CN110789719A - Spraying anti-drifting device of agricultural unmanned aerial vehicle and use method - Google Patents
Spraying anti-drifting device of agricultural unmanned aerial vehicle and use method Download PDFInfo
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- CN110789719A CN110789719A CN201911161848.1A CN201911161848A CN110789719A CN 110789719 A CN110789719 A CN 110789719A CN 201911161848 A CN201911161848 A CN 201911161848A CN 110789719 A CN110789719 A CN 110789719A
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- 238000005507 spraying Methods 0.000 title claims abstract description 131
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 88
- 239000000575 pesticide Substances 0.000 claims abstract description 19
- 230000000712 assembly Effects 0.000 claims abstract description 13
- 238000000429 assembly Methods 0.000 claims abstract description 13
- 239000007921 spray Substances 0.000 claims description 37
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000000694 effects Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 description 7
- 239000003814 drug Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012800 visualization Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- 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
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0053—Mounting of the spraybooms
- A01M7/0057—Mounting of the spraybooms with active regulation of the boom position
Abstract
The invention discloses a spraying anti-drifting device of an agricultural unmanned aerial vehicle and a using method thereof, wherein the anti-drifting device comprises a base and two groups of spraying adjusting mechanisms; each group of spraying adjusting mechanisms comprises a horizontal supporting rod, a vertical adjusting rod, a rotation driving mechanism and a lifting driving mechanism; the horizontal support rod is provided with a plurality of spraying assemblies for spraying pesticides, and the spraying assemblies are rotatably connected to the horizontal support rod; an adjusting connecting rod is arranged between the vertical adjusting rod and the plurality of spraying assemblies respectively, one end of each adjusting connecting rod is rotatably connected with the vertical adjusting rod, and the other end of each adjusting connecting rod is connected with the corresponding spraying assembly; the lifting device also comprises a control module, and the control module is used for controlling the lifting of the vertical adjusting rod and the unfolding or folding of the horizontal supporting rod. The invention can effectively overcome the influence of an external wind field and a turbulent wind field on the fogdrops, prevent the fogdrops from drifting and realize accurate pesticide spraying.
Description
Technical Field
The invention relates to an anti-drift device of an agricultural unmanned aerial vehicle, in particular to a spraying anti-drift device of the agricultural unmanned aerial vehicle and a using method thereof.
Background
The agricultural unmanned aerial vehicle spraying has the advantages of low operation cost, strong impact capability, simplicity and safety in operation, no limitation of the growth of crops and the like, so that the aviation spraying operation mode serving as one of important marks of agricultural aviation is rapidly applied and developed.
However, with the further expansion of the spraying operation range of the agricultural unmanned aerial vehicle, some modes of aerial spraying of the agricultural unmanned aerial vehicle gradually expose disadvantages and shortcomings, and the problem of liquid medicine drifting caused by an external wind field and a rotor wind field is particularly obvious. When the flying height of the unmanned aerial vehicle is higher, the influence of external wind field factors on the deposition of the fog drops is larger, so that the fog drops cannot be effectively deposited in a target area; when unmanned aerial vehicle flying height crossed lowly, rotor wind field factor was great to the droplet deposit influence, and turbulent wind field makes the crop violently sway and can not effectively apply medicine, and when flying height crossed lowly, it is also unsafe to agricultural unmanned aerial vehicle self, touch crops easily and crash. In order to solve the problems, the invention with the publication number of CN105775136B discloses an agricultural unmanned aerial vehicle spray anti-drift device and a use method thereof, wherein a driving device drives a left supporting rod and a right supporting rod to rotate, so that the left supporting rod and the right supporting rod are unfolded and contracted, when pesticide is sprayed, the height of a spray head is reduced, the distance between the spray head and a rotor wing of the unmanned aerial vehicle is increased, and the influence of a wind field on spray is reduced; the following problems still remain:
1. although the distance increase of shower nozzle and unmanned aerial vehicle rotor after left branch vaulting pole and right branch vaulting pole expansion, the pesticide after the blowout still receives the turbulent wind field influence that the rotor produced, and the pesticide droplet under the rotor wafts to randomness big, and the deposit precision of pesticide is low, is difficult to realize accurate spraying.
2. The spraying direction of the spray head is fixed, direction adjustment cannot be carried out according to actual conditions, and fixed-point spraying is difficult to realize under the factor of an external wind field.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a spraying anti-drifting device of an agricultural unmanned aerial vehicle.
