CN105253303A - Device and method for regulating unmanned aerial vehicle spray range - Google Patents
Device and method for regulating unmanned aerial vehicle spray range Download PDFInfo
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- CN105253303A CN105253303A CN201510695576.9A CN201510695576A CN105253303A CN 105253303 A CN105253303 A CN 105253303A CN 201510695576 A CN201510695576 A CN 201510695576A CN 105253303 A CN105253303 A CN 105253303A
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Abstract
The invention discloses a device and a method for regulating an unmanned aerial vehicle spray range, and belongs to the field of unmanned aerial vehicles. The device comprises an unmanned aerial vehicle main body, a spray mechanism and a rotor wing assembly for driving the unmanned aerial vehicle main body; the rotor wing assembly comprises at least three groups of propellers which surround the unmanned aerial vehicle main body; an included angle is formed between a propeller shaft and a central shaft of the unmanned aerial vehicle main body. According to the device and the method, under the condition that normal flying of the multi-rotor-wing unmanned aerial vehicle is ensured, an angle between the propeller shaft and the central shaft of the unmanned aerial vehicle main body can be adjusted according to practical spray requirements; for meeting the wide-range and large covering area spray requirement, the propeller shaft can be regulated to be inclined inwardly; aiming at the condition that medical liquid is required to be applied to roots of higher plants, the propeller shaft can be appropriately regulated to be inclined outwards, so that spraying of the medical liquid can be more centralized.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, be specifically related to a kind of unmanned plane spraying range setting device and method.
Background technology
In agricultural production process, spraying insecticide is the required measure ensureing product normal growth, and because operations number is more and have toxic effect to human body, now sprayed insecticide by unmanned plane, alternative artificial spray, completes the work task of heavy danger.Due to the flight of many rotor wing unmanned aerial vehicles flexibly stable, lightweight, landing not limited by place, the multiple performance advantage such as can aloft to hover, be currently widely used in field of pesticide delivery.
But the spraying range at present for unmanned plane liquid is main still under wind-force is condition vertically downward, is improved by the performance improvement of nozzle, the layout of nozzle and is promoted medicine liquid spray effect.
Such as, application number be 201420299238.4 Chinese utility model patent disclose a kind of agricultural unmanned plane, comprise body and be arranged on the medicine liquid spray system on described body, described body comprises cross-coupled first strut bar and the second strut bar mutually, be arranged on four the first disc brushless motors of described first strut bar, the blade being arranged on four the second disc brushless motors on described second strut bar and being arranged on described first disc brushless motor and described second disc brushless motor, four described first disc brushless motors and four described second disc brushless motors are that Back Word type is symmetrical, described medicine liquid spray system comprises for medicine-chest, with the described liquid pump that is communicated with for medicine-chest and pass through multiple injector heads of pipeline communication with described liquid pump, described multiple injector head is all arranged on the below of described blade.
Spraying range when this mode relatively-stationaryly can determine that liquid just ejects, but aerosolized medication can only land under gravity afterwards, when environmental conditions is unfavorable, than when if any crosswind, probably causes medicine liquid spray uneven.
Again such as, application number be 201420720342.6 Chinese utility model patent disclose a kind of four rotor wing unmanned aerial vehicles sprayed for agriculture Pesticides, comprise Main Control Tank, support, four rotors, spray medicine-chest and anti-bellows, described support is X-type support, and the center is fixedly connected with in described Main Control Tank, four described rotors are separately positioned on the outer end of described X-type support, described anti-bellows to be arranged on below described Main Control Tank and to be fixedly connected with it, described spray medicine-chest is arranged in described anti-bellows, and its spray medicine mouth straight down.This four rotor wing unmanned aerial vehicle completes the sprinkling to agricultural chemicals by the spray medicine-chest be arranged on below unmanned plane, simultaneously by its path of downward air flow disturbs that anti-bellows avoid rotor to produce.
In fact, owing to producing downward wind-force during unmanned plane during flying, the atomizing effect of pesticide spraying can be strengthened, and liquid conveying function can be strengthened by actv..Operating altitude due to many rotor wing unmanned aerial vehicles is not often very high, and the service condition that specific aim is sprayed is more, and the wind-force that now many rotor wing unmanned aerial vehicles are downward can play very large atomization liquid and flow to guiding function.
Therefore, be necessary that the wind-force to many rotor wing unmanned aerial vehicles provide utilizes downwards, thus realize the control effects obtaining better atomization medicine liquid spray scope according to different sprinkling demands.
Summary of the invention
Goal of the invention of the present invention is to provide a kind of unmanned plane spraying range setting device and method, when guaranteeing many rotor wing unmanned aerial vehicles normal flight, utilize the downward wind-force that the propeller rotational of described many rotor wing unmanned aerial vehicles produces, control the spraying range of atomization liquid.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is as follows:
A kind of unmanned plane spraying range setting device, comprise unmanned plane main body, spraying mechanism and drive the rotor assemblies of described unmanned plane main body, described spraying mechanism carry is below described unmanned plane, described rotor assemblies comprises at least three group screw propellers, described screw propeller is arranged around described unmanned plane main body, it is characterized in that: have angle between the center shaft of described prop shaft and described unmanned plane main body.
Further, described prop shaft to slope inwardly the first angle relative to the center shaft of described unmanned plane main body, and the scope of described first angle is 2 °-20 °.
Further, described prop shaft is relative to outward-dipping second angle of the center shaft of described unmanned plane main body, and the scope of described second angle is 5 °-12 °.
