CN210338297U - Biological control material feeding device for agricultural unmanned aerial vehicle mounting - Google Patents

Abstract

The utility model relates to a biological control material throwing device that agricultural unmanned aerial vehicle carried, including control system and apotheca, be equipped with the releaser that is used for wrapping up biological control material (such as trichogrammatid egg) in the apotheca, the apotheca bottom is equipped with the releaser export, is equipped with the motor that is used for driving the releaser to the releaser export in the apotheca, and the releaser export intercommunication has the transmitter, and the transmitter is connected with control system and is used for accelerating the releaser and throw away from the apotheca; the releaser comprises an upper half cavity and a lower half cavity, and the specific gravity of the lower half cavity is greater than that of the upper half cavity; the releaser is provided with a channel, and the last channel is a release channel which is arranged on the outer surface of the releaser and is communicated with the outside; the outlet of the release passage is provided with a one-way check valve. The releaser all the time keeps half cavity bottom down when whereabouts, and one-way check valve can prevent effectively that the release passageway from being plugged up and the rainwater flows backward, need not to strike separation releaser and can release bee ovum, does benefit to the protection bee ovum.

Description

Biological control material feeding device for agricultural unmanned aerial vehicle mounting

Technical Field

The utility model relates to a biological control material puts in technical field, more specifically relates to a biological control material of agricultural unmanned aerial vehicle carry puts in device.

Background

Pests have been one of the major factors affecting the development of agriculture. Because of the long-term use of chemical pesticides, some pests have strong drug resistance, and meanwhile, natural enemies of many pests are also killed in large quantities due to the use of pesticides, so that the harm of some pests is rampant continuously. In addition, the use of a large amount of chemical pesticides can cause pollution to water, atmosphere and soil, and the pollution enters human bodies through food chains, so that the health of people is harmed.

Biocontrol is a method of control that utilizes beneficial organisms or other organisms (including microorganisms, parasitic natural enemies, predatory natural enemies, and the like) to inhibit or eliminate pests. The biological control of plant diseases and insect pests can effectively avoid the defects, thereby having wide application prospect.

The application of trichogramma is one of the commonly used methods for biologically controlling pests at present. The trichogramma is a parasitic wasp which lays eggs in host eggs, and the larvae eat egg yolks, pupate and cause the death of the hosts, so that pests are killed in the mode, and the control effect is safe and environment-friendly.

The existing trichogramma is mainly thrown manually, the labor intensity is high, and the injury of crops is easily caused when personnel enter a field. In recent years, some mechanical auxiliary release devices have been reported, but most of the releases are spherical, and the influence of the external environment is not taken into consideration, so that the failure rate of the release is high.

The design and use of the existing releasers are basically limited to control of dry land or woodland, special environments such as paddy field and the like are not considered, and automatic release is difficult to be carried out by adopting machines such as unmanned aerial vehicles and the like, for example, a trichogramma box type bee releaser (patent number ZL200620029161.4), a small egg bee releaser (patent number ZL201120502819.X), a release device for natural enemies of forestry pests (patent number ZL200920217480.1) and an automatic and continuous aphidiidae release device (patent number ZL201320888661.3), when the releasers are applied to the paddy field to release the trichogramma, manual suspension in the field is needed, and the operation is inconvenient and the labor intensity is high.

The existing releaser also considers the waterproof design, for example, the trichogramma releaser with a spherical double-layer structure (patent publication No. CN206686957U) adopts two asymmetric hemispheres to be buckled, and the lower half cavity is provided with a solid counterweight; a double-layer hollowed spherical trichogramma releaser for preventing and treating paddy field crop pests (patent publication No. CN205813410U) is structurally a sphere formed by buckling two hemispheres, a spherical shell is of a hollowed structure, a hollow cylinder for loading trichogramma is arranged in the spherical shell, and the releaser floats on the water surface in a mode of adding a rubber floating sheet; however, these releasers have the problems that the bee outlet is easily submerged in water, the rainproof performance is poor, water is easy to enter when the releasers are thrown into paddy fields, and the like.

In recent years, agricultural unmanned aerial vehicles have been developed more and more rapidly and more widely. The agricultural unmanned aerial vehicle has small volume, high efficiency and low cost. The trichogrammatid throwing in by using the unmanned aerial vehicle is an efficient and labor-saving operation mode with little damage to crops. But the trichogrammatid release of current unmanned aerial vehicle carry still has following defect: for example, "a can be carried in trichogrammatid releasing device of unmanned aerial vehicle" (patent number ZL201620646963.3), baffle interval can not be according to the size self-adaptation adjustment and the control of releaser, and the condition such as a plurality of materials whereabouts or can not whereabouts simultaneously easily appears, and control accuracy is not enough high, and does not consider under the different grade type field condition, waterproof and protection behind the releaser touchdown. "biological dispenser" (patent publication No. CN106946057A) needs to release trichogramma by impacting the biological container to separate the biological container, the biological container needs to be conveyed by a screw conveyor and a driving part, energy loss is difficult to avoid during the impacting process, and it is difficult to control the time interval of the emission of the biological container, which is easy to cause the error of the drop point interval of the adjacent biological containers; in addition, after the biological container is impacted and separated, trichogramma eggs are directly exposed outside, which is not beneficial to the protection of the trichogramma eggs, and the biological control effect is easily influenced.

Disclosure of Invention

The utility model aims to overcome at least some deficiencies in the prior art, and provides a biological control material feeding device mounted on an agricultural unmanned aerial vehicle, which can release biological control materials without impacting and separating releasers wrapping the biological control materials, can not cause energy loss of the releasers due to impact, and is beneficial to protecting the biological control materials; just the utility model discloses in be applicable to the releaser that unmanned aerial vehicle put in, compare with the releaser in the past, it all changes on structure and shape, except being suitable for the nonirrigated farmland, still is suitable for special environment such as paddy field, mud field, and rain-proof waterproof nature is better, can effectively protect the biological control material to can effectively improve the effect of biological control.

