CN104309809A - Agricultural unmanned helicopter - Google Patents
Agricultural unmanned helicopter Download PDFInfo
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- CN104309809A CN104309809A CN201410572827.XA CN201410572827A CN104309809A CN 104309809 A CN104309809 A CN 104309809A CN 201410572827 A CN201410572827 A CN 201410572827A CN 104309809 A CN104309809 A CN 104309809A
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Abstract
The invention discloses an agricultural unmanned helicopter comprising a solar battery, a charging circuit of the solar battery, a storage battery and a control circuit of the storage battery. The solar battery is used for converting solar energy into electrical energy, and the storage battery is charge through the charging circuit. The agricultural unmanned helicopter is powered by solar energy and is worry saving for users and suitable for automatic wide-range application, and sustained use life is prolonged.
Description
Technical field
The present invention relates to farm machinery, particularly relate to a kind of agricultural depopulated helicopter.
Background technology
Robot airplane is called for short " unmanned plane ", is the not manned aircraft utilizing radio robot to handle with the process controller provided for oneself.Through years development, depopulated helicopter technology is ripe, is widely used in the aspect such as shooting, agricultural.Such as, Chinese patent 200680028914.2 discloses depopulated helicopter, and it is provided with fuselage (1A), it comprise main body (4) and with afterbody body; Main rotor (6), it is arranged in the top of main body (4), and by the inner engine drive of fuselage (1A); Anti-torque rotor, it is arranged in the rear portion of afterbody body (5).Be provided with a pair supporting leg (8,8), it to be positioned on left and right sides and from the left and right sides of the bottom of main body (4) to downward-extension; Rise and fall for a pair sled (9), and it is positioned on left and right sides, and is positioned on the lower end of supporting leg (8), and in front elevation, be positioned at the outside of main body (4) at the Width of fuselage (1A).Be provided with radiator (71), it is positioned at the position more forward, front end compared with the sled (8) that falls in side view, and the basal surface (83) being formed as the front portion from main body is neighbouring to downward-extension, and there is the wind surface of the longitudinal direction pointing to fuselage.The lateral ends of radiator (71) on the Width of fuselage (1A) projects outwardly beyond the lateral edge near radiator (71) of main body basal surface (83) in front elevation.In addition, radiator (71) lateral ends (71A) fuselage (1A) Width be positioned at the sled (9) that rises and falls in the inner part within.
The manipulation of depopulated helicopter, has also had proven technique, and such as, Chinese patent 200310122875.0 provides a kind of unmanned helicopter operation system, comprises rotor control mechanism, directional control mechanism and manipulating mechanism of oil throttle.Rotor control mechanism is elevated by the selectivity action drives auto-bank unit of three cover displacement steering wheels or is tilted, and drives rod assembly to control the flight attitude of rotor.Directional control mechanism, by course servo driving push-and-pull cable wire, drives tail rotor pitch control to change tail-rotor elongation, realizes the control to course.Manipulating mechanism of oil throttle controls the opening of engine throttle by throttle servo driving throttle control cable, realizes the control to driving engine.Auto-bank unit in the present invention is novel in design, and structure is simple, is convenient to installation and maintenance.Steering wheel volume is little, lightweight, precision is high.Three cover displacement steering wheels are directly installed on immediately below auto-bank unit, to realize total distance of helicopter and vertical lateral control, rationally distributed, handle coupling effect little, and install compact, near center of gravity, be convenient to adjustment.
Depopulated helicopter technology is applied to agriculture aspect, also has many patented technologies.Such as, Chinese patent 201320728877.3 discloses agricultural unmanned aerocraft, unmanned multirotor helicopter is installed ultrasonic ranging parts, crashproof parts, realize paste ground flying and with ground profiling, prevent material from dispersing, ensure operation quality, there is power take-off implement, material spray rate is synchronous with flying speed, adjustable, and increases lithium battery capacity, increases airborne period, safety, environmental protection, the operations such as simple to operate, applicable large area is dusted, spray, apply fertilizer, live are the unmanned aerocrafts by agrotechnique requirement design.
And for example, Chinese patent 201320656148.1 discloses one and goes straight up to dynamo-electric startup electric supply installation, belongs to Helicopter Technology field.This device comprises power supply, and described power supply and helicopter split are arranged, and power supply is drawn electrical connection a, helicopter electric starter is drawn electrical connection b, electrical connection a with electrically connect b and be electrically connected to each other realization and go straight up to dynamo-electric startup and power.Use this device that the depopulated helicopter fuselage weight that takes off can be made to alleviate, when performing agricultural plant protection, medicine carrying many flight time are long, and external power supply can realize multi-machine shared, and the cost of minimizing helicopter configuration power-supply battery improves the work efficiency of agricultural depopulated helicopter.
And for example, Chinese patent 201320497435.2 discloses agricultural many rotor unmanned helicopters, aim at farmland operation design depopulated helicopter, a kind of above crops low speed, horizontal surface plunder the many rotor unmanned helicopters flown, suspended various agricultural machinery, pure electronic or hybrid power, have that cruise duration is long, lift large, light self-weight, do not fall the advantage of machine, simple structure, easy manufacture, environmental protection, energy-conservation, fool proof again.
But these depopulated helicopters lack solar power supply function.
Summary of the invention
Based on this, be necessary the agricultural depopulated helicopter providing a kind of employing newly solar powered, other technologies scheme of the present invention, also solve and how solar panel is set, how storage battery is set, how the technical matterss such as inductive switch are set.
A technical scheme of the present invention is: a kind of agricultural depopulated helicopter, and it comprises solar cell and charge circuit thereof, and storage battery and control circuit thereof; Described solar cell is used for converting solar energy into electrical energy, and is that described storage battery charges by described charge circuit.
