CN109592036B

CN109592036B - Unmanned aerial vehicle for biologically preventing and treating trichogramma

Info

Publication number: CN109592036B
Application number: CN201910088639.2A
Authority: CN
Inventors: 朱航; 黄钰; 李宏泽; 裴思宇
Original assignee: Chongqing Research Institute Of Jilin University
Current assignee: Chongqing Research Institute Of Jilin University
Priority date: 2019-01-30
Filing date: 2019-01-30
Publication date: 2023-09-05
Anticipated expiration: 2039-01-30
Also published as: CN109592036A

Abstract

The invention discloses an unmanned aerial vehicle for biologically preventing and treating trichogramma, which belongs to the technical field of unmanned aerial vehicles, and is a four-rotor unmanned aerial vehicle, a GPS navigator, a GPS positioning instrument, a ranging sensor and a barometric sensor are arranged at four corners of a central plate of the unmanned aerial vehicle, a throwing device component is fixedly connected under the unmanned aerial vehicle, an inner container and an outer container of the throwing device are mutually nested and fixedly connected and are sealed by rubber rings, a baffle plate is arranged between the two containers and is movably connected with the two containers, through holes are formed in the two containers and the baffle plate, an arc-shaped groove is further formed in the baffle plate so as to put a hollow ball with a hole for placing trichogramma, a motor base is fixedly connected to the bottom of an outer container, an output shaft of the motor penetrates through a central hole II of the outer container and is fixedly connected with a central hole I of the baffle plate, and the barometric sensor is fixedly connected in a blind hole of the container II; the invention can be used for preventing and controlling rice stem borers in agricultural production, can obviously improve the yield of rice, can lighten the labor intensity of workers, reduces the size of a throwing device, and has low device cost and high working efficiency.

Description

Unmanned aerial vehicle for biologically preventing and treating trichogramma

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle for biologically preventing and treating trichogramma.

Background

The unmanned aerial vehicle is abbreviated as "unmanned aerial vehicle", english abbreviation "UAV", is unmanned aerial vehicle operated by radio remote control equipment and program control device. Unmanned aerial vehicles are in fact a collective term for unmanned aerial vehicles, which from a technical point of view can be defined as: unmanned fixed wing aircraft, unmanned vertical takeoff and landing aircraft, unmanned airship, unmanned helicopter, unmanned multi-rotor aircraft, unmanned parachute wing aircraft, and the like. Compared with manned plane, it has the advantages of small size, low cost, convenient use, etc.

It is based on unmanned aerial vehicle's a great deal of advantage, unmanned aerial vehicle obtains promoting and put into use in more and more fields. For example, unmanned aerial vehicles spray pesticides, unmanned aerial vehicles throw in disaster relief materials, etc. Many technologies related to unmanned aerial vehicles are mature day by day, and application of unmanned aerial vehicles to the field of biological control is an important achievement of unmanned aerial vehicle technologies.

The principle of trichogramma for biological control by spawning in eggs of pests and ultimately killing the host. Scientists put the rice moth eggs parasitized by trichogramma (namely trichogramma parasitic eggs) into small balls and put the small balls into a rice field, and the surfaces of the small balls are opened with a small hole to ensure that the trichogramma can fly out of the small hole after hatching and actively find the eggs of the borer to parasitize, so that the eggs of the borer can absorb nutrition in the eggs of the borer for self development and finally kill the eggs of the borer, thereby achieving the biological control effect. The traditional method for killing the stem borers in the paddy rice field is to manually put small balls (hereinafter referred to as small balls) containing a large number of trichogramma parasitic eggs into the paddy rice field, and the method for manually putting the trichogramma still has the defects of low labor efficiency, high working intensity, high cost and the like although achieving some effects. After the unmanned aerial vehicle is adopted to carry the throwing device to throw the pellets, the working efficiency is greatly improved, and the labor intensity of workers is greatly reduced. However, in practical application, unmanned aerial vehicle delivery has a plurality of drawbacks on the technical level, such as incapability of realizing accurate delivery, unreasonable path planning, and the like. Therefore, the design of the unmanned aerial vehicle for biologically preventing and treating trichogrammars is necessary, and an optimal flight path in the unmanned aerial vehicle throwing process is planned on the basis, so that the unmanned aerial vehicle can accurately throw trichogrammars.

