CN107097958A - The UAS and method of a kind of variable fertilization - Google Patents
The UAS and method of a kind of variable fertilization Download PDFInfo
- Publication number
- CN107097958A CN107097958A CN201710262691.6A CN201710262691A CN107097958A CN 107097958 A CN107097958 A CN 107097958A CN 201710262691 A CN201710262691 A CN 201710262691A CN 107097958 A CN107097958 A CN 107097958A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- rotating disk
- uas
- hopper
- variable fertilization
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C15/00—Fertiliser distributors
- A01C15/06—Fertiliser distributors with distributing slots, e.g. adjustable openings for dosing
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C19/00—Arrangements for driving working parts of fertilisers or seeders
- A01C19/02—Arrangements for driving working parts of fertilisers or seeders by a motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention discloses a kind of UAS of variable fertilization, including unmanned plane body and fertilising module, the fertilising module includes：Fixed mount, is connected with unmanned plane；Material feeding box, on the fixed mount, bottom is provided with discharging opening；Rotating disk, central rotating shaft is horizontally disposed, is connected positioned at the underface of the material feeding box and with fixed mount, and the perisporium of rotating disk is provided with hopper, and opening is relative with the discharging opening when hopper moves to apical position and accepts the material from material feeding box；Block unit, blocks the hopper accepted after material and is moved in the hopper when Open Side Down and opened；Driving source, drives rotating disk to rotate；The present invention's can realize different fertilising efficiency by changing rotary speed and sidewall channels number, so as to improve the utilization rate of fertilizer, while avoiding contaminated soil, not result in the damage of rape.
Description
Technical field
The present invention relates to unmanned plane Flight Test Technique field, the UAS and method of more particularly to a kind of variable fertilization.
Background technology
With the development of modern agriculture, its demand can not be manually met for the efficiency that agricultural plant protection is sowed, efficiently
Operating type have become the expectations of vast farmerses.And unmanned plane is as a wonderful work in modern agricultural development, with it not
Analogous advantage is just progressively occupying the wonderful stage of modern agriculture, and the cruising time length of unmanned plane, operation efficiently and are not damaged
The characteristics of crop, is enough the outstanding figure as agricultural plant protection field, and current unmanned plane plant protection spray has evolved to a certain degree, so
And solid particulate fertilizer is also very important for crop, unmanned plane is but not enough in this respect.Rape is used as the country one
Very important industrial crops are planted, its mechanization degree is received significant attention, and because its plant is very fragile, field line-spacing is difficult to control
System, artificially applying fertilizer easily damages rape, and efficiency is too low and health of to people has a certain impact.Therefore, unmanned plane is empty
Middle fertilising plays the role of incomparable to rape.
Such as Publication No. CN105746062A Chinese invention patent document discloses a kind of unmanned plane broadcast application and sowed seeds dress
Put, including rotating disk shell, the centrifugal turntable that is located in the rotating disk shell and be located on the rotating disk shell and can drive described
The rotating disk driving part that centrifugal turntable is rotated, the top of the rotating disk shell is provided with feeding mouth, and the rotating disk shell turns in centrifugation
The radial outside of disk is provided with discharging opening, and the centrifugal turntable has some blades being radially arranged.The present invention work when, seed or
Person's granular fertilizer enters in rotating disk shell from feeding mouth, is rotated under the drive of centrifugal turntable in rotating disk shell, waits to turn to out
Outwards sprayed under the action of the centrifugal force when at material mouth, so as to complete the sprinkling of fertilizer and seed.But said apparatus does not have in detail
Describe the bright situation combined with unmanned plane in detail and how unmanned plane uniformly sprays solid particle.
In another example Publication No. CN205665503U Chinese utility model patent document discloses a kind of for solid
The unmanned plane and its flight remote control system of grain sprinkling, a kind of unmanned plane sprayed for solid particle and its flight remote control system.
