CN104875888A - Detachable ring-pillar type hollow unmanned aerial vehicle and operation method thereof - Google Patents
Detachable ring-pillar type hollow unmanned aerial vehicle and operation method thereof Download PDFInfo
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- 238000006243 chemical reaction Methods 0.000 claims description 65
- 238000005507 spraying Methods 0.000 claims description 37
- 239000007921 spray Substances 0.000 claims description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 14
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 11
- 229910052782 aluminium Inorganic materials 0.000 claims description 11
- 239000004411 aluminium Substances 0.000 claims description 11
- 239000003814 drug Substances 0.000 claims description 9
- 239000003351 stiffener Substances 0.000 claims description 5
- 230000000977 initiatory effect Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 4
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 abstract 2
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- 238000004134 energy conservation Methods 0.000 description 2
- 230000007170 pathology Effects 0.000 description 2
- 244000060011 Cocos nucifera Species 0.000 description 1
- 235000013162 Cocos nucifera Nutrition 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
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Abstract
The invention discloses a detachable ring-pillar type hollow unmanned aerial vehicle and an operation method thereof. The unmanned aerial vehicle comprises a rack, a power and control mechanism and a central fastening device, wherein the rack comprises a fixing disc and at least two engine arms, the fixing disc has a double-layer, detachable and hollow structure, the starting end of each engine arm is fixed on the fixing disc and is symmetrically distributed along a detachable line on the fixing disc; the power and control mechanism comprises upper paddle rotor wings, upper paddle motors, upper paddle electronic speed regulators and flight control modules; the upper paddle rotor wings are arranged at the tail ends of the engine arms and are driven by the upper paddle motors, the downward wind power is generated by rotation, the flight control modules are used for controlling the rotation of the upper paddle motors through the upper paddle electronic speed regulators; the central fastening device is used for fastening an unmanned aerial vehicle on an operation trunk when the upper paddle rotor ring stops rotating. According to the detachable ring-pillar type hollow unmanned aerial vehicle, the fixing disc is sleeved on the outer diameter of the operation trunk to operate, and when the appointed height is reached, the fastening device is used for fastening the unmanned aerial vehicle on the operation trunk; and the detachable ring-pillar type hollow unmanned aerial vehicle has the advantage of energy saving.
Description
Technical field
The present invention relates to forestry machinery equipment field of research, be specifically related to a kind of detachable annulated column formula hollow unmanned plane and operational method thereof.
Background technology
Have the dry forest of high Naoki at China's ubiquity, for the king coconut palm that torrid areas is common, its height of tree can reach 20 meters, and trunk is logical straight, is world-renowned tropic scenery seeds, is typically used as roadside trees or mass-planting is used as greenery patches landscape tree.Because leaf canopy is too high, ground machine or artificial mark spraying prescription formula cannot be adopted during prevention and elimination of disease and pests to carry out operation, if adopt SUAV (small unmanned aerial vehicle) exhalation air to apply problem that industry can exist the large and then restriction aircraft flight working space of thickness of stand, simultaneously owing to adopting Large Scale Space Vehicle, therefore medicine carrying capacity is little.Aircraft is generally in the flight of tree crown top in addition, and bottom, blade face therefore can be caused effectively to be sprayed.
Current agriculture field; the unmanned plane that various operation adopts generally has the feature in not constrained motion space; but rotor must rotate when it hovers over aerial work; the lift overcoming gravity just can be provided; and then ensure the skyborne hovering of unmanned plane or flight attitude; create a large amount of energy consumption, will inevitably useful weight be reduced.Also expensive attitude control system must be used in addition during operation to ensure organism balance, the mode of variable operation will be met simultaneously, the complicated and poor effect of control method.
For overcoming above-mentioned shortcoming, and the feature utilizing high Naoki dry simultaneously, find a kind of can flight to trunk canopy bottom, and to be stuck in the go forward side by side unmanned plane of line correlation operation of trunk eminence in the not mode of consuming energy be a kind of useful supplement to current agricultural aviation application engineering.
