CN105083555A - Pesticide spraying system for single-rotor unmanned plant protection helicopter - Google Patents
Pesticide spraying system for single-rotor unmanned plant protection helicopter Download PDFInfo
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- CN105083555A CN105083555A CN201410305740.6A CN201410305740A CN105083555A CN 105083555 A CN105083555 A CN 105083555A CN 201410305740 A CN201410305740 A CN 201410305740A CN 105083555 A CN105083555 A CN 105083555A
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- 239000000575 pesticide Substances 0.000 title claims abstract description 29
- 238000005507 spraying Methods 0.000 title claims abstract description 25
- 239000007921 spray Substances 0.000 claims abstract description 63
- 239000007788 liquid Substances 0.000 claims description 29
- 239000003814 drug Substances 0.000 abstract description 18
- 238000000889 atomisation Methods 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 10
- 241000607479 Yersinia pestis Species 0.000 description 5
- 201000010099 disease Diseases 0.000 description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 239000003595 mist Substances 0.000 description 3
- 238000012271 agricultural production Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000000779 smoke Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 206010019233 Headaches Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000003915 air pollution Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 230000002079 cooperative effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 231100000869 headache Toxicity 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000447 pesticide residue Substances 0.000 description 1
- 230000008685 targeting Effects 0.000 description 1
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Abstract
本发明公布了一种单旋翼植保无人机用农药喷洒系统，属于农业无人机植保技术领域。该系统包括药箱，喷头通过管路、阀门与药箱联接，所述的喷头在机身两侧设置两个，两个喷头的连线与主旋翼的竖直轴线十字相交，两个喷头在水平方向的位置为：做该水平方向上的主旋翼下旋气流场边界与机身最外侧的连线线段，喷头位于线段中间位置或以中间位置为中点向两边延伸小于所述线段长度20%范围内。本发明根据主旋翼下旋气流场边界来确定扇形雾喷头的安装位置，能够有效避免无人机主旋翼和尾翼对喷头雾化产生的喷雾扇面的卷扬影响，定向沉积到靶标上，大大提高了农药利用率。
The invention discloses a pesticide spraying system for a single-rotor plant protection drone, which belongs to the technical field of agricultural drone plant protection. The system includes a medicine box, and the nozzles are connected to the medicine box through pipelines and valves. Two nozzles are arranged on both sides of the fuselage, and the connection line of the two nozzles crosses the vertical axis of the main rotor. The position in the horizontal direction is: to make the line segment connecting the boundary of the main rotor down-swirl air field and the outermost side of the fuselage in the horizontal direction, and the nozzle is located in the middle of the line segment or extends to both sides with the middle position as the midpoint and is less than the length of the line segment 20 % range. The invention determines the installation position of the fan-shaped spray nozzle according to the boundary of the swirling air field of the main rotor, which can effectively avoid the hoisting effect of the main rotor and tail of the drone on the spray fan generated by the atomization of the nozzle, and deposit it on the target in a directional manner, greatly improving the utilization rate of pesticides.
Description
技术领域 technical field
本发明涉及一种农药喷洒系统，特别涉及一种单旋翼植保无人机用农药喷洒系统，属于农业无人机植保技术领域。 The invention relates to a pesticide spraying system, in particular to a pesticide spraying system for a single-rotor plant protection drone, belonging to the technical field of agricultural drone plant protection.
