CN106741952B - Active balancing device and adjusting method for spray boom of agricultural remote control flight plant protection machine - Google Patents
Active balancing device and adjusting method for spray boom of agricultural remote control flight plant protection machine Download PDFInfo
- Publication number
- CN106741952B CN106741952B CN201611141033.3A CN201611141033A CN106741952B CN 106741952 B CN106741952 B CN 106741952B CN 201611141033 A CN201611141033 A CN 201611141033A CN 106741952 B CN106741952 B CN 106741952B
- Authority
- CN
- China
- Prior art keywords
- motor
- spray
- plant protection
- mounting seat
- protection machine
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
Abstract
The invention discloses an active balancing device for a spray boom of an agricultural remote control flight plant protection machine and an adjusting method thereof. The balance executing mechanism comprises a spray rod pitching angle adjusting mechanism and a spray rod rolling angle adjusting mechanism. According to the invention, the roll or pitch angle of the spray boom can be adjusted in real time according to the flight attitude of the flight plant protection machine, so that the spray boom is maintained in a preset initial state to the ground and is kept flush with the crop crown surface as much as possible, and the medicament is sprayed uniformly, so that the phenomenon of re-spraying or missed spraying is avoided.
Description
Technical Field
The invention belongs to the technical field of agricultural and forestry aviation machinery, and particularly relates to a spray boom active balancing device and an adjusting method.
Background
In the aerial spraying operation, the spray boom on the agricultural remote control flying plant protection machine is a key component for installing and bearing the spray nozzle, and the length and installation parameters (position, angle, levelness and the like) of the spray boom have direct influence on the effective spraying breadth, even the deposition distribution effect of liquid medicine fogdrops and the like. In general, before the agricultural remote control flight plant protection machine onboard spraying device is used, the optimal spray rod length, spray rod installation position, spray head installation angle and the like are required to be determined through test and test, and meanwhile, in actual operation, the spray rod is expected to keep a preset state (horizontal state) so as to ensure the optimal spraying effect.
Because of the load limitation of aviation plant protection equipment, at present, the aviation pesticide application mostly adopts a low-volume or ultra-low-volume and high-concentration spraying mode, the phenomenon of missed spraying, especially heavy spraying of the pesticide liquid can cause more serious consequences than that of a ground machine, while the spray boom on the existing aviation spraying equipment is mostly fixed on a landing gear or a pesticide box, in the installation design (ground), the spray boom and a machine body are kept in a horizontal state, but in the actual operation, the machine body cannot be kept in a horizontal state with the ground due to the following main factors, so that the spray boom and a crop crown layer cannot be kept in a horizontal state: 1) In the forward or backward flight of the aviation pesticide application equipment, the machine body has a forward (backward) tilting (pitching) angle along with the rotor wing surface, so that a spray rod tilts forward (pitching) and a preset spray head angle is changed, and the spraying uniformity is affected; 2) The air-jet type aircraft is influenced by continuous crosswind or gust in flight operation, so that the aircraft body can incline, and a spray rod fixed on the aircraft body can incline along with the aircraft body to cause uneven spraying; 3) Fuselage inclination caused by vibration in flight of the aerial pesticide application equipment, or fuselage non-level caused by factors such as center of gravity arrangement, control and the like during ground assembly, and the like. With the installation position of the spray boom and the spray head in the figure 1 preset as shown in figures 1 and 2, even spraying of the preset breadth of the liquid medicine can be realized under the action of a certain spraying height h and the downward washing air flow of the rotor wing in the setting, and when the posture of the spray boom can not be kept in a horizontal state due to factors, the phenomenon of missing spraying and heavy spraying, which are shown in the figure 2, can occur, and serious consequences of preventing effect and chemical injury can not be achieved.
Disclosure of Invention
In order to avoid the phenomenon of missing spray and heavy spray caused by vibration (shaking) of a spray boom due to factors in the flight process of an unmanned plant protection machine, the invention designs a spray boom active balancing device and an adjusting method, which can solve the problem that the balancing posture of the spray boom on spraying equipment cannot be actively adjusted in the traditional aviation plant protection operation and support the development of agricultural aviation plant protection equipment.