Summary of the invention
One object of the present invention is that the shortcoming overcoming prior art is with not enough, a kind of detachable annulated column formula hollow unmanned plane is provided, this unmanned plane is enclosed within the flight of trunk external diameter, can is fastened on when rotor stops operating on trunk, has simple to operate, that cost is low, energy-conservation advantage.
Another object of the present invention is to the operational method providing a kind of above-mentioned detachable annulated column formula hollow unmanned plane, the method is without the need to complex control algorithm, simple to operate, is particularly useful for the operation that high Naoki is dry.
Object of the present invention is realized by following technical scheme: a kind of detachable annulated column formula hollow unmanned plane, comprise frame, power and control mechanism, center fastener device, described frame comprises a reaction plate and at least two horns, described reaction plate is double-deck, detachable, hollow structure, each horn initiating terminal is fixed on reaction plate, symmetrical along the dismounting line on reaction plate; Described power and control mechanism comprise oar rotor, upper oar motor, upper oar electronic governor and fly to control module, described upper oar rotor is arranged on the end of horn, upper oar rotor is driven by upper oar motor, rotate and produce downward wind-force, fly to control module controls upper oar motor rotation by upper oar electronic governor; Described center fastener device is arranged on reaction plate, comprises one for unmanned plane being fastened on when upper oar rotor stops operating the securing device on operation trunk.Detachable and the hollow of reaction plate in the present invention, thus reaction plate can be enclosed within operation on operation trunk external diameter, lifting flight is produced by upper oar rotor rotational, after arriving specified altitude assignment, upper oar rotor stops operating, and unmanned plane is fastened on operation trunk by securing device, reaches the object of stable unmanned plane in trunk eminence, remove the consumption of power continuing to be supplied to oar rotor from, there is energy-conservation advantage.
Preferably, described securing device comprises several can inflation/deflation air bag, inflation pump and inflation/deflation controller, can all be arranged on inside the reaction plate of hollow by inflation/deflation air bag, eachly can be connected with inflation pump respectively by inflation/deflation air bag, inflation pump, inflation/deflation controller, to fly control module three and connect successively; The external diameter of operation trunk can be less than by the internal diameter of similar annulus that forms after being full of gas of inflation/deflation air bag.Thus trunk can be extruded after inflation, produce enough friction force and ensure that unmanned plane is still stuck in trunk eminence after losing lift.
As a kind of optimal way, described unmanned plane also comprises several spraying operation actuating units, each spraying operation actuating unit comprises jet pipe, shower nozzle, water pump, connecting hose, spraying operation controller and medicine-chest, jet pipe top is provided with shower nozzle, bottom is connected with the upper layer disc of reaction plate, and upper layer disc is provided with through hole, jet pipe is connected with water pump by this through hole; Described connecting hose one end connects water pump, and the other end connects medicine-chest; Fly control module and control water pump operation by spraying operation controller.Described medicine-chest also can be able to be common unmanned aerial vehicle onboard medicine-chest for being placed on ground medicine-chest, can carry out unrestricted choice according to spray value required during practical application and portable degree.By this mode, unmanned plane of the present invention can be utilized to carry out the operation of spray medicine, and because unmanned plane is enclosed within trunk, therefore liquid sprays from down to up, therefore effectively can spray bottom, blade face, overcome the problem that original spray medicine equipment can only carry out spraying from top to bottom.
Further, described unmanned plane also comprises several spraying actuating devices, and each spraying actuating device comprises lower oar rotor, lower oar motor, lower oar electronic governor, and described lower oar rotor is arranged on horn; Lower oar rotor is driven by lower oar motor, rotates the wind-force produced upwards; Fly to control module controls lower oar motor rotation by lower oar electronic governor; Described jet pipe body is linear pattern, and keeps certain inclination angle to make described shower nozzle be in the top of lower oar rotor with reaction plate.Liquid, after shower nozzle ejection, is positioned at the lower oar rotor rotational below shower nozzle, produces the wind-force that droplet is spread upwards, thus can improve penetrance and the diffusivity of droplet, improves the effect that leaf back spraying applies industry.