Such as, described solar cell comprises some solar panels.
Such as, each solar panel scattering device.
Such as, each solar panel is arranged in series.
Such as, each solar panel is arranged in parallel.
Such as, described storage battery comprises some lithium-ions batteries.
Such as, each lithium-ions battery scattering device.
Such as, each lithium-ions battery is arranged in series.
Such as, each lithium-ions battery is arranged in parallel.
Such as, described charge circuit arranges inductive switch.
Adopt such scheme, agricultural depopulated helicopter of the present invention adopts solar powered, and extend its lasting result of use, user saves worry, and is applicable to automation widespread adoption.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of an embodiment of the agricultural depopulated helicopter of the present invention;
Fig. 2 is the schematic diagram of the another embodiment of the agricultural depopulated helicopter of the present invention;
Fig. 3 is the schematic diagram of the another embodiment of the agricultural depopulated helicopter of the present invention.
Detailed description of the invention
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.Better embodiment of the present invention is given in accompanying drawing.But the present invention can be realized by many different forms, embodiment described below being not limited to.On the contrary, provide the object of these embodiments be make to disclosure of the present invention understand more thorough comprehensively.
It should be noted that, when element is called as " being arranged at " another element, directly can there is element placed in the middle in it on another element or also.When an element is considered to " connection " another element, it can be directly connected to another element or may there is centering elements simultaneously.Term as used herein " vertical ", " level ", "left", "right" and similar statement just for illustrative purposes, do not represent it is unique embodiment.
Unless otherwise defined, all technology used herein and scientific terminology are identical with belonging to the implication that those skilled in the art of the present invention understand usually.The object of term used in the description of the invention herein just in order to describe concrete embodiment is not restriction the present invention.Term as used herein "and/or" comprises arbitrary and all combinations of one or more relevant Listed Items.
Such as, as shown in Figure 1, a kind of agricultural depopulated helicopter, it arranges solar cell and charge circuit thereof, and storage battery and control circuit thereof; Described solar cell is used for converting solar energy into electrical energy, and is that described storage battery charges by described charge circuit.Described storage battery is used for by described driving circuit, drive described agricultural depopulated helicopter, such as, for controller is wherein powered, drive the rotor of described agricultural depopulated helicopter, control described agricultural depopulated helicopter and perform aerial mission, comprise rising, decline, flight, spray medicine, fertilising and/or sowing etc.Preferably, described charge circuit arranges inductive switch.Such as, described inductive switch is illuminance inductive switch, for responding to the illuminance of external environment condition, when illuminance is greater than certain rechargeable solar battery threshold value, charge circuit described in conducting, described solar cell converts solar energy into electrical energy, be that described storage battery charges by described charge circuit, or, when illuminance is less than certain rechargeable solar battery threshold value, close described charge circuit, described solar cell stops charging for described storage battery.Whether and for example, described inductive switch is rainwater inductive switch, raining, when rainy or when being drenched, closing described charge circuit for responding to external environment condition, and described solar cell stops charging for described storage battery.As shown in Figure 2, in agricultural depopulated helicopter 100, the surface on its top arranges solar cell 130, is provided with storage battery 140 in agricultural depopulated helicopter 100 inner chamber, and charge circuit and control circuit are arranged in agricultural depopulated helicopter 100 inner chamber.
Preferably, described solar cell comprises some solar panels, each solar panel scattering device; And for example, each solar panel is arranged in series; And for example, each solar panel is arranged in parallel.
Preferably, described storage battery comprises some lithium-ions batteries, each lithium-ions battery scattering device; And for example, each lithium-ions battery is arranged in series; And for example, each lithium-ions battery is arranged in parallel.
Such as, described agricultural depopulated helicopter also comprises a kind of spray equipment, and it comprises liquid storage district, feed liquor district, spray district and the first actuator; Described liquid storage district is used for storing spray liquid; Described liquid storage district is communicated with described feed liquor district by described first actuator, and described feed liquor district is communicated with described spray district by described first actuator; Such as, described first actuator comprises the first actuating device, the second actuating device and the 3rd actuating device, described first actuating device is used for the part spray liquid in described liquid storage district to be placed into described feed liquor district, described second actuating device is used for the whole spray liquids in described feed liquor district to be placed into described spray district, and described 3rd actuating device is used for the whole spray liquid ejections in described spray district.Such as, liquid storage district is arranged on the engine room inside of agricultural depopulated helicopter, and and for example, feed liquor district is cylindrical duct, and such as, spray district comprises a flat board, and its underpart arranges some spray orifices; And for example, spray district arranges some showers, and preferably, described shower arranges some shower nozzles.Preferably, described shower protrudes and arranges some shower nozzles; Or described shower protrudes and arranges some poroid shower nozzles; Such as, the aperture of described poroid shower nozzle is less than 1 millimeter; Preferably, the aperture of described poroid shower nozzle is less than 0.5 millimeter, and preferably, the aperture of described poroid shower nozzle is less than 0.05 millimeter, like this, can spray the spray liquid of atomization.And for example, agricultural depopulated helicopter arranges some first fixed bits, and spray equipment correspondence arranges some first connecting elements, and spray equipment is fixedly installed on described agricultural depopulated helicopter by each first connecting element.Preferably, spray equipment is fixedly placed in described agricultural depopulated helicopter bottom by each first connecting element.Such as, described spray equipment is arranged in the frame of described agricultural depopulated helicopter.Preferably, the extended some showers of described frame.Preferably, described feed liquor district non-tight is arranged, and such as, it arranges and is connected to outside through hole or is communicated with outside by the air passage extended.
