CN103238513B - Airborne device suitable for pollination work of unmanned aerial vehicle and pollination method thereof - Google Patents

Abstract

The invention discloses an airborne device suitable for unmanned aerial vehicle pollination operations, comprising an aircraft and at least one pollination device, the pollination device is installed below the aircraft; the pollination device includes a duct casing, a fan, and a wind guide The fan is installed on the air inlet of the duct shell, and the air outlet of the duct shell is connected to the air inlet of the air guide pipe; the duct shell and the air guide pipe are fixedly connected to the fixed frame, and the The fixed frame is installed below the aircraft; the air duct is provided with a curved portion, the air inlet of the air duct communicates with the air outlet of the air duct through the curved portion, and the angle of the curved portion is 90° to 180° °. At the same time, it also provides an airborne device human pollination method suitable for unmanned aerial vehicle pollination operations. The invention improves the efficiency and effect of pollination by converting the wind field in the vertical direction into the wind field in the horizontal direction; meanwhile, it also effectively isolates the influence of the wind field formed by the aircraft on the pollination.

Description

A kind of airborne device suitable for unmanned aerial vehicle pollination operation and pollination method thereof

technical field

The invention relates to the field of agricultural machinery and equipment, in particular to an airborne device suitable for drone pollination operations and a pollination method thereof.

Background technique

Assisted pollination is an operation with strong technical requirements, high precision requirements and tight time requirements. The pollination effect is obviously affected by various factors, and high requirements are put forward for the pollination method. At present, artificial assisted pollination includes human and mechanical methods. Human assisted pollination is not only labor-intensive and inefficient, but also has obvious uneven pollination, which reduces the yield of seed production and takes a lot of time; mechanical pollination replaces human pollination. Can effectively improve work efficiency. But the existing mechanical pollination is mainly limited to two forms of hand-held mechanical pollination and walking mechanical pollination. Hand-held mechanical pollination is very limited in improving work efficiency; walking machinery has difficulty in going to the field, and the speed of travel is low. And above-mentioned two kinds of mechanical pollination all easily damage many complex field environment problems such as plant that are difficult to deal with. Therefore, people have begun to use unmanned aerial vehicles that can fly stably at low altitudes to achieve assisted pollination. This utilizes the assisted pollination mode of the unmanned aerial vehicle that can fly stably at low altitude to solve the above-mentioned many problems of manpower type and mechanical type. Such as reducing labor intensity, reducing the impact of terrain, and avoiding damage to plants.

However, most of the small and medium-sized unmanned aerial vehicles used for pollination currently use helicopters or multi-rotor aircraft. This type of aircraft has the basic functions of vertical take-off and landing, low-altitude flight, and its rotors generate wind vertically downward to provide upward lift for the aircraft. At the same time, these drones achieve assisted pollination through the vertical wind field generated by the aircraft. However, the direction of pollen diffusion from the male plant to the female plant during pollination is mainly along the horizontal direction of the plant canopy plane, so the vertical wind field generated by the rotor of the aircraft itself will directly affect the effective horizontal wind required for pollination. The problem of the field reduces the operational efficiency of UAV pollination, and the pollination effect is not good.

Contents of the invention

In order to overcome the deficiencies in the prior art above, the present invention provides an airborne device suitable for UAV pollination operations with simple and reasonable structure and good pollination effect; meanwhile, it also provides an airborne device suitable for UAV pollination operations Pollination methods of airborne devices.

The purpose of the present invention is achieved through the following technical solutions: This airborne device suitable for unmanned aerial vehicle pollination operations is characterized in that it includes an aircraft and at least one pollination device, and the pollination device is installed below the aircraft; The device includes a duct casing, a fan, an air guide pipe and a fixing frame, the fan is installed at the air inlet of the duct casing, and the air outlet of the duct casing is connected with the air inlet of the air guide pipe; the duct casing and the air guide The pipes are all fixedly connected with the fixing frame, and the fixing frame is installed under the aircraft; the air guiding pipe is provided with a curved part, and the air inlet of the air guiding pipe is connected with the air outlet of the air guiding pipe through the curved part. The angle of the bent portion is 90° to 180°.

The cross section of the duct shell can be any one of circular, elliptical and square. The invention is preferably circular. At the same time, the connection between the air inlet of the air duct and the air outlet of the duct shell adopts a seamless connection. And this seamless docking can be realized by fasteners or threaded connections. According to the shape of the duct casing, the fixing frame is provided with a U-shaped groove, so as to ensure that the duct casing is more stably fixed on the fixing frame.

