to calculate the value of the movement time t of the fog drops from spraying to landing on the ground.
S205: the calculating module calculates the spraying distance R of the fog drops along the first direction f 。
The calculating module calculates the initial velocity V of the fog drops in the previous step through the formula (2) X The value of the air resistance coefficient mu calculated by the formula (3) and the value of the drop time t calculated by the formula (8) are substituted into the formula (7), and the calculation module calculates the spraying distance R of the drop along the first direction f Is a value of (2).
It should be understood that in unmanned aerial vehicle operation process, unmanned aerial vehicle can adjust fly height, parameters such as rotor diameter according to factors such as height, the planting density of crops, unmanned aerial vehicle will calculate the relation of atomizing disk rotational speed and medicament spraying range according to the parameter of settlement to adjust centrifugal nozzle's interval, guarantee that the droplet that the medicament sprayed is even, no dead angle.
It should be understood that the present application may be applied to a multi-nozzle unmanned aerial vehicle, and the present application may be used to determine a distance between two nozzles in any horizontal direction, and the specific protection scope should be set forth in the claims, which is not particularly limited in this application.
The driving module 28 drives the mechanical structure of the nozzle arm 27 to adjust to a proper interval in the horizontal direction on the slide rail 26 according to the value of the nozzle interval N outputted by the calculating module.
It should be understood that the adjustment of the set of nozzle arms 27 on the slide rails 26 is symmetrical, with the central axis of the mechanical structure of the unmanned aerial vehicle as the symmetry axis, and the adjustment is opposite, which is not particularly limited in this application, and the claims of the specific scope of protection shall be given.
It should be understood that the value of the nozzle spacing N output by the calculation module is a result of calculation and determination according to the set parameters, and therefore, the value of the nozzle spacing N output by the calculation module is the most suitable nozzle spacing for the currently set operation parameters.
As a non-limiting example, the following parameters are input at the parameter setting module: the radius R of the atomizing disk is 0.042M, the flow f of the atomizing disk is 2L/min, the density rho of the medicament to be sprayed can be approximately equal to the density of water, the number M of the rotor wings of the unmanned aerial vehicle is 6, the diameter D of the rotor wings is 1.03M, the load L of the unmanned aerial vehicle is 100kg, and the operation height H of the unmanned aerial vehicle is 3M. The calculation module calculates the breadth R of fog drops sprayed by the centrifugal nozzle under the condition of different rotating speeds of the atomizing disk of the agricultural unmanned aerial vehicle according to the first mapping relation f Is a value of (2). Namely, the calculation module calculates the breadth R of the fog drops sprayed by the centrifugal nozzle under the different rotating speed conditions of the atomizing disk of the agricultural unmanned aerial vehicle according to the set parameter values through the formulas (1) to (8) f Is a value of (2). The calculation results are shown in table 1:
TABLE 1 relation between rotational speed and breadth
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As is clear from table 1, when the working height of the unmanned aerial vehicle was 3m, the spraying width of the centrifugal spray head corresponding to the change of the atomizing disk rotation speed n from 1000rpm to 16000rpm was calculated, and the data in table 1 were fitted by the fitting module, and the obtained results are shown in fig. 8.
Fig. 8 is a schematic diagram of a relationship between the rotation speed and the spraying amplitude of an atomizing disk provided in an embodiment of the present application, and the fitting module performs fitting by fitting the relationship between the rotation speed and the spraying amplitude of the atomizing disk, that is, by formula (9).
R f ＝A 1 n 3 +B 1 n 2 +C 1 n+D 1 (9)
Fitting the relation between the rotating speed of the atomizing disk and the spraying amplitude through a formula (9), and determining the value of the coefficient to be determined, and combining with fig. 8, it can be known that the formula (9) after determining the coefficient to be determined is:
R f ＝0.0005n 3 -0.0211n 2 +0.2043n+0.4788 (10)
as can be seen from the combination of the formula (9) and fig. 8, the spraying range of the centrifugal nozzle does not always increase with the increase of the rotation speed of the atomizing disk, and after the spraying range reaches the peak value, the spraying range gradually decreases with the increase of the rotation speed of the atomizing disk.
The calculation module is also used for calculating a first amplitude of spraying of the centrifugal spray nozzle when the atomizing disk is at the first rotating speed according to the formula (10), and determining a first operation interval of the centrifugal spray nozzle according to the first amplitude.