The invention also aims to provide a using method of the spraying anti-drifting device of the agricultural unmanned aerial vehicle.
The purpose of the invention is realized by the following technical scheme:
a spraying anti-drifting device of an agricultural unmanned aerial vehicle is characterized by comprising a base arranged on the unmanned aerial vehicle and two groups of spraying adjusting mechanisms, wherein the two groups of spraying adjusting mechanisms are arranged on the base and are respectively positioned on two sides of the unmanned aerial vehicle; each group of spray adjusting mechanisms comprises a horizontal supporting rod, a vertical adjusting rod, a rotation driving mechanism for driving the horizontal supporting rod to rotate and a lifting driving mechanism for driving the vertical adjusting rod to vertically move up and down; the horizontal support rod is provided with a plurality of spraying assemblies for spraying pesticides, and the spraying assemblies are rotatably connected to the horizontal support rod and are arranged along the extending direction of the horizontal support rod; an adjusting connecting rod is arranged between the vertical adjusting rod and the plurality of spraying assemblies respectively, one end of each adjusting connecting rod is rotatably connected with the vertical adjusting rod, and the other end of each adjusting connecting rod is connected with the corresponding spraying assembly; the control module is used for controlling the lifting of the vertical adjusting rod and the unfolding or folding of the horizontal supporting rod; under the non-operating condition, the horizontal support pole of two sets of spraying adjustment mechanism all packs up, hugs closely the unmanned aerial vehicle fuselage, and during operating condition, the horizontal support pole of two sets of spraying adjustment mechanism all launches under the effect of rotation actuating mechanism, with unmanned aerial vehicle fuselage mutually perpendicular.
The working principle of the spraying anti-drifting device of the agricultural unmanned aerial vehicle is as follows:
in a non-working state, the horizontal support rods of the two groups of spraying adjusting mechanisms are folded, tightly attached to the unmanned aerial vehicle body and arranged in parallel with the length direction of the unmanned aerial vehicle body; can reduce the volume of whole device like this, hug closely together with the unmanned aerial vehicle fuselage, form one whole with the unmanned aerial vehicle when not needing the spraying pesticide, the flight of being convenient for.
When the unmanned aerial vehicle works, the control module controls the rotation driving mechanisms of the two groups of spray adjusting mechanisms to respectively drive the respective horizontal supporting rods to rotate outwards, and the two horizontal supporting rods are arranged in a straight shape and are perpendicular to the unmanned aerial vehicle body; then, opening each spraying component on the horizontal supporting rod, and starting spraying the pesticide; meanwhile, according to an external wind field and a turbulent flow wind field of the site environment, the two lifting driving mechanisms are controlled to respectively drive the respective vertical adjusting rods to do lifting motion, and the vertical adjusting rods drive the adjusting connecting rods to move while doing lifting motion, so that each spraying assembly is pushed in the motion process of adjusting connection, and further each spraying assembly rotates on the axis of the horizontal supporting rod, and the adjustment of the spraying direction is realized; according to the wind field influence of the field environment, the spraying direction and the area of the fog drops are changed by adjusting the spraying direction, so that the actual field situation is adapted, the fog drops can be accurately deposited on the designated position, the utilization rate of the pesticide is effectively improved, and the drift influence of the wind field on the spraying is reduced.
According to a preferable scheme of the invention, a connecting ring is arranged on the vertical adjusting rod, and the connecting ring and the vertical adjusting rod are coaxially arranged; and one end of each adjusting connecting rod of the same group of spray adjusting mechanisms, which is connected with the vertical adjusting rod, is connected together, and is sleeved on the connecting ring through a sliding ring.
According to a preferable scheme of the invention, the spraying assembly comprises a spraying frame and a spraying head, the spraying frame is arranged in a rectangular shape, two sides of the spraying frame are rotatably connected with the horizontal supporting rod through rotating pins, the adjusting connecting rod is connected with the top of the spraying frame, the spraying head is arranged at the bottom of the spraying frame, and the spraying head is connected with a pesticide box on the unmanned aerial vehicle through a hose.
Preferably, the adjusting connecting rod is rotatably connected with the spraying frame through a connecting ring sleeve.
According to a preferable scheme of the invention, the horizontal support rod is a hollow rod, and a hose connected with a medicine box on the unmanned aerial vehicle is arranged in an inner cavity of the horizontal support rod; the horizontal support rod is provided with a through hole at the position corresponding to the spraying assembly, and the spray head is communicated with the hose through the through hole.