As another kind of optimal way, described unmanned plane also comprises a manipulator Job execution mechanism, and comprise several manipulators, manipulator controller, described manipulator is distributed in reaction plate top or bottom, be connected with manipulator controller respectively, manipulator controller with fly to control model calling.By this mode, unmanned plane of the present invention can be utilized to carry out winning operation, win fruit of tree from below, more convenient operation.
As another kind of optimal way, described unmanned plane also comprises a shooting Job execution mechanism, and comprise camera and camera controller, described camera is arranged at above reaction plate, camera controller with fly to control module and be connected.By this mode, unmanned plane of the present invention can be utilized to carry out shooting operation, be convenient to the growing state of observation trees, judge whether pathology etc.
Preferably, described reaction plate internal diameter and external diameter are circle, and internal diameter is slightly larger than operation trunk maximum gauge; Reaction plate is divided into upper layer disc and lower floor's dish, and the dismounting line place of upper layer disc and lower floor's dish is respectively equipped with connecting bore, and reaction plate is assembled into an entirety by described connecting bore by holding screw; Be provided with between described upper layer disc and lower floor's dish and support aluminium post, a part supports aluminium post and can distribute by inflation/deflation air bag external diameter along described, and a part supports aluminium post and is arranged on reaction plate internal diameter correspondence dismounting line position.To support aluminium post can the distribution of inflation/deflation air bag external diameter to arrange along described, be to limit inflation/deflation air bag extruding space, support aluminium post being arranged on reaction plate internal diameter correspondence dismounting line position, is to fixedly secure dish two-level architecture.
Further, described in be placed on reaction plate inside object be uniformly distributed along the center of circle, the center of gravity of whole unmanned plane is in the center of circle of reaction plate.Thus more stable when making unmanned plane during flying, avoid the friction that side direction occurs as far as possible.
Preferably, pin pillar stiffener is also provided with below described reaction plate.Thus can aircraft be supported, facilitate body disassembling operations, also conveniently take simultaneously.
An operational method for above-mentioned detachable annulated column formula hollow unmanned plane, comprises the following steps:
(1) reaction plate is split, be then enclosed within and treat, on operation trunk external diameter, then reaction plate to be assembled into an entirety;
(2) oar rotor in startup, unmanned plane rises to needs the height of operation to keep hovering;
(3) unmanned plane is fastened on operation trunk by securing device;
(4) upper oar rotor stops operating; Unmanned plane loses rotor lift, the stable operation heights that remain on such as the friction force relying on securing device and trunk to produce or shearing force, the not consumption of power energy content of battery.
(5) the Job execution mechanism be arranged on unmanned plane performs corresponding operation;
(6) operation is complete, and again start upper oar rotor, then securing device unclamps operation trunk;
(7) unmanned plane drops to ground, then splits reaction plate, it is taken out from trunk external diameter.
Preferably, in described step (3), the inflation/deflation controller in securing device controls inflation pump to inflating by inflation/deflation air bag, can produce enough friction force by the rear squeeze job trunk of inflation/deflation air bag inflation.Thus after the upper oar rotor of step (4) stops operating, still can ensure that unmanned plane is stuck in trunk eminence.
Preferably, in described step (5), Job execution mechanism be perform spray medicine operation spraying operation actuating unit, perform at least one in the manipulator Job execution mechanism winning operation, the shooting Job execution mechanism three performing shooting operation.
Further, when described spraying operation actuating unit performs spray medicine operation, described spraying sprays from shower nozzle, start lower oar rotor simultaneously, the wind-force that lower oar rotor provides droplet upwards to spread, after operation, spraying operation actuating unit stops operation, stop lower oar rotor simultaneously, and then start upper oar rotor.
Compared with prior art, tool has the following advantages and beneficial effect in the present invention:
(1) the present invention adopts detachable hollow type rack construction to reach the object that unmanned plane is enclosed within the operation of trunk external diameter, adopt simple control system can meet the security posture flight of unmanned plane, without the need to worrying that rollover or drift can occur unmanned plane, unmanned plane is removed from and uses complexity to fly control, significantly reduce unmanned plane productive costs, ensure flight safety.