The unmanned plane includes aviation mechanism and spraying mechanism, and the spraying mechanism is by hopper, rotating disk and turntable rotating driving device structure
Into, wherein, the intracavity bottom side wall of the hopper is provided with discharging opening, and the rotating disk is arranged on the intracavity bottom of the hopper, and
Axle connects the output end of the turntable rotating driving device, and the turntable rotating driving device electrically connects the microcontroller.But
It is also not to be described the existing mode uniformly sowed in fact, and needs artificial real-time control remote control, consumes manual labor.
The content of the invention
The present invention provides a kind of unmanned plane method of variable fertilization, it is ensured that the uniform healthy growth of whole fields plant, together
When in operation process, plant will not be adversely affected, the efficiency of fertilising is greatly improved.
A kind of UAS of variable fertilization, including unmanned plane body and fertilising module, the fertilising module include：
Fixed mount, is connected with unmanned plane；
Material feeding box, on the fixed mount, bottom is provided with discharging opening；
Rotating disk, central rotating shaft is horizontally disposed, is connected positioned at the underface of the material feeding box and with fixed mount, the perisporium of rotating disk
Hopper is provided with, opening is relative with the discharging opening when hopper moves to apical position and accepts the thing from material feeding box
Material；
Block unit, blocks the hopper accepted after material and is moved in the hopper when Open Side Down and opened；
Driving source, connection central rotating shaft drives rotating disk to rotate.
The present invention is in use, first obtain the physiologic information and lineament of the field rape of Field Plants, adjustment rotating disk
Rotating speed and rotating disk feeding groove slot number (changing different rotating disks), so as to adapt to the different hill spacings of floor vegetation, realize variable fertilization.
Block unit can be mounted in the lid of each hopper mouthful, be opened during close to material feeding box, accept and closed after material,
Move to when Open Side Down and open whne hopper, but if being set as, overall structure can be very responsible, it is preferred that described to block
Unit is to be fixed on the curved baffle that the rotating disk side covers the side perisporium.Curved baffle, which reclines, covers the side of perisporium, should
The perisporium rotation direction of side from top to bottom, is blocked, it is to avoid material is revealed, and treats hopper after hopper accepts material by curved baffle
Move to lower opening it is downward when, depart from curved baffle scope, applied fertilizer.
In order to improve operating efficiency, it is preferred that the hopper is interval with multiple along perisporium.
Physiologic information and lineament can be obtained manually on the spot, using unmanned plane image capture module can also be coordinated to obtain
Take, it is preferred that the UAS of the variable fertilization also includes the image collection module for being used to obtain ground image.Image is obtained
The camera that modulus block is used is not restricted to two kinds of common RGB camera and multispectral camera.
In order to mitigate the heavy burden of unmanned plane, fertilising module and image collection module can be fixed with unmanned plane body respectively to be connected
Connect, it is preferred that the bottom of the unmanned plane body is provided with dismountable connector, the connector is used to install fertilising module
Or image collection module.
Manufacture and install for convenience, it is preferred that the driving source is motor.
It is preferred that, the unmanned plane body is provided with GPS.The GPS navigation can realize spot application, it is ensured that monoblock field
The upgrowth situation of ground rape is consistent.
It is preferred that, the UAS of the variable fertilization also includes calculation control module, the calculation control module root
The physiologic information and hill spacing of the Field Plants obtained according to image collection module, calculate dose and the interval fertilising of field crops
Time, control the load and rotary speed of material feeding box to realize variable fertilization.
Present invention also offers a kind of method of variable fertilization, using the UAS of above-mentioned variable fertilization, including
Following steps：
(1) physiologic information and hill spacing of Field Plants to be applied fertilizer are obtained；
(2) according to hill spacing data, setting unmanned plane during flying speed and rotary speed and hopper slot number,
Wherein：
V1For unmanned plane during flying speed；
S is hill spacing；
Z is the slot number on rotating disk；
V2For rotating disk linear velocity；
Rotating disk each rotation needs 60/n, n to be all numbers of per minute turn of rotating disk；
D is disk diameter；
Rotating disk circles, and unmanned plane during flying distance is L1=ZS+V2*60/n；
Unmanned plane during flying is apart from L2=V1*60/n；
Rotating disk linear velocity V2=π Dn/60；
(3) fertilization time of the unmanned plane in different zones is determined according to the physiologic information of Field Plants.