In order to achieve the purpose, the utility model adopts the technical proposal that:

the utility model provides a biological control material throwing device that agricultural unmanned aerial vehicle carried, including control system and apotheca, be equipped with the releaser that is used for the parcel biological control material in the apotheca, the apotheca bottom is equipped with the releaser export, be equipped with in the apotheca and be connected with control system and be used for driving the motor that the releaser goes out to the releaser export, the releaser export intercommunication has the transmitter, the transmitter is connected with control system and is used for throwing away from the apotheca with higher speed for the releaser; the releaser comprises an upper half cavity and a lower half cavity which are detachably connected, and the specific gravity of the lower half cavity is greater than that of the upper half cavity; the releaser is provided with a plurality of channels which are sequentially communicated, and the last channel is a release channel which is arranged on the outer surface of the releaser and is communicated with the outside; the outlet of the release passage is provided with a one-way check valve.

The biological control material is trichogramma eggs; the one-way check valve makes the object in the releaser can go out, and in external object can not get into the releaser, and then make the rain-proof waterproof nature of releaser better, except being suitable for the dry land, still be suitable for special environment such as paddy field, mud field, can effectively protect trichogrammatid ovum to can effectively improve biological control's effect.

In the above-mentioned scheme, the lower half cavity proportion is greater than the setting of first cavity proportion, the focus is on the lower side all the time when making the releaser whereabouts, keep the lower half cavity bottom down all the time, and the release path exit is equipped with one-way check valve, can prevent effectively that release path from being plugged up and the rainwater flows backward, get into the external world and lay eggs in the ovum of pest host through a plurality of passageways in proper order after the incubation of trichogrammatid bee ovum, the multichannel sets up the protection that has further increased the trichogrammatid bee ovum, this input device need not the releaser of striking separation parcel trichogrammatid bee ovum, can release the trichogrammatid bee ovum, can not cause releaser energy loss because of the striking, do benefit to the protection trichogrammatid bee ovum and not destroyed by the external world and.

Preferably, there are the following solutions regarding the structure of the releaser.

Releaser first solution: the plurality of channels comprise a first channel arranged in the lower half cavity, a second channel arranged in the upper half cavity, a third channel arranged in the upper half cavity, a fourth channel arranged in the lower half cavity and the release channels arranged at intervals in the circumferential direction of the lower half cavity, which are sequentially communicated; the biological control material is arranged in the first channel. Preferably, in the first scheme, the releaser is integrally in a sphere structure.

Releaser second scheme: an inner cavity for placing biological control materials is arranged in the upper half cavity; the plurality of channels comprise first channels which are sequentially communicated and are arranged in the circumferential direction of the inner cavity at intervals and release channels which are arranged in the circumferential direction of the upper half cavity at intervals, and the first channels and the release channels are not on the same horizontal line. The arrangement that the first channel and the release channel are not on the same horizontal line can reduce the influence of external factors such as rainwater on trichogramma; the upper half cavity and the lower half cavity are connected in a buckling mode, and the whole releaser is of an ellipsoid structure.

Releaser third scheme: the bottom of the lower cavity is provided with a bearing base; the upper half cavity is of a pointed pot cover type structure and comprises an inner accommodating cavity, an outer wall body and a partition plate arranged between the inner accommodating cavity and the outer wall body; the biological control material is arranged in the lower cavity; the plurality of channels comprise biological activity channels which are sequentially communicated and arranged on the inner containing cavity, communication hole channels arranged on the partition board and the release channels arranged on the outer wall body, and the biological activity channels and the release channels are not on the same horizontal line; the biological activity channel is communicated with the lower cavity. The biological activity channel and the release channel are not arranged on the same horizontal line, so that the influence of external factors such as rainwater on biological control materials can be reduced; the upper half cavity, the lower half cavity and the bearing base are connected in a buckling mode.

Preferably, the bottom of the lower half cavity is of a plane structure, a wedge-shaped structure or a conical structure, or the lower half cavity is of a marker post structure integrally, so that the releaser can land stably, the releaser can be stably placed on paddy fields or soil, different bottom structures of the lower half cavity are suitable for different environments, such as the conical structure is suitable for paddy fields, dry lands, muddy lands and the like, and the plane structure is suitable for paddy fields, dry lands, muddy lands and the like; and/or the releaser is of a degradable material structure, so that the environment is not polluted. This arrangement allows for more structural configurations of the release.

Preferably, in the first scheme of the releaser, a hollow cylinder for forming a first channel is arranged in the lower half cavity, the hollow cylinder is of a top opening structure, a first shielding plate is arranged at the top of the lower half cavity, a through hole is formed in the position, corresponding to the first channel, of the first shielding plate, and small holes for forming a fourth channel are formed in the first shielding plate around the through hole; the bottom of the upper half cavity is provided with a second baffle plate, a through hole is formed in the position, corresponding to the first channel, of the second baffle plate to form a second channel, and small holes used for forming a third channel are formed in the second baffle plate around the through hole. Further preferably, the hollow cylinder extends out of the through hole in the first shielding plate and is provided with an external thread structure in the extending position, and the through hole in the second shielding plate is provided with an internal thread structure matched with the through hole in the second shielding plate so as to realize detachable threaded connection between the first cavity and the second cavity.

Preferably, the storage chamber comprises two solutions.

Storage compartment first embodiment: the storage chamber comprises a cylinder for providing a storage space for the releaser, the bottom and the top of the cylinder are respectively provided with an upper bottom plate and a lower bottom plate, the lower bottom plate is provided with a base, a plurality of shift levers are arranged on the base at intervals in the circumferential direction, and the releaser is arranged between every two adjacent shift levers; the outlet of the releaser is arranged on the lower bottom plate; the motor is used for driving the base to rotate. The upper base plate can be opened and closed so as to facilitate the releaser to be put into the cylinder; the motor works to drive the shifting lever to rotate, the shifting lever can shift the releaser to the outlet of the releaser when rotating, and the rotating corner of the motor just enables the releaser to fall into the emitter from the outlet of the releaser.

The first embodiment of the storage chamber comprises the following two specific structures.

The first structure is as follows: a support rod is arranged inside the cylinder to provide support for the cylinder; or/and a baffle is arranged in the cylinder above the releaser outlets and used for preventing a plurality of releasers from falling to the releaser outlets from a high place at the same time, and the space between the baffle and the releaser outlets can only contain one releaser; or/and only one releaser can be accommodated between two adjacent shift levers, so that the releasers are shifted to the releaser outlet one by one; or/and the clearance between the deflector rod and the inner wall of the cylinder is smaller than the size of the releaser, so that some releasers can not be moved to the releaser outlet by the deflector rod.