(2) the present invention adopt by can inflation/deflation air bag inflation extruding trunk produce friction force reach the object of stable unmanned plane in trunk eminence, remove the consumption of power continuing to be supplied to main rotor from, greatly can reduce the electrokinetic cell weight entrained by unmanned plane, this mechanical type fastening structure is more stable than rotor rotational hovering far away simultaneously, effectively can improve operation effectiveness, air bag belongs to flexible structure simultaneously, can not produce directly injure the extruding of trunk to trees.
(3) the present invention is rotated by upper oar rotor (positive oar) and produces lifting flight, the wind-force that droplet is spread produced upwards is rotated by lower oar rotor (anti-oar), improve penetrance and the diffusivity of droplet, improve leaf back spraying and apply industry.
(4) unmanned plane of the present invention can to carrying out shooting operation or manipulator operation bottom tree crown, and application scenario is extensive.
Accompanying drawing explanation
Fig. 1 is the surface structure schematic diagram of embodiment 1.
Fig. 2 is the structural representation in embodiment 1 after reaction plate dismounting.
Fig. 3 is the schematic diagram in embodiment 1 when applying.
Fig. 4 is the cross-sectional view of Fig. 3.
Fig. 5 is the schematic diagram of embodiment 2 portable machine medicine carrying casing working.
Fig. 6 is the structural representation that embodiment 3 carries mechanical manual task actuating unit.
In figure: 11-reaction plate, 12-horn, 13-pin pillar stiffener, 21-upper oar rotor, 22-upper oar motor, 23-upper oar electronic governor, 24-lower oar rotor, 25-lower oar motor, 26-lower oar electronic governor, 27-electrokinetic cell, 28-fly to control module, 31-jet pipe, 32-shower nozzle, 33-water pump, 34-connecting hose, 35-spraying operation controller, 36-medicine-chest, 41-can inflation/deflation air bag, 42-inflation pump, 43-inflation/deflation controller, 39-manipulator.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment 1
Described in the present embodiment, a kind of detachable annulated column formula hollow unmanned plane structure as shown in Figure 1, comprises frame, power and control mechanism, spraying operation actuating unit and center fastener device, is specifically described below in conjunction with accompanying drawing to each part.
Described frame comprises reaction plate 11, horn 12 and pin pillar stiffener 13.Described reaction plate 11 is double-deck, detachable, hollow structure, and can contain full range of sizes aperture, internal diameter and external diameter are circle, and internal diameter is slightly larger than operation trunk maximum gauge.Reaction plate is divided into upper layer disc and lower floor to coil, and is provided with and supports aluminium post between upper layer disc and lower floor's dish, and a part supports aluminium post and can distribute by inflation/deflation air bag external diameter along described, and a part supports aluminium post and is arranged on reaction plate internal diameter correspondence dismounting line position.Each horn 12 initiating terminal is fixed on reaction plate 11, symmetrical along the dismounting line on reaction plate 11, and horn 12 and reaction plate 11 upper surface keep level substantially.Pin pillar stiffener 13 coils with reaction plate 11 lower floor and is connected, for supporting unmanned plane.In use, reaction plate 11 is assembled into an entirety by holding screw.The described object being placed on reaction plate 11 inside distributes along center of circle uniform weight, and whole unmanned plane center of gravity is in the center of circle.
See Fig. 1,2, described power and control mechanism comprise oar rotor 21, upper oar motor 22, upper oar electronic governor 23 and fly to control module 28, described upper oar rotor 21 is arranged on the end of horn 12, upper oar rotor 21 is driven by upper oar motor 22, rotate and produce downward wind-force, fly to control module 28 controls upper oar motor 22 rotation by upper oar electronic governor 23.Above-mentioned power and control mechanism are powered by electrokinetic cell 27.Upper oar electronic governor 23 is bundled on oar rotor 21 place horn 12, described electrokinetic cell 27 and fly control module 28 to be distributed in described reaction plate 11 inner.