背景技术 Background technique
随着我国城乡一体化建设进程加快，发展规模种植已成为我国农业现代化重要举措，随着农业种植大户、家庭农场和农民合作社等新型农业生产经营主体的出现和壮大，传统的人背喷雾器打药防病治虫的植保作业方式，已经不能适应现代农业发展的要求，迫切需要高效率、低成本的现代化植保机械和施药技术。我国农业生产过程中，落后的植保机械和粗放的施药技术，导致农药利用率不高，目前仅35%左右；由于一家一户分散防治，防治不专业，用药混乱，药害现象时有发生；同时农药残留量大，对环境污染严重。病虫害发生重，危害面积大，每年因病虫害无法及时防治导致的减产在10-30%之间。对于种田大户、家庭农场和农民专业合作社等新型的农业生产经营主体，面对大面积突然爆发病虫害疫情时，在短时间很难找到大批施药人员，病虫害防治成了他们最头疼的大事。人工打药，不仅效率低，而且对操作人员的身体伤害非常大，据统计我国每年有20万人因打农药中毒，数千人死亡。农用低空无人施药机具有操作简单、喷洒均匀、用药量少、效率高、容易操作、便于信息化管理等特点，自2006年国家开始发展无人机航空植保施药装备与技术开始，目前出现了以多旋翼、单旋翼飞行器为飞行平台的航空植保机，但在这一领域目前存在这诸多问题，对于单旋翼航空植保无人机的喷雾系统的研究还处于初级阶段，例如关于喷头的选择、喷头安装数量与间距、喷雾系统的配置等还不规范，特别存在存在着雾滴易受旋翼气流影响的问题，造成雾滴飘失，农药对机身污染、雾滴的靶向性低、农药利用效率低且对环境污染等问题。 With the acceleration of the integration of urban and rural areas in my country, the development of large-scale planting has become an important measure for my country's agricultural modernization. The plant protection operation method of disease control and pest control can no longer meet the requirements of modern agricultural development, and there is an urgent need for high-efficiency, low-cost modern plant protection machinery and pesticide application technology. In the process of agricultural production in my country, backward plant protection machinery and extensive pesticide application technology lead to low utilization rate of pesticides, which is only about 35% at present; due to scattered control by one household, unprofessional control, chaotic use of pesticides, pesticide damage occurs from time to time ; At the same time, the amount of pesticide residues is large, which seriously pollutes the environment. The occurrence of pests and diseases is heavy, and the area of damage is large. The annual production reduction due to the failure of timely control of pests and diseases is between 10-30%. For new types of agricultural production and management entities such as large farmers, family farms, and farmers' professional cooperatives, when faced with a sudden outbreak of pests and diseases in a large area, it is difficult to find a large number of pesticide applicators in a short period of time, and pest control has become their biggest headache. Manual spraying is not only inefficient, but also very harmful to the operators. According to statistics, 200,000 people are poisoned by pesticides every year in my country, and thousands of people die. Agricultural low-altitude unmanned pesticide applicators have the characteristics of simple operation, uniform spraying, less dosage, high efficiency, easy operation, and convenient information management. Since 2006, the country began to develop drone aerial plant protection pesticide application equipment and technology. There have been aerial plant protection aircraft with multi-rotor and single-rotor aircraft as flying platforms, but there are many problems in this field. The research on the spray system of single-rotor aerial plant protection drones is still in its infancy. The selection, number and spacing of nozzle installations, and the configuration of the spray system are not standardized. In particular, there are problems that the droplets are easily affected by the rotor airflow, resulting in droplet drift, pesticide pollution to the fuselage, and low targeting of the droplets. , Low efficiency of pesticide utilization and environmental pollution.
发明内容 Contents of the invention
本发明的目的在于克服以上现有技术的缺陷，提供一种单旋翼植保无人机用农药喷洒系统。 The purpose of the present invention is to overcome the above defects in the prior art, and to provide a pesticide spraying system for a single-rotor plant protection drone.