The second structure is as follows: the upper base plate and the lower base plate are provided with spiral tracks in corresponding positions, and the spiral tracks are used for placing releasers. A plurality of releasers are placed between the upper base plate and the lower base plate and are orderly placed on the spiral track, so that the releasers do not shake left, right, front and back; when the shifting lever rotates, the releasers move according to the spiral track and reach the outlet of the releasers one by one for releasing.

Second scheme of storage chamber: the storage chamber comprises a lower bottom plate, a base is arranged on the lower bottom plate, a plurality of deflector rods are circumferentially arranged on the base at intervals, a storage cylinder for placing a releaser is arranged at the other end of each deflector rod, and the bottom of each storage cylinder is provided with an opening and is abutted against the lower bottom plate; the outlet of the releaser is arranged on the lower bottom plate; the motor is used for driving the base to rotate. The storage cylinder for placing the releaser is attached to the shifting lever, and when the shifting lever rotates for a certain angle, the releaser just reaches the outlet of the releaser for releasing, so that the effect of releasing one by one can be achieved.

Preferably, there are three schemes in total with respect to the arrangement of the emitters.

Transmitter first scheme: the launcher comprises a right-angle channel, a friction pair and a launching barrel which are sequentially connected, wherein the right-angle channel is used for connecting the outlet of the releaser with the friction pair; the friction pair comprises a positioning plate and a pair of friction wheels which are arranged on the positioning plate and connected with the control system, the friction wheels rotate to accelerate the releaser, and the launching tube is connected with the positioning plate and used for guiding the releaser after acceleration to be thrown out. A fillet channel with a smooth inner wall is arranged in the right-angle channel, so that the releaser can be guided to slide to an acceleration area of the friction pair; the launching tube is a horizontally or vertically opened throwing port, so that the releaser cannot have redundant energy loss; the releaser falling under the action of the shifting rod enters an accelerating area of the friction pair through a right-angle channel, obtains a certain initial speed under the action of the friction wheel, and is emitted under the guide of the emission barrel to finish the release.

The second scheme of the transmitter comprises the following steps: the launcher comprises a launching channel, one end of the launching channel is provided with a push-pull electromagnet connected with a control system, the push-pull electromagnet works to accelerate the releaser, the other end of the launching channel is provided with an outlet, the end is provided with a rebounding structure, and the rebounding structure can rotate when being pressed; the launching channel is provided with an inlet connected with an outlet of the releaser, and the releaser entering from the inlet is positioned in a working area of the push-pull electromagnet. The model of the push-pull electromagnet is BYP-1253; the releaser exports via the releaser and gets into the transmission passageway one by one, straight reciprocating motion is in order to launch the releaser to plug-type electro-magnet, the straight reciprocating motion of resilience structure and plug-type electro-magnet cooperatees, the releaser of being launched exerts pressure for the resilience structure and makes the resilience structure rotate, the releaser is thrown away from the export after the pivoted resilience structure, the resilience structure resumes original position when the releaser does not exert pressure for the resilience structure, can block next releaser and follow closely put away, this single release one by one that does benefit to the releaser.

In a second scheme of the emitter, the rebounding structure comprises a shaft sleeve, a spring and an arresting plate; the two shaft sleeves are respectively arranged on the left side and the right side of the bottom of the launching channel, the two springs are respectively arranged inside the corresponding shaft sleeves, two ends of each spring are respectively connected with the shaft sleeves and the blocking plate, and the blocking plates are rotatably arranged on the shaft sleeves. The releaser is exerted pressure to the arresting plate, so that the spring deforms to drive the arresting plate to rotate, the releaser is thrown out from the outlet after passing through the arresting plate, and when the arresting plate is not exerted pressure, the spring recovers deformation, so that the arresting plate recovers to the original position, and the next releaser can be stopped to be thrown out along with the throwing.

The third scheme of the transmitter: the emitter comprises a right-angle channel, an electromagnetic induction device and an emitting barrel which are sequentially connected, and the right-angle channel is used for connecting the outlet of the releaser with the electromagnetic induction device; the electromagnetic induction device comprises a shell, a channel for the releaser to pass through is arranged in the shell, a magnet and a rotating shaft are arranged on the channel, the rotating shaft is arranged on the side wall of the channel, blades are arranged on the rotating shaft, and coils connected with a control system are arranged on the blades; the electromagnetic induction device also comprises a covering shell used for covering the blade and the coil; the launch canister is coupled to the housing for guiding the accelerated release. Utilize the principle of electromagnetic induction phenomenon, when the electromagnetic induction device circular telegram, drive the blade and revolute the axis of rotation and rotate under the combined action of magnet and coil, the blade rotates and drives the cover and establishes the shell and rotate in order to stir the releaser, provides the power of transmission releaser, through the horizontal emission speed of current regulation control releaser. The inside smooth fillet passageway of an inner wall that is of right angle passageway, fillet passageway non-right angle just are greater than 90 degrees, are favorable to guiding the releaser and slide to electromagnetic induction device's active area, rotate through the blade and drive the cover and establish the shell rotation in order to provide emission speed for the releaser.

When the device is used, the biological control material throwing device is hung on an agricultural unmanned aerial vehicle, and both an onboard controller on the agricultural unmanned aerial vehicle and a handheld controller for controlling the agricultural unmanned aerial vehicle to work comprise a decision system for controlling the control system; the method comprises the following steps:

s1, acquiring position information of a biological control material throwing point by utilizing an RTK-GNSS;

s2, planning a flight path and generating a fixed-point throwing prescription chart according to the collected position information of the throwing point of the biological control material, and leading the flight path planning and the fixed-point throwing prescription chart into a decision system by a controller;

s3, placing the RTK-GNSS on the agricultural unmanned aerial vehicle for positioning the agricultural unmanned aerial vehicle; placing the releaser into the storage chamber; presetting the operation height of the agricultural unmanned aerial vehicle and the rotation angle required by the motor;

s4, controlling the agricultural unmanned aerial vehicle to take off and keeping a preset operation height; controlling the agricultural unmanned aerial vehicle to fly to a first launch point according to the positioning information and the track planning of the RTK-GNSS;

s5, starting the emitter and the motor to work in sequence, throwing the releaser out from an outlet of the releaser, and after the throwing is finished, firstly shutting down the motor to work and then shutting down the emitter to work;