Unmanned plane described in the present embodiment is applied to spraying operation, so be provided with several spraying operation actuating units on unmanned plane, each spraying operation actuating unit comprises jet pipe 31, shower nozzle 32, water pump 33, connecting hose 34, spraying operation controller 35 and medicine-chest 36, jet pipe 31 top is provided with shower nozzle 32, bottom is connected with the upper layer disc of reaction plate 11, upper layer disc is provided with through hole, and jet pipe 31 is connected with water pump 33 by this through hole.Bottom described water pump 33 connecting spray nozzle 31 and connecting hose 34 upper end, water pump 33 is placed on above described reaction plate 11 upper layer disc.Described connecting hose 34 other end connects medicine-chest 36.In the present embodiment, in order to save the weight of unmanned plane, medicine-chest 36 is positioned on ground, and see Fig. 3, connecting hose 34 long enough, be fixed on the relevant position of trunk at unmanned plane after, above the liquid in medicine-chest 36 to be drawn onto by connecting hose 34 by water pump 33.The present embodiment liquid sprays from down to up, therefore effectively can spray bottom, blade face.
In order to improve penetrance and the diffusivity of droplet, improve the effect that leaf back spraying applies industry, the present embodiment proposes to arrange several spraying actuating devices, each spraying actuating device comprises lower oar rotor 24, lower oar motor 25, lower oar electronic governor 26, in the present embodiment lower oar rotor 24, lower oar motor 25 respectively with upper oar rotor 21 and upper oar motor 22 vertical arrangement, and be connected with described horn 12 end, lower oar electronic governor 26 is bundled on lower oar rotor 24 place horn 12.Described jet pipe 31 body is linear pattern, and keeps certain inclination angle to make described shower nozzle 32 be in the top of lower oar rotor 24 with reaction plate 11.Liquid, after shower nozzle ejection, is positioned at the lower oar rotor rotational below shower nozzle, produces the wind-force that droplet is spread upwards, thus can improve penetrance and the diffusivity of droplet.
Described in the present embodiment, horn 12 has two at least, and the upper oar rotor 21 that described every root horn 12 end is installed and lower oar rotor 24 have a pair at least, and described horn 12 also can make telescopic or collapsible framework.Described upper oar rotor 21 and lower oar rotor 24 can be fixed pitch blades also can be variable-pitch auger paddle mechanism.In actual applications, lower oar rotor 24 also can be arranged on above corresponding horn oar rotor other or other do not affect the position of normal vehicle operation, as long as can ensure that anti-oar can be used to keep up blows wind-force.
Center fastener device described in the present embodiment is arranged on reaction plate, comprising two sections can inflation/deflation air bag 41, two inflation pumps 42 and inflation/deflation controller 43, described two sections can be fixed on survey in reaction plate 11 along fractionation line symmetry by inflation/deflation air bag 41, inflation pump 42 communicates with inflation/deflation air bag 41 inside, two inflation pumps 42 are placed on described reaction plate 11 lower floor dish below respectively, described inflation/deflation controller 43 be connected with inflation/deflation air pump 42 and with fly to control module 28 and be electrically connected.Can be made up of abundant PVC material by inflation/deflation air bag 41, the internal diameter of the similar annulus formed after being full of gas is less than the external diameter of operation trunk.
Described detachable annulated column formula hollow unmanned plane operational method, comprises the following steps:
A, fractionation double layer hollow reaction plate 11, be enclosed within and treat operation trunk external diameter, assembled reaction plate 11 becomes entirety;
B, fly control module 28 and start upper oar rotor 21, provide unmanned plane to rise required lift, unmanned plane rises to needs the height of operation to keep hovering;
C, inflation/deflation controller 43 control inflation pump 42 to start, to inflating by inflation/deflation air bag 41, to make it extrude trunk and produce enough friction force;
D, fly control module 28 and stop upper oar rotor 21, unmanned plane loses rotor lift, relies on and can stablize and remain on operation height, the not consumption of power energy content of battery by the friction force that produces of inflation/deflation air bag 41 and trunk;
E, spraying operation controller 35 control spraying operation actuating unit to start to spray, and flies control module 28 simultaneously and starts lower oar rotor 24, provide the wind-force that droplet upwards spreads;
F, operation are complete, and spraying operation actuating unit stops operation, and fly control module 28 and control lower oar rotor 24 and stop operating;
G, fly control module 28 and again start upper oar rotor 21, provide unmanned plane hover needed for lift;
H, inflation/deflation controller 43 control inflation pump 42 and start to exitting by inflation/deflation air bag 41, and its friction force extruding trunk generation is disappeared;
I, fly control module 28 and control unmanned plane and drop to ground;
J, fractionation reaction plate 11, take out from trunk external diameter.
