CN106647797A - Tall plant insecticide spraying unmanned aerial vehicle - Google Patents
Tall plant insecticide spraying unmanned aerial vehicle Download PDFInfo
- Publication number
- CN106647797A CN106647797A CN201610864480.5A CN201610864480A CN106647797A CN 106647797 A CN106647797 A CN 106647797A CN 201610864480 A CN201610864480 A CN 201610864480A CN 106647797 A CN106647797 A CN 106647797A
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- Prior art keywords
- unmanned plane
- unit
- pump
- signal
- radar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 238000005507 spraying Methods 0.000 title abstract description 5
- 239000002917 insecticide Substances 0.000 title abstract 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 39
- 238000000034 method Methods 0.000 claims abstract description 6
- 239000003814 drug Substances 0.000 claims description 42
- 239000007921 spray Substances 0.000 claims description 30
- 238000004140 cleaning Methods 0.000 claims description 27
- 150000001875 compounds Chemical class 0.000 claims description 14
- 230000004888 barrier function Effects 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 7
- 239000000284 extract Substances 0.000 claims description 6
- 238000002347 injection Methods 0.000 claims description 6
- 239000007924 injection Substances 0.000 claims description 6
- 238000010276 construction Methods 0.000 abstract description 4
- 241000196324 Embryophyta Species 0.000 description 11
- 230000005611 electricity Effects 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 241000422846 Sequoiadendron giganteum Species 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a tall plant insecticide spraying unmanned aerial vehicle comprising an unmanned aerial vehicle unit and a ground unit. A signal line, a power line and a water pipe are bound together to form a working cable. The unmanned aerial vehicle unit and the ground unit are connected through the working cable. The tall plant insecticide spraying unmanned aerial vehicle can be remotely operated, and work personnel do not need to climb for high construction so that the exterior wall repair construction process is enabled to be safe and rapid, and the professional requirement of construction can be reduced.
Description
Technical field
The present invention relates to unmanned plane field, more particularly, to tall and big trees dispenser unmanned plane.
Background technology
At present, for the management increasingly specification of historical relic trees, these trees are set mostly because of the remote past and tall and big
Wood such as occurs in that disease, it usually needs to affected part dispenser, at present conventional mode is to set up aerial ladder, and this mode does not only exist wind
Danger, if planting tree environment is difficult to set up aerial ladder, is difficult to suit the remedy to the case, and makes troubles to historical relic Tree management.
The content of the invention
The technical problem to be solved is to realize a kind of device that accuracy pesticide applying can be carried out using unmanned plane.
To achieve these goals, the technical solution used in the present invention is：Tall plants spray unmanned plane, including unmanned plane
Unit and surface units, holding wire, power line constitute work cable, the unmanned plane unit and ground together with water pipe bondage
Connected by work cable between unit；
Unmanned plane unit：Rotor wing unmanned aerial vehicle lower section is fixed with head, and the head is driven by Universal electric governor motion and turned
Dynamic, the power line and holding wire are all connected with Universal electric governor motion, and downward clear of injection direction is fixed with the head
Clean nozzle and medicament nozzle, the water pipe is provided with two, and its termination connects respectively cleaning nozzle and medicament nozzle, on the head
The barrier radar of collection lower section obstacle distance signal is provided with, the barrier radar exports distance signal to holding wire；
Surface units：Including cleaning container, medicine container, power supply, remote control and controller, the power supply connects power supply
Line, wash pump and compound pump, the controller connection holding wire, wash pump and compound pump, two water pipes connect respectively clearly
Clean pump and compound pump, the wash pump extracts the water in cleaning container, and the compound pump extracts the medicament in medicine container, described
Remote control exports Universal electric governor motion and rotor wing unmanned aerial vehicle drive signal and wash pump to controller and compound pump is opened and closed
Signal.
Surface units are additionally provided with reel and spacing radar, and the reel is used for folding and unfolding work cable and is driven by coiling motor
Dynamic, the spacing radar is fixed on universal base is used for the distance between detection and unmanned plane unit, the spacing radar output
To controller, the controller outputs control signals to coiling motor to distance signal.