Further, also comprise according to sprinkling demand determine described angle direction and size parameter control module and according to described angle parameter change prop shaft and described unmanned plane main body center shaft between the angle adjusting mechanism of angle, described control module is positioned at described unmanned plane main body, described control module is electrically connected described angle adjusting mechanism, and the angle parameters input determined is to described angle adjusting mechanism.
Further, described unmanned plane also comprises symmetrically arranged strut bar, the inner end of described strut bar connects described unmanned plane main body, the end, outer end of described strut bar arranges described rotor assemblies, wherein, described angle adjusting mechanism is arranged at the junction of described prop shaft and described strut bar and/or the junction of described strut bar and described unmanned plane main body.
Further, described spraying mechanism comprise be positioned at described screw propeller lower position towards being nozzle straight up or obliquely.
Further, described nozzle is the nozzle that array at least two of evenly arranging and/or cone angle are larger.
Further, described spraying mechanism comprises the nozzle be oriented straight down being positioned at position immediately below described unmanned plane main body.
According to another aspect of the present invention, a kind of unmanned plane spraying range method of adjustment, comprises the following steps:
The direction of angle and size parameter between the center shaft determining described prop shaft and described unmanned plane main body according to sprinkling demand;
Angle between the center shaft regulating described prop shaft and described unmanned plane main body according to described angle parameter.
Further, described angle comprises the first angle and the second angle, and described first angle is that described prop shaft slopes inwardly relative to the center shaft of described unmanned plane main body, and its scope is 2 °-20 °; Described second angle is that described prop shaft is outward-dipping relative to the center shaft of described unmanned plane main body, and its scope is 5 °-12 °.
The invention discloses a kind of unmanned plane spraying range setting device and method, when guaranteeing many rotor wing unmanned aerial vehicles normal flight, its prop shaft can spray according to reality completely relative to the angle of the center shaft of unmanned plane main body to be needed to adjust, for the sprinkling demand of wide scope, large area coverage, prop shaft can be adjusted and slope inwardly; And higher for plant, need the situation that liquid can be covered targetedly plant root, then suitably can adjust prop shaft outward-dipping, make medicine liquid spray more concentrated.
On the other hand, this unmanned plane spraying range setting device and method are on the basis adjusted wind-force by screw propeller, and the position of all right suitably layout atomizer, makes both cooperatively interact, reach better spraying range control effects.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, clearly understand in order to technological means of the present invention can be made, reach the degree that those skilled in the art can be implemented according to the content of specification sheets, and in order to above and other objects of the present invention, feature and advantage can be allowed to become apparent, be illustrated with the specific embodiment of the present invention below.
Accompanying drawing explanation
By reading the detailed description in hereafter preferred detailed description of the invention, the present invention various other advantage and benefit will become cheer and bright for those of ordinary skill in the art.Figure of description only for illustrating the object of preferred implementation, and does not think limitation of the present invention.Apparently, accompanying drawing described below is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.And in whole accompanying drawing, represent identical parts with identical Reference numeral.In the accompanying drawings:
Fig. 1 shows the unmanned plane spraying range setting device structural representation according to the embodiment of the present invention one;
Fig. 2 is that the prop shaft of the unmanned plane spraying range setting device of the embodiment of the present invention one slopes inwardly schematic diagram;
Fig. 3 is the outward-dipping schematic diagram of prop shaft of the unmanned plane spraying range setting device of the embodiment of the present invention one;
Fig. 4 is the angle adjusting mechanism schematic diagram of the unmanned plane spraying range setting device of the embodiment of the present invention one;
Fig. 5 shows the unmanned plane spraying range method of adjustment diagram of circuit based on the embodiment of the present invention two.
Detailed description of the invention
In more detail specific embodiments of the invention are described below with reference to accompanying drawings.Although show specific embodiments of the invention in accompanying drawing, however should be appreciated that can realize the present invention in a variety of manners and not should limit by the embodiment set forth here.On the contrary, provide these embodiments to be in order to more thoroughly the present invention can be understood, and complete for scope of the present invention can be conveyed to those skilled in the art.
It should be noted that, in the middle of specification sheets and claim, employ some vocabulary to censure specific components.Those skilled in the art should be appreciated that hardware manufacturer may call same assembly with different noun.This specification and claims are not used as with the difference of noun the mode distinguishing assembly, but are used as the criterion of differentiation with assembly difference functionally." comprising " or " comprising " as mentioned in the middle of specification sheets and claim is in the whole text an open language, therefore should be construed to " comprise but be not limited to ".Specification sheets subsequent descriptions is for implementing better embodiment of the present invention, and right described description is for the purpose of the rule of specification sheets, and is not used to limit scope of the present invention.Protection scope of the present invention is when being as the criterion depending on the claims person of defining.
For ease of the understanding to the embodiment of the present invention, be further explained explanation below in conjunction with accompanying drawing for several specific embodiment, and each accompanying drawing does not form the restriction to the embodiment of the present invention.
Unmanned vehicle is called for short " unmanned plane ", and english abbreviation is " UAV (unmannedaerialvehicle) ", is the not manned aircraft utilizing radio robot to handle with the process controller provided for oneself.Can be divided into from technical standpoint definition: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc.In recent years, along with the increase of the raising of sensor process, the progress of microprocessor technology, the improvement of engine installation and battery durable ability, make it constantly expand at a high speed in the purposes in military, civilian, unmanned plane market has bright prospects.