Disclosure of Invention

The invention aims to provide an unmanned aerial vehicle for biological control by putting trichogramma.

The invention comprises an unmanned aerial vehicle 1, a throwing device assembly A and a control system B, wherein the unmanned aerial vehicle 1 is a four-rotor unmanned aerial vehicle, the throwing device assembly A comprises a throwing device 6, a rubber sealing ring 9, a pressure sensor 24 and a motor 14, the throwing device 6 comprises a container I8, a partition plate 12, a container II 10 and the rubber sealing ring 9, the container I8 is in an open barrel shape with a skirt, a circular arc groove 11 is arranged on the bottom surface along the circumference of 1/2 radius, the circular arc radius r is 50mm, and the circular arc angle alpha is 50 degrees; the container I8 is provided with a bolt hole group II 18 and a through hole group I17, wherein the bolt hole group II 18 consists of six holes and is positioned on the skirt edge of the container I8; the through hole group I17 consists of eight holes, and is uniformly distributed on the circumference of 1/2 radius of the bottom of the container I8; the diameter of the through hole group I17 is 12mm. The small balls 27 are stored in the container I8, the diameter of the small balls 27 is 10mm, the diameter of the small holes 28 for the trichogrammars to fly out is 1mm, and the diameter of the through hole group I17 is larger than that of the small balls 27, so that the small balls 27 can smoothly enter the through hole group I17.

The container II 10 is in an open barrel shape provided with a skirt edge, the bottom of the container II is provided with a central hole II 23, a through hole III 22, a blind hole 25 and a bolt hole group IV 26, and a bolt hole group III 21 formed by six holes is positioned on the skirt edge of the container II 10; the diameter of the center hole II 23 is 13mm, and the diameter of the through hole III 22 is 13mm; the through hole III 22 and the blind hole 25 are positioned on the same side of the central hole II 23, and the pressure sensor 24 is fixedly connected in the blind hole 25 and is used for detecting the pressure signal of the small ball 27.

The baffle 12 is discoid, is equipped with centre bore I19 and through-hole group II 20 on the baffle 12, and wherein through-hole group II 20 comprises 8 through-holes, and equipartition on 1/2 radius's circumference, and centre bore I19's diameter is 10mm, and through-hole group II 20's diameter is 13mm.

The partition board 12 is arranged between the bottom surface of the container I8 and the container II 10, and the partition board 12 is movably connected with the two containers; the container I8 is arranged in the container II 10, the container I8 and the container II 10 are fixedly connected through the bolt group I7, and the rubber sealing ring 9 is arranged between the skirt edge of the container I8 and the skirt edge of the container II 10, so that the connection between the container I8 and the container II 10 is tighter, and the stability of the throwing device 6 is improved.

The base of motor 14 is equipped with bolt hole group I16, through bolt group II 15 rigid coupling in container II 10 bottom, and the output shaft 13 of motor 14 passes the centre bore II 23 of container II 10 and the centre bore I19 rigid coupling of baffle 12, and motor 14 provides power for whole throwing in device 6.

The throwing device assembly A is fixedly connected under the unmanned aerial vehicle 1 through the bolt group I7, and the control system B is arranged above the unmanned aerial vehicle 1.

The control system B consists of a GPS navigator 2, a GPS positioning instrument 3, a ranging sensor 4 and an air pressure sensor 5, wherein the GPS navigator 2, the GPS positioning instrument 3, the ranging sensor 4 and the air pressure sensor 5 are arranged at four corners of a central plate of the unmanned aerial vehicle 1.

The GPS navigator 2 has the functions of map inquiry, route planning, automatic navigation and the like, can find the destination and the position information on the flight path of the unmanned aerial vehicle 1 through the GPS navigator 2, and can set the starting point, the end point and the passing point of the path. The GPS locator 3 can obtain the position information of the unmanned aerial vehicle 1 in real time. The ranging sensor 4 is used for detecting the horizontal distance between the position of the unmanned aerial vehicle 1 in the flight process and the position of the next delivery point. The air pressure sensor 5 is used for measuring the height from the ground in the flight process of the unmanned aerial vehicle 1.