s6, controlling the agricultural unmanned aerial vehicle to go to the next release point according to the RTK-GNSS positioning information and the track plan, and repeating the step S5 to release the releaser;

s7, repeating the step S6 until all the releasing devices of the releasing points are released; controlling the return flight and landing of the agricultural unmanned aerial vehicle.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model relates to a biological control material of agricultural unmanned aerial vehicle carry puts in device, the setting that half cavity proportion is greater than half cavity proportion of the next time for the focus is inclined downwards all the time when releaser falls, keep half cavity bottom down all the time, and release the passageway exit is equipped with one-way check valve, can prevent effectively that release passageway from being plugged up and the rainwater flows backward, the trichogrammatid bee ovum hatching gets into the external world and lays eggs in the ovum of pest host through a plurality of passageways in proper order, the protection to the trichogrammatid bee ovum has further been increased in the multichannel setting, this puts in device need not to strike the releaser of separation parcel trichogrammatid bee ovum, can release the trichogrammatid bee ovum, can not cause releaser energy loss because of the striking, do benefit to the protection trichogrammatid bee ovum not destroyed by the external world and kill; additionally, the utility model discloses in be applicable to the releaser that unmanned aerial vehicle put in, compare with the releaser in the past, it all changes on structure and shape, except being suitable for the nonirrigated farmland, still is suitable for special environment such as paddy field, mud ground, meadow, and rain-proof waterproof nature is better, can effectively protect the worm's ovum to can effectively improve biological control's effect.

Drawings

Fig. 1 is an overall schematic view of the biological control material throwing device mounted on an agricultural unmanned aerial vehicle in embodiment 1.

Fig. 2 is a schematic view of the biological control material feeding device mounted by the agricultural unmanned aerial vehicle in embodiment 1.

FIG. 3 is a schematic view of the upper cavity of the releaser in embodiment 1.

FIG. 4 is a schematic view of the lower cavity of the releaser of embodiment 1.

FIG. 5 is a schematic view of a storage chamber in example 1.

FIG. 6 is a schematic view of another angle of the storage chamber in example 1.

Fig. 7 is a schematic diagram of the transmitter in embodiment 1.

FIG. 8 is a schematic view of the friction pair of FIG. 7.

Fig. 9 is a schematic diagram of the transmitter in embodiment 2.

Fig. 10 is a schematic view of the rebound structure of fig. 9.

Fig. 11 is a schematic diagram of the transmitter in embodiment 3.

Fig. 12 is a schematic view of the right angle channel of fig. 11.

FIG. 13 is a schematic view of a storage chamber in example 4.

FIG. 14 is a schematic view of the releaser of FIG. 13 placed in the storage chamber.

FIG. 15 is a schematic view of a storage chamber in example 5.

FIG. 16 is a schematic view of the releaser of FIG. 15 placed in the storage chamber.

FIG. 17 is a schematic view of a releaser in embodiment 6.

FIG. 18 is a schematic view of a releaser in embodiment 7.

FIG. 19 is a schematic view of a pot lid structure in which the upper cavity half is pointed in example 8.

Fig. 20 is a control process diagram for material placement using the biocontrol material placement device.

Reference numerals: 1, an agricultural unmanned aerial vehicle; 2, a biological control material feeding device; 21 a releaser; 22 a storage chamber; 23 a transmitter; a 24 motor; 26 a releaser outlet; 211 an upper half cavity; 212 lower cavity half; 2111 a second channel; 2112 a third channel; 2113 an internal cavity; 2121 releasing the channel; 2122 a first channel; 2123 a first shielding plate; 2124 a fourth channel; a 221 cylinder; 222 a support bar; 223 a deflector rod; 224 a baffle plate; 231 a right-angled channel; 232 friction pair; 233 launch canister; 2321 friction wheel; 2322 positioning plate; 321 a transmit channel; 322 a push-pull electromagnet; 323 a spring back structure; 324 an inlet; 325 outlet port; 331 an arresting plate; 332, a shaft sleeve; 333 spring; 512 electromagnetic induction devices; 514 a housing; 5121 a magnet; 5122 a coil; 5123 a blade; 5124 covering with a shell; 6, a lower bottom plate; 7, an upper bottom plate; 2231 storing the cartridge; 213 a load-bearing base; 3111 a cavity is provided therein; 3112 an outer wall; 31111 passage of biological activity; 31131 communicating the pore channel.

Detailed Description

The drawings of the present invention are for illustration purposes only and are not to be construed as limiting the invention. For a better understanding of the following embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; certain well-known structures in the drawings and possible omissions of their description will be apparent to those skilled in the art.

Example 1

The embodiment provides a biological control material throwing device mounted on an agricultural unmanned aerial vehicle, as shown in fig. 1 to 8, the device comprises a control system and a storage chamber 22, a releaser 21 used for wrapping biological control materials is arranged in the storage chamber 22, a releaser outlet 26 is arranged at the bottom of the storage chamber 22, a motor 24 connected with the control system and used for driving the releaser 21 to the releaser outlet 26 is arranged in the storage chamber 22, the releaser outlet 26 is communicated with a transmitter 23, and the transmitter 23 is connected with the control system and used for accelerating the releaser 21 to be thrown out from the storage chamber 22; the releaser 21 comprises an upper half cavity 211 and a lower half cavity 212 which are detachably connected, and the specific gravity of the lower half cavity 212 is greater than that of the upper half cavity 211; the releaser 21 is provided with a plurality of channels which are communicated in sequence, and the last channel is a release channel 2121 which is arranged on the outer surface of the releaser 21 and is communicated with the outside; a one-way check valve is provided at the outlet of the release passage 2121.

In this example, the biocontrol material was trichogramma eggs; the one-way check valve makes the object in the releaser 21 go out, and external object can not get into in the releaser 21, and then makes the rain-proof waterproof nature of releaser 21 better, except being suitable for the dry land, still is suitable for special environment such as paddy field, mud field, can effectively protect trichogrammatid ovum to can effectively improve biological control's effect.