Wherein, described feed liquor district capacity is less than described liquid storage district, and the capacity in described spray district is not less than described feed liquor district; Such as, the capacity in feed liquor district is 100 milliliters, and the capacity in liquid storage district is 1 rise to 10 liters, and the capacity in spray district is 100 milliliters to 10000 milliliters.Such as, described feed liquor district is arranged at below described liquid storage district, and described spray district is arranged at below described feed liquor district, described feed liquor district arranges two and drives valve, wherein, first drives valve to be described first actuating device, and second drives valve to be described second actuating device, first drives valve open, second drives valve closing, and spray liquid flows into described feed liquor district from described liquid storage district, and first drives valve closing, second drives valve open, and spray liquid flows into described spray district from described feed liquor district.Or actuating device can adopt existing techniques in realizing.
And for example, actuating device comprises housing and drive motor, the motor shaft interlock of drive motor has screw mandrel that is radial fixing, axial-rotation, screw rod bushing is provided with the shifting axle that can do straight-line motion along the axial direction of screw mandrel, shifting axle part is placed in enclosure interior, part is placed on outside housing, one end that shifting axle correspondence is placed in enclosure interior is installed with the flange part turned up, one end that shifting axle correspondence is placed in outside is installed with the connecting portion be connected with shower, is installed with miles of relative movement for limiting shifting axle and can conflicts the limiting section be connected with flange part in described housing.The set-up mode of shifting axle and screw mandrel realizes shifting axle and can do straight-line motion along the axial direction of screw mandrel, namely drives shower to do straight reciprocating motion, thus can realize equal spray distance, can arrange the shower that length is shorter; The shower of equal length, has longer spray distance.
And for example, described first actuating device arranges shuttle first radial push rod, for the part spray liquid in described liquid storage district is pushed to described feed liquor district; Preferably, described first actuating device also arranges the first driver element, for coordinating described second actuating device, the whole spray liquids in described feed liquor district is placed into described spray district; Such as, described feed liquor district is the cylinder of a both ends open, and the first driver element and the second actuating device lay respectively at the two ends of this cylinder, as its end.And for example, the body position of described first actuating device one end rotary connection spray equipment, the other end is fixedly connected with a container, and this container is described feed liquor district.And for example, described 3rd actuating device arranges pressurized equipment, and described spray district arranges annular seal space; Described second actuating device is used for the annular seal space whole spray liquids in described feed liquor district being placed into described spray district, then by the pressurized equipment inflating pressure of described 3rd actuating device, then described annular seal space opened by described 3rd actuating device, by the whole spray liquid ejections in described spray district.Preferably, described spray district arranges some minitype nozzles, and such as its aperture is 0.01 millimeter to 0.1 millimeter, like this, can spray the spray liquid of atomization.
Preferably, described spray liquid is liquid the pesticide solution or fertilizer solution.Preferably, described spray liquid is liquid chemical fertilizer solution.
Preferably, described liquid storage district arranges liquid storage lid, for after spray liquid being put into described liquid storage district, covers liquid storage lid, makes the spray liquid of inside, described liquid storage district not easily spill outside to spray equipment.Preferably, described liquid storage lid is an extended breather pipe upwards, and its one end is communicated with extraneous air, and the other end is communicated with described liquid storage district, keeps certain air pressure for making in described liquid storage district.Preferably, agricultural depopulated helicopter arranges a fixed mount, and it has at least one hook portion, described breather pipe outside is nested with the collar of a 8-shaped, this collar has two annular portion, and the first annular portion fixed cover is outside described breather pipe, and the second annular portion is actively set in described hook portion.Like this, described breather pipe is is conveniently picked and placeed.Preferably, described breather pipe is an India rubber tube.
Such as, a kind of application process of the pesticide solution, it is applied to described agricultural depopulated helicopter, comprises the following steps: the pesticide solution is placed on liquid storage district; The spatial altitude in adjustment liquid storage district and level attitude; Part the pesticide solution in liquid storage district is placed into feed liquor district; Whole the pesticide solution in described feed liquor district are placed into spray district; By the whole the pesticide solution ejections in described spray district.Such as, the pesticide solution of configuration preset concentration is placed on liquid storage district.Preferably, described agricultural chemicals is liquid pesticide.Preferably, described agricultural chemicals is water soluble pesticide.Preferably, by the whole the pesticide solution ejections in described spray district, spatial altitude and the level attitude in adjustment liquid storage district is continued; Then the part the pesticide solution in liquid storage district is continued to be placed into feed liquor district; Whole the pesticide solution in described feed liquor district are placed into spray district; By the whole the pesticide solution ejections in described spray district.Such as, described by before the whole the pesticide solution ejections in described spray district, also adjust spatial altitude and the level attitude in liquid storage district, make the spatial altitude adjustment corresponding to level attitude spraying district.
Such as, a kind of application process of the pesticide solution, it comprises the following steps: the pesticide solution is placed on liquid storage district; Part the pesticide solution in liquid storage district is placed into feed liquor district; Whole the pesticide solution in described feed liquor district are placed into spray district; The spatial altitude in adjustment liquid storage district and level attitude.By the whole the pesticide solution ejections in described spray district.Such as, discharge region according to agricultural chemicals, spatial altitude and the level attitude in liquid storage district are set, and discharge in process at agricultural chemicals, time that is, by whole the pesticide solution ejection in described spray district, the spatial altitude in the liquid storage district of adjustment in real time and level attitude.Such as, by presetting fountain height, by the whole the pesticide solution ejections in described spray district.And for example, according to default sprinkling route, the spatial altitude in adjustment liquid storage district and level attitude.And for example, according to the concentration of the pesticide solution, adjust described default fountain height.Concrete concentration, fountain height etc., arrange according to different agricultural chemicals, different environments for use, the present invention and each embodiment thereof are not restricted this.
Such as, by Action of Gravity Field, the part the pesticide solution in liquid storage district is placed into feed liquor district; And/or, by Action of Gravity Field, the whole the pesticide solution in described feed liquor district are placed into spray district.