Embodiment 2
The present embodiment except following characteristics other structures with embodiment 1:
As shown in Figure 5, the medicine-chest in spraying operation actuating unit 3 is for comprising common unmanned aerial vehicle onboard medicine-chest 38, and described unmanned aerial vehicle onboard medicine-chest 38 is suspended on below body, when unmanned plane upwards flies, carries out spray medicine along with flying to together on trunk.The present embodiment can reduce connecting hose length and water-aspirator pressure.
Embodiment 3
The present embodiment except following characteristics other structures with embodiment 1:
See Fig. 6, Job execution mechanism described in the present embodiment performs the manipulator Job execution mechanism winning operation, it comprises several manipulator 39, manipulator controllers, described manipulator 39 is distributed in reaction plate 11 top, be connected with manipulator controller respectively, manipulator controller with fly to control model calling.Fly to control module and receive outside operating order, control manipulator and complete actions such as winning.
Embodiment 4
The present embodiment except following characteristics other structures with embodiment 1:
Job execution mechanism described in the present embodiment is the shooting Job execution mechanism performing shooting operation, and comprise camera and camera controller, described camera is arranged at above reaction plate, camera controller with fly to control module and be connected.By this mode, unmanned plane of the present invention can be utilized to carry out shooting operation, be convenient to the growing state of observation trees, judge whether pathology etc.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1. a detachable annulated column formula hollow unmanned plane, it is characterized in that, comprise frame, power and control mechanism, center fastener device, described frame comprises a reaction plate and at least two horns, described reaction plate is double-deck, detachable, hollow structure, each horn initiating terminal is fixed on reaction plate, symmetrical along the dismounting line on reaction plate; Described power and control mechanism comprise oar rotor, upper oar motor, upper oar electronic governor and fly to control module, described upper oar rotor is arranged on the end of horn, upper oar rotor is driven by upper oar motor, rotate and produce downward wind-force, fly to control module controls upper oar motor rotation by upper oar electronic governor; Described center fastener device is arranged on reaction plate, comprises one for unmanned plane being fastened on when upper oar rotor stops operating the securing device on operation trunk.
2. detachable annulated column formula hollow unmanned plane according to claim 1, it is characterized in that, described securing device comprises several can inflation/deflation air bag, inflation pump and inflation/deflation controller, can all be arranged on inside the reaction plate of hollow by inflation/deflation air bag, eachly can be connected with inflation pump respectively by inflation/deflation air bag, inflation pump, inflation/deflation controller, to fly control module three and connect successively; The external diameter of operation trunk can be less than by the internal diameter of similar annulus that forms after being full of gas of inflation/deflation air bag.
3. detachable annulated column formula hollow unmanned plane according to claim 1 and 2, it is characterized in that, described unmanned plane also comprises several spraying operation actuating units, each spraying operation actuating unit comprises jet pipe, shower nozzle, water pump, connecting hose, spraying operation controller and medicine-chest, jet pipe top is provided with shower nozzle, bottom is connected with the upper layer disc of reaction plate, and upper layer disc is provided with through hole, and jet pipe is connected with water pump by this through hole; Described connecting hose one end connects water pump, and the other end connects medicine-chest; Fly control module and control water pump operation by spraying operation controller.