In this embodiment, the lower cavity 212 proportion is greater than the setting of first cavity 211 proportion, the focus is inclined downwards all the time when making releaser 21 fall, keep the lower cavity 212 bottom down all the time, and release passage 2121 exit is equipped with one-way check valve, can prevent effectively that release passage 2121 from being plugged up and the rainwater flows backward, the pupa the inside of other insects is got into the external world and parasitized through a plurality of passageways in proper order after the incubation of trichogramma bee ovum, the protection to the trichogramma ovum has further been increased in the multichannel setting, this input device need not the releaser 21 of striking separation parcel trichogramma ovum, can release the trichogramma ovum, can not cause releaser energy loss because of the striking, do benefit to the protection trichogramma ovum and do not destroyed by the external world and kill, thereby can effectively improve biological control's effect.

The plurality of channels comprise a first channel 2122 which is arranged in the lower half cavity 212 and used for placing trichogramma eggs, a second channel 2111 which is arranged in the upper half cavity 211, a third channel 2112 which is arranged in the upper half cavity 211, a fourth channel 2124 which is arranged in the lower half cavity 212 and the release channel 2121 which is arranged in the circumferential direction of the lower half cavity 212 at intervals, wherein the first channel 2122, the second channel 2111, the third channel 2112, the fourth channel 2124 and the release channel 2121 are sequentially communicated; the biological control material is arranged in the first channel. In this embodiment, the releaser 21 is a sphere structure as a whole.

In addition, the bottom of the lower cavity 212 is a plane structure, a wedge structure or a cone structure, or the lower cavity 212 is a post structure as a whole. The arrangement is favorable for the releaser 21 to land stably, so that the releaser 21 can be stably placed on paddy fields or soil, different bottom structures of the lower half cavity 212 are suitable for different environments, such as a conical structure suitable for paddy fields, dry lands, mud lands and the like, and a planar structure suitable for paddy fields, dry lands, mud lands, grasslands and the like; this arrangement allows the releaser 21 to have a more complex configuration, a planar configuration in this embodiment.

In this embodiment, the releaser 21 is made of degradable material, which will not pollute the environment.

As shown in fig. 4, a hollow cylinder for forming a first passage 2122 is disposed in the lower half cavity 212, the hollow cylinder has a top opening structure, a first shielding plate 2123 is disposed at the top of the lower half cavity 212, a through hole is disposed at a position of the first shielding plate 2123 corresponding to the first passage 2122, and a small hole for forming a fourth passage 2124 is disposed around the through hole on the first shielding plate 2123; as shown in fig. 3, a second shielding plate is disposed at the bottom of the upper half cavity 211, a through hole is disposed at a position of the second shielding plate corresponding to the first channel 2122 to form a second channel 2111, and a small hole for forming the third channel 2112 is disposed on the second shielding plate around the through hole.

In addition, the hollow cylinder extends out of the through hole of the first shielding plate 2123 and is provided with an external thread structure at the extending position, and the through hole of the second shielding plate is provided with a matched internal thread structure at the extending position, so as to realize the detachable threaded connection between the upper half cavity 211 and the lower half cavity 212.

As shown in fig. 5 to 6, the storage chamber 22 includes a cylinder 221 for providing a storage space for the releaser 21, the bottom and the top of the cylinder 221 are respectively provided with an upper base plate 7 and a lower base plate 6, the lower base plate 6 is provided with a base, the base is provided with a plurality of shift levers 223 at intervals in the circumferential direction, and the releaser 21 is placed between two adjacent shift levers 223; the releaser outlet 26 is arranged on the lower bottom plate 6; the motor 24 is used for driving the base to rotate. The upper plate 7 can be opened and closed to facilitate the placement of the releaser 21 into the cylinder 221; the motor 24 is operated to drive the shifting lever 223 to rotate, the shifting lever 223 shifts the releaser 21 to the releaser outlet 26 when rotating, and the rotating angle of the motor 24 just enables the releaser 21 to fall into the emitter 23 from the releaser outlet 26.

In addition, a support rod 222 is arranged inside the cylinder 221 to provide support for the cylinder 221; or/and a baffle 224 is arranged in the cylinder 221 at a position above the releaser outlet 26, the baffle 224 is used for preventing a plurality of releasers 21 from falling to the releaser outlet 26 from high at the same time, and the space between the baffle 224 and the releaser outlet 26 can only accommodate one releaser 21; or/and only one releaser 21 can be accommodated between two adjacent shift rods 223, so that the releasers 21 are shifted to the releaser outlets 26 one by one; or/and the clearance between the shift lever 223 and the inner wall of the cylinder 221 is smaller than the size of the releaser 21, preventing some of the releaser 21 from being shifted to the releaser outlet 26 by the shift lever 223.

As shown in fig. 7 to 8, the emitter 23 includes a right-angle channel 231, a friction pair 232 and an emitting cylinder 233 which are connected in sequence, wherein the right-angle channel 231 is used for connecting the releaser outlet 26 with the friction pair 232; the friction pair 232 comprises a positioning plate 2322 and a pair of friction wheels 2321 arranged on the positioning plate 2322 and connected with the control system, the friction wheels 2321 rotate to accelerate the releaser 21, and the launching barrel 233 is connected with the positioning plate 2322 and used for guiding the accelerated releaser 21 to be thrown out. The right-angle channel 231 is internally provided with a round-angle channel with a smooth inner wall, which is beneficial to guiding the releaser 21 to slide to an acceleration area of the friction pair 232; the launch canister 233 is a horizontally or vertically open input port, so that the releaser 21 does not have excessive energy loss; the releaser 21 falling down under the action of the shift lever 223 enters the acceleration region of the friction pair 232 through the right-angle channel 231, obtains a certain initial speed under the action of the friction wheel 2321, and is ejected to finish the release under the guidance of the ejector sleeve 233.

Example 2

The difference between example 2 and example 1 is: the setting of the launcher 23 is different, in this embodiment, as shown in fig. 9 to 10, the launcher 23 includes a launching channel 321, one end of the launching channel 321 is provided with a push-pull electromagnet 322 connected with the control system, the push-pull electromagnet 322 works to accelerate the releaser 21, the other end of the launching channel 321 is provided with an outlet 325 and the end is provided with a rebounding structure 323, and the rebounding structure 323 can rotate when pressed; the launching channel 321 is provided with an inlet 324 connected to the releaser outlet 26, and the releaser 21 entering from the inlet 324 is located in the working area of the push-pull electromagnet 322. The push-pull electromagnet 322 is of a BYP-1253 model; the releaser 21 enters the launching channel 321 one by one through the releaser outlet 26, the push-pull electromagnet 322 makes a linear reciprocating motion to launch the releaser 21, the rebounding structure 323 is matched with the linear reciprocating motion of the push-pull electromagnet 322, the launched releaser 21 applies pressure to the rebounding structure 323 to enable the rebounding structure 323 to rotate, the releaser 21 is thrown out from the outlet 325 through the rotating rebounding structure 323, when the releaser 21 does not apply pressure to the rebounding structure 323, the rebounding structure 323 returns to the original position, namely the next releaser 21 can be blocked from being thrown out next to the throw, and single one-by-one release of the releaser 21 is facilitated.