The unmanned plane that technical solution of the present invention adopts mainly refers to little, miniature many rotor unmanned aircrafts, and this unmanned vehicle volume is little, cost is low, flight stability is better, and flight cost is low.The present invention use aircraft, typically with four axle multi-rotor aerocrafts for representative.
Embodiment one, a kind of unmanned plane spraying range setting device.
Fig. 1 is the unmanned plane spraying range setting device structural representation of the embodiment of the present invention one, and composition graphs 1 is specifically described by the embodiment of the present invention.
As shown in Figure 1, embodiments provide a kind of unmanned plane spraying range setting device, comprise unmanned plane main body 101, spraying mechanism 102 and drive the rotor assemblies of described unmanned plane main body 101, described rotor assemblies comprises at least three group screw propellers 104, be appreciated that the quantity of screw propeller can be four groups, six groups, eight groups etc.Described spraying mechanism carry is below described unmanned plane, and described screw propeller 104 is arranged around described unmanned plane main body 101, in order to ensure unmanned vehicle operation stability, as preferably, organizes screw propeller uniform ring to distribution more.Between the center shaft of described prop shaft and described unmanned plane main body 101, there is angle.
Preferred in the embodiment of the present invention, described unmanned plane main body 101 top also comprises strut bar 103, and described strut bar 103 forms by from the outward extending rod member in described unmanned plane main body 101 center.Described strut bar 103 installs described screw propeller 104, and described screw propeller 104 is arranged at the end of described strut bar 103, and described strut bar 103 is symmetricly set on described unmanned plane main body 101 circumferentially, and its quantity is consistent with the quantity of described screw propeller 104.Here, described prop shaft refers to the perpendicular line in the blade face of described screw propeller.The plane formed after blade face is herein defined as screw propeller rotational run, described prop shaft is perpendicular to this plane.
Preferred in the embodiment of the present invention, the inner end winding support of described strut bar 103 is installed in described unmanned plane main body 101, described screw propeller 104 is fixed or the adjustable end, outer end being arranged at described strut bar 103 of angle direction, the main body of described screw propeller 104 is heeling condition, between its blade and described strut bar 103, there is angle, like this, between the center shaft that can realize described prop shaft and described unmanned plane main body 101, there is angle.
Preferred in the embodiment of the present invention, described screw propeller 104 is fixedly installed in the end, outer end of described strut bar 103, it is not heeling condition relative to described strut bar 103, parallel between its blade with described strut bar 103, and there is between the inner end of described strut bar 103 and described unmanned plane main body 101 fixing the or adjustable angle of angle direction, like this, between the center shaft that also can realize described prop shaft and described unmanned plane main body 101, there is angle.Such as, described unmanned plane main body offers the guiding groove of inclination, the inner end of described strut bar 103 is plugged in described guiding groove, and this grafting can be fixing, also can be adjustable.
The described unmanned plane spraying range setting device that the embodiment of the present invention provides, it can be applied to the maintenance of agricultural vegetation, as sprayed insecticide, scattering seeds, also can be applied to other field, e.g., marine scrubbing, fire-fighting fire extinguishing etc.
Preferred in the embodiment of the present invention, described spraying mechanism 102 comprises the shower nozzle sprayed by flowable mass, the container being used for accommodating described flowable mass and described flowable mass is delivered to the extracting unit in described shower nozzle, described container is through transfer line and described shower nozzle inlet communication, and described shower nozzle, container and extracting unit are equipped in described unmanned plane main body 101.Wherein, described extracting unit can be water pump, exhaust blower etc.Described flowable mass can be liquid, powder, particle etc.
Specifically in the illustrated embodiment in which, described shower head mechanism 102 is installed in a unmanned plane main body, described container is used for carrying liquid agricultural chemicals, described container upright is arranged on below described unmanned plane main body 101, described extracting unit is the water pump for extracting liquid agricultural chemicals, and shower head mechanism 102 described in described UAV flight is sprayed insecticide from aerial agricultural vegetation earthward.
Preferred in the embodiment of the present invention, described unmanned plane bottom part body one end is provided with equalizer bar, and the other end is provided with spray boom, spray boom upper end connects in the described container of importing, spray boom lower end is provided with liquid outlet, and container top is provided with liquid-feeding tube passage, and liquid-feeding tube passage upper end is provided with spiral cover.
Preferably, between described spray boom and described container, be provided with an electromagnetic valve, conducting between spray boom and described container described in described solenoid control, thus control the outflow of agricultural chemicals.Preferably, described liquid-feeding tube passage end is communicated with in the described container of importing, and the described liquid-feeding tube passage other end protrudes in described unmanned plane main body 101 and arranges, and described spiral cover is placed on described liquid-feeding tube passage.Like this, the filling of agricultural chemicals is very convenient, and spiral cover of outwarding winding adds from the liquid-feeding tube passage of unmanned plane body top.Preferably, described spiral cover is connected with described liquid-feeding tube passage threaded upper ends.
Preferred in the embodiment of the present invention, be described for four rotor wing unmanned aerial vehicles.Described unmanned plane main body 101 is evenly distributed in 4 symmetrically arranged described strut bars 103, above end, described strut bar 103 outer end, bearing is installed, described bearing is installed screw propeller motor, described screw propeller 104 is positioned at above described screw propeller motor, and by described screw propeller motor direct-drive.At present, many rotor wing unmanned aerial vehicles adopt multiple individual motor to drive, such as: four rotor wing unmanned aerial vehicles adopt four individual motor to drive.Many rotor wing unmanned aerial vehicles can realize static state better by the thrust that multiple rotor produces and spiral, and can change its attitude under unsettled static state in the short time, have the manoevreability of height and effective bearing capacity.