In a preferred embodiment of the present invention, the base includes an upper base and a lower base; the upper base is n-shaped and surrounds the unmanned aerial vehicle body, the lower base is arranged below the unmanned aerial vehicle body, the vertical adjusting rod is connected to the upper base and the lower base in a penetrating mode, the lifting driving mechanism is arranged on the upper base, and the rotating driving mechanism is arranged on the lower base.
In a preferred embodiment of the present invention, the lifting driving mechanism is composed of a first motor and a rack-and-pinion transmission mechanism, wherein the first motor is disposed on the upper base, the rack-and-pinion transmission mechanism includes a first driving gear and a driven rack, the first driving gear is connected to a power output shaft of the first motor, and the driven rack is disposed on the vertical adjusting rod and is matched with the first driving gear.
According to a preferred scheme of the invention, the rotation driving mechanism is composed of a second motor and a gear transmission mechanism, wherein the second motor is arranged on the lower base, the gear transmission mechanism comprises a second driving gear and a driven gear, the second driving gear is connected with a power output shaft of the second motor, and the driven gear is rotatably connected to the vertical adjusting rod and is matched with the second driving gear; the end part of the horizontal supporting rod is fixedly connected with the driven gear through a connecting sleeve.
According to a preferable scheme of the invention, the control module comprises a transmitter and a receiver, the transmitter is composed of a remote controller for controlling the operation of the unmanned aerial vehicle, the receiver and the transmitter wirelessly transmit control signals, and the receiver is respectively and electrically connected with the rotation driving mechanism and the lifting driving mechanism. The control mode is convenient to operate, high in visualization degree and flexible.
The use method of the spraying anti-drifting device of the agricultural unmanned aerial vehicle is characterized by comprising the following steps:
(1) when the unmanned aerial vehicle is not in a working state, the horizontal support rods of the two groups of spraying adjusting mechanisms are retracted, closely attached to and retracted below the unmanned aerial vehicle body, and the height of the horizontal support rods is higher than that of foot rests of the unmanned aerial vehicle; after the agricultural unmanned aerial vehicle takes off and lifts off in an operation plot area, the control module starts to send an expansion instruction to control the rotation driving mechanism to work, so that the horizontal supporting rods of the two groups of spraying adjusting mechanisms are expanded to be in a linear shape;
(2) opening the spraying device, and controlling the unmanned aerial vehicle to perform spraying operation;
(3) the control module sends an adjusting instruction to control the lifting driving mechanism to work so that the vertical adjusting rod moves up and down; through the action of the adjusting connecting rod, the vertical supporting rod moves up or down to drive the spray head assembly to rotate, so that the spraying direction of the spray head assembly is changed, the spray is sprayed to the center or the periphery of the unmanned aerial vehicle, the range is further controllable, and the adaptability to the actual wind field environment is realized;
(4) after the spraying operation is finished, the control module sends a retracting instruction, the lifting driving mechanism drives the vertical adjusting rod to return to the initial position, the driving mechanism is rotated to work, the horizontal supporting rod is driven to rotate back, and the horizontal supporting rod is reset to a non-working state;
(5) the control module controls the unmanned aerial vehicle to land to complete spraying operation.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the spraying direction and area of the fog drops can be changed by changing the angle of the spraying assembly according to the influence of an external wind field of a field environment and the rotor wing of the unmanned aerial vehicle, so that the adjustment of the spraying direction is realized, the field practical situation is adapted, the fog drops can be accurately deposited on a target operation area under the influence of the wind field, the utilization rate of pesticides is effectively improved, the drifting influence of the wind field on spraying is reduced, and accurate spraying is realized.
2. The invention adopts a two-stage variable structure; firstly, under rotation drive's effect, realize first order change through the expansion or packing up of horizontal support pole, secondly, under lift actuating mechanism's effect, through the lift of vertical regulation pole and the linkage change spraying assembly's of adjusting the connecting rod angle, realize the second grade change, carry out aviation spraying droplet's angle and scope controllably, design benefit, controllable degree is high.
Drawings
Fig. 1 to fig. 3 are schematic structural views of a spraying anti-drift device of an agricultural unmanned aerial vehicle, which is applied to the agricultural unmanned aerial vehicle, wherein fig. 1 is a front view (the horizontal support rod is in a deployed state), fig. 2 is a top view (the horizontal support rod is in a stowed state), and fig. 3 is a perspective view (the horizontal support rod is in a deployed state).