The photographic head of collection lower images information is fixed with the head, and exports the picture signal with cross foresight
To holding wire, the cleaning nozzle is identical with the injection direction of medicament nozzle, is the position of the cross foresight.
Flow valve is equipped with the medicament nozzle and cleaning nozzle, the flow valve is connected with holding wire.
The surface units are fixed on dolly, and the dolly has halting mechanism, and the dolly is provided with for parking
Unmanned plane unit parks platform, described to park fixing band or stationary fixture that platform is provided with fixed unmanned plane unit.
The reel is provided with for measuring the length measurement unit that unreels that work cable releases length, described to unreel length
Measuring unit exports length signals to controller, and water level sensing unit is equipped with the cleaning container and medicine container, described
Water level sensing unit exports water level signal to controller, and the controller is furnished with alarm unit and display.
Institute's head is provided with the sensing unit for receiving spacing radar signal, and the sensing unit connects holding wire.
Control method based on tall plants spray unmanned plane, it is characterised in that：
After tall plants spray unmanned plane starts, by remote control device rotor wing unmanned aerial vehicle, Universal electric governor motion, cleaning
Pump and medicament pump work；
When rotor wing unmanned aerial vehicle takes off, controller is unreeling motor just according to the distance controlling of unmanned plane unit and surface units
Turn, overturn or stop, the distance+safe distance that length is equal to unmanned plane unit and surface units that unreels for unreeling motor,
The safe distance increases with the distance increase of unmanned plane unit and surface units.
Following arbitrary signal is obtained when tall plants spray unmanned plane works, is then reported to the police and given corresponding prompting；
1) when pump work is cleaned, the water level numerical value for cleaning the water level sensing unit acquisition in container is less than predetermined threshold value；
2) when medicament pump work, the water level numerical value that the water level sensing unit in medicine container is obtained is less than predetermined threshold value；
3) when spacing radar works, sensing unit is not detected by the radar signal of spacing radar；
4) when wash pump, medicament pump work, barrier detections of radar is to interval in predetermined threshold value with lower section trees spacing
Outside when；
5) when unreel length measurement unit detect unreel length more than predetermined threshold value when；
6) when electric quantity of power supply is less than preset security value.
The present invention being capable of remote operation, it is not necessary to which staff's climbing is to eminence construction so that dispenser process safety efficiently,
To planting tree environment no requirement (NR), any place can operate, and in addition device periodically can also observe trees situation from eminence.
Description of the drawings
The content of every width accompanying drawing expression in description of the invention is briefly described below：
Fig. 1 is tall plants spray unmanned plane structural representation.
Specific embodiment
Tall plants spray unmanned plane of the present invention includes unmanned plane unit and surface units, unmanned plane unit and surface units
Between connected by work cable, work cable is made up of holding wire, power line together with water pipe bondage, tall plants spray
Unmanned plane is divided into above-mentioned two part, can greatly improve the motility of unmanned plane unit, and the continuation of the journey of aerial work
Ability.
Unmanned plane unit main body aviation mechanism is rotor wing unmanned aerial vehicle, is fixed with head below rotor wing unmanned aerial vehicle, head by
Universal electric governor motion drives and rotates, and remote control exports Universal electric governor motion drive signal to controller, power line and
Holding wire is all connected with Universal electric governor motion, and power line is powered for Universal electric governor motion, holding wire output control signal
To Universal electric governor motion.
Photographic head, cleaning nozzle, medicament nozzle are fixed with head, water pipe is provided with two, and its termination connects respectively cleaning
Downwards, trees downwards carry out spray work for nozzle and medicament nozzle, cleaning nozzle and medicament nozzle spray direction.By setting
Put two nozzles, an injection clear water a, spraying medicine so first can be cleaned to trees affected part during spray, or
Some foreign bodies are removed, then sprays medicament, it is possible to increase the therapeutic effect of spray.
Flow valve is equipped with medicament nozzle and cleaning nozzle, flow valve is connected with holding wire, can be certainly by flow valve
Dynamic or two nozzles of control manually spray value, improves the effect and quality of spray.