The specific working process of the unmanned aerial vehicle 1 when putting the small ball 27 is as follows:

firstly, the determined flight path of the unmanned aerial vehicle 1 is planned through the GPS navigator 2, so that the flight path of the unmanned aerial vehicle 1 and the drop point position of each small ball 27 on the path are obtained, fixed point delivery is realized, and the unmanned aerial vehicle 1 can be ensured to fly according to the determined flight path. Before the unmanned aerial vehicle 1 flies, let motor 14 drive output shaft 13 rotation earlier, output shaft 13 drive baffle 12 rotation, when the through-hole group I17 of container I8 and the eight holes of the through-hole group II 20 of baffle 12 align, the ball 27 of depositing in container I8 gets into in the through-hole group II 20 of baffle 12 and temporarily stores. In the flight process of the unmanned aerial vehicle 1, the GPS navigator 2 and the GPS positioning instrument 3 are always in a working state, so that the flight path of the unmanned aerial vehicle 1 is ensured to be correct. The air pressure sensor 5 has guaranteed the height that unmanned aerial vehicle 1 flies, and when the height that unmanned aerial vehicle 1 flies changes, the air pressure sensor 5 readjust the height that unmanned aerial vehicle 1 flies through feedback adjustment mechanism, and range sensor 4 real-time detection unmanned aerial vehicle 1 and the distance of ground drop point. When the ball 27 is not put in the unmanned aerial vehicle 1 during the flight, the motor 14 does not work, and the ball 27 is stored in the partition 12. When the unmanned aerial vehicle 1 arrives at a position with a horizontal distance of 10m from the landing point during the flight, the unmanned aerial vehicle 1 starts to deliver the pellets 27. At this time, the motor 14 drives the output shaft 13 to rotate, the output shaft 13 drives the partition plate 12 to rotate, when any one of the through hole groups II 20 of the partition plate 12 is aligned with the through hole III 22 of the container II 10, the pellets 27 stored in the partition plate are thrown out from the throwing device 6 to make a horizontal throwing motion to reach a fixed point to form a throwing process, and only one pellet 27 is thrown in each throwing. The pellets in the container I8 fill the set of through holes II 20 of the septum 12 during rotation of the septum 12, ready for the next administration. During the dispensing process, the pressure sensor 24 functions to detect whether a ball 27 is stored in the through-hole group ii 20 of the separator 12. When the pellets in the through-hole group II 20 of the partition 12 rotate with the motor 14 to the vicinity of the pressure sensor 24, if a pressure signal is detected, the motor 14 continues to rotate until one of the holes in the through-hole group II 20 of the partition 12 coincides with the through-hole III 22 of the container II 10 and the pellets 27 fall; if no pressure signal is detected, the rotation angle of the motor 14 is increased by 45 degrees on the original basis, whether the ball 27 is stored in the next hole of the through hole group II 20 on the partition board 12 is continuously detected, until the pressure sensor 24 detects that the pressure signal of the ball 27 is stored and the throwing is finished, the motor 14 stops rotating, a work flow is finished, and the unmanned aerial vehicle 1 continuously flies along a given path to finish the throwing of the next point until all throwing tasks are finished.

The invention has the beneficial effects that:

1. the unmanned aerial vehicle is used for throwing trichogrammars, has high degree of automation, greatly improves work efficiency, reduces labor intensity of workers, reduces labor cost, and has important significance for improving degree of automation in agricultural production.

2. The flying process of the unmanned aerial vehicle is shown as flying along the planned optimal path at the same height in a concentrated manner, the flying height of the unmanned aerial vehicle 1 is 19.6m, the flying speed is 5m/s, the precise fixed-point throwing of the pellets is shown in the throwing process, the use amount of the pellets per hectare is obtained according to actual conditions, and the throwing of the pellets is more scientific; under the support of a GPS navigator, a GPS positioning instrument, a ranging sensor and an air pressure sensor, an optimal flight path of the unmanned aerial vehicle is provided through analysis and calculation, and the unmanned aerial vehicle can truly realize the accurate fixed point throwing of trichogrammars.