Fig. 4-8 are schematic structural views (the horizontal support bar is in a deployed state) of one embodiment of the spray drift prevention device of the agricultural unmanned aerial vehicle of the invention, wherein fig. 4 is a front view, fig. 5 is an enlarged view of a in fig. 4, fig. 6 is a perspective view, fig. 7 is an enlarged view of B in fig. 6, and fig. 8 is an enlarged view of C in fig. 6.
Detailed Description
The present invention will be further described with reference to the following examples and drawings, but the embodiments of the present invention are not limited thereto.
Referring to fig. 1 to 8, the spray anti-drift device of the agricultural unmanned aerial vehicle of the embodiment includes a base disposed on the unmanned aerial vehicle and two sets of spray adjusting mechanisms disposed on the base and respectively located on two sides of the unmanned aerial vehicle; each group of spraying adjusting mechanisms comprises a horizontal supporting rod 2, a vertical adjusting rod 3, a rotation driving mechanism for driving the horizontal supporting rod 2 to rotate and a lifting driving mechanism for driving the vertical adjusting rod 3 to vertically move up and down; a plurality of spraying assemblies for spraying pesticides are arranged on the horizontal support rod 2, and are rotatably connected to the horizontal support rod 2 and arranged along the extending direction of the horizontal support rod 2; an adjusting connecting rod 1 is respectively arranged between the vertical adjusting rod 3 and the plurality of spraying assemblies, one end of the adjusting connecting rod 1 is rotatably connected with the vertical adjusting rod 3, and the other end of the adjusting connecting rod 1 is connected with the corresponding spraying assembly; the lifting device also comprises a control module, wherein the control module is used for controlling the lifting of the vertical adjusting rod 3 and the unfolding or folding of the horizontal supporting rod 2; under the non-operating condition, two sets of spraying adjustment mechanism's horizontal support pole 2 all packs up backward, hugs closely the unmanned aerial vehicle fuselage, and during operating condition, two sets of spraying adjustment mechanism's horizontal support pole 2 all expandes under the effect of rotation actuating mechanism, with unmanned aerial vehicle fuselage mutually perpendicular. In this embodiment, each horizontal support rod 2 is provided with two spraying assemblies, and the number of the adjusting connecting rods 1 is two.
Referring to fig. 4-5, a connecting ring 6 is disposed on the vertical adjusting rod 3, and the connecting ring 6 is disposed coaxially with the vertical adjusting rod 3; one end of each adjusting connecting rod 1 of the same group of spray adjusting mechanisms, which is connected with the vertical adjusting rod 3, is connected together and is arranged on the connecting ring 6 through a sliding ring sleeve 8. All the adjusting connecting rods 1 of the same group of spraying adjusting mechanisms are connected, so that the uniform adjustment of all spraying assemblies is realized, and the wind field influence of the field environment is favorably adapted; meanwhile, the sliding ring sleeve 8 is connected with the connecting ring 6, so that the adjusting connecting rod 1 can be folded and unfolded along with the horizontal supporting rod 2, and the adjusting connecting rod 1 can be lifted along with the vertical adjusting rod 3; simple structure and ingenious design.
Referring to fig. 8, the spraying subassembly includes spraying frame 15 and atomising head 17, spraying frame 15 is the rectangle setting, and the both sides of spraying frame 15 are passed through swivel pin 16 and are rotated with horizontal support rod 2 and be connected, adjusting link 1 is connected with spraying frame 15's top, atomising head 17 sets up in spraying frame 15's bottom, atomising head 17 passes through the hose and is connected with the medical kit on the unmanned aerial vehicle. By providing such a spray assembly, connection to the horizontal support bar 2 and adjustment connections is facilitated.
Referring to fig. 8, the adjusting link 1 is rotatably connected to the spray frame 15 by a connecting ring 14. This can increase the flexibility between adjusting connecting rod 1 and the spraying subassembly for it is more gentle and agreeable when carrying out angular adjustment to the spraying subassembly.
The horizontal support rod 2 of the embodiment is a hollow rod, and a hose connected with a medicine box on the unmanned aerial vehicle is arranged in an inner cavity of the horizontal support rod 2; the horizontal support rod 2 is provided with a through hole at the position corresponding to the spraying component, and the spray head is communicated with the hose through the through hole. With the hose setting in the inner chamber of horizontal support bar 2, save the fixed to the hose to can make full use of the space rationally, reduced unmanned aerial vehicle's payload.