The present invention will combine unmanned plane with rotating disk, by controlling the quantity of its rotating speed and hopper, realize and ground
The corresponding variable fertilization of the hill spacing of rape.And the unmanned plane of this invention carries GPS navigation system, is received by multispectral camera
The plant physiology information collected can be fed back to during fertilising, realize that different fertilizer amounts are given in different location by GPS navigation,
So as to ensure the uniform healthy growth of whole fields plant.Meanwhile, in operation process, plant will not be adversely affected,
The efficiency of fertilising is greatly improved.
The present invention's has beneficial effect：
(1) UAS of variable fertilization of the invention slots rotating disk side wall, by changing rotary speed and side wall
Slot number can realize different fertilising efficiency, so that the utilization rate of fertilizer is improved, while avoiding contaminated soil；(2) unmanned plane is applied
Fertilizer does not result in the damage of rape；(3) operating efficiency of the high efficiency of unmanned plane fertilising considerably beyond ground machine.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the UAS (fertigation unit is housed) of the variable fertilization of the present invention.
Fig. 2 is the dimensional structure diagram of the UAS (image acquisition unit is housed) of the variable fertilization of the present invention.
Fig. 3 is the dimensional structure diagram of fertigation unit.
Fig. 4 is the dimensional structure diagram of another angle of fertigation unit.
Embodiment
Below against accompanying drawing, by the description to embodiment, the embodiment to the present invention makees further detailed
Explanation, it is therefore an objective to help those skilled in the art to have more complete, accurate and deep reason to design of the invention, technical scheme
Solution, and help to implement.
The present embodiment to rape exemplified by applying fertilizer, and the UAS of the variable fertilization of the present embodiment is to realize nobody
Machine space accurate fertilizing, realizes rape homoepitaxial comprehensively, the damage caused during fertilising to rape is reduced, while can also
Field spot application is realized, the intelligent and high efficiency of rape fertilising is realized.
As shown in figures 1-4, the UAS of the variable fertilization of the present embodiment includes：Unmanned plane body, image obtain single
Member and fertigation unit 8, wherein unmanned plane body include blade 1, GPS2, motor 3, control module 4, pipe leg 5, foot tube of standing 6, body
7 and horn connector 9, image acquisition unit includes camera 10.Variable fertilizer applicator 8 includes fixed mount 801, material feeding box 802, electricity
Machine drive shaft 803, rotating disk 804, hopper 805 and curved baffle 806.
The present embodiment is illustrated to specific works mode:
Unmanned plane body is connected with image acquisition unit first, before fertilising, in order to preferably ensure its effect and divide
Amount is, it is necessary to obtain the physiologic information of field rape, and the information that camera 10 is obtained can just draw rape after testing by analysis
Various nutrient information.The camera 10 of wherein image acquisition unit is not restricted to two kinds of common RGB camera and multispectral camera.
The blade 1 of unmanned plane body is not limited solely to four rotors, and herein only as a demonstration, other many rotors are still
This system is tried out, after the distribution of field rape nutrient information is obtained, variable fertilizer applicator 8 is replaced to previous camera 10,
Realized here by dismountable connector on unmanned plane body, field different location is realized by GPS2 navigation
Different doses, process is as follows：
First fertilizer is put in material feeding box 802, then fixed by the connector of fixed mount 801 and unmanned plane body,
After aerial normal flight, rotating disk 804 is driven to rotate by the controlled motor drive shaft 803 of motor 3, the speed of motor 3 is adjustable, initially
Under state, the hopper 805 that fertilizer enters on the side wall of rotating disk 804 after rotation, ensures it not in the presence of curved baffle 806
Leak, fertilising is successfully completed when Open Side Down for hopper 805.
After the hill spacing of manipulating object changes, it can change rotating disk to change its hopper by changing rotary speed
Slot number, finally gives different fertilising efficiency, is mainly calculated as follows：
V1--- unmanned plane during flying speed, m/s；S --- hill spacing, m；Z --- the slot number on rotating disk；V2--- rotating disk linear speed
Degree, m/s；Rotating disk each rotation needs 60/n, s；All numbers of per minute turn of n --- rotating disk；D --- disk diameter, m.