As a preference, the angle of the curved portion is 90°.

The number of the pollination devices is four, and the direction of the air outlet of the air guide pipe is away from the aircraft. Two of the pollination devices are a group, and each group of pollination devices is arranged symmetrically with respect to the central axis of the aircraft. The pollination devices are arranged symmetrically according to each group, so that the weight is evenly distributed, and the flight of the aircraft is more stable, which ensures the stability of the auxiliary pollination.

The number of the pollination devices is 6, the direction of the air outlet of the air duct is away from the aircraft, and the pollination devices are evenly distributed relative to the circumference of the central axis of the aircraft. The principle is the same as when the number of pollination devices is 4, when the circumference of the pollination devices is evenly distributed, the weight distribution is uniform, the flight of the aircraft is more stable, and the stability of the auxiliary pollination is guaranteed.

The airborne device suitable for UAV pollination operations also includes multiple spoilers, spoiler rods, steering parts, connecting rods and servo motors; the multiple spoilers are installed on the wind guide through the spoiler rods. The air outlet of the pipe; the steering piece is L-shaped, and the steering piece is installed on the air outlet end of the air guide pipe. At the same time, one end of the steering piece is connected to the spoiler rod, and the other end is connected to one end of the connecting rod. The other end of the connecting rod is connected with the motor arm of the servo motor, and the servo motor is installed at the lower end of the fixed frame. The number of the spoilers can be determined according to the ratio of the width of the air outlet of the air duct to the width of a single spoiler and the actual wind field requirements. The action of the spoiler can be driven by a servo motor. When the plate surface of the spoiler was parallel to the plane where the air outlet of the air guide pipe was located, the wind speed coming out from the air outlet of the air guide pipe was the smallest; When the plane is vertical, the wind speed from the air outlet of the air guide pipe is the largest; when the angle between the surface of the spoiler and the plane where the air outlet of the air guide pipe is located changes from small to large, the wind speed gradually increases. increase. At the same time, with the change of the included angle, the scope of action of the horizontal wind field can be changed. That is, the scope of action of the wind coming out from the air duct is increased, and the efficiency of auxiliary pollination is improved.

In order to increase the air intake of the air inlet of the duct casing, the duct casing is vertically arranged with the fuselage of the aircraft.

The airborne device suitable for UAV pollination operations also includes a connecting arm and a tripod, the fixed mount is fixedly installed at both ends of the connecting arm, the tripod is composed of 2 inverted T-shaped brackets, and 2 The two brackets are distributed in a "eight" shape, and the upper ends of the brackets are installed on the fuselage of the aircraft. In order to reduce the weight of the whole device, the connecting arm and the tripod are all made of carbon fiber material. The length of the connecting arm can be adjusted.

The lower end of the support is lower than the pollination device, that is, the lower end of the support is located below the pollination device. When the whole device is connected to the ground, the pollination device has a certain distance from the ground. Avoid damage to the pollination device from colliding with the ground when the airborne device suitable for UAV pollination operations lands from the air.

Described aircraft comprises fuselage, 6 rotor motors, 6 rotors and 6 support arms, and described rotor is installed on the rotating shaft of rotor motor, and described rotor motor is installed on one end of support arm, and the other end of described support arm is fixed on the fuselage; the rotor motors are evenly distributed relative to the circumference of the fuselage. The number of rotor motors, rotors and support arms in the aircraft can be determined according to actual needs, such as 4 or 8. At the same time, the type of the aircraft can be selected according to the actual situation, and the fuselage and the support are easy to install or disassemble, thereby facilitating the replacement of the aircraft.

In the present invention, remote control or automatic control can be adopted to control the actions of the servo motor, the rotor motor and the fan.

The described pollination method applicable to the airborne device of unmanned aerial vehicle pollination operation, comprises the following steps:

a. The aircraft takes off, and then the aircraft drives the pollination device to fly to the front of the male plant, and makes the air outlet of the air duct towards the male plant;

b. Start the fan to rotate, so that the air flow in the inner cavity of the duct shell forms a vertical wind. The vertical wind enters the air guide pipe from the duct shell. Then, the wind in the horizontal direction comes from the air outlet of the air duct, blowing the pollen of the male parent plant to move towards the direction of the female parent plant, so as to realize the purpose of pollination from the surface.