As shown in fig. 10, the resilient structure 323 includes a sleeve 332, a spring 333, and a blocking plate 331; the two shaft sleeves 332 are respectively arranged at the left side and the right side of the bottom of the emission channel 321, the two springs 333 are respectively arranged inside the corresponding shaft sleeves 332, two ends of each spring 333 are respectively connected with the shaft sleeve 332 and the blocking plate 331, and the blocking plate 331 is rotatably arranged on the shaft sleeve 332. The releaser 21 applies pressure to the blocking plate 331, so that the spring 333 deforms to drive the blocking plate 331 to rotate, the releaser 21 passes through the blocking plate 331 and then is thrown out from the outlet 325, and when the blocking plate 331 is not applied pressure, the spring 333 restores deformation, so that the blocking plate 331 restores to the original position, and the next releaser 21 is blocked from being thrown out next time.

Example 3

The difference between example 3 and example 1 is: the arrangement of the emitter 23 is different, in this embodiment, as shown in fig. 11 to 12, the emitter 23 includes a right-angle channel 231, an electromagnetic induction device 512 and an emitting barrel 233 which are connected in sequence, the right-angle channel 231 is used for connecting the releaser outlet 26 with the electromagnetic induction device 512; the electromagnetic induction device 512 comprises a shell 514, a channel for the releaser 21 to pass through is arranged in the shell 514, a magnet 5121 and a rotating shaft are arranged on the channel, a blade 5123 is arranged on the rotating shaft, and a coil 5122 connected with a control system is arranged on the blade 5123; the electromagnetic induction device 512 further comprises a covering shell 5124 for covering the blade 5123 and the coil 5122; the launch canister 233 is attached to the housing 514 for guiding the accelerated releaser 21. The right-angle channel 231 is internally provided with a fillet channel with a smooth inner wall, the fillet channel is not at a right angle and is larger than 90 degrees, so that the releaser 21 is guided to slide to an effective area of the electromagnetic induction device 512, and the blade 5123 rotates to drive the covering shell 5124 to rotate so as to provide a launching speed for the releaser 21; the launch canister 233 is a horizontally or vertically open input port that does not cause excessive energy loss from the releaser 21.

By utilizing the principle of electromagnetic induction phenomenon, when the electromagnetic induction device 512 is electrified, the blade 5123 is driven to rotate around the rotating shaft under the combined action of the magnet 5121 and the coil 5122, the blade 5123 rotates to drive the cover shell 5124 to rotate so as to stir the releaser 21, power for launching the releaser 21 is provided, and the horizontal or vertical launching speed of the releaser 21 is controlled by current regulation.

Example 4

The difference between example 4 and example 1 is: the structure of the releaser 21 and the structure of the storage chamber 22 are different, which makes the travel locus of the releaser 21 different. Specifically, the method comprises the following steps: as shown in fig. 13 to 14, the releaser 21 includes an upper half cavity 211 and a lower half cavity 212 which are detachably connected, the upper half cavity 211 and the lower half cavity 212 are connected in a snap-fit manner, and the releaser 21 is oval as a whole; the specific gravity of the lower half cavity 212 is greater than that of the upper half cavity 211; an inner cavity 2113 for placing biological control materials is arranged in the upper half cavity 211; the plurality of channels comprise first channels 2122 which are sequentially communicated and arranged in the circumferential direction of the inner cavity 2113 at intervals and release channels 2121 which are arranged in the circumferential direction of the upper half cavity 211 at intervals, and the release channels 2121 and the first channels 2122 are not on the same horizontal line and are used for reducing the influence of external factors such as rainwater on trichogrammatid. Regarding the storage chamber 22, spiral tracks are provided on the corresponding positions of the upper plate 7 and the lower plate 6, and the spiral tracks are used for placing the releasers 21. A plurality of releasers 21 are placed between the upper plate 7 and the lower plate 6 and are orderly placed on the spiral track, which makes the releasers 21 not rock left and right and front and back; when the shift lever 223 rotates, the releasers 21 move according to the spiral orbit and reach the releaser outlets 26 one by one to be released. Due to the existence of the upper bottom plate 7, the releaser 21 can not incline, and can achieve the effect of releasing one by matching with the lower bottom plate 6 and the shift lever 223.

Example 5

The difference between example 5 and example 1 is: the relief 21 has a different design and the storage chamber 22 has a different structure. Specifically, as shown in fig. 15 to 16, the releaser 21 includes an upper half cavity 211 and a lower half cavity 212 that are detachably connected, the upper half cavity 211 and the lower half cavity 212 are connected by a snap-fit manner, the upper half cavity 211 is hemispherical, and the lower half cavity 212 is in a shape of a post; the specific gravity of the lower half cavity 212 is greater than that of the upper half cavity 211; the arrangement of the multiple channels is the same as in example 1. The storage chamber 22 comprises a lower bottom plate 6, a base is arranged on the lower bottom plate 6, a plurality of shift rods 223 are arranged on the base at intervals in the circumferential direction, a storage cylinder 2231 for placing the releaser 21 is arranged at the other end of each shift rod 223, and the bottom of each storage cylinder 2231 is open and is abutted to the lower bottom plate 6; the releaser outlet 26 is arranged on the lower bottom plate 6; the motor 24 is used for driving the base to rotate. The arrangement is such that the storage cylinder 2231 for storing the releasers 21 is attached to the shifting lever 223, and each time the shifting lever 223 rotates a certain angle, the releasers 21 just reach the releaser outlet 26 to be released, thereby achieving the effect of releasing one by one.