Rotating disk circles, and unmanned plane during flying distance is L1=ZS+V2* 60/n, m；
Unmanned plane during flying is apart from L2=V1*60/n,m；
Rotating disk linear velocity V2=π Dn/60, m/s；
Then unmanned plane during flying speed and rotary speed, slot number relation are as follows,
Technical scheme and beneficial effect are described in detail embodiment described above, it should be understood that
The specific embodiment of the present invention is the foregoing is only, is not intended to limit the invention, it is all to be done in the spirit of the present invention
Any modification, supplement and equivalent substitution etc., should be included in the scope of the protection.
Claims (9)
1. a kind of UAS of variable fertilization, including unmanned plane body and fertilising module, it is characterised in that the fertilising mould
Block includes：
Fixed mount, is connected with unmanned plane；
Material feeding box, on the fixed mount, bottom is provided with discharging opening；
Rotating disk, central rotating shaft is horizontally disposed, is connected positioned at the underface of the material feeding box and with fixed mount, is set on the perisporium of rotating disk
There is hopper, opening is relative with the discharging opening when hopper moves to apical position and accepts the material from material feeding box；
Block unit, blocks the hopper accepted after material and is moved in the hopper when Open Side Down and opened；
Driving source, connection central rotating shaft drives rotating disk to rotate.
2. the UAS of variable fertilization as claimed in claim 1, it is characterised in that the block unit is is fixed on
State the curved baffle that rotating disk side covers the side perisporium.
3. the UAS of variable fertilization as claimed in claim 1, it is characterised in that the hopper is set along perisporium interval
Have multiple.
4. the UAS of variable fertilization as claimed in claim 1, it is characterised in that the unmanned plane system of the variable fertilization
System also includes the image collection module for being used to obtain ground image.
5. the UAS of variable fertilization as claimed in claim 4, it is characterised in that the bottom peace of the unmanned plane body
Equipped with dismountable connector, the connector is used to install fertilising module or image collection module.
6. the UAS of variable fertilization as claimed in claim 1, it is characterised in that the driving source is motor.
7. the UAS of variable fertilization as claimed in claim 1, it is characterised in that the unmanned plane body is provided with
GPS。
8. the UAS of variable fertilization as claimed in claim 1, it is characterised in that the unmanned plane system of the variable fertilization
System also includes calculation control module, the physiologic information for the Field Plants that the calculation control module is obtained according to image collection module
And hill spacing, calculate field crops dose and interval fertilising time, control material feeding box load and rotary speed with
Realize variable fertilization.
9. a kind of method of variable fertilization, it is characterised in that use the variable as described in claim 1~8 any claim
The UAS of fertilising, comprises the following steps：
(1) physiologic information and hill spacing of Field Plants to be applied fertilizer are obtained；
(2) according to hill spacing data, setting unmanned plane during flying speed and rotary speed and hopper slot number,
<mrow>
<msub>
<mi>V</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<mi>Z</mi>
<mi>S</mi>
</mrow>
<mrow>
<mi>&pi;</mi>
<mi>D</mi>
</mrow>
</mfrac>
<mo>+</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<msub>
<mi>V</mi>
<mn>2</mn>
</msub>
<mo>;</mo>
</mrow>
Wherein：
V1For unmanned plane during flying speed；
S is hill spacing；
Z is the slot number on rotating disk；
V2For rotating disk linear velocity；
Rotating disk each rotation needs 60/n, n to be all numbers of per minute turn of rotating disk；
D is disk diameter；
Rotating disk circles, and unmanned plane during flying distance is L1=ZS+V2*60/n；