And for example, spray after the whole the pesticide solution superchargings in described spray district.And for example, by pressurised atomised for the whole the pesticide solution in described spray district rear ejection.Preferably, by pressurised atomised for the whole the pesticide solution in described spray district rear ejection atomized liquid.Preferably, according to air rate adjustment, spray the pressure in district, spray after the whole the pesticide solution superchargings in described spray district.
Preferably, described liquid storage district is communicated with described feed liquor district by the first actuator, and described feed liquor district is communicated with described spray district by described first actuator; Such as, described first actuator comprises the first actuating device, the second actuating device and the 3rd actuating device, part the pesticide solution in described liquid storage district is placed into described feed liquor district by described first actuating device, whole the pesticide solution in described feed liquor district are placed into described spray district by described second actuating device, and described 3rd actuating device is by the whole the pesticide solution ejections in described spray district.Such as, liquid storage district is arranged on the engine room inside of agricultural depopulated helicopter, and and for example, feed liquor district is cylindrical duct, and and for example, spray district arranges some showers, and preferably, described shower arranges some shower nozzles.Preferably, described shower protrudes and arranges some shower nozzles; Or described shower protrudes and arranges some poroid shower nozzles; Such as, the aperture of described poroid shower nozzle is less than 1 millimeter; Preferably, the aperture of described poroid shower nozzle is less than 0.5 millimeter, and preferably, the aperture of described poroid shower nozzle is less than 0.05 millimeter, like this, can spray the pesticide solution of atomization.Preferably, described liquid storage district, described feed liquor district, described spray district is integrated is set to a spray equipment.And for example, agricultural depopulated helicopter arranges some first fixed bits, and spray equipment correspondence arranges some first connecting elements, and spray equipment is fixedly installed on described agricultural depopulated helicopter by each first connecting element.Preferably, spray equipment is fixedly placed in described agricultural depopulated helicopter bottom by each first connecting element.Such as, described spray equipment is arranged in the frame of described agricultural depopulated helicopter.Preferably, the extended some showers of described frame.
Such as, a kind of application process of fertilizer solution, be applied to described agricultural depopulated helicopter, it comprises the following steps: fertilizer solution is placed on liquid storage district; The spatial altitude in adjustment liquid storage district and level attitude; Part fertilizer solution in liquid storage district is placed into feed liquor district; Whole fertilizer solutions in described feed liquor district are placed into spray district; By the whole fertilizer solution ejections in described spray district.Such as, the fertilizer solution of configuration preset concentration is placed on liquid storage district.Preferably, described fertilizer is liquid fertilizer.Preferably, described fertilizer is water soluble fertilizer.Preferably, by the whole fertilizer solution ejections in described spray district, spatial altitude and the level attitude in adjustment liquid storage district is continued; Then the part fertilizer solution in liquid storage district is continued to be placed into feed liquor district; Whole fertilizer solutions in described feed liquor district are placed into spray district; By the whole fertilizer solution ejections in described spray district.Such as, described by before the whole fertilizer solution ejections in described spray district, also adjust spatial altitude and the level attitude in liquid storage district, make the spatial altitude adjustment corresponding to level attitude spraying district.
Such as, a kind of application process of fertilizer solution, it comprises the following steps: fertilizer solution is placed on liquid storage district; Part fertilizer solution in liquid storage district is placed into feed liquor district; Whole fertilizer solutions in described feed liquor district are placed into spray district; The spatial altitude in adjustment liquid storage district and level attitude.By the whole fertilizer solution ejections in described spray district.Such as, discharge region according to fertilizer, spatial altitude and the level attitude in liquid storage district are set, and discharge in process at fertilizer, time that is, by whole fertilizer solutions ejection in described spray district, the spatial altitude in the liquid storage district of adjustment in real time and level attitude.Such as, by presetting fountain height, by the whole fertilizer solution ejections in described spray district.And for example, according to default sprinkling route, the spatial altitude in adjustment liquid storage district and level attitude.And for example, according to the concentration of fertilizer solution, adjust described default fountain height.Concrete concentration, fountain height etc., arrange according to different fertilizer, different environments for use, the present invention and each embodiment thereof are not restricted this.
Such as, by Action of Gravity Field, the part fertilizer solution in liquid storage district is placed into feed liquor district; And/or, by Action of Gravity Field, the whole fertilizer solutions in described feed liquor district are placed into spray district.
And for example, spray after the whole fertilizer solution superchargings in described spray district.And for example, by pressurised atomised for the whole fertilizer solutions in described spray district rear ejection.Preferably, by pressurised atomised for the whole fertilizer solutions in described spray district rear ejection atomized liquid.Preferably, according to air rate adjustment, spray the pressure in district, spray after the whole fertilizer solution superchargings in described spray district.
Preferably, described liquid storage district is communicated with described feed liquor district by the first actuator, and described feed liquor district is communicated with described spray district by described first actuator; Such as, described first actuator comprises the first actuating device, the second actuating device and the 3rd actuating device, part fertilizer solution in described liquid storage district is placed into described feed liquor district by described first actuating device, whole fertilizer solutions in described feed liquor district are placed into described spray district by described second actuating device, and described 3rd actuating device is by the whole fertilizer solution ejections in described spray district.Such as, liquid storage district is arranged on the engine room inside of agricultural depopulated helicopter, and and for example, feed liquor district is cylindrical duct, and and for example, spray district arranges some showers, and preferably, described shower arranges some shower nozzles.Preferably, described shower protrudes and arranges some shower nozzles; Or described shower protrudes and arranges some poroid shower nozzles; Such as, the aperture of described poroid shower nozzle is less than 1 millimeter; Preferably, the aperture of described poroid shower nozzle is less than 0.5 millimeter, and preferably, the aperture of described poroid shower nozzle is less than 0.05 millimeter, like this, can spray the fertilizer solution of atomization.Preferably, described liquid storage district, described feed liquor district, described spray district is integrated is set to a spray equipment.And for example, agricultural depopulated helicopter arranges some first fixed bits, and spray equipment correspondence arranges some first connecting elements, and spray equipment is fixedly installed on described agricultural depopulated helicopter by each first connecting element.Preferably, spray equipment is fixedly placed in described agricultural depopulated helicopter bottom by each first connecting element.Such as, described spray equipment is arranged in the frame of described agricultural depopulated helicopter.Preferably, the extended some showers of described frame.