The working principle of the present invention: after the aircraft takes off, it drives the pollination device to fly above the canopy of the plants, and at the same time, the aircraft maintains a stable flight at low altitude and low speed, and makes the air outlet of the air duct face the plants; then, the fan rotates, and the fan makes the duct Air flow is generated in the casing to form wind, and the vertical wind field generated by the aircraft causes a jet effect at the air inlet of the duct casing, which increases the air intake of the fan to the duct casing and increases the airflow velocity in the inner cavity of the duct casing; The wind enters the air guide pipe from the duct shell, and when the wind passes through the curved part of the air guide pipe, the direction of the wind changes, from the vertical wind to the horizontal wind, which facilitates the spread of pollen from the male plant to the female plant plants to improve pollination efficiency.

Compared with the prior art, the present invention has the following advantages:

(1) The present invention adopts an air guide pipe with a curved part, so that the wind field in the vertical direction is transformed into a wind field in the horizontal direction, so that the direction of the wind field coincides with the diffusion direction of pollen, which is more beneficial to the diffusion of pollen and improves pollination efficiency.

(2) In the present invention, the duct shell, the air guide pipe and the fixed frame can have the influence of the vertical wind field generated by the cross-isolating aircraft on the pollination of the plants, ensuring the effect of pollination.

(3) The direction of the reaction force produced when the fan rotates in the pollination device of the present invention is perpendicular to the fuselage of the aircraft, that is, the reaction force acts on the fuselage of the aircraft, which does not affect the flight attitude of the aircraft, and also provides certain lift simultaneously , so it is more suitable for aircraft to fly at low altitude, which ensures the effect of auxiliary pollination.

Description of drawings

Fig. 1 is a structural schematic diagram of an airborne device suitable for UAV pollination operations according to the present invention.

Fig. 2 is a schematic structural view of a single pollination device in the present invention.

Fig. 3 is a schematic structural diagram of an airborne device suitable for UAV pollination operations when the aircraft is not included in Embodiment 1.

Detailed ways

The present invention will be further described below in conjunction with drawings and embodiments.

Example 1

As shown in Figures 1 to 3, an airborne device suitable for UAV pollination operations is characterized in that it includes an aircraft 1 and at least one pollination device 2, and the pollination device 2 is installed below the aircraft 1; Described pollination device 2 comprises duct shell 21, fan 22, air guide pipe 23 and fixed mount 24, and described fan 22 is installed in the air inlet 211 of duct shell 21, and the air outlet of duct shell 21 and air guide pipe The air inlet is connected; the duct shell 21 and the air guide pipe 23 are fixedly connected with the fixed frame 24, and the fixed frame 24 is installed under the aircraft 1; the air guide pipe 23 is provided with a curved portion 232, and the guide The air inlet of the air duct 23 communicates with the air outlet 231 of the air guide duct through a bent portion 232, and the angle of the bent portion 232 is 90°.

The cross section of the duct casing 21 may be circular. At the same time, the seamless connection between the air inlet of the air guide pipe 23 and the air outlet of the duct casing 21 is realized through fasteners. According to the shape of the duct casing 21 , the fixing frame 24 is provided with a U-shaped groove, so as to ensure that the duct casing 21 is more stably fixed on the fixing frame 24 .

The number of the pollination devices 2 is four, and the direction of the air outlet 231 of the air duct 23 is away from the aircraft 1. The two pollination devices form a group, and each group of pollination devices 2 is arranged symmetrically with respect to the central axis of the aircraft 1. . The pollination devices 2 are arranged symmetrically according to each group, so that the weight is evenly distributed, and the flight of the aircraft 1 is more stable, which ensures the stability of the auxiliary pollination.