The injection direction of photographic head picture signal to holding wire, cleaning nozzle and medicament nozzle of the output with cross foresight
It is identical, the position of the cross foresight is, because photographic head, cleaning nozzle and medicament nozzle are each attached on head, only need
The position of cross foresight is debugged in advance, no matter how head rotates, can ensure the accuracy for spraying.
Head is provided with the barrier radar of detection camera photographing direction obstacle distance information, the output of barrier radar
Distance signal to holding wire, the radar that breaks the barriers can ensure that the spacing of nozzle and trees, it is to avoid the error that vision judges, protect
The areal extent and quality of card dispenser.
Surface units include cleaning container, medicine container, power supply, controller, spacing radar and reel, and cleaning container is used for
Clean water is held, clean water can clean surface of trees before spray, and medicine container is used to deposit medicament.Surface units are fixed on
On dolly, convenient transhipment, dolly has halting mechanism, it is ensured that when device works, dolly will not be moved arbitrarily, improves safe operation
Property, dolly is provided with the platform of parking for parking unmanned plane unit, parks the fixation that platform is provided with fixed unmanned plane unit
Band or stationary fixture, when dolly is moved, ensure that will not falling for unmanned plane unit.
Power supply is powered by power line for whole unmanned plane unit, is also powered for surface units, is effectively equipped with electricity for power supply
Pond administrative unit, and battery data is delivered to into display shows, allow staff to understand power supply status in real time.
Reel is used for folding and unfolding work cable and by coiling Motor drive, and two water pipes connect respectively wash pump and compound pump,
Wash pump extracts the water in cleaning container, and compound pump extracts the medicament in medicine container, is all provided with cleaning container and medicine container
There is water level sensing unit, two water level sensing units export water level signal to controller, and waterlevel data can show over the display
Show, and in the too low alarm of water level, facilitate staff to feed in time.
For the unwrapping wire length of Automated condtrol work cable, spacing radar is fixed on universal base is used for detection and nobody
The distance between machine unit, spacing radar exports distance signal to controller, and controller controls coiling electricity by the distance signal
Machine works, and so as to control the length of unwrapping wire, head is provided with the sensing unit for receiving spacing radar signal, sensing unit connection letter
Number line, and induced signal is delivered to into controller, when unmanned plane unit fly out spacing radar scope when, i.e., sensing unit is without letter
Number, then can be with alarm, staff then by the direction of regulation universal base, is persistently monitored between the two away from so as to rationally control
The releasing length of work cable processed.
Reel is provided with and unreels length measurement unit for measuring work cable and releasing length, unreels length measurement unit
To controller, controller is furnished with alarm unit and display to output length signals, can show different parameters, data, and profit
Staff is given corresponding alarm with alarm unit, for remote controlled rotary-wing unmanned plane, wash pump, compound pump, universal electricity
The remote control connection controller of dynamic governor motion, controller connection holding wire sends control signal to unmanned plane unit.
Because reel work is rotation status, therefore the reel end of work cable has a swivel joint and surface units
The connection of each equipment, swivel joint includes the swivel joint of water pipe swivel joint and power line and holding wire, due to line,
Pipe has four, can be affixed with reel by section components, keeps synchronous rotary, it would however also be possible to employ reel two goes out respectively
The mode of line, pipe, solves wiring, adapter problem.