Such as, described agricultural depopulated helicopter also comprises a kind of induction installation, and it arranges some inductors, for responding to the real-time distance of described agricultural depopulated helicopter and underlying object; And for example, described induction installation is used for sending described real-time distance to described agricultural depopulated helicopter; And for example, described induction installation is used for the controller described real-time distance being sent to described agricultural depopulated helicopter; Preferably, described induction installation arranges comparing unit, and for the real-time distance of more each inductor, and for example, described comparing unit sends minimum value wherein to described agricultural depopulated helicopter; Preferably, described comparing unit or described agricultural depopulated helicopter adopt described minimum value as described real-time distance, or, as effectively real-time distance.Preferably, described induction installation arranges time meter, it connects each described inductor respectively, for the time period pre-seted at interval of one, send time signal, each described inductor receives this time signal at every turn, then respond to the distance of described agricultural depopulated helicopter and underlying object, as described real-time distance; Such as, the time period pre-seted is 0.05 second, 0.1 second, 0.2 second, 0.5 second, 0.8 second, 1 second, 2 seconds or 5 seconds, that is, at interval of 0.05 second, 0.1 second, 0.2 second, 0.5 second, 0.8 second, 1 second, 2 seconds or 5 seconds, time meter sends a time signal, and each described inductor responds to once distance.Accordingly, described agricultural depopulated helicopter arranges controller, for according to described real-time distance, adjusts its height; Such as, described agricultural depopulated helicopter arranges controller, for according to described real-time distance and Planned Route, adjusts its height.
Preferably, described induction installation arranges memory device and determining device, and described memory device is for storing the distance limit pre-seted, and described determining device is used for when described real-time distance is less than described distance limit, adjusts the height of described agricultural depopulated helicopter; Such as, described determining device is used for when described real-time distance is less than described distance limit, sends adjustment and highly notifies, for adjusting the height of described agricultural depopulated helicopter; Such as, described determining device is used for when described real-time distance is less than described distance limit, sends adjustment and highly notifies described controller, by the height of described controller according to the described agricultural depopulated helicopter of described real-time distance adjustment.Such as, described memory device arranges the first memory cell, for storing the distance limit pre-seted; Described determining device arranges the first judging unit, for when described real-time distance is less than described distance limit, adjust the height of described agricultural depopulated helicopter, such as, notify described controller, control described agricultural depopulated helicopter by it to rise, such as rise certain height, such as 5 centimetres, 10 centimetres, 20 centimetres or 50 centimetres etc.; Such as, when described effectively real-time distance is less than described distance limit, the height of described agricultural depopulated helicopter is adjusted.And for example, described memory device also arranges the second memory cell, and for storing object height value and departing from threshold value, described determining device also arranges the second judging unit, for depart from described real-time distance described object height value be greater than described in depart from threshold value time, adjust the height of described agricultural depopulated helicopter; Such as, notify described controller, controlled the height of the described agricultural depopulated helicopter of adjustment by it; Such as, object height value is 200 centimetres, departing from threshold value is 10 centimetres, real-time distance is 180 centimetres or 220 centimetres, and it is 20 centimetres that described real-time distance departs from described object height value, departs from threshold value described in being greater than, second judging unit notifies described controller, controlled the height of the described agricultural depopulated helicopter of adjustment by it, such as, when rising or real-time distance are 200 centimetres when real-time distance is 180 centimetres, decline 20 centimetres.
Such as, described induction installation is arranged in the frame of described agricultural depopulated helicopter.Such as, some grooves are set in the bottom of the frame of described agricultural depopulated helicopter, inductor described in each groove accommodating; And/or, in the front end of described agricultural depopulated helicopter and rear end, inductor described in is set respectively; And for example, inductor described in is set respectively at the periphery of described agricultural depopulated helicopter.
Such as, described agricultural depopulated helicopter also comprises a kind of wind speed measuring device, and it comprises ventilation inlet, blade airspeed indicator and dissipation mouth; Outside wind enters blade airspeed indicator from ventilation inlet, then overflows from dissipation mouth.Preferably, it is tubulose; Such as, the wind speed measuring device of tubulose, have two ends, first end arranges described ventilation inlet, and the second end arranges described dissipation mouth; Preferably, the wind speed measuring device of described tubulose, arranges and surveys wind chamber, wherein accommodating described blade airspeed indicator; Preferably, the wind speed measuring device of described tubulose is cylindrical.Wherein, described blade airspeed indicator is preferably the blade airspeed indicator of propeller type.And for example, the distance of described ventilation inlet and described blade airspeed indicator is less than the distance of described blade airspeed indicator and described dissipation mouth; Preferably, described ventilation inlet and described blade airspeed indicator vicinity are arranged; Such as, the distance of described ventilation inlet and described blade airspeed indicator is 3 to 5 centimetres; And for example, scattering device dissipation mouth described in several.Preferably, described wind speed measuring device is arranged at the front portion of described agricultural depopulated helicopter or the position away from rotor, and preferably, described wind speed measuring device arranges wind speed transmitter, for sending the controller of wind speed information to described agricultural depopulated helicopter.Such as, a kind of wind speed measuring device of agricultural depopulated helicopter; And for example, a kind of agricultural depopulated helicopter, it comprises arbitrary described wind speed measuring device.Such as, a kind of agricultural depopulated helicopter, it comprises controller and described wind speed measuring device, and described wind speed measuring device connects described controller, and such as, described blade airspeed indicator connects described controller; And for example, described wind speed transmitter connects described controller; Wind speed information for the measurement of described blade airspeed indicator being obtained is sent to described controller; Described controller, according to the flying speed of the described agricultural depopulated helicopter of described wind speed information adjustment, flying height, spray or spray rate etc., also according to described wind speed information, determines whether to continue to perform aerial mission.Such as, time wind is large, stops spray agricultural chemicals or chemical fertilizer, and for example, time wind is too large, make a return voyage.Like this, intelligently aerial mission can be performed according to wind speed.