Preferred in the embodiment of the present invention, one end of described strut bar 103 is fixed in described unmanned plane main body 101, the other end has the bearing of inclination, and described screw propeller motor is fixedly mounted on described bearing, has angle between described bearing and described strut bar 103.Preferably, the one side of described bearing is fixedly connected with the hub surface of described screw propeller 104, one side opposing is with it fixed two parallel set collars, and described set collar socket is fixed on the end of described strut bar 103; The surface of the bearing be connected with described hub surface is an inclined-plane, and described one side opposing is with it plane.Be obliquely installed by bearing in this embodiment and realize screw propeller 104 axle.Be appreciated that described bearing can by weld, be spirally connected, rivet, end that the mode such as grafting is fixed on described strut bar 103, also can be formed by the end extension bending of described strut bar 103.
Preferred in the embodiment of the present invention, described prop shaft to slope inwardly the first angle [alpha] relative to the center shaft of described unmanned plane main body, and the scope of described first angle [alpha] is 2 °-20 °.
In order to ensure the stability of unmanned plane during flying and take into account flight efficiency, the scope of described a angle is 5 °-12 °.As preferably, a angle can be chosen for 12 °, 11.5 °, 10.5 °, 9 °, 8 °, 7.5 ° or 5 °.
Like this when carrying out spraying operation, screw propeller not only plays the effect of flight, and liquid can be made during its high-speed operation evenly to spray earthward, and the angle that screw propeller and strut bar place are formed can make spraying range wider, improves the operating efficiency of unmanned plane.
Fig. 2 is that the prop shaft of the unmanned plane spraying range setting device of the embodiment of the present invention slopes inwardly schematic diagram, comprise strut bar 103 and screw propeller 104, the first angle 201 between the center shaft of described prop shaft and described unmanned plane main body, produces when described screw propeller 104 rotates and is tilted to outer power F202.
Preferred in the embodiment of the present invention, described shower nozzle comprises nozzle, rotating disk and brushless motor.Described brushless motor is connected with described rotating disk, and drives described dial rotation, and described nozzle is arranged towards described rotating disk.Preferably, described shower nozzle also comprises the electronic governor for driving described brushless motor, and described electronic governor can control the operative condition of described brushless motor, thus drives described dial rotation.Shower nozzle described in the present embodiment have employed brushless motor and drives described dial rotation, the rotating speed of described rotating disk is enable to obtain controlling comparatively accurately, and higher velocity of rotation can be obtained, thus make described nozzle structure when spraying the liquid such as liquid medicine, its amplitude of spraying can obtain controlling comparatively accurately, to adapt to different work requirements.Under described brushless motor high speed rotating state, the atomizing effect of the liquid such as liquid medicine is relatively better.
Preferred in the embodiment of the present invention, described prop shaft is relative to outward-dipping second angle beta of the center shaft of described unmanned plane main body, and the scope of described second angle beta is 5 °-12 °.
In order to ensure the stability of unmanned plane during flying and take into account flight efficiency, the scope of described β angle is 1 °-5 °.As preferably, β angle can be chosen for 5 °, 4.5 °, 3.5 °, 2.5 °, 2 °, 1.5 ° or 1 °.
α angle suitably increases, although reduce flight efficiency, can increase flight stability, so angular range is larger than β angular region; And β angle suitably increases, reduce flight efficiency and also can produce wind-force conflict, so angular range is smaller.
Fig. 3 is the outward-dipping schematic diagram of prop shaft of the unmanned plane spraying range setting device of the embodiment of the present invention, comprise strut bar 103 and screw propeller 104, the second angle 301 between the center shaft of described prop shaft and described unmanned plane main body, produces when described screw propeller 104 rotates and is tilted to outer power F302.
The liquid Main Basis gravity fall of atomizer ejection, for flourishing plant, effective dispenser is difficult near its root, now by adjustment many rotor wing unmanned aerial vehicles prop shaft to, make it outward-dipping relative to the center shaft of unmanned plane main body, downward and the inside wind-force comparatively concentrated can be provided targetedly, can effectively impel liquid to go directly near plant root thus.
Preferred in the embodiment of the present invention, described shower nozzle comprises brush motor, rotating disk and nozzle, the liquid such as liquid medicine are sprayed onto on the rotating disk that driven by described brush motor from described nozzle, due to centrifugal action, liquid medicine strikes after on described rotating disk, to disperse atomization to described rotating disk surrounding, thus spray to agricultural vegetation.Shower nozzle described in the present embodiment adopts brush motor to drive dial rotation, and the rotating speed of brush motor is relatively low, and make the atomizing effect of liquid medicine poor, spraying range is relatively little, more pointed.Certainly, above-mentioned brushless motor also can be adopted to drive described rotating disk, and the velocity of rotation operationally turning down described brushless motor also can realize the object of spraying among a small circle.
Preferred in the embodiment of the present invention, also comprise according to sprinkling demand determine described angle direction and size parameter control module and according to described angle parameter change prop shaft and described unmanned plane main body center shaft between the angle adjusting mechanism of angle, described control module is positioned at described unmanned plane main body, described control module is electrically connected described angle adjusting mechanism, and the angle parameters input determined is to described angle adjusting mechanism.