为实现本发明的目的，本发明所采用的技术方案为：单旋翼植保无人机用农药喷洒系统，包括药箱，喷头通过管路、阀门与药箱联接，所述的喷头在机身两侧设置两个，两个喷头的连线与主旋翼的竖直轴线十字相交，两个喷头在水平方向的位置为：做该水平方向上的主旋翼下旋气流场边界与机身最外侧的连线线段，喷头位于线段中间位置或以中间位置为中点向两边延伸小于所述线段长度20%范围内，所述的两个喷头关于主旋翼的竖直轴线对称设置，进一步的，所述的两个喷头在水平方向的位置为：做该水平方向上的主旋翼下旋气流场边界与机身最外侧的连线线段，喷头位于线段中间位置，两个喷头竖直方向上位于起落架高度范围内，所述的两个喷嘴固定在喷杆上，喷杆固定在机身下方的起落架上，进一步的，喷头与药箱之间的管路上设置有过滤器，进一步的，在管路上设置有液泵，液泵连接有液泵控制器，进一步的，喷头连接有喷雾控制器，喷雾控制器控制喷头的开闭，进一步的，所述的喷头采用喷雾角120o喷雾头或空气射流喷头或空心圆锥雾喷头。 In order to achieve the purpose of the present invention, the technical solution adopted in the present invention is: a pesticide spraying system for a single-rotor plant protection drone, including a medicine box, and the spray head is connected with the medicine box through pipelines and valves. Two nozzles are arranged on the side, and the line connecting the two nozzles crosses the vertical axis of the main rotor. Connecting the line segment, the nozzle is located in the middle of the line segment or extends to both sides less than 20% of the length of the line segment with the middle position as the midpoint, and the two nozzles are arranged symmetrically with respect to the vertical axis of the main rotor. Further, the The position of the two nozzles in the horizontal direction is: to make the line segment connecting the boundary of the main rotor down-swirl air field and the outermost side of the fuselage in the horizontal direction, the nozzle is located in the middle of the line segment, and the two nozzles are located in the vertical direction of the landing gear. Within the height range, the two nozzles are fixed on the spray rod, and the spray rod is fixed on the landing gear under the fuselage. Further, a filter is arranged on the pipeline between the spray head and the medicine box. Further, a filter is installed on the pipeline A liquid pump is arranged on the road, and the liquid pump is connected to a liquid pump controller. Further, the spray head is connected to a spray controller, and the spray controller controls the opening and closing of the spray head. Further, the spray head adopts a spray head with a spray angle of 120 ° or an air Jet nozzle or hollow cone mist nozzle.
本发明所具有的积极技术效果为：本发明采用液泵控制器控制液泵转速，达到改变喷量的目的，从而能够实现变量精准施药，喷雾控制器与飞控中的飞行速度控制部分配合，可以弥补因飞行速度不均而造成的施药沉积不均匀，喷雾控制器能够快速控制喷头的开启，避免了因关闭和开启延迟而造成的喷雾不精准现，采用双扇形雾喷头，并根据主旋翼下旋气流场边界来确定扇形雾喷头的安装位置，能够有效避免无人机主旋翼和尾翼对喷头雾化产生的喷雾扇面的卷扬影响，从而减少农药雾滴飘失，以及对无人机机身的和空气的污染，并且雾化产生的农药雾滴在主旋翼下旋气流的胁迫作用下，定向沉积到靶标上，大大提高了农药利用率。 The positive technical effects of the present invention are: the present invention uses a liquid pump controller to control the speed of the liquid pump to achieve the purpose of changing the spray volume, thereby enabling variable and precise spraying, and the spray controller cooperates with the flight speed control part in the flight control , can make up for the uneven spraying deposition caused by uneven flight speed. The spray controller can quickly control the opening of the nozzle, avoiding the inaccurate spraying caused by the delay of closing and opening. The installation position of the fan-shaped spray nozzle is determined by the boundary of the down-swirling airflow field of the main rotor, which can effectively avoid the influence of the main rotor and tail of the UAV on the spray fan generated by the atomization of the nozzle, thereby reducing the loss of pesticide droplets and reducing the risk of spraying without spraying. The air pollution of the man-machine fuselage, and the pesticide droplets produced by atomization are directional deposited on the target under the coercion of the main rotor swirling airflow, which greatly improves the utilization rate of pesticides.
附图说明 Description of drawings
图1是本发明的示意图。 Figure 1 is a schematic diagram of the present invention.
图2是本发明安装在无人机上的示意图。 Fig. 2 is a schematic diagram of the present invention installed on a drone.
具体实施方式 Detailed ways
为了更充分的解释本发明的实施，提供本发明的实施实例。这些实施实例仅仅是对该装置的阐述，不限制本发明的范围。 In order to more fully explain the implementation of the present invention, implementation examples of the present invention are provided. These implementation examples are only illustrations of the device and do not limit the scope of the present invention.