4. detachable annulated column formula hollow unmanned plane according to claim 3, it is characterized in that, described unmanned plane also comprises several spraying actuating devices, and each spraying actuating device comprises lower oar rotor, lower oar motor, lower oar electronic governor, and described lower oar rotor is arranged on horn; Lower oar rotor is driven by lower oar motor, rotates the wind-force produced upwards; Fly to control module controls lower oar motor rotation by lower oar electronic governor; Described jet pipe body is linear pattern, and keeps certain inclination angle to make described shower nozzle be in the top of lower oar rotor with reaction plate.
5. detachable annulated column formula hollow unmanned plane according to claim 1 and 2, it is characterized in that, described unmanned plane also comprises a manipulator Job execution mechanism, comprise several manipulators, manipulator controller, described manipulator is distributed in reaction plate top or bottom, be connected with manipulator controller respectively, manipulator controller with fly to control model calling;
Described unmanned plane also comprises a shooting Job execution mechanism, and comprise camera and camera controller, described camera is arranged at above reaction plate, camera controller with fly to control module and be connected.
6. detachable annulated column formula hollow unmanned plane according to claim 1 and 2, it is characterized in that, described reaction plate internal diameter and external diameter are circle, and internal diameter is slightly larger than operation trunk maximum gauge; Reaction plate is divided into upper layer disc and lower floor's dish, and the dismounting line place of upper layer disc and lower floor's dish is respectively equipped with connecting bore, and reaction plate is assembled into an entirety by described connecting bore by holding screw; Be provided with between described upper layer disc and lower floor's dish and support aluminium post, a part supports aluminium post and can distribute by inflation/deflation air bag external diameter along described, and a part supports aluminium post and is arranged on reaction plate internal diameter correspondence dismounting line position;
Pin pillar stiffener is also provided with below described reaction plate.
7. an operational method for detachable annulated column formula hollow unmanned plane according to claim 1, is characterized in that, comprise the following steps:
(1) reaction plate is split, be then enclosed within and treat, on operation trunk external diameter, then reaction plate to be assembled into an entirety;
(2) oar rotor in startup, unmanned plane rises to needs the height of operation to keep hovering;
(3) unmanned plane is fastened on operation trunk by securing device;
(4) upper oar rotor stops operating;
(5) the Job execution mechanism be arranged on unmanned plane performs corresponding operation;
(6) operation is complete, and again start upper oar rotor, then securing device unclamps operation trunk;
(7) unmanned plane drops to ground, then splits reaction plate, it is taken out from trunk external diameter.
8. operational method according to claim 7, it is characterized in that, in described step (3), the inflation/deflation controller in securing device controls inflation pump to inflating by inflation/deflation air bag, can produce enough friction force by the rear squeeze job trunk of inflation/deflation air bag inflation.
9. operational method according to claim 7, it is characterized in that, in described step (5), Job execution mechanism be perform spray medicine operation spraying operation actuating unit, perform at least one in the manipulator Job execution mechanism winning operation, the shooting Job execution mechanism three performing shooting operation.