Such as, described agricultural depopulated helicopter also comprises a kind of rainwater measurement mechanism.Such as, a kind of rainwater measurement mechanism, it comprises water inlet, rainwater table and water outlet; Water inlet, for collecting rainwater, flow into rainwater table, measures amount of rainfall, then discharged by water outlet by it; In order to solve the technical matters measuring amount of rainfall more accurately, and for example, the area of described water inlet is greater than the area of described water outlet, that is, the water inlet area of described water inlet is greater than the water-outlet area of described water outlet; Such as, water inlet and water outlet are circle, and the radius of water inlet is greater than the radius of water outlet, are conducive to like this measuring amount of rainfall more accurately, avoid error.In order to solve the technical matters of how Quick drainage, preferably, multiple described water outlet is set; Preferably, the area of described water inlet is greater than the gross area of each described water outlet, such as, comprise a water inlet and four water outlets, water inlet and water outlet are square, the length of side of water inlet is greater than 2 times of the length of side of water outlet, makes the area of described water inlet be greater than the gross area of each described water outlet.Wherein, described water inlet opening upwards is arranged, that is, described water inlet opening upwards, such as, can be understood as towards sky, for collecting rainwater; Open Side Down for described water outlet.And for example, in order to solve the technical matters of collecting rainwater how better, described water inlet is circular or dish-shaped or infundibulate.In order to the rainwater solving front measures problem, and also arrange the first auxiliary mouth, its opening forward, such as, can be understood as toward the front, i.e. heading.First auxiliary mouth for collect front waft into rainwater, flow into rainwater table.Such as, rainwater measurement mechanism comprises coolant inlet pipe, and coolant inlet pipe arranges water inlet and the opening first auxiliary mouth forward of opening upwards, and water inlet and the first auxiliary rainwater collected by mouth, flow into rainwater table by coolant inlet pipe, measure amount of rainfall by it.Such as, the first auxiliary mouth connects described coolant inlet pipe by the first auxiliary tube; In order to the rainwater solving oblique orientation measures problem, preferably, coolant inlet pipe also arranges opening tiltedly upper the second auxiliary mouth arranged.Preferably, second auxiliary mouth connects described coolant inlet pipe by the second auxiliary tube, problem is measured in order to solve omnibearing rainwater, preferably, second auxiliary tube is rotaryed connection with described coolant inlet pipe, such as rotatably be socketed in the upper end of coolant inlet pipe, preferably, the second auxiliary tube is socketed in the upper end of described coolant inlet pipe by a bell and spigot joint; Further, the oblique extended extension of described coolant inlet pipe, it arranges the water inlet of opening upwards, preferably, the area of water inlet is greater than the cross-sectional area of extension or coolant inlet pipe, such as, water inlet is circular, and its radius or diameter are greater than the caliber of extension or coolant inlet pipe.Wherein, described rainwater table and rainfall measurement instrument, can adopt existing product.Preferably, rainwater measurement mechanism is tubulose; Such as, the rainwater measurement mechanism of tubulose arranges interconnective coolant inlet pipe and coolant outlet pipe, and entirety has water inlet and water outlet; Rainwater table is arranged at coolant inlet pipe or coolant outlet pipe is inner.Such as, the rainwater measurement mechanism of tubulose, have two ends, first end arranges described water inlet, and the second end arranges described water outlet; Preferably, described first end expands and arranges; Such as, described first end is dish.Preferably, monitoring chamber, wherein accommodating described rainwater table are also set; Such as, the rainwater measurement mechanism of described tubulose, arranges monitoring chamber, wherein accommodating described rainwater table; Preferably, the rainwater measurement mechanism of described tubulose is cylindrical.Wherein, described rainwater table is preferably the rainwater table of propeller type.And for example, the distance of described water inlet and described rainwater table is less than the distance of described rainwater table and described water outlet; Preferably, described water inlet and described rainwater table vicinity are arranged; Such as, the distance of described water inlet and described rainwater table is 3 to 5 centimetres; And for example, scattering device water outlet described in several.Preferably, described rainwater measurement mechanism is arranged at the top of described agricultural depopulated helicopter or the position away from rotor, and water inlet is positioned at the top of described agricultural depopulated helicopter.Preferably, described rainwater measurement mechanism arranges rainwater information generator, for sending the controller of rainwater information to described agricultural depopulated helicopter.Such as, a kind of rainwater measurement mechanism of agricultural depopulated helicopter; And for example, a kind of agricultural depopulated helicopter, it comprises arbitrary described rainwater measurement mechanism.Such as, a kind of agricultural depopulated helicopter, it comprises controller and described rainwater measurement mechanism, and described rainwater measurement mechanism connects described controller, such as, controller described in described rainwater list catenation; And for example, described rainwater information generator connects described controller; Rainwater information for the measurement of described rainwater table being obtained is sent to described controller; Described controller, according to the flying speed of the described agricultural depopulated helicopter of described rainwater information adjustment, flying height, spray or spray rate etc., also according to described rainwater information, determines whether to continue to perform aerial mission.Such as, rain is little when not affecting quality or the flight safety of agricultural depopulated helicopter, continues to perform aerial mission; Time rain is large, stops spray agricultural chemicals or chemical fertilizer, and for example, time rain is too large, make a return voyage.Like this, intelligently aerial mission can be performed according to rain event.