It should be understood that the first amplitude of the spray of the centrifugal spray head includes a peak of the spray amplitude, and that the rotational speed of the corresponding atomizing disk is the first rotational speed when the spray amplitude is the peak.
In order to ensure that the spraying range between the spray heads is fully covered, the distance between the spray heads is theoretically less than or equal to twice the spraying range, namely N is less than or equal to 2R f . However, in practical applications, in order to avoid the situation of missing spray between the spray heads, it is necessary to overlap the spray areas between the spray heads.
Fig. 9 is a schematic view of a spraying range of mist droplets during spraying operation of an agricultural unmanned aerial vehicle according to an embodiment of the present application. As shown in FIG. 9, the spray amplitude R of the spray head is obtained f After that, 1.7R can be used f As the distance between the two spray heads, N is less than or equal to 1.7R f The spraying areas between the spray heads 1 and 2 are overlapped in a small part, so that the full spraying coverage in the operation process of the unmanned aerial vehicle is further ensured.
As a non-limiting example, in practical application, due to the ground effect phenomenon, the fog drops sprayed to the ground can be diffused to the periphery, so that an agricultural unmanned aerial vehicle with a control module can be used as a control host, and other agricultural unmanned aerial vehicle operation control slaves without the control module can be used. The control host calculates and adjusts the nozzle spacing according to the set operation parameters, the operation spacing information output by the agricultural unmanned aerial vehicle is sent to other control slaves, and the other control slaves adjust according to the operation spacing information sent by the control host, so that the cost of operation equipment in the whole agricultural area is reduced.
It should be understood that the spray head of the control slave machine can be automatically adjusted through the driving module, and can also be manually adjusted through manual work, and the application is not particularly limited.
Based on Table 1, the calculation module can also calculate the total weight of the product according to N.ltoreq.1.7R f Further calculations were performed and the results of the calculations are shown in table 2.
TABLE 2 relation between rotational speed and working distance
As a non-limiting example, as can be seen from table 2, when the agricultural unmanned aerial vehicle flies and performs a spraying operation according to the operation parameters set as described above, the average value of the values of the operation interval N corresponding to different rotational speeds is 1.485m. And because the ground effect, the spraying can spread to the earth surface all around, and in the practical application process, the adjustment precision of agricultural unmanned aerial vehicle is limited, therefore, can set the operation interval of control slave machine to between 1.5m and 1.6 m.
As a non-limiting example, during operation of the agricultural unmanned aerial vehicle as the control host, the nozzle spacing N output by the actual calculation module may have a multi-bit fraction due to mechanical limitation of adjustment accuracy, and a calculation module increasing algorithm may perform rounding of a prescribed fraction for the calculated value of the nozzle spacing N. The present embodiment belongs to technical solutions that can be considered by those skilled in the art based on the present application, and should belong to the protection scope of the present application, which is not described in detail herein.
The method in the embodiments of the present application, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer readable storage medium, and based on such understanding, the technical solution or part of the technical solution of the present application may be embodied in the form of a software product stored in a storage medium, where the computer software product includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present application. The storage medium includes at least: a U-disk, a removable hard disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (11)
1. The utility model provides an agricultural unmanned aerial vehicle control module, its characterized in that installs in agricultural unmanned aerial vehicle, agricultural unmanned aerial vehicle still includes rotor, centrifugal shower nozzle, liquid reserve tank and drive module, centrifugal shower nozzle passes through drive module is fixed in liquid reserve tank one side, the liquid reserve tank is used for storing and waits to spray the medicament, control module includes:
the parameter setting module is used for inputting the operation parameters of the agricultural unmanned aerial vehicle;
the calculating module is used for calculating the spraying amplitude of the centrifugal spray head when the atomizing disk in the centrifugal spray head is at different rotating speeds according to the first mapping relation;
the fitting module is used for fitting a relation between the rotating speed of the atomizing disk and the spraying amplitude according to the result calculated by the calculating module, and determining the value of a coefficient to be determined corresponding to the relation, wherein the relation comprises
R f ＝A 1 n 3 +B 1 n 2 +C 1 n+D 1 ，
R f For the separation ofThe spraying amplitude of the core spray head, n is the rotating speed of the atomizing disk, A 1 、B 1 、C 1 、D 1 For the undetermined coefficient;
the calculating module is further used for calculating a first amplitude of spraying of the centrifugal nozzle when the atomizing disk is at a first rotating speed according to the relation, and determining a first operation interval of the centrifugal nozzle according to the first amplitude;
The driving module is used for driving the centrifugal spray heads to move relatively along the horizontal direction to adjust the distance between the centrifugal spray heads to reach the first operation distance based on the first operation distance output by the calculating module.