In order to achieve the technical purpose, the technical scheme disclosed by the invention is as follows:
the utility model provides an agricultural remote control flight plant protection machine spray lance initiative balancing unit which characterized in that includes balance controller and balance actuating mechanism:
the balance controller is provided with a control unit and an attitude sensor, and the attitude sensor is arranged on the body of the flying plant protection machine, is used for detecting the flying attitude information of the body and is connected with the control unit;
the balance actuating mechanism comprises a spray rod pitching angle adjusting mechanism and a spray rod rolling angle adjusting mechanism, the spray rod pitching angle adjusting mechanism comprises a first motor and a first motor mounting seat, the spray rod rolling angle adjusting mechanism comprises a second motor and a second motor mounting seat, the first motor and the second motor are respectively connected with the control unit, the first motor is fixed on the first motor mounting seat, the first motor mounting seat is connected with the machine body, the power output end of the first motor is in transmission connection with the second motor mounting seat, the second motor mounting seat is controlled to rotate in a rolling way, the second motor is fixed on the second motor mounting seat, the spray rod is connected with the second motor mounting seat through a bearing, the spray rod is installed in an inner ring of the bearing, the outer ring of the bearing is installed on the second motor mounting seat, a fixed coaxial gear is arranged on the spray rod, and the power output end of the second motor is meshed with the coaxial gear through a gear to control the pitching rotation of the spray rod.
In addition to the above, a further improved or preferred embodiment further includes:
the second motor mounting seat is fixedly connected with a transmission gear shaft, and the power output end of the first motor is in transmission connection with the transmission gear shaft through a gear.
The first motor and the second motor are preferably stepping motors.
The adjusting method for the active balancing device of the spray boom of the agricultural remote control flight plant protection machine is characterized by comprising the following steps of:
firstly, presetting the installation position of a spray rod on a remote control flight plant protection machine body and the installation angle of a spray head;
secondly), standing the remote control flying plant protection machine on the horizontal ground, starting the active balancing device, and initializing an attitude sensor;
thirdly), reading and recording the information of the pitching and rolling attitude angles of the machine body, which is obtained by the attitude sensor in an initialized state, by using the state of the spray boom to the ground at the moment as an initial state, and using the initial state as a target state for balancing and adjusting the spray boom in spraying operation, and operating the remote control flying plant protection machine to take off and spray;
fourth, in spraying operation, the control unit reads the signals sent by the attitude sensor, judges the flight attitude of the machine body, calculates the deviation angle between the current grounding state and the initial grounding state of the spray boom, determines the correction direction, and calculates the quantity of regulating pulses output to the stepping motor driver according to the relation between the deviation angle, the stepping angle of the corresponding stepping motor and the transmission ratio of the corresponding transmission mechanism;
fifthly), according to the calculation result of the step four), sending an adjusting pulse to a stepping motor driver by a control unit, driving a corresponding stepping motor to rotate to a certain angle, adjusting the pitching and/or rolling angles of the spray rod through a corresponding transmission mechanism, correcting the posture deviation of the spray rod, adjusting the spray rod to the target state, and finishing balance adjustment;
and sixthly), repeating the processes from the fourth step to the fifth step in the spraying process until one aviation pesticide application operation is finished.
In the sixth step, the processes of the fourth to fifth steps may be repeated once in each time period according to a preset time period. The processes of the fourth to fifth steps may be repeated once when the control unit detects that the signal sent by the attitude sensor is changed.
The beneficial effects are that:
according to the invention, the roll or pitch angle of the spray boom can be adjusted in real time according to the flight attitude of the flight plant protection machine, so that the spray boom is maintained in a preset initial state to the ground and is kept flush with the crop crown surface as much as possible, and the medicament is sprayed uniformly, so that the phenomenon of re-spraying or missed spraying is avoided.
Drawings
FIG. 1 is a schematic diagram of state of the art one;
FIG. 2 is a schematic diagram of a second state of the art;
FIG. 3 is a schematic structural view of the active balancing device of the spray boom of the present invention;
FIG. 4 is a schematic diagram of a control circuit of the active balancing device of the spray boom of the present invention;
FIG. 5 is a schematic diagram of the working flow of the active balancing device of the spray boom of the present invention.
Detailed Description
The active balancing device for the spray boom of the agricultural remote control flight plant protection machine shown in fig. 3 consists of a balancing controller, a balancing executing mechanism and other parts.