Drawings

Fig. 1 is a schematic structural view of an unmanned aerial vehicle for biological control by administering trichogrammars

Fig. 2 is an isometric view of the dispensing device 6

FIG. 3 is a cross-sectional view of the dispensing device 6

FIG. 4 is a schematic view of the structure of the groove 11

Fig. 5 is an isometric view of the motor 14

FIG. 6 is a top view of the vessel I8

FIG. 7 is a bottom view of the container I8

FIG. 8 is an isometric view of a container I8

Fig. 9 is an isometric view of the separator 12

FIG. 10 is a top view of container II 10

FIG. 11 is a bottom view of container II 10

FIG. 12 is an isometric view of container II 10

FIG. 13 is a cross-sectional view of pellet 27

Fig. 14 is a schematic view of a flight path of an unmanned aerial vehicle

Wherein: 1. unmanned aerial vehicle 2.GPS navigator 3.GPS locator 4, range finding sensor 5, barometric sensor 6, throwing device 7, bolt group I8, container I9, rubber sealing ring 10, container II 11, circular arc groove 12, baffle 13, output shaft 14, motor 15, bolt group II 16, bolt hole group I17, through hole group I18, bolt hole group II 19, centre hole I20, through hole group II 21, bolt hole group III 22, through hole III 23, centre hole II 24, pressure sensor 25, blind hole 26, bolt hole group IV 27, ball 28, small hole A thrown device component B and control system

Detailed Description

The following detailed description of the invention is provided in connection with the accompanying drawings and the detailed description of the invention, in order to further illustrate the technical means and effects of the invention to achieve the intended purpose:

as shown in fig. 1 to 3, the invention consists of an unmanned aerial vehicle 1, a throwing device assembly A and a control system B, wherein the throwing device assembly A consists of a throwing device 6, a rubber sealing ring 9, a pressure sensor 24 and a motor 14, and the throwing device 6 consists of a container I8, a partition 12, a container II 10 and the rubber sealing ring 9.

As shown in fig. 3, 4, 6-8 and 13, the container i 8 is in an open barrel shape with a skirt, the bottom surface is provided with a circular arc groove 11 along the circumference of 1/2 radius, the circular arc radius r is 50mm, and the circular arc angle alpha is 50 degrees; the container I8 is provided with a bolt hole group II 18 and a through hole group I17, wherein the bolt hole group II 18 consists of six holes, is positioned on the skirt edge of the container I8 and is used for connecting the container II 10; the through hole group I17 consists of eight holes, and is uniformly distributed on the circumference of 1/2 radius of the bottom of the container I8; the diameter of the through hole group I17 is 12mm. The container I8 is used for containing a small ball 27, the diameter of the small ball 27 is 10mm, a small hole 28 for the trichogramma to fly out is arranged on the small ball 27, and the diameter of the small hole 28 is 1mm. The diameter of the through hole group I17 is slightly larger than that of the ball 27, so that the ball 27 can smoothly enter the through hole group I17.

As shown in fig. 3, 10-12, the container ii 10 is in an open barrel shape with a skirt, the bottom is provided with a central hole ii 23, a through hole iii 22, a blind hole 25 and a bolt hole group iv 26, and a bolt hole group iii 21 consisting of six holes is positioned on the skirt of the container ii 10 and used for connecting the container i 8; the diameter of the center hole II 23 is 13mm, and the diameter of the through hole III 22 is 13mm; the through hole III 22 and the blind hole 25 are positioned on the same side of the central hole II 23, and the pressure sensor 24 is fixedly connected in the blind hole 25 and is used for detecting a pressure signal of the small ball 27; the bolt hole group IV 26 is used for being connected with a base of the motor 14.