单旋翼植保无人机用农药喷洒系统，包括药箱，喷头通过管路、阀门与药箱联接，所述的喷头在机身两侧设置两个，两个喷头的连线与主旋翼的竖直轴线十字相交，两个喷头在水平方向的位置为：做该水平方向上的主旋翼下旋气流场边界与机身最外侧的连线线段，喷头位于线段中间位置或以中间位置为中点向两边延伸小于所述线段长度20%范围内，所述的两个喷头关于主旋翼的竖直轴线对称设置，进一步的，所述的两个喷头在水平方向的位置为：做该水平方向上的主旋翼下旋气流场边界与机身最外侧的连线线段，喷头位于线段中间位置，两个喷头竖直方向上位于起落架高度范围内，所述的两个喷嘴固定在喷杆上，喷杆固定在机身下方的起落架上，进一步的，喷头与药箱之间的管路上设置有过滤器，进一步的，在管路上设置有液泵，液泵连接有液泵控制器，进一步的，喷头连接有喷雾控制器，喷雾控制器控制喷头的开闭，进一步的，所述的喷头采用喷雾角120o喷雾头或空气射流喷头或空心圆锥雾喷头。本发明的喷头不仅仅限于采用扇形喷头，可以扇形喷头，空气射流喷头、空心圆锥雾喷头等形式喷头。 A pesticide spraying system for a single-rotor plant protection UAV, including a medicine box. The nozzle is connected to the medicine box through a pipeline and a valve. Two nozzles are arranged on both sides of the fuselage. The straight axes intersect at a cross, and the position of the two nozzles in the horizontal direction is as follows: make the line segment connecting the boundary of the main rotor downswirl air field and the outermost side of the fuselage in the horizontal direction, and the nozzle is located in the middle of the line segment or with the middle position as the midpoint Extending to both sides within 20% of the length of the line segment, the two nozzles are arranged symmetrically with respect to the vertical axis of the main rotor. Further, the positions of the two nozzles in the horizontal direction are: The line segment connecting the boundary of the down-swirling airflow field of the main rotor and the outermost side of the fuselage, the nozzle is located in the middle of the line segment, and the two nozzles are located within the height range of the landing gear in the vertical direction, and the two nozzles are fixed on the spray rod. The spray rod is fixed on the undercarriage under the fuselage. Further, a filter is arranged on the pipeline between the nozzle and the medicine tank. Further, a liquid pump is arranged on the pipeline, and the liquid pump is connected to a liquid pump controller. Further, Yes, the spray head is connected with a spray controller, and the spray controller controls the opening and closing of the spray head. Further, the spray head adopts a spray head with a spray angle of 120 ° or an air jet spray head or a hollow cone spray head. The nozzle of the present invention is not limited to the use of fan-shaped nozzles, but can be fan-shaped nozzles, air jet nozzles, hollow cone mist nozzles and other forms of nozzles.
更为详细的实施方式如附图所示：图中各标记所示为：1：药箱、2：管路、3：过滤器、4：液泵、5：液泵控制器、6：电源、7：喷雾控制器、8：喷头体、9：防滴阀、10：喷头、11：喷杆、12：主旋翼、13：下旋气流场边界、14：机身、15：起落架、16：喷雾扇形面、17：机身外侧边界线、18：机身外侧边界与下旋气流场边界之间的连线L。起落架也称支撑架。本发明最好与与载药量为5-25L的单旋翼植保无人机配套使用，如图所示，药箱1通过管路2与过滤器3、液泵4、喷雾控制器7、喷头体8依次连接，喷头体8固定在喷杆11上，喷杆11水平连接在起落架15上，过滤器3安装在药箱1与液泵4之间的管路上，对进入液泵4的药液进行过滤，避免药液中的杂质损坏液泵4与堵塞喷头10，液泵控制器5由电源6供电，能够控制液泵4开闭以及液泵转速，从而调整流量，实现变量喷雾，液泵控制器由无人机飞控发出，喷雾控制器7能够控制喷头10的开闭，由电源6供电，控制由无人机控制，液泵4可采用内腐蚀的电动隔膜泵或齿轮泵，要求流量与压力满足喷头雾化以及施药量的要求，雾化装置由2个扇形雾喷头组成，10所示为其中一个，喷头10安装在喷头体8上，雾化产生的喷雾扇面方向与喷杆夹角5-10°，避免两个喷雾扇面的相互干涉，喷头体8上装配有防滴阀9，可以减少农药滴漏，喷头体8固定在喷杆11上，喷杆11固定在机身14下方的起落架15上，喷头的固定位置处于无人机主旋翼12下方，主旋翼12产生的下旋气流场13边界与机身14的中间，具体的安装位置确定过程为：前后位置的确定：两个喷头连线的中点在主旋翼12的轴线上，左右位置的确定：首先做出机身14最外侧边界，图2中虚线17所示即为机身14最外侧边界，确定下旋气流场13的边界，可通过烟雾法、等流场指示方法等确定主旋翼12产生的下旋气流场13的外边界，做出虚线17和下旋气流场13外边界之间的连线线段，图2中18所示为其中一个水平方向上的连线线段L，喷头的位置为与线段L的中点两边延伸小于线段L长度20%范围内，可保证两个使喷雾扇面16处于主旋翼产生的下旋气流13中，而避免发生卷扬。施药时，将本系统安装固定到无人机上，药箱1固定在主旋翼下方机身两侧，过滤器3、液泵4、喷雾控制器7、喷头体8通过管路2依次连接，安装位置尽量低于药箱1底部。将液泵控制器5与液泵4、电池6连接，喷雾控制器与电池6连接。将喷头体8固定在喷杆11上，喷杆11固定在机身14下方的起落架15上。通过烟雾法等流场指示方法确定主旋翼12产生的下旋气流场13的外边界，根据所确定的下旋气流场13的外边界与挂载药箱后的无人机机身14之间的空间调整两个扇形雾喷头10之间的间距，在药箱1中加入适量清水，检查无人机操控系统无误后，启动喷雾系统，在无人机静态时运转喷雾系统，并通过飞控控制液泵控制器5与喷雾控制器7，检查有无药液滴漏、控制反应是否准确可控。静态检查完成后，当室外无风时，启动无人机，在无人机飞行至指定区域和指定高度并飞行平稳后，遥控开启喷雾系统进行喷雾，检查主旋翼12产生的下旋气流场13对喷雾扇面16是否存在卷扬现象，如果存在雾滴卷扬，则向机身14处稍微调整喷头位置，直到明显的卷扬现象消失。