The described airborne device applicable to UAV pollination operations also includes a plurality of spoilers 5, spoiler rods 7, steering parts 6, connecting rods 4 and servo motors 3; The flow bar 7 is installed on the air outlet 231 of the air guide pipe 23; the steering member 6 is L-shaped, and the steering member 6 is installed on the air outlet end of the air guide pipe 23, and at the same time, one end of the steering member 6 is connected to The other end of the spoiler rod 7 is connected to one end of the connecting rod 4 , and the other end of the connecting rod 4 is connected to the motor arm of the servo motor 3 , and the servo motor 3 is installed at the lower end of the fixing frame 24 . The number of the spoiler 5 can be determined according to the ratio of the width of the air outlet 231 of the air duct 23 to the width of a single spoiler 5 and the actual wind field requirements. The action of the spoiler 5 can be driven by the servo motor 3 . When the plate surface of the spoiler 5 was parallel to the plane where the air outlet 231 of the air guide pipe 23 was located, the wind speed coming out from the air outlet 231 of the air guide pipe 23 was the smallest; When the plane where the air outlet 231 of the air guide pipe 23 was located was vertical, the wind speed coming out from the air outlet 231 of the air guide pipe 23 was the largest; When the angle between them changes from small to large, the wind speed increases gradually. At the same time, with the change of the included angle, the scope of action of the horizontal wind field can be changed. That is, the scope of action of the wind coming out from the air guide pipe 23 is increased, and the efficiency of auxiliary pollination is improved.

In order to increase the air intake of the air inlet 211 of the duct casing 21 , the duct casing 21 is vertically arranged with the fuselage of the aircraft 1 .

The airborne device applicable to UAV pollination operations also includes a connecting arm 9 and a tripod 8, the fixed mount 24 is fixedly mounted on both ends of the connecting arm 9, and the tripod 8 consists of 2 inverted T-shaped The brackets are composed of two brackets distributed in a "eight" shape, and the upper ends of the brackets are installed on the fuselage 11 of the aircraft 1. In order to reduce the weight of the whole device, the connecting arm 9 and the tripod 8 are all made of carbon fiber.

The lower end of the support is lower than the pollination device 2 , that is, the lower end of the support is located below the pollination device 2 . When the whole device is connected to the ground, the pollination device 2 has a certain distance from the ground. To avoid damage to the pollination device 2 from colliding with the ground when the airborne device applicable to the pollination operation of the drone falls from the air.

Described aircraft comprises fuselage 11, 6 rotor motors 12, 6 rotors 13 and 6 support arms 14, and described rotor 13 is installed on the rotating shaft of rotor motor 12, and described rotor motor 12 is installed on an end of support arm 14, The other end of the support arm 14 is fixed to the fuselage 11 ; the rotor motors 12 are evenly distributed relative to the circumference of the fuselage 11 . The number of rotor motors 12, rotors 13 and support arms 14 in the aircraft 1 can be determined according to actual needs, such as 4 or 8.

The present invention adopts the mode of remote control to control the action of servomotor 3, rotor motor 12 and fan 22.

The described pollination method applicable to the airborne device of unmanned aerial vehicle pollination operation, comprises the following steps:

a, the aircraft 1 takes off, and then the aircraft 1 drives the pollination device 2 to fly before the male plant, and makes the air outlet 231 of the air duct 23 face the male plant;

b. Start the fan 22 to rotate, so that the air flow in the inner cavity of the duct casing 21 forms a vertical wind, the vertical wind enters the air guide pipe 23 from the duct casing 21, and the vertical wind passes through the bending of the air guide pipe 23 After part 232, the wind in the vertical direction changes into the wind in the horizontal direction; then, the wind in the horizontal direction comes from the air outlet 231 of the air guide pipe 23, and the pollen blown to the male plant moves towards the direction of the female plant, and the pollination is realized from the surface. Purpose.

The working principle of the present invention: after the aircraft 1 takes off, it drives the pollination device 2 to fly above the canopy of the plants, while the aircraft 1 maintains a low-altitude and low-speed stable flight, and makes the air outlet 231 of the air duct 23 face the plants; then, the fan 22 Rotate, the fan 22 makes the airflow to form wind in the duct casing 21, and the vertical direction wind field that the aircraft 1 produces makes the air inlet 211 place of the duct casing 21 produce the jet effect, promptly increases the air intake of the fan 22 to the duct casing 21. The air volume increases the airflow velocity in the inner cavity of the duct shell 21; the wind enters the air guide pipe 23 from the duct shell 21, and when the wind passes through the curved part 232 of the air guide pipe 23, the direction of the wind changes, from the vertical direction of the wind The wind in the horizontal direction is conducive to the spread of pollen from the male plant to the female plant and improves the pollination efficiency.

Example 2

This airborne device suitable for UAV pollination operations is the same as Embodiment 1 except for the following features: the angle of the curved portion 232 is 135°.