Unmanned plane during flying is apart from L2=V1*60/n；
Rotating disk linear velocity V2=π Dn/60；
(3) fertilization time of the unmanned plane in different zones is determined according to the physiologic information of Field Plants.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710262691.6A CN107097958A (en) | 2017-04-20 | 2017-04-20 | The UAS and method of a kind of variable fertilization |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710262691.6A CN107097958A (en) | 2017-04-20 | 2017-04-20 | The UAS and method of a kind of variable fertilization |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107097958A true CN107097958A (en) | 2017-08-29 |
Family
ID=59656530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710262691.6A Pending CN107097958A (en) | 2017-04-20 | 2017-04-20 | The UAS and method of a kind of variable fertilization |
Country Status (1)
| Country | Link |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107711018A (en) * | 2017-10-24 | 2018-02-23 | 安徽科技学院 | A kind of unmanned plane variable fertilizer applicator |
| CN107736117A (en) * | 2017-10-24 | 2018-02-27 | 秦大鹏 | A kind of unmanned plane fertilising installing is standby |
| CN108569401A (en) * | 2018-05-30 | 2018-09-25 | 郑州方达电子技术有限公司 | A kind of automatic method of forestation of unmanned plane |
| CN109665103A (en) * | 2019-01-14 | 2019-04-23 | 珠海卡特瑞科农林航空装备研究所有限公司 | Seeding apparatus and sowing unmanned plane with the device |
| CN109757175A (en) * | 2019-03-18 | 2019-05-17 | 中国农业科学院农业资源与农业区划研究所 | A kind of corn water-fertilizer integral variable fertilization method based on unmanned plane monitoring |
| CN110065635A (en) * | 2019-05-05 | 2019-07-30 | 塔里木大学 | A kind of UAV flight's formula green manure seed broadcaster |
| CN111754060A (en) * | 2019-10-18 | 2020-10-09 | 广州极飞科技有限公司 | Variable rate fertilization method and device, electronic equipment and storage medium |
| CN113825700A (en) * | 2020-09-25 | 2021-12-21 | 深圳市大疆创新科技有限公司 | Agricultural plant protection unmanned aerial vehicle, sowing control method and storage medium |
| WO2023133782A1 (en) * | 2022-01-14 | 2023-07-20 | 安徽科技学院 | Variable-rate fertilization device and method for unmanned aerial vehicle |
| WO2024077668A1 (en) * | 2022-10-12 | 2024-04-18 | 安徽科技学院 | Variable topdressing device based on six-rotor multispectral unmanned aerial vehicle and use method therefor |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107711018A (en) * | 2017-10-24 | 2018-02-23 | 安徽科技学院 | A kind of unmanned plane variable fertilizer applicator |
| CN107736117A (en) * | 2017-10-24 | 2018-02-27 | 秦大鹏 | A kind of unmanned plane fertilising installing is standby |
| CN108569401A (en) * | 2018-05-30 | 2018-09-25 | 郑州方达电子技术有限公司 | A kind of automatic method of forestation of unmanned plane |
| CN109665103A (en) * | 2019-01-14 | 2019-04-23 | 珠海卡特瑞科农林航空装备研究所有限公司 | Seeding apparatus and sowing unmanned plane with the device |
| CN109757175A (en) * | 2019-03-18 | 2019-05-17 | 中国农业科学院农业资源与农业区划研究所 | A kind of corn water-fertilizer integral variable fertilization method based on unmanned plane monitoring |
| CN109757175B (en) * | 2019-03-18 | 2020-10-30 | 中国农业科学院农业资源与农业区划研究所 | Unmanned aerial vehicle monitoring-based corn water and fertilizer integrated variable fertilization method |
| CN110065635A (en) * | 2019-05-05 | 2019-07-30 | 塔里木大学 | A kind of UAV flight's formula green manure seed broadcaster |
| CN111754060A (en) * | 2019-10-18 | 2020-10-09 | 广州极飞科技有限公司 | Variable rate fertilization method and device, electronic equipment and storage medium |
| CN113825700A (en) * | 2020-09-25 | 2021-12-21 | 深圳市大疆创新科技有限公司 | Agricultural plant protection unmanned aerial vehicle, sowing control method and storage medium |
| WO2023133782A1 (en) * | 2022-01-14 | 2023-07-20 | 安徽科技学院 | Variable-rate fertilization device and method for unmanned aerial vehicle |
| WO2024077668A1 (en) * | 2022-10-12 | 2024-04-18 | 安徽科技学院 | Variable topdressing device based on six-rotor multispectral unmanned aerial vehicle and use method therefor |
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Application publication date: 20170829 |