Control method based on above-mentioned tall plants spray unmanned plane：
After tall plants spray unmanned plane starts, by remote control device rotor wing unmanned aerial vehicle, Universal electric governor motion, cleaning
Pump and medicament pump work；Remote signal include control rotor wing unmanned aerial vehicle flight control signal, Universal electric governor motion turn signal,
The keying signal of wash pump and compound pump；
When rotor wing unmanned aerial vehicle takes off, controller is unreeling motor just according to the distance controlling of unmanned plane unit and surface units
Turn, overturn or stop, the distance+safe distance that length is equal to unmanned plane unit and surface units that unreels for unreeling motor,
Safe distance increases with the distance increase of unmanned plane unit and surface units, so that work cable remains at a peace
Complete unreels in length；
Following arbitrary signal is obtained when tall plants spray unmanned plane works, is then reported to the police and given corresponding prompting；
1) when pump work is cleaned, the water level numerical value for cleaning the water level sensing unit acquisition in container is less than predetermined threshold value；
2) when medicament pump work, the water level numerical value that the water level sensing unit in medicine container is obtained is less than predetermined threshold value；
3) when spacing radar works, sensing unit is not detected by the radar signal of spacing radar；
4) when wash pump, medicament pump work, barrier detections of radar is to interval in predetermined threshold value with lower section trees spacing
Outside when；
5) when unreel length measurement unit detect unreel length more than predetermined threshold value when；
6) when electric quantity of power supply is less than preset security value.
By above-mentioned early warning so that device work is more safe and reliable.
Claims (9)
1. tall plants spray unmanned plane, it is characterised in that：Including unmanned plane unit and surface units, holding wire, power line and
Water pipe bondage constitutes work cable together, is connected by work cable between the unmanned plane unit and surface units；
Unmanned plane unit：Rotor wing unmanned aerial vehicle lower section is fixed with head, and the head is driven by Universal electric governor motion and rotated, institute
State power line and holding wire is all connected with Universal electric governor motion, the downward cleaning nozzle of injection direction is fixed with the head
With medicament nozzle, the water pipe is provided with two, and its termination connects respectively cleaning nozzle and medicament nozzle, and the head is provided with to be adopted
The barrier radar of collection lower section obstacle distance signal, the barrier radar exports distance signal to holding wire；
Surface units：It is the power supply connection power line, clear including cleaning container, medicine container, power supply, remote control and controller
Clean pump and compound pump, controller connection holding wire, wash pump and compound pump, two water pipes connect respectively wash pump and
Compound pump, the wash pump extracts the water in cleaning container, and the compound pump extracts the medicament in medicine container, the remote control
Universal electric governor motion and rotor wing unmanned aerial vehicle drive signal and wash pump and compound pump keying signal are exported to controller.
2. tall plants according to claim 1 spray unmanned plane, it is characterised in that：Surface units be additionally provided with reel and
Away from radar, the reel is used for folding and unfolding work cable and by coiling Motor drive, and the spacing radar is fixed on universal base to be used
In the distance between detection and unmanned plane unit, the spacing radar exports distance signal to controller, the controller output
Control signal is to coiling motor.
3. tall plants according to claim 1 spray unmanned plane, it is characterised in that：Under collection is fixed with the head
The photographic head of square image information, and the picture signal with cross foresight is exported to holding wire, the cleaning nozzle and medicament spray
The injection direction of mouth is identical, is the position of the cross foresight.
4. according to claim 1,2 or 3 tall plants spray unmanned plane, it is characterised in that：The medicament nozzle and clear
Flow valve is equipped with clean nozzle, the flow valve is connected with holding wire.
5. tall plants according to claim 1 spray unmanned plane, it is characterised in that：The surface units are fixed on dolly
On, the dolly has halting mechanism, and the dolly is provided with the platform of parking for parking unmanned plane unit, described to park flat
Platform is provided with the fixing band or stationary fixture of fixed unmanned plane unit.
6. tall plants according to claim 5 spray unmanned plane, it is characterised in that：The reel is provided with for measuring
Work cable releases the length measurement unit that unreels of length, and the length measurement unit that unreels exports length signals to controller,
Water level sensing unit is equipped with the cleaning container and medicine container, the water level sensing unit output water level signal is to control
Device, the controller is furnished with alarm unit and display.
7. tall plants according to claim 2 spray unmanned plane, it is characterised in that：Institute's head is provided with reception spacing thunder
Up to the sensing unit of signal, the sensing unit connects holding wire.