Example 3

This airborne device suitable for UAV pollination operations is the same as Embodiment 1 except for the following features: the number of the pollination devices 2 is 6, and the direction of the air outlet 231 of the air duct 23 is away from the aircraft 1. The pollination devices 2 are evenly distributed around the circumference of the central axis of the aircraft. The principle is the same as when the number of pollination devices 2 is 4, when the circumference of the pollination devices 2 is uniformly distributed, the weight distribution is uniform, the flight of the aircraft 1 is more stable, and the stability of auxiliary pollination is guaranteed.

The specific implementation described above is a preferred embodiment of the present invention, and does not limit the present invention. Any other changes or other equivalent replacement methods that do not deviate from the technical solution of the present invention are included in the scope of protection of the present invention. within.

Claims (10)

1. An airborne device suitable for unmanned aerial vehicle pollination operation, it is characterized in that: comprise aircraft and at least 1 pollination device, described pollination device is installed in the below of aircraft; Described pollination device comprises duct casing, fan, An air guide pipe and a fixing frame, the fan is installed at the air inlet of the duct shell, and the air outlet of the duct shell is connected to the air inlet of the air guide pipe; both the duct shell and the air guide pipe are fixedly connected to the fixing frame, The fixed frame is installed below the aircraft; the air duct is provided with a curved portion, the air inlet of the air duct is connected with the air outlet of the air duct through the curved portion, and the angle of the curved portion is 90° to 180°. 2. The airborne device suitable for UAV pollination operations according to claim 1, characterized in that: the angle of the curved portion is 90°. 3. The airborne device applicable to UAV pollination operations according to claim 1, characterized in that: the number of the pollination devices is 4, and the direction of the air outlet of the air duct deviates from the aircraft, the Two pollination devices form a group, and each group of pollination devices is arranged symmetrically with respect to the central axis of the aircraft. 4. The airborne device suitable for UAV pollination operations according to claim 1, characterized in that: the number of the pollination devices is 6, the direction of the air outlet of the air duct is away from the aircraft, the The pollination means are evenly distributed around the circumference of the central axis of the aircraft. 5. The airborne device applicable to unmanned aerial vehicle pollination operations according to claim 1, characterized in that: it also includes a plurality of spoilers, spoiler rods, steering parts, connecting rods and servo motors; The spoiler is installed on the air outlet of the air guide pipe through the spoiler rod; the steering piece is L-shaped, and the steering piece is installed on the air outlet end of the air guide pipe, and at the same time, one end of the steering piece is connected to the spoiler The other end of the rod is connected to one end of the connecting rod, and the other end of the connecting rod is connected to the motor arm of the servo motor, and the servo motor is installed at the lower end of the fixed frame. 6. The airborne device suitable for UAV pollination operations according to claim 1, characterized in that: the duct casing is vertically arranged with the fuselage of the aircraft. 7. The airborne device suitable for UAV pollination operations according to claim 1, characterized in that: it also includes a connecting arm and a tripod, the fixed mount is fixedly installed at both ends of the connecting arm, and the tripod It consists of two inverted T-shaped brackets, and the two brackets are distributed in a "eight" shape. The upper ends of the brackets are installed on the fuselage of the aircraft. 8. The airborne device suitable for UAV pollination operations according to claim 7, characterized in that: the lower end of the support is lower than the pollination device, that is, the lower end of the support is located below the pollination device. 9. The airborne device suitable for UAV pollination operations according to claim 1, characterized in that: the aircraft includes a fuselage, 6 rotor motors, 6 rotors and 6 support arms, and the rotors are installed On the rotating shaft of the rotor motor, the rotor motor is installed at one end of the support arm, and the other end of the support arm is fixed to the fuselage; the rotor motors are evenly distributed relative to the circumference of the fuselage. 10. according to the pollination method of the airborne device that is applicable to unmanned aerial vehicle pollination operation according to any one of claim 1 to 9, it is characterized in that, comprises the following steps: a. The aircraft takes off, and then the aircraft drives the pollination device to fly to the front of the male plant, and makes the air outlet of the air duct towards the male plant; b. Start the fan to rotate, so that the air flow in the inner cavity of the duct shell forms a vertical wind. The vertical wind enters the air guide pipe from the duct shell. Then, the wind in the horizontal direction comes from the air outlet of the air duct, blowing the pollen of the male parent plant to move towards the direction of the female parent plant, so as to realize the purpose of pollination from the surface.