Referring to fig. 1-8, the base includes an upper base 4 and a lower base 5; wherein, the top base 4 is "pi" style of calligraphy and encircles the setting outside at the unmanned aerial vehicle fuselage, base 5 sets up the below at the unmanned aerial vehicle fuselage down, vertical regulation pole 3 wears to establish and is connected on top base 4 and lower base 5, lift actuating mechanism sets up on top base 4, rotation actuating mechanism sets up under on base 5. Wherein the rear half of the upper base is narrower than the front half, so arranged as to be able to avoid the horizontal support bar in the stowed state.
Referring to fig. 5, the lifting driving mechanism is composed of a first motor 7 and a rack and pinion transmission mechanism, wherein the first motor 7 is disposed on the upper base 4, the rack and pinion transmission mechanism includes a first driving gear 11 and a driven rack 11, the first driving gear 11 is connected with a power output shaft of the first motor 7, and the driven rack 11 is disposed on the vertical adjusting rod 3 and is matched with the first driving gear 11.
Referring to fig. 7, the rotation driving mechanism is composed of a second motor 12 and a gear transmission mechanism, wherein the second motor 12 is arranged on the lower base 5, the gear transmission mechanism includes a second driving gear 13 and a driven gear 10, the second driving gear 13 is connected with a power output shaft of the second motor 12, and the driven gear 10 is rotatably connected to the vertical adjusting rod 3 and is arranged in a manner of being matched with the second driving gear 13; the end part of the horizontal support rod 2 is fixedly connected with the driven gear 10 through a connecting sleeve 9.
The control module of this implementation includes transmitter and receiver, the transmitter comprises the remote controller of control unmanned aerial vehicle operation, the receiver passes through wireless transmission control signal with the transmitter, the receiver is connected with rotation actuating mechanism and lift actuating mechanism electricity respectively. The control mode is convenient to operate, high in visualization degree and flexible.
Referring to fig. 1 to 8, the working principle of the spraying anti-drift device of the agricultural unmanned aerial vehicle of the embodiment is as follows:
under the non-working state, the horizontal support rods 2 of the two groups of spraying adjusting mechanisms are retracted backwards, tightly attached to the unmanned aerial vehicle body and arranged in parallel with the length direction of the unmanned aerial vehicle body; can reduce the volume of whole device like this, hug closely together with the unmanned aerial vehicle fuselage, form one whole with the unmanned aerial vehicle when not needing the spraying pesticide, the flight of being convenient for.
When the device works, the transmitter sends an unfolding instruction to the receiver, and the receiver sends the unfolding instruction to the rotation driving mechanism after receiving the instruction; at the moment, the rotation driving mechanisms respectively drive the respective horizontal supporting rods 2 to rotate outwards, and the two horizontal supporting rods 2 are arranged in a straight shape and are perpendicular to the unmanned aerial vehicle body; then, the transmitter sends a pesticide spraying instruction to the receiver, so that each spraying component on the horizontal support rod 2 is opened, and pesticide spraying is started; meanwhile, according to an external wind field and a turbulent wind field of a site environment, a transmitter sends a rising or falling instruction to a receiver, so that two lifting driving mechanisms are controlled to respectively drive the respective vertical adjusting rods 3 to do lifting movement, the vertical adjusting rods 3 are driven to move while doing lifting movement, and accordingly, each spraying assembly is pushed in the movement process of connection adjustment, and further, each spraying assembly rotates on the axis of the horizontal supporting rod 2, and the adjustment of the spraying direction is realized; according to the wind field influence of the field environment, the spraying direction and the area of the fog drops are changed by adjusting the spraying direction, so that the actual field situation is adapted, the fog drops can be accurately deposited on the designated position, the utilization rate of the pesticide is effectively improved, and the drift influence of the wind field on the spraying is reduced.