The balance controller includes a control unit and an attitude sensor:
the control unit may be a single-chip microcomputer or other control units with functions of data acquisition, processing and the like, and in this embodiment, the control unit is a single-chip microcomputer, and the single-chip microcomputer is composed of a Central Processing Unit (CPU) and corresponding peripheral circuits, where the peripheral circuits include necessary circuit modules such as voltage input and output, voltage conversion, data acquisition, signal output, photoelectric isolation and the like. In the operation flight process of the agricultural unmanned plant protection machine, a central processing unit continuously collects the flight attitude information such as the pitch angle, the roll angle and the like of the machine body, which are acquired by an attitude sensor, and the flight attitude information is used as a basis for compensation adjustment, and a control signal is output to a balance executing mechanism so as to finish self-balance adjustment of the spray boom.
The attitude sensor is connected with the control unit, and is arranged at the lower part of the machine body of the flying plant protection machine and used for detecting the flying attitude of the machine body.
The balance actuating mechanism comprises a spray boom pitching angle adjusting mechanism and a spray boom rolling angle adjusting mechanism, the spray boom pitching angle adjusting mechanism comprises a first motor 2 and a first motor mounting seat 1, the spray boom rolling angle adjusting mechanism comprises a second motor 4 and a second motor mounting seat 3, and the first motor and the second motor are respectively connected with the control unit.
The first motor 2 is fixed on the first motor mounting seat 1, the first motor mounting seat 1 is connected with the body of the flight plant protection machine, and the second motor mounting seat 3 is mounted in the middle of the spray boom 6. The second motor mounting seat 3 is fixed on a transmission gear shaft (not shown), the power output end of the first motor 2 drives the second motor mounting seat 3 and the spray rod to roll around the longitudinal center line of the machine body through a gear meshed with the transmission gear shaft, the second motor 4 is fixed on the second motor mounting seat 3, the spray rod 6 is connected with the second motor mounting seat 3 through two bearings, the spray rod 6 is mounted in the inner ring of the bearings, the outer ring of the bearings is mounted on the second motor mounting seat 3, a fixed coaxial gear 5 is arranged on the spray rod 6, and the power output end of the second motor 4 is meshed with the coaxial gear through a gear to control pitching rotation of the spray rod 6. Two second motors 4 can be symmetrically arranged on the left and right sides of the second motor mounting seat 3 so as to ensure the stability of balance adjustment, as shown in fig. 4.
In this embodiment, the first motor and the second motor are both stepper motors, and the gesture sensor adopts an electronic gyroscope.
The adjusting method for the active balancing device of the spray boom of the agricultural remote control flight plant protection machine, as shown in fig. 5, comprises the following steps:
firstly), before the actual aviation pesticide application operation, the installation position of a spray boom on a remote control flight plant protection machine body and the installation angle of a spray head are preset according to the required information such as the spraying flight height, the flight speed, the mu pesticide application amount, the effective spraying width and the like, the air pressure, the air speed and other environmental factors;
secondly), standing the remote control flying plant protection machine on the horizontal ground, starting the active balancing device, initializing the electronic gyroscope, and setting the initialized pitch angle alpha and roll angle beta of the electronic gyroscope to be 0 degrees, wherein the angle alpha in a depression state is positive, the angle alpha in a elevation state is negative, the angle beta in a left-hand roll state is positive, and the angle beta in a right-hand roll state is negative;
thirdly), reading and recording information of pitching and rolling attitude angles of the machine body, which are obtained by the electronic gyroscope in an initialized state, by a control unit, setting the angular displacement of the first stepping motor and the second stepping motor to be 0 degrees, taking the state of the spray boom to the ground (the pitching angle and the rolling angle relative to the ground) at the moment as an initial state, taking the initial state as a target state for balancing and adjusting the spray boom in spraying operation, and operating a remote control flying plant protection machine to take off and spray;
fourth, in spraying operation, the control unit collects signals sent by the electronic gyroscope in real time, the flying attitude of the machine body is judged, when the attitude angle of the gyroscope is changed due to vibration or other factors of the machine body, the pitch angle alpha and the roll angle beta of the electronic gyroscope are changed, according to the relative spatial position relation between the spray boom and the machine body, the central processing unit calculates the deviation angle between the current state of the spray boom to the ground and the initial state to the ground, determines the correction direction (namely, judges that the spray boom is in a 'depression state' or a 'elevation state', 'left-side roll state' or 'right-side roll state'), and calculates the quantity of adjustment pulses output to a stepping motor driver according to the relation between the deviation angle and the corresponding stepping angle of the stepping motor and the transmission ratio (such as constant speed, deceleration or acceleration transmission) of the corresponding transmission mechanism;
fifthly), according to the calculation result of the step four), sending an adjusting pulse to a stepping motor driver by a control unit, driving a power output shaft of the first and/or second stepping motor to rotate to a certain angle, adjusting the pitching and/or rolling angles of the spray rod through a corresponding transmission mechanism (a gear shaft and a gear), correcting the posture deviation of the spray rod, adjusting the spray rod to the target state, and finishing balance adjustment;
and sixthly), in the spraying process, the processes from the fourth step to the fifth step can be repeated once in each time period according to a preset time period, or the processes from the fourth step to the fifth step can be repeated once when the control unit detects that the signal sent by the electronic gyroscope changes, until one aviation application operation is finished.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the foregoing embodiments, which have been described in the foregoing embodiments and description merely illustrates the principles of the invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention, the scope of which is defined in the appended claims, specification and their equivalents.