Preferred in the embodiment of the present invention, described unmanned plane also comprises symmetrically arranged strut bar, the inner end of described strut bar connects described unmanned plane main body, the end, outer end of described strut bar arranges described rotor assemblies, wherein, described angle adjusting mechanism is arranged at the junction of described prop shaft and described strut bar and/or the junction of described strut bar and described unmanned plane main body.Namely angular adjustment here can be realized by two kinds of modes: one is prop shaft adjustment, and one is strut bar adjustment.Wherein, comparatively speaking, the mechanical stability of front a kind of mode is less better, and the scheme of strut bar adjustment is sayed from design angle, and mechanical stability is better.The cost of separate unit unmanned plane is higher, if also will prepare multiple stage unmanned plane according to above-mentioned thinking for different plant protection demands, cost will be made to become and be difficult to accept.In fact, as long as allow screw propeller axial angle become adjustable angle structure, can allow a unmanned plane can corresponding different sprinkling demand.
The center shaft angulation of prop shaft and unmanned plane main body can be defined as prop shaft distortion angle, when inwardly departing from, is referred to as α angle; When outwards departing from, be referred to as β angle.Here inwardly refer to that the angle between screw propeller front diminishes, but when up observing unmanned plane from ground, it is seen that the angle between the screw propeller of unmanned plane becomes large; Here outwards refer to that angle between screw propeller front becomes large, but when up observing unmanned plane from ground, it is seen that the angle between the screw propeller of unmanned plane diminishes.But, the difference of so-called inwardly outer just viewing angle, can produce the outside component distally sprayed by liquid here during propeller rotational is exactly inwardly depart from, can produce during propeller rotational by liquid to nearby concentrate inside component be exactly outwards depart from.
Time as α angle, its effect is the propelling movement wind-force producing outside horizontal direction component, and the scope of medicine liquid spray can be made to expand further; Time as β angle, when β angle is little, produces the propelling movement wind-force of inwardly polymerization during its effect, wind-force can be made more concentrated, make the dynamics of medicine liquid spray stronger.
Therefore, for different medicine liquid spray demands, can design and the deviation angle of this prop shaft is changed.
Preferred in the embodiment of the present invention, concrete described prop shaft slopes inwardly or outward-dipping, can according to the image of the camera collection on unmanned plane, judge crops situation to determine, also can by manually being controlled by control desk, can also according to current wind direction, current flight speed and flying height, spray area etc. because usually determining.
Make the scheme of the adjustable angle of prop shaft a lot, the structure of electronic adjustment that both can be the structure of manually adjustment also can be; And the mode of angular adjustment can be both stepless changing mode, namely adjusts arbitrarily at predetermined angular range, also can be classification adjustment mode, namely according to preset 1,2,3 such fixing differential modes adjust.
Preferred in the embodiment of the present invention, described control module is also electrically connected the described spraying mechanism bottom described unmanned plane main body 101, for controlling spraying time and fountain height, controls taking off and landing of unmanned plane simultaneously.
Fig. 4 is the angle adjusting mechanism schematic diagram of the unmanned plane spraying range setting device of the embodiment of the present invention one, comprises strut bar 103, the blade 401 of screw propeller, the bearing 402 of screw propeller and adjustable nut 403.Physical construction or the electric structure of the adjustment of specific implementation prop shaft are a lot, schematically illustrate here with the structure of described adjustable nut 403.Described adjustable nut 403 is the rotation situation utilizing stepping motor to carry out adjusting nut, and then nut rotation situation is link with the prop shaft coupled with this nut, so just can realize the electronic adjustment of angle.
Preferred in the embodiment of the present invention, described spraying mechanism comprise be positioned at described screw propeller lower position towards can for nozzle straight up or obliquely.In existing mode, often in the same way, namely during nozzles spray, the wind-force produced by propeller rotational does and sprays for wind-force that nozzle and propeller rotational produce.In fact, for the propagation of wide scope, can also make the structure that nozzle is relative with the wind-force that screw propeller produces, namely nozzle upwards sprays, and is subject to the wind-force head-on come that screw propeller produces, makes liquid to wider range propagation.Like this, when angular compliance is suitable, larger spraying range can be obtained.
Preferred in the embodiment of the present invention, described nozzle is the nozzle that array at least two of evenly arranging and/or cone angle are larger.For wide range propagation, can also take the multi-injector structure of uniform layout to match with the wind-force that screw propeller produces, effect like this is better.
Preferred in the embodiment of the present invention, adjustable spray boom that described screw propeller 104 lower position that described spraying mechanism 102 is also included at least two symmetrical ends, described strut bar 103 outer end is installed, described spray boom bottom is provided with sprinkler body, described sprinkler body and spray boom straight line are installed, and described sprinkler body is divided into shower nozzle and rotating disk two parts.Described spray boom and described strut bar are movably hinged through rotating shaft, and described spray boom can rotate freely around described strut bar 103, and on described spray boom, install locating dowel pin position.Preferably, described spray boom rotates to being 30 to 45 to spend with described prop shaft angle.Further, described spray boom rotates to being 35 degree with described prop shaft angle.Owing to providing downward when described screw propeller 104 slopes inwardly and rotates and the uniform air flow in inclined outside, the air-flow formed and the angle of prop shaft are 30 to 45 to spend, described shower nozzle is in spends angular position in prop shaft 30 to 45, in pesticide spraying, agricultural chemicals particulate is not out had afterwards by described shower nozzle and is directly sprayed onto ground into rotating disk, but taken to outside by air-flow, and described screw propeller 104 top that rotates, the air-flow produced by unmanned plane screw propeller completes being uniformly distributed of droplet, agricultural chemicals is made to reach the effect of spraying then backspin first, formation parabolic type sprays, spray relative to common direct droop, spraying swath can be made broadening, spray area effectively increases, spray more even.It should be noted that: in the present embodiment, the quantity of screw propeller and sprinkler body can need rationally to increase according to sprinkling.