The container I8 is arranged in the container II 10, the container I8 and the container II 10 are connected through the bolt group I7, and the rubber sealing ring 9 is arranged between the skirt edge of the container I8 and the skirt edge of the container II 10, so that the connection between the container I8 and the container II 10 is tighter, and the stability of the throwing device 6 is improved.

As shown in fig. 3 and 9, the partition plate 12 is disc-shaped, and a central hole i 19 and a through hole group ii 20 are arranged on the partition plate 12, wherein the through hole group ii 20 is composed of 8 through holes and is uniformly distributed on the circumference of 1/2 radius, the diameter of the central hole i 19 is 10mm, and the diameter of the through hole group ii 20 is 13mm; the baffle 12 is arranged between the bottom surface of the container I8 and the container II 10, and the baffle 12 is movably connected with the two containers.

As shown in fig. 1, 3 and 5, the base of the motor 14 is provided with a bolt hole group i 16, and is fixedly connected to the bottom of the container ii 10 through a bolt group ii 15, and the output shaft 13 of the motor 14 passes through a central hole ii 23 of the container ii 11 and is fixedly connected with a central hole i 19 of the partition plate 12. The motor powers the entire delivery device 6.

As shown in fig. 1 and 3, the throwing device assembly a is fixedly connected under the unmanned aerial vehicle 1 through a bolt group i 7, and the control system B is composed of a GPS navigator 2, a GPS positioning instrument 3, a ranging sensor 4 and an air pressure sensor 5, and is installed at four corners of a central plate of the unmanned aerial vehicle 1. The GPS navigator 2 has functions of map inquiry, route planning, automatic navigation and the like in the present invention, and can find out the destination and the position information on the flight path of the unmanned aerial vehicle 1 through the GPS navigator 2, and can set the start point, the end point and the passing point of the path. The GPS locator 3 can obtain the position information of the unmanned aerial vehicle 1 in real time. The ranging sensor 4 is used for detecting the horizontal distance between the position of the unmanned aerial vehicle 1 in the flight process and the position of the next delivery point. The air pressure sensor 5 is used for measuring the height from the ground in the flight process of the unmanned aerial vehicle 1.

As shown in fig. 14, the present invention provides an optimal flight path of the unmanned aerial vehicle 1 during the throwing process, where X represents a drop point of the pellets 27, Y represents a trichogramma spreading range, and Z represents the flight path of the unmanned aerial vehicle 1, which is a broken line. p represents the paddy length, q represents the paddy width, a represents the distance between the first drop point of the pellet 27 and the two sides of the paddy, b represents the distance between two adjacent drop points, and d represents the diameter of the trichogramma spread range. The flight path and the delivery fixed point of the unmanned aerial vehicle 1 are determined as follows:

given that the diameter of the parasitic eggs of trichogramma is 0.4mm, the number of trichogramma put in per mu is 7000 to 8000, the diameter of the pellets 27 is 10mm, and the mathematical expression is as follows:

wherein: v is the volume and r is the radius;

the number n of trichogramma eggs that a pellet 27 can theoretically accommodate can be derived from the following equation:

from the above formula, it is known that the usage amount of trichogrammars can be satisfied and the control effect can be achieved by putting one small ball 27 in each putting action, and then it is determined that the diameter of the small ball 27 is 10mm by putting one small ball 27 in each putting action.

Firstly, a rectangular paddy field with the length p=120m and the width q=96m is selected, the known trichogramma moving range is a circle with the radius of 17m, the range is an effective area for preventing and controlling borers by trichogramma, the circular area in the figure is the trichogramma moving area in a single small ball 27, the diameter d is 34m, the circle center X is the falling point of the small ball 27, and one small ball 27 is put in each falling point.

The unmanned plane 1 enters the paddy field from one side of the paddy field, and in the flying process, before reaching the first throwing point and when reaching the position with the horizontal distance of 10m from the drop point, the throwing of the pellets is started, and the pellets do horizontal throwing movement to reach the drop point.