更为具体的安装方式：将此系统安装在旋翼半径为950mm的单旋翼植保无人机上时，安装喷雾角120°的标准扇形雾二号喷头，喷头流量：1.63L/min，作业速度4m/s，喷头间距90cm，作业飞行高度2m时，喷幅为5m，作业飞行高度3m时，喷幅为7m。本发明所提供的技术方案在允许进行农业植保的天气条件下较其它的喷头布置方式均能取得较好的效果。 A more detailed implementation is shown in the accompanying drawings: the marks in the figure are: 1: medicine box, 2: pipeline, 3: filter, 4: liquid pump, 5: liquid pump controller, 6: power supply , 7: Spray controller, 8: Nozzle body, 9: Anti-drip valve, 10: Nozzle, 11: Spray boom, 12: Main rotor, 13: Downswirl air field boundary, 14: Fuselage, 15: Landing gear, 16: spray fan-shaped surface, 17: outer boundary line of fuselage, 18: connection line L between outer boundary of fuselage and boundary of downward swirl air field. The landing gear is also called the support frame. The present invention is preferably used with a single-rotor plant protection drone with a drug load of 5-25L. As shown in the figure, the medicine box 1 passes through the pipeline 2 and the filter 3, the liquid pump 4, the spray controller 7, and the nozzle The body 8 is connected in turn, the nozzle body 8 is fixed on the spray bar 11, the spray bar 11 is horizontally connected on the landing gear 15, the filter 3 is installed on the pipeline between the medicine box 1 and the liquid pump 4, and the water entering the liquid pump 4 The liquid medicine is filtered to prevent impurities in the liquid medicine from damaging the liquid pump 4 and blocking the nozzle 10. The liquid pump controller 5 is powered by the power supply 6 and can control the opening and closing of the liquid pump 4 and the speed of the liquid pump, thereby adjusting the flow rate and realizing variable spraying. The liquid pump controller is issued by the UAV flight control. The spray controller 7 can control the opening and closing of the nozzle 10. It is powered by the power supply 6 and controlled by the UAV. The liquid pump 4 can use an internally corroded electric diaphragm pump or gear pump. , the flow rate and pressure are required to meet the requirements of nozzle atomization and spraying amount. The atomization device is composed of two fan-shaped spray nozzles, one of which is shown in 10. The nozzle 10 is installed on the nozzle body 8. The direction of the spray fan surface generated by atomization is The included angle with the spray bar is 5-10° to avoid mutual interference between the two spray fans. The spray head body 8 is equipped with an anti-drip valve 9, which can reduce pesticide dripping. The spray head body 8 is fixed on the spray bar 11, and the spray bar 11 is fixed on the On the landing gear 15 below the fuselage 14, the fixed position of the nozzle is below the main rotor 12 of the UAV, and the boundary of the down-swirling airflow field 13 generated by the main rotor 12 is in the middle of the fuselage 14. The specific installation position determination process is: front and rear Determination of the position: the midpoint of the line connecting the two nozzles is on the axis of the main rotor 12, determination of the left and right positions: first make the outermost boundary of the fuselage 14, and the dotted line 17 in Fig. 2 is the outermost boundary of the fuselage 14 , to determine the boundary of the downswirling airfield 13, the outer boundary of the downswirling airflow field 13 generated by the main rotor 12 can be determined by the smoke method, the flow field indication method, etc. 18 in Figure 2 is one of the connecting line segments L in the horizontal direction. The position of the nozzle is within 20% of the length of the line segment L and the midpoint of the line segment L, so that two spraying nozzles can be guaranteed. The fan surface 16 is in the downswirling airflow 13 generated by the main rotor to avoid