Claims (4)
1. The utility model provides an agricultural remote control flight plant protection machine spray lance initiative balancing unit which characterized in that includes balance controller and balance actuating mechanism:
the balance controller is provided with a control unit and an attitude sensor, and the attitude sensor is arranged on the body of the flying plant protection machine, is used for detecting the flying attitude information of the body and is connected with the control unit;
the balance executing mechanism comprises a spray rod pitching angle adjusting mechanism and a spray rod rolling angle adjusting mechanism, the spray rod pitching angle adjusting mechanism comprises a first motor and a first motor mounting seat, the spray rod rolling angle adjusting mechanism comprises a second motor and a second motor mounting seat, the first motor and the second motor are respectively connected with the control unit, the first motor is fixed on the first motor mounting seat, the first motor mounting seat is connected with the machine body, the power output end of the first motor is in transmission connection with the second motor mounting seat, the second motor mounting seat is controlled to perform rolling rotation, the second motor is fixed on the second motor mounting seat, the spray rod is connected with the second motor mounting seat through a bearing, the spray rod is arranged in an inner ring of the bearing, the outer ring of the bearing is arranged on the second motor mounting seat, a fixed coaxial gear is arranged on the spray rod, and the power output end of the second motor is meshed with the coaxial gear through a gear to control the pitching rotation of the spray rod;
the first motor and the second motor are stepping motors;
the adjusting method of the active balancing device of the spray boom of the agricultural remote control flight plant protection machine comprises the following steps:
firstly, presetting the installation position of a spray rod on a remote control flight plant protection machine body and the installation angle of a spray head;
secondly), standing the remote control flying plant protection machine on the horizontal ground, starting the active balancing device, and initializing an attitude sensor;
thirdly), reading and recording the information of the pitching and rolling attitude angles of the machine body, which is obtained by the attitude sensor in an initialized state, by using the grounded state of the spray boom at the moment as an initial state and using the initial state as a target state for balancing and adjusting the spray boom in spraying operation, and operating the remote control flying plant protection machine to take off and spray;
fourth, in spraying operation, the control unit reads the signals sent by the attitude sensor, judges the flight attitude of the machine body, calculates the deviation angle between the current grounding state and the initial grounding state of the spray boom, determines the correction direction, and calculates the quantity of regulating pulses output to the stepping motor driver according to the relation between the deviation angle, the stepping angle of the corresponding stepping motor and the transmission ratio of the corresponding transmission mechanism;
fifthly), according to the calculation result of the step four), sending an adjusting pulse to a stepping motor driver by a control unit, driving a corresponding stepping motor to rotate to a certain angle, adjusting the pitching and/or rolling angles of the spray rod through a corresponding transmission mechanism, correcting the posture deviation of the spray rod, adjusting the spray rod to the target state, and finishing balance adjustment;
and sixthly), repeating the processes from the fourth step to the fifth step in the spraying process until one aviation pesticide application operation is finished.
2. The active balancing device for the spray boom of the agricultural remote control flight plant protection machine according to claim 1, wherein the second motor mounting seat is fixedly connected with a transmission gear shaft, and the power output end of the first motor is in transmission connection with the transmission gear shaft through a gear.
3. The active balancing device for the boom of the agricultural remotely-controlled flight plant protection machine according to claim 1, wherein in the sixth step, the process of the fourth to fifth steps is repeated once in each time period according to a preset time period.