Example 6

The difference between example 6 and example 5 is: the outer shape of the releaser 21 is designed differently. In this embodiment, as shown in fig. 17, the releaser 21 includes an upper half cavity 211 and a lower half cavity 212 that are detachably connected, the upper half cavity 211 and the lower half cavity 212 are connected in a snap-fit manner, and the releaser 21 is integrally shaped like a post; the egg loading site is cylindrical, rather than spherical. The arrangement of the multiple channels was the same as in example 5. The plurality of dischargers 21 are sequentially placed in a storage cylinder 2231 attached to the shift lever 223, and each time the shift lever 223 rotates by a certain angle, the releasers 21 just reach the releaser outlet 26 to be released. The effect of releasing one by one can be achieved.

Example 7

The difference between example 7 and example 1 is: the outer shape of the releaser 21 is designed differently. In this embodiment, as shown in fig. 18, the releaser 21 includes an upper half cavity 211, a lower half cavity 212 and a bearing base 213, which are detachably connected, the upper half cavity, the lower half cavity and the bearing base are connected in a buckling manner, and the releaser 21 is in a round-head water-drop shape as a whole; eggs are loaded in the lower cavity half 212, with the multiple channels arranged as in example 1.

Example 8

The difference between example 8 and example 7 is: as shown in fig. 19, the upper half cavity 211 is a pointed pot lid structure, and the upper half cavity 211 includes an inner accommodating cavity 3111, an outer wall 3112 and a partition plate therebetween; the biological control material is arranged in the lower half cavity 212; the plurality of passages include a biological activity passage 31111 disposed in the inner receiving chamber 3111, a communication hole passage 31131 disposed in the partition, and the release passage 2121 disposed in the outer wall 3112, which are sequentially communicated, and the biological activity passage 31111 and the release passage 2121 are not on the same horizontal line; the biological activity channel 31111 communicates with the lower cavity half 212. The biological activity channel 31111 and the release channel 2121 are not arranged on the same horizontal line, so that the influence of external factors such as rainwater on trichogrammatid can be reduced.

When the agricultural unmanned aerial vehicle is used, the throwing device in any one of the embodiments 1 to 8 is mounted on the agricultural unmanned aerial vehicle 1, and both an onboard controller on the agricultural unmanned aerial vehicle 1 and a handheld controller for controlling the agricultural unmanned aerial vehicle 1 to work comprise a decision system for controlling the control system; as shown in fig. 20, the method comprises the following steps:

s1, acquiring position information of a biological control material throwing point by utilizing an RTK-GNSS;

s2, planning a flight path and generating a fixed-point throwing prescription chart according to the collected position information of the throwing point of the biological control material, and leading the flight path planning and the fixed-point throwing prescription chart into a decision system by a controller;

s3, placing the RTK-GNSS on the agricultural unmanned aerial vehicle 1 for positioning the agricultural unmanned aerial vehicle 1; the releaser 21 is put into the storage chamber 22; presetting the operation height of the agricultural unmanned aerial vehicle 1 and the rotation angle required by the motor 24;

s4, controlling the agricultural unmanned aerial vehicle 1 to take off and keeping a preset operation height; controlling the agricultural unmanned aerial vehicle 1 to fly to a first launch point according to the positioning information and the track planning of the RTK-GNSS;

s5, starting the emitter 23 and the motor 24 to work in sequence, throwing the releaser 21 out from the releaser outlet 26, and after the throwing is finished, firstly shutting down the motor 24 to work and then shutting down the emitter 23 to work;

s6, controlling the agricultural unmanned aerial vehicle 1 to go to the next release point according to the RTK-GNSS positioning information and the track plan, and repeating the step S5 to release the releaser 21;

s7, repeating the step S6 until all the releasing points 21 are released; controlling the return voyage and landing of the agricultural unmanned aerial vehicle 1.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the technical solutions of the present invention, and are not limitations to the specific embodiments of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention. That is, various schemes of the releasing device 21, the storage chamber 22 and the emitter 23, which are combined with each other, may form a plurality of releasing devices, which are all included in the protection scope of the present invention.

Claims (15)

1. The utility model provides a biological control material of agricultural unmanned aerial vehicle mounted puts in device (2), which is characterized in that, including control system and apotheca (22), be equipped with releaser (21) that are used for the parcel biological control material in apotheca (22), apotheca (22) bottom is equipped with releaser export (26), be equipped with in apotheca (22) and be connected with control system and be used for driving motor (24) of releaser (21) to releaser export (26), releaser export (26) intercommunication has transmitter (23), transmitter (23) are connected with control system and are used for throwing away from apotheca (22) with higher speed releaser (21); the releaser (21) comprises an upper half cavity body (211) and a lower half cavity body (212) which are detachably connected, and the specific gravity of the lower half cavity body (212) is greater than that of the upper half cavity body (211); the releaser (21) is provided with a plurality of channels which are communicated in sequence, and the last channel is a release channel (2121) which is arranged on the outer surface of the releaser (21) and is communicated with the outside; the outlet of the release passage (2121) is provided with a one-way check valve.

2. The biological control material throwing device (2) mounted by the agricultural unmanned aerial vehicle according to claim 1, wherein the plurality of channels comprise a first channel (2122) arranged in the lower half cavity (212), a second channel (2111) arranged in the upper half cavity (211), a third channel (2112) arranged in the upper half cavity (211), a fourth channel (2124) arranged in the lower half cavity (212) and the release channel (2121) arranged in the circumferential direction of the lower half cavity (212) at intervals, which are sequentially communicated; the biological control material is disposed in the first passage (2122).

3. The agricultural unmanned aerial vehicle mounted biological control material throwing device (2) according to claim 1, wherein an inner cavity (2113) for placing biological control materials is arranged in the upper half cavity (211); the plurality of channels comprise first channels (2122) which are sequentially communicated and arranged at intervals on the circumferential direction of the inner cavity (2113) and release channels (2121) which are arranged at intervals on the circumferential direction of the upper half cavity (211), and the first channels (2122) and the release channels (2121) are not on the same horizontal line.

4. The biological control material delivery device (2) carried by the agricultural unmanned aerial vehicle as claimed in claim 1, wherein a bearing base (213) is arranged at the bottom of the lower cavity (212); the upper half cavity (211) is of a pointed kettle cover type structure, and the upper half cavity (211) comprises an inner accommodating cavity (3111), an outer wall body (3112) and a partition plate arranged between the inner accommodating cavity and the outer wall body; the biological control material is arranged in the lower half cavity (212); the plurality of channels comprise a biological activity channel (31111) arranged on the inner accommodating cavity (3111), a communication hole channel (31131) arranged on the partition board and a release channel (2121) arranged on the outer wall body (3112) which are communicated in sequence, and the biological activity channel (31111) and the release channel (2121) are not on the same horizontal line; the biological activity channel (31111) is in communication with the lower cavity half (212).