10. operational method according to claim 9, it is characterized in that, when described spraying operation actuating unit performs spray medicine operation, described spraying sprays from shower nozzle, starts lower oar rotor, the wind-force that lower oar rotor provides droplet upwards to spread simultaneously, after operation, spraying operation actuating unit stops operation, and stops lower oar rotor simultaneously, and then starts upper oar rotor.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105684746A (en) * | 2016-03-03 | 2016-06-22 | 安金梁 | Unmanned aerial vehicle special for agriculture and forestry pruning |
| CN106275404A (en) * | 2016-08-31 | 2017-01-04 | 深圳市莲花百川科技有限公司 | The double cross arm structure of many rotor wing unmanned aerial vehicles |
| CN107539478A (en) * | 2017-09-19 | 2018-01-05 | 山东茁恩航空技术发展有限公司 | A kind of portable V R panorama aerial photography unmanned aerial vehicles |
| CN107539463A (en) * | 2016-06-29 | 2018-01-05 | 北京臻迪机器人有限公司 | A kind of unmanned plane frame lower carriage |
| WO2018139622A1 (en) * | 2017-01-30 | 2018-08-02 | 株式会社ナイルワークス | Drug spreading drone |
| CN108739722A (en) * | 2018-03-20 | 2018-11-06 | 华南农业大学 | A kind of ring drot gfasplng dispenser unmanned plane and its application method being suitable for high hat sparse branching |
| CN109132945A (en) * | 2018-10-15 | 2019-01-04 | 滨州学院 | A kind of mobile lifting equipment for building that flies |
| CN109789927A (en) * | 2016-09-19 | 2019-05-21 | 空中机器人有限及两合公司 | Device for air transportion article |
| CN109876330A (en) * | 2019-03-07 | 2019-06-14 | 佛山市初心方舟科技有限公司 | A kind of multi-rotor unmanned aerial vehicle fire-fighting system |
| CN110203397A (en) * | 2019-06-10 | 2019-09-06 | 华南农业大学 | Detachable high-altitude fixed operation platform and operation recovery method based on UAV flight |
| WO2020022264A1 (en) * | 2018-07-23 | 2020-01-30 | 株式会社ナイルワークス | Flying body |
| US20210053691A1 (en) * | 2018-01-22 | 2021-02-25 | Matsuya R&D., Ltd. | Method of controlling drone with airbag and drone with airbag |
| CN113598109A (en) * | 2021-07-13 | 2021-11-05 | 广东工业大学 | Control method and system of automatic bait casting device of unmanned aerial vehicle |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105684746A (en) * | 2016-03-03 | 2016-06-22 | 安金梁 | Unmanned aerial vehicle special for agriculture and forestry pruning |
| CN107539463A (en) * | 2016-06-29 | 2018-01-05 | 北京臻迪机器人有限公司 | A kind of unmanned plane frame lower carriage |
| CN106275404A (en) * | 2016-08-31 | 2017-01-04 | 深圳市莲花百川科技有限公司 | The double cross arm structure of many rotor wing unmanned aerial vehicles |
| CN109789927A (en) * | 2016-09-19 | 2019-05-21 | 空中机器人有限及两合公司 | Device for air transportion article |
| JPWO2018139622A1 (en) * | 2017-01-30 | 2019-12-26 | 株式会社ナイルワークス | Drug spray drone |
| WO2018139622A1 (en) * | 2017-01-30 | 2018-08-02 | 株式会社ナイルワークス | Drug spreading drone |
| CN107539478A (en) * | 2017-09-19 | 2018-01-05 | 山东茁恩航空技术发展有限公司 | A kind of portable V R panorama aerial photography unmanned aerial vehicles |
| US20210053691A1 (en) * | 2018-01-22 | 2021-02-25 | Matsuya R&D., Ltd. | Method of controlling drone with airbag and drone with airbag |
| CN108739722A (en) * | 2018-03-20 | 2018-11-06 | 华南农业大学 | A kind of ring drot gfasplng dispenser unmanned plane and its application method being suitable for high hat sparse branching |
| JPWO2020022264A1 (en) * | 2018-07-23 | 2020-12-17 | 株式会社ナイルワークス | Aircraft |
| WO2020022264A1 (en) * | 2018-07-23 | 2020-01-30 | 株式会社ナイルワークス | Flying body |
| CN109132945A (en) * | 2018-10-15 | 2019-01-04 | 滨州学院 | A kind of mobile lifting equipment for building that flies |
| CN109876330A (en) * | 2019-03-07 | 2019-06-14 | 佛山市初心方舟科技有限公司 | A kind of multi-rotor unmanned aerial vehicle fire-fighting system |
| CN110203397A (en) * | 2019-06-10 | 2019-09-06 | 华南农业大学 | Detachable high-altitude fixed operation platform and operation recovery method based on UAV flight |
| CN110203397B (en) * | 2019-06-10 | 2022-07-05 | 华南农业大学 | Detachable aerial fixed operation platform based on unmanned aerial vehicle carrying and operation recovery method |
| CN113598109A (en) * | 2021-07-13 | 2021-11-05 | 广东工业大学 | Control method and system of automatic bait casting device of unmanned aerial vehicle |
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