Such as, described agricultural depopulated helicopter also comprises a kind of seeding apparatus, and it comprises kinds of bank deposits district, Jin Zhong district, sowing division and the second actuator; Described kinds of bank deposits district is used for storing seed; Described kinds of bank deposits district is communicated with described Jin Zhong district by described second actuator, and described Jin Zhong district is communicated with described sowing division by described second actuator; Such as, described second actuator comprises the first driver element, the second driver element and the 3rd driver element, described first driver element is used for the Some seeds in described kinds of bank deposits district to be placed into described Jin Zhong district, described second driver element is used for the whole seeds in described Jin Zhong district to be placed into described sowing division, and described 3rd driver element is used for the whole seeds in described sowing division to spread out.Such as, kinds of bank deposits district is arranged on the engine room inside of agricultural depopulated helicopter, and and for example, Jin Zhong district is cylindrical duct, and and for example, sowing division is sowing pipe, and preferably, described sowing pipe arranges some branched pipes.Preferably, described sowing pipe protrudes and arranges some branched pipes; Or described sowing pipe protrudes and arranges some cylindrical shape branched pipes; Such as, the aperture of described cylindrical shape branched pipe is less than 1 millimeter; Preferably, the aperture of described cylindrical shape branched pipe is less than 0.5 millimeter, and preferably, the aperture of described cylindrical shape branched pipe is less than 0.05 millimeter, like this, can spread out less seed.And for example, agricultural depopulated helicopter arranges some first fixed bits, and seeding apparatus correspondence arranges some first connecting elements, and seeding apparatus is fixedly installed on described agricultural depopulated helicopter by each first connecting element.Preferably, seeding apparatus is fixedly placed in described agricultural depopulated helicopter bottom by each first connecting element.Such as, described seeding apparatus is arranged in the frame of described agricultural depopulated helicopter.Preferably, the extended some sowing pipes of described frame.Preferably, described 3rd driver element arranges blwr, and it pumps into extraneous air to described sowing division, to strengthen the initial driving force of sowing seeds, obtains and sows effect preferably.Preferably, the pressure of sowing division according to air rate adjustment, by seed eruption at a high speed from described sowing division, thus can obtain and sow effect preferably.
Wherein, described Jin Zhong district capacity is less than described kinds of bank deposits district, and the capacity of described sowing division is not less than described Jin Zhong district; Such as, the capacity in Jin Zhong district is 100 milliliters, and the capacity in kinds of bank deposits district is 1 rise to 10 liters, and the capacity of sowing division is 100 milliliters to 10000 milliliters.Such as, described Jin Zhong district is arranged at below described kinds of bank deposits district, and described sowing division is arranged at below described Jin Zhong district, described Jin Zhong district arranges two by-pass valve controls, wherein, the first by-pass valve control is described first driver element, and the second by-pass valve control is described second driver element, first by-pass valve control is opened, second by-pass valve control is closed, and seed flows into described Jin Zhong district from described kinds of bank deposits district, and the first by-pass valve control is closed, second by-pass valve control is opened, and seed flows into described sowing division from described Jin Zhong district.Or driver element can adopt existing techniques in realizing.
Such as, as shown in Figure 2, described agricultural depopulated helicopter also comprises a kind of rotor driver 121, and it has erecting frame 120, and described rotor driver 121 is fixedly installed in described agricultural depopulated helicopter 100 by described erecting frame 120.Preferably, described erecting frame projection is arranged at the top of described agricultural depopulated helicopter, be similar on head and have a flower, such structure design, contribute to improving lift, be applicable to keeping floating state, and time to be adapted at wind be not king-sized, be widely used in various landform, comprise mountain environment.
Such as, described rotor driver 121 also arranges at least a set of rotor unit, often overlaps described rotor unit and comprises mounting rod 123, rotor 124 and driving system thereof, often overlaps described rotor unit and is fixedly installed in described agricultural depopulated helicopter by described erecting frame; Wherein, as shown in Figure 2, described erecting frame is arranged a mounting rod 123, a rotor 124 and driving system (not shown) thereof are set above described mounting rod.Described rotor driver also arranges two cover rotor unit.Such as, described rotor driver comprises described erecting frame and some mounting rods, some rotors and driving system thereof.Wherein, described rotor can adopt existing techniques in realizing, and such as, the end of rotor arranges leading edge convex arc district and trailing edge concave arc area.Convex arc district, concave arc area have respectively and pre-set convex camber line and pre-set spill camber line; Like this, under floating state, for given tension coefficient, little compared with Conventional pneumatic profile rotor of new blade tip aerodynamic configuration design rotor torque coefficient.And for example, described rotor driver comprises one, two or more first rotors, its rotating shaft perpendicular to ground, for being elevated described agricultural depopulated helicopter; Described rotor driver also comprises at least one second rotor, its shaft parallel in ground, for advancing described agricultural depopulated helicopter; Preferably, described rotor driver also comprises the second rotor described at least one pair of, and the rotating shaft of often pair of second rotor is positioned at same straight line, and hand of rotation is arranged on the contrary, for advancing, retreating or realize aerial brake function.