Referring to fig. 1-8, the method for using the spray anti-drift device of the agricultural unmanned aerial vehicle of the embodiment includes the following steps:
(1) when the unmanned aerial vehicle is not in a working state, the horizontal support rods 2 of the two groups of spraying adjusting mechanisms are folded, are tightly attached to the lower part of the unmanned aerial vehicle body and are higher than the foot rests of the unmanned aerial vehicle; after the agricultural unmanned aerial vehicle takes off and lifts off in an operation plot area, the control module starts to send an expansion instruction to control the rotation driving mechanism to work, so that the horizontal support rods 2 of the two groups of spray adjusting mechanisms are expanded to be in a linear shape;
(2) opening the spraying device, and controlling the unmanned aerial vehicle to perform spraying operation;
(3) the control module sends an adjusting instruction to control the lifting driving mechanism to work, so that the vertical adjusting rod 3 does lifting motion; through the action of the adjusting connecting rod 1, the vertical supporting rod moves up or down to drive the spray head assembly to rotate, so that the spraying direction of the spray head assembly is changed, the spray is sprayed to the center or the periphery of the unmanned aerial vehicle, the range is further controllable, and the adaptability to the actual wind field environment is realized;
(4) after the spraying operation is finished, the control module sends a retracting instruction, the lifting driving mechanism drives the vertical adjusting rod 3 to return to the initial position, the rotating driving mechanism works to drive the horizontal supporting rod 2 to rotate back, and the horizontal supporting rod 2 is reset to a non-working state;
(5) the control module controls the unmanned aerial vehicle to land to complete spraying operation.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (10)
1. A spraying anti-drifting device of an agricultural unmanned aerial vehicle is characterized by comprising a base arranged on the unmanned aerial vehicle and two groups of spraying adjusting mechanisms, wherein the two groups of spraying adjusting mechanisms are arranged on the base and are respectively positioned on two sides of the unmanned aerial vehicle; each group of spray adjusting mechanisms comprises a horizontal supporting rod, a vertical adjusting rod, a rotation driving mechanism for driving the horizontal supporting rod to rotate and a lifting driving mechanism for driving the vertical adjusting rod to vertically move up and down; the horizontal support rod is provided with a plurality of spraying assemblies for spraying pesticides, and the spraying assemblies are rotatably connected to the horizontal support rod and are arranged along the extending direction of the horizontal support rod; an adjusting connecting rod is arranged between the vertical adjusting rod and the plurality of spraying assemblies respectively, one end of each adjusting connecting rod is rotatably connected with the vertical adjusting rod, and the other end of each adjusting connecting rod is connected with the corresponding spraying assembly; the control module is used for controlling the lifting of the vertical adjusting rod and the unfolding or folding of the horizontal supporting rod; under the non-operating condition, the horizontal support pole of two sets of spraying adjustment mechanism all packs up, hugs closely the unmanned aerial vehicle fuselage, and during operating condition, the horizontal support pole of two sets of spraying adjustment mechanism all launches under the effect of rotation actuating mechanism, with unmanned aerial vehicle fuselage mutually perpendicular.
2. The agricultural unmanned aerial vehicle's spray anti-drift device of claim 1, wherein the vertical adjustment rod is provided with a connection ring, and the connection ring is coaxially arranged with the vertical adjustment rod; and one end of each adjusting connecting rod of the same group of spray adjusting mechanisms, which is connected with the vertical adjusting rod, is connected together, and is sleeved on the connecting ring through a sliding ring.
3. The agricultural unmanned aerial vehicle's of claim 1 spraying anti-drift device, characterized in that, the spraying subassembly includes spraying frame and atomising head, spraying frame is the rectangle setting, and spraying frame's both sides are passed through the rotating pin and are connected with the rotation of horizontal support pole, the adjusting link is connected with spraying frame's top, the atomising head sets up in spraying frame's bottom, the atomising head passes through the hose and is connected with the medical kit on the unmanned aerial vehicle.
4. The agricultural unmanned aerial vehicle's spray anti-drift device of claim 3, wherein the adjustment link is rotatably connected to the spray frame by a connection collar.
5. The spray anti-drift device of the agricultural unmanned aerial vehicle according to claim 3, wherein the horizontal support rod is a hollow rod, and a hose connected with a pesticide box on the unmanned aerial vehicle is arranged in an inner cavity of the horizontal support rod; the horizontal support rod is provided with a through hole at the position corresponding to the spraying assembly, and the spray head is communicated with the hose through the through hole.
6. The agricultural drone spray anti-drift device of claim 1, wherein the base includes an upper base and a lower base; the upper base is n-shaped and surrounds the unmanned aerial vehicle body, the lower base is arranged below the unmanned aerial vehicle body, the vertical adjusting rod is connected to the upper base and the lower base in a penetrating mode, the lifting driving mechanism is arranged on the upper base, and the rotating driving mechanism is arranged on the lower base.