2. The agricultural unmanned aerial vehicle control module of claim 1, wherein the operating parameters input by the parameter setting module comprise:
the radius of the atomizing disk, the flow rate of the atomizing disk, the density of the medicament to be sprayed, the number of the rotary wings, the diameter of the rotary wings, the load capacity of the agricultural unmanned aerial vehicle and the working height of the agricultural unmanned aerial vehicle.
3. The agricultural unmanned aerial vehicle control module of claim 1, wherein the computing module determining the first working distance of the centrifugal spray head comprises:
N≤1.7R f
wherein N is the first working distance.
4. The agricultural unmanned aerial vehicle control module of claim 1, wherein the drive module comprises a spray head arm and a slide rail, the centrifugal spray head is slidably secured to the slide rail by the spray head arm,
the driving module receives the first operation interval output by the calculating module, and drives the spray head arm to move relatively on the sliding rail along the horizontal direction to adjust the interval of the centrifugal spray head to reach the first operation interval.
5. The agricultural unmanned aerial vehicle control module of any one of claims 1 to 4, wherein the computing module computing the spray amplitude of the centrifugal spray head according to the first mapping relationship comprises:
the calculation module determines the air resistance coefficient of the fogdrops according to the density of the medicament to be sprayed and the particle size of the fogdrops of the medicament;
the calculation module determines the wind speed of a downward wind field generated by the rotor according to the agricultural unmanned aerial vehicle load, the number of the rotors and the diameter of the rotors;
the calculation module determines the landing time of the fog drops according to the operation height of the agricultural unmanned aerial vehicle by combining the air resistance coefficient of the fog drops and the wind speed of the downward-pressure wind field;
the calculation module determines the initial speed of spraying the fog drops along the horizontal direction according to the rotating speed of the atomizing disk and the radius of the atomizing disk;
and the calculation module determines the first amplitude of spraying of the fog drops along the horizontal direction according to the landing time and the initial speed.
6. The agricultural unmanned aerial vehicle control module of claim 5, wherein the first mapping relationship comprises:
Wherein H is the value of the working height of the agricultural unmanned aerial vehicle, V S And for the wind speed of the downward wind field, mu is the air resistance coefficient, and the calculation module determines the landing time t of the fog drops according to the first mapping relation.
7. The agricultural unmanned aerial vehicle control module of claim 5, wherein the first mapping relationship comprises:
wherein R is f The first amplitude, V, of spraying the mist droplets in the horizontal direction X For the initial velocity of the droplets, μ is the air resistance coefficient, t is the landing time, and the calculation module determines the first amplitude R of the droplets sprayed in the horizontal direction according to the landing time t f 。
8. The agricultural unmanned aerial vehicle control module of claim 5, wherein the first mapping relationship comprises:
and the calculation module determines the air resistance coefficient according to the first mapping relation, wherein mu is the air resistance coefficient, d is the particle size of the fog drops, rho is the density of the medicament to be sprayed.
9. The agricultural unmanned aerial vehicle control module of claim 5, wherein the first mapping relationship comprises:
Wherein V is S And for the wind speed of the downward wind field, M is the number of the rotary wings, D is the diameter of the rotary wings, L is the value of the agricultural unmanned aerial vehicle load, g is the gravity acceleration, and the calculation module determines the wind speed of the downward wind field according to the first mapping relation.
10. The agricultural unmanned aerial vehicle control module of claim 5, wherein the method of determining the particle size of the fog droplets comprises:
d＝An+Bf+C
wherein d is the particle size of the fog drops, n is the rotating speed of the atomizing disk, f is the flow rate of the atomizing disk, and A, B, C is the coefficient to be determined; determining the undetermined coefficient comprises fitting by actually measuring the value of the droplet size d.
11. An agricultural unmanned aerial vehicle, comprising:
the agricultural unmanned aerial vehicle control module of any of claims 1 to 10.
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