5. The biological control material throwing device (2) carried by the agricultural unmanned aerial vehicle according to any one of claims 2 to 4, wherein the bottom of the lower half cavity (212) is of a plane structure, a wedge-shaped structure or a conical structure, or the lower half cavity (212) is of a marker post structure as a whole; or/and the releaser (21) is of degradable material structure.

6. The biological control material throwing device (2) mounted on the agricultural unmanned aerial vehicle according to claim 2, wherein a hollow cylinder for forming a first passage (2122) is arranged in the lower half cavity (212), the hollow cylinder is of a top opening structure, a first shielding plate (2123) is arranged at the top of the lower half cavity (212), a through hole is formed in the position, corresponding to the first passage (2122), of the first shielding plate (2123), and small holes for forming a fourth passage (2124) are formed in the first shielding plate (2123) around the through hole; the bottom of the upper half cavity (211) is provided with a second shielding plate, a through hole is formed in the position, corresponding to the first channel (2122), of the second shielding plate to form a second channel (2111), and small holes for forming a third channel (2112) are formed in the second shielding plate around the through hole.

7. The biological control material throwing device (2) that agricultural unmanned aerial vehicle carried of claim 6, characterized in that, the hollow cylinder stretches out the through-hole on first shielding plate (2123) and is equipped with the external screw thread structure on the position that stretches out, and second shielding plate through-hole position is equipped with assorted internal screw thread structure.

8. The biological control material throwing device (2) carried by the agricultural unmanned aerial vehicle as claimed in claim 1, wherein the storage chamber (22) comprises a cylinder (221) for providing a storage space for the releaser (21), the bottom and the top of the cylinder (221) are respectively provided with an upper base plate (7) and a lower base plate (6), the lower base plate (6) is provided with a base, a plurality of shift levers (223) are arranged at intervals in the circumferential direction of the base, and the releaser (21) is arranged between two adjacent shift levers (223); the releaser outlet (26) is arranged on the lower bottom plate (6); the motor (24) is used for driving the base to rotate.

9. The agricultural unmanned aerial vehicle mounted biocontrol material putting device (2) of claim 8, wherein a support rod (222) is arranged inside the cylinder (221); or/and a baffle plate (224) is arranged in the cylinder (221) at a position above the releaser outlet (26), and the baffle plate (224) is used for preventing the plurality of releasers (21) from falling to the releaser outlet (26) from a high position at the same time; or/and only one releaser (21) can be accommodated between two adjacent shift levers (223); and/or the clearance between the shift lever (223) and the inner wall of the cylinder (221) is smaller than the size of the releaser (21).

10. The agricultural unmanned aerial vehicle mounted biological control material throwing device (2) of claim 8, characterized in that, the corresponding positions of the upper base plate (7) and the lower base plate (6) are provided with spiral tracks, and the spiral tracks are used for placing releasers (21).

11. The biological control material throwing device (2) carried by the agricultural unmanned aerial vehicle as claimed in claim 1, wherein the storage chamber (22) comprises a lower base plate (6), a base is arranged on the lower base plate (6), a plurality of shift rods (223) are circumferentially arranged on the base at intervals, a storage cylinder (2231) for placing the releaser (21) is arranged at the other end of the shift rods (223), and the bottom of the storage cylinder (2231) is open and is abutted against the lower base plate (6); the releaser outlet (26) is arranged on the lower bottom plate (6); the motor (24) is used for driving the base to rotate.

12. The agricultural unmanned aerial vehicle-mounted biocontrol material putting device (2) according to claim 1, wherein the emitter (23) comprises a right-angle channel (231), a friction pair (232) and an emitting barrel (233) which are connected in sequence, the right-angle channel (231) is used for connecting the releaser outlet (26) with the friction pair (232); the friction pair (232) comprises a positioning plate (2322) and a pair of friction wheels (2321) which are arranged on the positioning plate (2322) and connected with a control system, the friction wheels (2321) rotate to accelerate the releaser (21), and the launching canister (233) is connected with the positioning plate (2322) and used for guiding the releaser (21) after acceleration to be thrown out.

13. The biological control material throwing device (2) carried by an agricultural unmanned aerial vehicle according to claim 1, wherein the launcher (23) comprises a launching channel (321), one end of the launching channel (321) is provided with a push-pull electromagnet (322) connected with a control system, the push-pull electromagnet (322) works to accelerate the releaser (21), the other end of the launching channel (321) is provided with an outlet (325) and a rebounding structure (323), and the rebounding structure (323) can rotate when being pressed; the launching channel (321) is provided with an inlet (324) connected with the releaser outlet (26), and the releaser (21) entering from the inlet (324) is positioned in the working area of the push-pull electromagnet (322).

14. The agricultural unmanned aerial vehicle-mounted biocontrol material putting device (2) of claim 13, wherein the resilient structure (323) comprises a shaft sleeve (332), a spring (333) and a blocking plate (331); the two shaft sleeves (332) are respectively arranged at the left side and the right side of the bottom of the emission channel (321), the two springs (333) are respectively arranged inside the corresponding shaft sleeves (332), two ends of each spring (333) are respectively connected with the shaft sleeve (332) and the blocking plate (331), and the blocking plate (331) is rotatably arranged on the shaft sleeves (332).

15. The agricultural unmanned aerial vehicle-mounted biocontrol material throwing device (2) according to claim 1, wherein the emitter (23) comprises a right-angle channel (231), an electromagnetic induction device (512) and an emitting barrel (233) which are connected in sequence, the right-angle channel (231) is used for connecting the releaser outlet (26) with the electromagnetic induction device (512); the electromagnetic induction device (512) comprises a shell (514), a channel for the releaser (21) to pass through is arranged in the shell (514), a magnet (5121) and a rotating shaft are arranged on the channel, a blade (5123) is arranged on the rotating shaft, and a coil (5122) connected with a control system is arranged on the blade (5123); the electromagnetic induction device (512) also comprises a covering shell (5124) used for covering the blade (5123) and the coil (5122); the launch canister (233) is attached to the housing (514) for guiding the accelerated releaser (21).

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