hoisting. When spraying, install and fix this system on the UAV, the medicine box 1 is fixed on both sides of the fuselage under the main rotor, the filter 3, the liquid pump 4, the spray controller 7, and the nozzle body 8 are connected in sequence through the pipeline 2, The installation position is lower than the bottom of the medicine box 1 as much as possible. The liquid pump controller 5 is connected with the liquid pump 4 and the battery 6, and the spray controller is connected with the battery 6. The nozzle body 8 is fixed on the spray rod 11, and the spray rod 11 is fixed on the landing gear 15 below the fuselage 14. Determine the outer boundary of the downswirling airflow field 13 generated by the main rotor 12 by a flow field indication method such as the smoke method, and according to the distance between the outer boundary of the determined downswirling airflow field 13 and the UAV fuselage 14 after the medicine box is mounted Adjust the distance between the two fan-shaped spray nozzles 10, add an appropriate amount of water to the medicine box 1, and check that the control system of the drone is correct, start the spray system, run the spray system when the drone is static, and pass the flight control Control the liquid pump controller 5 and the spray controller 7 to check whether there is dripping of medicinal liquid and whether the control reaction is accurate and controllable. After the static inspection is completed, when there is no wind outside, start the UAV, and after the UAV flies to the designated area and designated altitude and the flight is stable, the remote control opens the spray system for spraying, and checks the downswirling airflow field 13 generated by the main rotor 12 Whether there is a hoisting phenomenon on the spray fan surface 16, if there is a mist hoisting phenomenon, then slightly adjust the nozzle position toward the fuselage 14 until the obvious hoisting phenomenon disappears. More specific installation method: When installing this system on a single-rotor plant protection UAV with a rotor radius of 950mm, install the standard fan-shaped fog No. 2 nozzle with a spray angle of 120°. s, the distance between nozzles is 90cm, when the operating flight height is 2m, the spray width is 5m, and when the operating flight height is 3m, the spray width is 7m. The technical scheme provided by the invention can achieve better effects than other sprinkler arrangements under weather conditions that allow agricultural plant protection.
在详细说明本发明的实施方式之后，熟悉该项技术的人士可清楚地了解，在不脱离上述申请专利范围与精神下可进行各种变化与修改，凡依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均属于本发明技术方案的范围，且本发明亦不受限于说明书中所举实例的实施方式。 After describing the implementation of the present invention in detail, those familiar with the technology can clearly understand that various changes and modifications can be made without departing from the scope and spirit of the above-mentioned patent application. Any simple amendments, equivalent changes and modifications all belong to the scope of the technical solution of the present invention, and the present invention is not limited to the implementation methods exemplified in the specification.
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| CN108605921A (en) * | 2018-05-09 | 2018-10-02 | 王喆 | A kind of scenic spot unmanned plane spraying device |
| CN112977829A (en) * | 2021-04-08 | 2021-06-18 | 郑志程 | Intelligent unmanned aerial vehicle pesticide sprinkler |
| CN113396884A (en) * | 2021-05-19 | 2021-09-17 | 刘中亚 | Semi-automatic backpack pesticide sprinkler |
| CN115503958A (en) * | 2022-09-27 | 2022-12-23 | 南京拓攻自动驾驶技术研究院有限公司 | Anti-drip valve and unmanned aerial vehicle |
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