The lower rotational gas flow of unmanned plane screw propeller make that agricultural chemicals, chemical fertilizer spray evenly, when described nozzle is the outside being positioned at unmanned plane, the flowing of medicine mist is outwards sprayed, and such feature makes the area that sprays larger, and efficiency is higher.
By being provided with into multiple atomizers of array-like distribution below unmanned plane, and by adjustment many rotor wing unmanned aerial vehicles prop shaft to, under the downward windage produced when the propeller rotational of many rotor wing unmanned aerial vehicles, make its component outward-dipping relative to the center shaft of unmanned plane main body, outside wind-force component can be provided, greatly expand spraying range.
In some cases, needs can more accurately control to spray region.
Preferred in the embodiment of the present invention, described spraying mechanism comprises the nozzle be oriented straight down being positioned at position immediately below described unmanned plane main body.
Preferred in the embodiment of the present invention, described nozzle is single and/or that cone angle is less nozzle.Certainly, also can have multiple nozzle, but when sprinkling demand is pointed sprinkling among a small circle, some of them nozzle can be controlled in running order, and other be in closed condition.Preferably, the nozzle be distributed in below described screw propeller 104 is in closed condition, and the nozzle be positioned at immediately below described unmanned plane main body is in running order.
Such as, described spraying mechanism at least comprises three nozzles, and three nozzles are distributed in the left and right sides of immediately below unmanned plane and below respectively, and three nozzles can distinguish master cock.When to when spraying the border in region without particular/special requirement, three, the left, center, right nozzle being positioned at the described spraying mechanism below unmanned plane all works and sprays; When having higher requirements to the border of spraying region, two, the left and right nozzle of sprinkler is closed, middle nozzle operation.Like this, according to crop specie to be sprayed, pesticide variety and crop growth stage, for different sprinkling zone boundary requirements, three Nozzle combinations or work independently, multiple sprinkling requirement can be met, can spraying liquid agricultural chemicals, chemical fertilizer and sow granulo-fertilizer, and can more accurately control to spray region, the alerting ability that both improve sprinkling can also save agricultural chemicals, chemical fertilizer improve the efficiency of spraying.
For this plant of similar corn is higher or flourishing or spraying range is less or spray (such as to particular range, to the ridge spraying herbicide of crops, here be strict with liquid can not be sprayed onto on crops) situation, adopt the nozzle that a small amount of even single shower nozzle, cone angle are smaller, again further by the wind-force relatively concentrated described in above-described embodiment, liquid can be delivered near the root of plant by actv., realize better specific aim spray effect.
For the sprinkling demand of wide scope, can adopt under the layout of wide-angle nozzle or multiple nozzle and coordinate the intilted mentality of designing of unmanned plane screw propeller; For spraying demand among a small circle or targetedly, the mentality of designing that can prop shaft be coordinated outward-dipping under the layout of single-nozzle.
In fact, droplet size, the initial velocity of nozzle ejection also can adjust according to the actual requirements, and such as, in the sprinkling demand of wide scope, the drop that can set nozzle ejection is relatively little, initial velocity is also relatively little, and such spraying range can be larger; Among a small circle or in sprinkling demand targetedly, the drop that can set nozzle ejection is relatively large, initial velocity is also relatively large, and like this, spraying range can be more concentrated.
Preferred in the embodiment of the present invention, described unmanned plane main body 101 comprises support, be fixed on inertia measuring module on support and microprocessor, GPS navigator and signal wire (SW).
Preferred in the embodiment of the present invention, two symmetrical inner ends of described strut bar 103 are provided with the pole of adjustable angle by mount pad wherein, described pole bottom is fixed with the bracing frame vertical with pole, described pole on described mount pad, and installs dowel bolt by hinge between described pole and described mount pad.Described pole bottom and support frame as described above can be structure as a whole, and also can movablely install, and support frame as described above, after described pole regulates, during described UAV Landing ground, can support in V-shape, also can parallel support.
Preferred in the embodiment of the present invention, described unmanned plane spraying range setting device, also comprise locating module, image processing module and computer module, described locating module can be GPS or big-dipper satellite registration device, described locating module is used for unmanned plane being navigated to target and sprays region, the crop growth situation carries out image that described image processing module is used for spraying target region gathers, to the crop map collected as carries out image process, described computer module and described locating module, image processing module is connected respectively with described spraying mechanism 102, control the location of described locating module, and the pesticide spraying of described spraying mechanism 102 is controlled according to the processing result image of described image processing module.The high efficiency pesticide spraying of large area can be realized like this, the agricultural chemicals dosage sprayed can be controlled simultaneously according to the upgrowth situation spraying region crops adaptively, be convenient to manipulation and the management of agricultural sector.
Preferred in the embodiment of the present invention, also comprise apomecometer, automatic obstacle-avoiding module.Preferably, described automatic obstacle-avoiding module is laser rangefinder or ultrasonic fault detection sensor.Such as, described unmanned plane is installed ultrasonic ranging parts, the height that unmanned plane can be made accurately to reach required by described ultrasonic ranging parts, can realize described unmanned plane paste ground flying and with ground profiling, prevent material from dispersing, ensure operation quality.