8. the control method of tall plants spray unmanned plane any one of claim 1-7 is based on, it is characterised in that：
Tall plants spray unmanned plane start after, by remote control device rotor wing unmanned aerial vehicle, Universal electric governor motion, wash pump and
Medicament pump work；
When rotor wing unmanned aerial vehicle takes off, controller unreels motor and rotates forward, turns over according to unmanned plane unit and the distance controlling of surface units
Turn or stop, the distance+safe distance that length is equal to unmanned plane unit and surface units that unreels for unreeling motor, the peace
Full distance increases with the distance increase of unmanned plane unit and surface units.
9. control method according to claim 8, it is characterised in that：When tall plants spray unmanned plane work when obtain with
Lower arbitrary signal, then reported to the police and given corresponding prompting；
1) when pump work is cleaned, the water level numerical value for cleaning the water level sensing unit acquisition in container is less than predetermined threshold value；
2) when medicament pump work, the water level numerical value that the water level sensing unit in medicine container is obtained is less than predetermined threshold value；
3) when spacing radar works, sensing unit is not detected by the radar signal of spacing radar；
4) when wash pump, medicament pump work, barrier detections of radar to lower section trees spacing predetermined threshold value interval outside
When；
5) when unreel length measurement unit detect unreel length more than predetermined threshold value when；
6) when electric quantity of power supply is less than preset security value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610864480.5A CN106647797A (en) | 2016-09-29 | 2016-09-29 | Tall plant insecticide spraying unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610864480.5A CN106647797A (en) | 2016-09-29 | 2016-09-29 | Tall plant insecticide spraying unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106647797A true CN106647797A (en) | 2017-05-10 |
Family
ID=58854213
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610864480.5A Pending CN106647797A (en) | 2016-09-29 | 2016-09-29 | Tall plant insecticide spraying unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106647797A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107799866A (en) * | 2017-10-27 | 2018-03-13 | 合肥因艾信息科技有限公司 | A kind of parabola antenna snow removal system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104069970A (en) * | 2014-06-10 | 2014-10-01 | 潍坊美奥农业科技有限公司 | Agriculture intelligent spraying machine |
| CN205060023U (en) * | 2015-09-24 | 2016-03-02 | 郑州领航模型有限公司 | Pesticide spraying machine that flight height is stable |
| CN205085049U (en) * | 2015-09-23 | 2016-03-16 | 云南电网有限责任公司电力科学研究院 | Wash insulator device with electricity based on unmanned aerial vehicle |
| CN105539852A (en) * | 2016-02-19 | 2016-05-04 | 蒋引 | Multi-rotor UAV (unmanned aerial vehicle) as well as control system and method thereof |
| CN205239914U (en) * | 2015-11-23 | 2016-05-18 | 天津玉敏机械科技有限公司 | Unmanned aerial vehicle with medicine function is spouted to rotation type |
| CN205440882U (en) * | 2016-02-19 | 2016-08-10 | 蒋引 | Many rotor unmanned aerial vehicle and control system thereof |
-
2016
- 2016-09-29 CN CN201610864480.5A patent/CN106647797A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104069970A (en) * | 2014-06-10 | 2014-10-01 | 潍坊美奥农业科技有限公司 | Agriculture intelligent spraying machine |
| CN205085049U (en) * | 2015-09-23 | 2016-03-16 | 云南电网有限责任公司电力科学研究院 | Wash insulator device with electricity based on unmanned aerial vehicle |
| CN205060023U (en) * | 2015-09-24 | 2016-03-02 | 郑州领航模型有限公司 | Pesticide spraying machine that flight height is stable |
| CN205239914U (en) * | 2015-11-23 | 2016-05-18 | 天津玉敏机械科技有限公司 | Unmanned aerial vehicle with medicine function is spouted to rotation type |
| CN105539852A (en) * | 2016-02-19 | 2016-05-04 | 蒋引 | Multi-rotor UAV (unmanned aerial vehicle) as well as control system and method thereof |
| CN205440882U (en) * | 2016-02-19 | 2016-08-10 | 蒋引 | Many rotor unmanned aerial vehicle and control system thereof |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107799866A (en) * | 2017-10-27 | 2018-03-13 | 合肥因艾信息科技有限公司 | A kind of parabola antenna snow removal system |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170510 |
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| RJ01 | Rejection of invention patent application after publication |