7. The agricultural unmanned aerial vehicle's of claim 6, wherein the lift drive mechanism comprises a first motor and a rack and pinion transmission mechanism, wherein the first motor is disposed on the upper base, the rack and pinion transmission mechanism comprises a first driving gear and a driven rack, the first driving gear is connected with a power output shaft of the first motor, and the driven rack is disposed on the vertical adjustment rod and is disposed in a manner of matching with the first driving gear.
8. The agricultural unmanned aerial vehicle's spray anti-drift device of claim 6 or 7, wherein the rotary driving mechanism is composed of a second motor and a gear transmission mechanism, wherein the second motor is disposed on the lower base, the gear transmission mechanism comprises a second driving gear and a driven gear, the second driving gear is connected with a power output shaft of the second motor, and the driven gear is rotatably connected to the vertical adjusting rod and is disposed in a matching manner with the second driving gear; the end part of the horizontal supporting rod is fixedly connected with the driven gear through a connecting sleeve.
9. The agricultural unmanned aerial vehicle's of claim 1, in which the control module comprises a transmitter and a receiver, the transmitter is composed of a remote controller for controlling the unmanned aerial vehicle to operate, the receiver and the transmitter wirelessly transmit control signals, and the receiver is electrically connected with the rotation driving mechanism and the lifting driving mechanism, respectively.
10. Use method of the spray anti-drift device of the agricultural unmanned aerial vehicle based on the claims 1-9, characterized by comprising the following steps:
(1) when the unmanned aerial vehicle is not in a working state, the horizontal support rods of the two groups of spraying adjusting mechanisms are retracted, closely attached to and retracted below the unmanned aerial vehicle body, and the height of the horizontal support rods is higher than that of foot rests of the unmanned aerial vehicle; after the agricultural unmanned aerial vehicle takes off and lifts off in an operation plot area, the control module starts to send an expansion instruction to control the rotation driving mechanism to work, so that the horizontal supporting rods of the two groups of spraying adjusting mechanisms are expanded to be in a linear shape;
(2) opening the spraying device, and controlling the unmanned aerial vehicle to perform spraying operation;
(3) the control module sends an adjusting instruction to control the lifting driving mechanism to work so that the vertical adjusting rod moves up and down; through the action of the adjusting connecting rod, the vertical supporting rod moves up or down to drive the spray head assembly to rotate, so that the spraying direction of the spray head assembly is changed, the spray is sprayed to the center or the periphery of the unmanned aerial vehicle, the range is further controllable, and the adaptability to the actual wind field environment is realized;
(4) after the spraying operation is finished, the control module sends a retracting instruction, the lifting driving mechanism drives the vertical adjusting rod to return to the initial position, the driving mechanism is rotated to work, the horizontal supporting rod is driven to rotate back, and the horizontal supporting rod is reset to a non-working state;
(5) the control module controls the unmanned aerial vehicle to land to complete spraying operation.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911161848.1A CN110789719B (en) | 2019-11-21 | Spraying drift prevention device of agricultural unmanned aerial vehicle and use method | |
| PCT/CN2020/089898 WO2021098162A1 (en) | 2019-11-21 | 2020-05-13 | Spray anti-drifting device for agricultural unmanned aerial vehicle and use method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911161848.1A CN110789719B (en) | 2019-11-21 | Spraying drift prevention device of agricultural unmanned aerial vehicle and use method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110789719A true CN110789719A (en) | 2020-02-14 |
| CN110789719B CN110789719B (en) | 2024-05-10 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021098162A1 (en) * | 2019-11-21 | 2021-05-27 | 华南农业大学 | Spray anti-drifting device for agricultural unmanned aerial vehicle and use method |
| CN115649450A (en) * | 2022-09-07 | 2023-01-31 | 南京林业大学 | Spout medicine unmanned aerial vehicle with adjustable spout medicine scope |
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| WO2021098162A1 (en) * | 2019-11-21 | 2021-05-27 | 华南农业大学 | Spray anti-drifting device for agricultural unmanned aerial vehicle and use method |
| CN115649450A (en) * | 2022-09-07 | 2023-01-31 | 南京林业大学 | Spout medicine unmanned aerial vehicle with adjustable spout medicine scope |
Also Published As
| Publication number | Publication date |
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| WO2021098162A1 (en) | 2021-05-27 |
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