Preferred in the embodiment of the present invention, described unmanned plane also has power take-off module, can control material spray rate and described unmanned plane during flying speed sync.
Preferred in the embodiment of the present invention, also comprise vibration absorption unit, the noise during can sprinkling being reduced in by described vibration absorption unit.
Preferred in the embodiment of the present invention, in the operation process that unmanned plane is sprayed insecticide, send correlation parameter and/or signal to unmanned plane, accurately to control the operation process of spraying insecticide of unmanned plane in real time by ground station.The locating module that unmanned plane inside is arranged can the flying speed of real-time reception unmanned plane, and flying speed is fed back in flight control units.Ground station can be placed in moveable vehicle, or is fixedly installed in the middle of farmland, and it is the control terminal of unmanned plane, and carries out communication contact by the radio station in the radio station of ground station and the flight control units of unmanned plane.Ground station is responsible for the related data receiving and send all and unmanned plane during flying or spray insecticide in mechanism, and such as unmanned plane is sprayed insecticide flight attitude data, course data etc. in process.Ground station is also responsible for unmanned plane in the data relay task in operation process of spraying insecticide simultaneously.
Preferred in the embodiment of the present invention, described unmanned plane also comprises flight control units, and described flight control units is for controlling the flight of described unmanned plane.Described flight control units can pass through central process unit (CPU) and/or coprocessor, field programmable gate array (FPGA), digital signal processor (DSP), special-purpose tandem circuit (ASIC) and embedded microprocessor (ARM), controller, microcontroller, microprocessor or other electronic components realize.Preferably, described flight control units can be server, comprises processing components, and it comprises one or more treater further, and the memory resource representated by memory device, such as, for storing the instruction that can be performed by processing components, application program.The application program stored in memory device can comprise each module corresponding to one group of instruction one or more.
In the process that unmanned plane aloft flies, propeller rotational produces the eddy current of one basic orientation towards vertical lower, gives unmanned plane one reverse thrust with substantially downward wind-force.In fact the embodiment of the present invention is exactly the axial angle by changing existing prop shaft, adjusts the angle of the downward air blast of unmanned plane, thus affects spray effect.
The embodiment of the invention discloses a kind of unmanned plane spraying range setting device, ensureing, on the basis that unmanned plane can fly, to finely tune the direction of the downward wind-force that it produces, thus circulation way and the propagation efficiency of the liquid that it sprays can be affected.Prop shaft is arranged relative to the inclined certain angle of unmanned plane main body, the power that screw propeller produces can be decomposed with vertical direction in the horizontal direction, the component of vertical direction is used for balancing gravity, when described screw propeller slopes inwardly, produce component outside in horizontal direction, allow liquid can cover wider spraying range under similarity condition; When described screw propeller is outward-dipping, produces component inside in horizontal direction, allow liquid can arrive at plant root, spray targetedly.
Embodiment two, a kind of unmanned plane spraying range method of adjustment.
Fig. 5 is the unmanned plane spraying range method of adjustment diagram of circuit of the embodiment of the present invention 5, and composition graphs 5 is specifically described by the embodiment of the present invention.
As shown in Figure 5, embodiments provide a kind of unmanned plane spraying range method of adjustment, comprise the following steps:
Step S501: the direction of angle and size parameter between the center shaft determining described prop shaft and described unmanned plane main body according to sprinkling demand;
Step S502: the angle between the center shaft regulating described prop shaft and described unmanned plane main body according to described angle parameter.
Preferred in the embodiment of the present invention, described angle comprises the first angle and the second angle, and described first angle is that described prop shaft slopes inwardly relative to the center shaft of described unmanned plane main body, and its scope is 2 °-20 °; Described second angle is that described prop shaft is outward-dipping relative to the center shaft of described unmanned plane main body, and its scope is 5 °-12 °.
Preferred in the embodiment of the present invention, the scope of described first angle is 5 °-12 °.
Preferred in the embodiment of the present invention, the scope of described second angle is 1 °-5 °
Preferred in the embodiment of the present invention, described step S501 specifically comprises the following steps:
Described sprinkling demand is divided at least two kinds, and wherein, the first is the even sprinkling of wide scope, and the second sprays among a small circle targetedly;
Judge the sprinkling demand in current unmanned plane region to be sprayed;
If the first sprays demand, then the angle between the center shaft determining described prop shaft and described unmanned plane main body is the first angle, and described screw propeller slopes inwardly;
If the second sprays demand, then the angle between the center shaft determining described prop shaft and described unmanned plane main body is the second angle, and described screw propeller is outward-dipping.
The embodiment of the invention discloses a kind of unmanned plane spraying range method of adjustment, when guaranteeing many rotor wing unmanned aerial vehicles normal flight, its prop shaft can spray according to reality completely relative to the angle of the center shaft of unmanned plane main body to be needed to adjust, for the sprinkling demand of wide scope, large area coverage, prop shaft can be adjusted and slope inwardly; And higher for plant, need the situation that liquid can be covered targetedly plant root, then suitably can adjust prop shaft outward-dipping, make medicine liquid spray more concentrated.
In the embodiment of the present invention, other content is see the content in foregoing invention embodiment, does not repeat them here.