Wherein, described driving system can adopt existing techniques in realizing, such as described driving system comprises imput shaft, be fixedly installed on the concentric driving gear of imput shaft mouth, driven shaft, be fixedly installed on the concentric driven gear of driven shaft input end, the concentric reaction gear A be fixedly connected with on main shaft and with main shaft and be positioned at the concentric reaction gear B be connected below reaction gear A, on main shaft and with spindle mobility.Unmanned rotary wing helicopter comprises rotor head, the main shaft affixed with rotor head.Reaction gear A, reaction gear B, driving gear and driven gear are screw bevel gear.Driving gear and driven gear centrosymmetric are arranged, and reaction gear A engages with driving gear and driven gear respectively, and reaction gear B engages with driving gear and driven gear respectively.Such structure, contributes to cancelling out each other of realizable force, decreases gear wear, adds the stability of driving system.
Preferably, the rotor outside of described rotor driver rotor unit described in each is also fixedly installed the outer wing circle of an annular.Such as, described rotor has three fins.Described rotor is at its outer wing circle internal rotating.Preferably, described outer wing circle arranges coating.Such as, chromatic colour coating, such as yellow coating etc.Preferably, described outer wing circle arranges air holes, and during described rotor wing rotation, air flows through described air holes; Preferably, described air holes arranges the chamber with air intake vent and air outlet, and air intake vent and air outlet be arranged in parallel, and namely both bearing of trends are parallel, non-intersect; During described rotor wing rotation, air flows through air intake vent, chamber interior and air outlet, forms the sound being similar to whistle, for driving bird.
Such as, described erecting frame arranges some mounting rods, also arranges at least one net between at least two mounting rods; Such as, described erecting frame arranges two mounting rods, also arranges a net between two mounting rods; Such as, also at least one net extended between some mounting rods; Preferably, also arrange some nets between some mounting rods, its quantity, distribution and grid can be determined according to actual service condition, for removing winged insect or flying fly etc.; Such as, between two mounting rods, a net is set; Preferably, three purse seines are set, i.e. the trihedral net of tool.Like this, by the size of control mesh, under the environment that winged insect is many, can drive away or catch and kill winged insect, even can also drive bird or catching bird.
Such as, a kind of agricultural depopulated helicopter, it comprises above-mentioned any embodiment.And for example, a kind of agricultural depopulated helicopter, it adopts above-mentioned any embodiment to realize.
It should be noted that, other embodiments of the invention also comprise, and the technical characteristic in the various embodiments described above combines agricultural depopulated helicopter that is formed, that can implement mutually.
For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, are described in detail by reference to the accompanying drawings above to the specific embodiment of the present invention.A lot of detail has been set forth so that fully understand the present invention in superincumbent description.But the present invention can be much different from above-described alternate manner to implement, those skilled in the art can when without prejudice to doing similar improvement when intension of the present invention, and therefore the present invention is by the restriction of disclosed specific embodiment above.And, each technical characteristic of the above embodiment can combine arbitrarily, for making description succinct, the all possible combination of each technical characteristic in above-described embodiment is not all described, but, as long as the combination of these technical characteristics does not exist contradiction, be all considered to be the scope that this specification sheets is recorded.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. an agricultural depopulated helicopter, is characterized in that, comprises solar cell and charge circuit thereof, and storage battery and control circuit thereof;
Described solar cell is used for converting solar energy into electrical energy, and is that described storage battery charges by described charge circuit.
2. agricultural depopulated helicopter according to claim 1, it is characterized in that, described solar cell comprises some solar panels.
3. agricultural depopulated helicopter according to claim 2, is characterized in that, each solar panel scattering device.
4. agricultural depopulated helicopter according to claim 3, it is characterized in that, each solar panel is arranged in series.
5. agricultural depopulated helicopter according to claim 3, it is characterized in that, each solar panel is arranged in parallel.
6. agricultural depopulated helicopter according to claim 1, it is characterized in that, described storage battery comprises some lithium-ions batteries.
7. agricultural depopulated helicopter according to claim 6, is characterized in that, each lithium-ions battery scattering device.
8. agricultural depopulated helicopter according to claim 7, it is characterized in that, each lithium-ions battery is arranged in series.
9. agricultural depopulated helicopter according to claim 7, it is characterized in that, each lithium-ions battery is arranged in parallel.
10., according to the arbitrary described agricultural depopulated helicopter of claim 1 to 9, it is characterized in that, described charge circuit arranges inductive switch.
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| CN201410572827.XA CN104309809B (en) | 2014-10-23 | 2014-10-23 | Agricultural depopulated helicopter |
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| CN201410572827.XA CN104309809B (en) | 2014-10-23 | 2014-10-23 | Agricultural depopulated helicopter |
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| CN104309809B CN104309809B (en) | 2016-10-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20170152843A1 (en) * | 2015-06-01 | 2017-06-01 | SZ DJI Technology Co., Ltd | Brushless pump motor system |
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| CN203491953U (en) * | 2013-09-13 | 2014-03-19 | 武汉美格科技有限公司 | Solar energy system for unmanned plane |
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| CN102440231A (en) * | 2011-09-08 | 2012-05-09 | 中国农业大学 | Automatic spraying machine |
| CN102627147A (en) * | 2012-04-24 | 2012-08-08 | 赵辉 | One-man flight vehicle being capable of lifting vertically and provided with fixed wings |
| CN203491953U (en) * | 2013-09-13 | 2014-03-19 | 武汉美格科技有限公司 | Solar energy system for unmanned plane |
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Effective date of registration: 20181127 Address after: 404-6, 38 Blocks, Cloud Computing Industrial Park, Banan District, Chongqing City, 401320 Patentee after: Chongqing Sino Eagle Aviation Technology Co., Ltd. Address before: 516211 Tai Po South Road 111, freshwater Town, Huiyang District, Huizhou, Guangdong Patentee before: Huang Shouyu |