According to the unmanned aerial vehicle 1, the flying speed is v=5m/s, the flying height h=19.6m, and the gravitational acceleration g=9.8m/s ² The horizontal distance s between the position of the unmanned aerial vehicle 1 where the small ball 27 is put and the falling point of the small ball 27 is:

after the throwing is finished, the unmanned aerial vehicle 1 continues to fly to reach the second drop point, and the motor 14 rotates to finish throwing the small ball 27 again. And finally, determining the flight path of the unmanned aerial vehicle 1 as a folding line which reciprocates in the rectangular area, and realizing the whole coverage of the rectangular paddy field by the trichogrammatid active area after 20 points are added up. The number k of pellets 27 per hectare can then be derived from the following equation:

k＝20÷(120×96÷10000)＝17.36

the number of pellets 27 delivered per hectare was found to be 18.

According to the geometric relationship of circles and triangles, the distance a from the first drop point of the pellets 27 to the two sides of the paddy field is:

the distance b between two adjacent landing points is:

b＝2a＝24m。

Claims

1. unmanned aerial vehicle for biological control by putting trichogramma, which is characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle (1), a throwing device assembly (A) and a control system (B), wherein the unmanned aerial vehicle (1) is a four-rotor unmanned aerial vehicle, the throwing device assembly (A) comprises a throwing device (6), a rubber sealing ring (9), a pressure sensor (24) and a motor (14), the throwing device (6) comprises a container I (8), a partition plate (12), a container II (10) and the rubber sealing ring (9), the container I (8) is in an open barrel shape with a skirt, the bottom surface is provided with a circular arc groove (11) along the circumference of 1/2 radius, the circular arc radius r is 50mm, and the circular arc angle alpha is 50 degrees; the container I (8) is provided with a bolt hole group II (18) and a through hole group I (17), wherein the bolt hole group II (18) consists of six holes and is positioned on the skirt edge of the container I (8); the through hole group I (17) consists of eight holes, and is uniformly distributed on the circumference of 1/2 radius of the bottom of the container I (8); the diameter of the through hole group I (17) is 12mm; the container I (8) is internally provided with a small ball (27), the diameter of the small ball (27) is 10mm, and the diameter of a small hole (28) on the small ball is 1mm; the container II (10) is in an open barrel shape provided with a skirt edge, the bottom of the container II is provided with a central hole II (23), a through hole III (22), a blind hole (25) and a bolt hole group IV (26), and the bolt hole group III (21) formed by six holes is positioned on the skirt edge of the container II (10); the diameter of the center hole II (23) is 13mm, and the diameter of the through hole III (22) is 13mm; the through hole III (22) and the blind hole (25) are positioned on the same side of the central hole II (23), and the pressure sensor (24) is fixedly connected in the blind hole (25); the partition board (12) is disc-shaped, the partition board (12) is provided with a central hole I (19) and a through hole group II (20), wherein the through hole group II (20) consists of 8 through holes and is uniformly distributed on the circumference with the radius of 1/2, the diameter of the central hole I (19) is 10mm, and the diameter of the through hole group II (20) is 13mm; the partition board (12) is arranged between the bottom surface of the container I (8) and the container II (10), and the partition board (12) is movably connected with the two containers; the container I (8) is arranged in the container II (10), the container I and the container II are fixedly connected through the bolt group I (7), and a rubber sealing ring (9) is arranged between the skirt edge of the container I (8) and the skirt edge of the container II (10); the base of the motor (14) is provided with a bolt hole group I (16), the motor is fixedly connected to the bottom of the container II (10) through a bolt group II (15), and an output shaft (13) of the motor (14) penetrates through a central hole II (23) of the container II (10) to be fixedly connected with a central hole I (19) of the partition plate (12); the throwing device assembly (A) is fixedly connected under the unmanned aerial vehicle (1) through the bolt group I (7), and the control system (B) is arranged above the unmanned aerial vehicle (1); the control system (B) is composed of a GPS navigator (2), a GPS positioning instrument (3), a ranging sensor (4) and an air pressure sensor (5), wherein the GPS navigator (2), the GPS positioning instrument (3), the ranging sensor (4) and the air pressure sensor (5) are arranged at four corners of a central plate of the unmanned aerial vehicle (1).