The present invention can bring these useful technique effects: unmanned plane spraying range setting device and method disclosed in the embodiment of the present invention, when guaranteeing many rotor wing unmanned aerial vehicles normal flight, its prop shaft can spray according to reality completely relative to the angle of the center shaft of unmanned plane main body to be needed to adjust, for the sprinkling demand of wide scope, large area coverage, prop shaft can be adjusted and slope inwardly; And higher for plant, need the situation that liquid can be covered targetedly plant root, then suitably can adjust prop shaft outward-dipping, make medicine liquid spray more concentrated.In addition, this unmanned plane spraying range setting device and method are on the basis adjusted wind-force by screw propeller, and the position of all right suitably layout atomizer, makes both cooperatively interact, reach better spraying range control effects.
All parts embodiment of the present invention with hardware implementing, or can realize with the software module run on one or more treater, or realizes with their combination.It will be understood by those of skill in the art that the some or all functions that microprocessor or digital signal processor (DSP) can be used in practice to realize according to the some or all parts in the equipment of the embodiment of the present invention.The present invention can also be embodied as part or all equipment for performing method as described herein or device program (such as, computer program and computer program).
The present invention will be described instead of limit the invention to it should be noted above-described embodiment, and those skilled in the art can design alternative embodiment when not departing from the scope of claims.Word "a" or "an" before being positioned at element is not got rid of and be there is multiple such element.The present invention can by means of including the hardware of some different elements and realizing by means of the computing machine of suitably programming.In the unit claim listing some devices, several in these devices can be carry out imbody by same hardware branch.The use of first, second grade of word does not represent any order, can be noun by these word explanations.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. a unmanned plane spraying range setting device, comprise unmanned plane main body, spraying mechanism and drive the rotor assemblies of described unmanned plane main body, described spraying mechanism carry is below described unmanned plane, described rotor assemblies comprises at least three group screw propellers, described screw propeller is arranged around described unmanned plane main body, it is characterized in that: have angle between the center shaft of described prop shaft and described unmanned plane main body.
2. unmanned plane spraying range setting device according to claim 1, is characterized in that: described prop shaft to slope inwardly the first angle relative to the center shaft of described unmanned plane main body, and the scope of described first angle is 2 °-20 °.
3. unmanned plane spraying range setting device according to claim 1, is characterized in that: described prop shaft is relative to outward-dipping second angle of the center shaft of described unmanned plane main body, and the scope of described second angle is 5 °-12 °.
4. unmanned plane spraying range setting device according to claim 1, it is characterized in that: also comprise according to sprinkling demand determine described angle direction and size parameter control module and according to described angle parameter change prop shaft and described unmanned plane main body center shaft between the angle adjusting mechanism of angle, described control module is positioned at described unmanned plane main body, described control module is electrically connected described angle adjusting mechanism, and the angle parameters input determined is to described angle adjusting mechanism.
5. unmanned plane spraying range setting device according to claim 4, it is characterized in that: described unmanned plane also comprises symmetrically arranged strut bar, the inner end of described strut bar connects described unmanned plane main body, the end, outer end of described strut bar arranges described rotor assemblies, wherein, described angle adjusting mechanism is arranged at the junction of described prop shaft and described strut bar and/or the junction of described strut bar and described unmanned plane main body.
6. the unmanned plane spraying range setting device according to claim 2 or 4, is characterized in that: described spraying mechanism comprise be positioned at described screw propeller lower position towards being nozzle straight up or obliquely.
7. unmanned plane spraying range setting device according to claim 5, is characterized in that: described nozzle is the nozzle that array at least two of evenly arranging and/or cone angle are larger.
8. the unmanned plane spraying range setting device according to claim 3 or 4, is characterized in that: described spraying mechanism comprises the nozzle be oriented straight down being positioned at position immediately below described unmanned plane main body.
9. a unmanned plane spraying range method of adjustment, comprises the following steps:
The direction of angle and size parameter between the center shaft determining described prop shaft and described unmanned plane main body according to sprinkling demand;
Angle between the center shaft regulating described prop shaft and described unmanned plane main body according to described angle parameter.
10. unmanned plane spraying range method of adjustment according to claim 9, it is characterized in that: described angle comprises the first angle and the second angle, described first angle is that described prop shaft slopes inwardly relative to the center shaft of described unmanned plane main body, and its scope is 2 °-20 °; Described second angle is that described prop shaft is outward-dipping relative to the center shaft of described unmanned plane main body, and its scope is 5 °-12 °.
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| CN106976563A (en) * | 2017-04-27 | 2017-07-25 | 峨眉山市博派乐无人机科技有限公司 | Pesticide spraying unmanned plane |
| CN107933920A (en) * | 2017-10-19 | 2018-04-20 | 深圳市莲花百川科技有限公司 | A kind of agricultural plant protection unmanned plane |
| CN108090893A (en) * | 2017-11-23 | 2018-05-29 | 华南农业大学 | Plant protection unmanned plane medicament sprinkling optimization method and device based on thermal infrared identification |
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| CN113955119A (en) * | 2021-11-16 | 2022-01-21 | 深圳市丰农源科技有限公司 | Mist spraying device and spraying method based on plant protection unmanned aerial vehicle |
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| CN113955119A (en) * | 2021-11-16 | 2022-01-21 | 深圳市丰农源科技有限公司 | Mist spraying device and spraying method based on plant protection unmanned aerial vehicle |
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Effective date of registration: 20170626 Address after: 100020 Beijing City West Road No. 12 Chaoyang District Building No. 2 (national advertising Industrial Park incubator No. 25978) Applicant after: High domain (Beijing) Intelligent Technology Research Institute Co., Ltd. Address before: 100052 Beijing City, Xicheng District Caishikou Street No. 2 CITIC Qinyuan 3-3-701 Applicant before: Yang Shanshan |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160120 |