4. The active balancing device for the boom of the agricultural remotely-controlled flight plant protection machine according to claim 1, wherein in the sixth step, when the control unit detects that the signal sent by the attitude sensor changes, the process from the fourth step to the fifth step is repeated once.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611141033.3A CN106741952B (en) | 2016-12-12 | 2016-12-12 | Active balancing device and adjusting method for spray boom of agricultural remote control flight plant protection machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611141033.3A CN106741952B (en) | 2016-12-12 | 2016-12-12 | Active balancing device and adjusting method for spray boom of agricultural remote control flight plant protection machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106741952A CN106741952A (en) | 2017-05-31 |
| CN106741952B true CN106741952B (en) | 2023-06-30 |
Family
ID=58881102
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611141033.3A Active CN106741952B (en) | 2016-12-12 | 2016-12-12 | Active balancing device and adjusting method for spray boom of agricultural remote control flight plant protection machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106741952B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107444648A (en) * | 2017-09-06 | 2017-12-08 | 四川大友机器人有限公司 | A kind of fluid spray bar of agricultural plant protection unmanned plane |
| CN110147111B (en) * | 2018-02-13 | 2021-05-14 | 广州极飞科技股份有限公司 | Flight attitude control method and device and flight control system |
| CN108450445B (en) * | 2018-03-28 | 2023-06-30 | 农业部南京农业机械化研究所 | Plant protection unmanned plane spray boom adjusting device and adjusting method thereof |
| CN108739730B (en) * | 2018-05-02 | 2021-02-12 | 江苏大学 | Active prediction and adjustment system and method for spray rod balance |
| CN108750120A (en) * | 2018-07-13 | 2018-11-06 | 农业部南京农业机械化研究所 | A kind of plant protection unmanned aerial vehicle nozzle active balancing device and adjusting method |
| CN109122646B (en) * | 2018-10-31 | 2023-08-22 | 湖南农业大学 | Frame spray lance double leveling high ground clearance electric plant protection machine based on vertical lift |
| CN109941435A (en) * | 2019-04-08 | 2019-06-28 | 华南农业大学 | A kind of wide cut spray boom self-balancing aircraft and its control method |
| CN110217395A (en) * | 2019-06-19 | 2019-09-10 | 华南农业大学 | A kind of nozzle position regulating device and method based on plant protection drone heading |
| CN112660386B (en) * | 2020-12-30 | 2021-09-14 | 成都工业学院 | Foldable four-axis eight-propeller plant protection unmanned aerial vehicle with vector control function |
| CN114198455A (en) * | 2021-12-15 | 2022-03-18 | 上海新纪元机器人有限公司 | Self-balancing vibration damping system mounted on carrying equipment |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1042932A (en) * | 1963-02-21 | 1966-09-21 | Ripper Robots Ltd | Improvements relating to aerial spraying of soil or crops thereon |
| CN103033160A (en) * | 2012-12-17 | 2013-04-10 | 江苏大学 | Spray lance position measurement device and measurement method thereof |
| CN104663636A (en) * | 2015-02-14 | 2015-06-03 | 江苏大学 | Automatic adjusting device and method for boom balance |
| CN104920327A (en) * | 2015-06-04 | 2015-09-23 | 江苏大学 | Automatic regulating device for spray lance balance |
| CN205150250U (en) * | 2015-11-24 | 2016-04-13 | 合肥赛为智能有限公司 | Plant protection unmanned aerial vehicle spray lance and plant protection unmanned aerial vehicle |
| CN105707040A (en) * | 2016-01-29 | 2016-06-29 | 北京农业智能装备技术研究中心 | Accurate aerial spraying control system and method for aircraft |
| CN105882969A (en) * | 2016-03-30 | 2016-08-24 | 中国农业大学 | Automatic profile-modeling spraying device and angle adjustment method of agricultural aviation crop protection machine |
| CN206297735U (en) * | 2016-12-12 | 2017-07-04 | 农业部南京农业机械化研究所 | A kind of agricultural remote control flight fog machine spray boom active balancing device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IL243942B (en) * | 2016-02-03 | 2018-10-31 | Israel Aerospace Ind Ltd | Aerial platforms for aerial spraying and methods for controlling the same |
-
2016
- 2016-12-12 CN CN201611141033.3A patent/CN106741952B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1042932A (en) * | 1963-02-21 | 1966-09-21 | Ripper Robots Ltd | Improvements relating to aerial spraying of soil or crops thereon |
| CN103033160A (en) * | 2012-12-17 | 2013-04-10 | 江苏大学 | Spray lance position measurement device and measurement method thereof |
| CN104663636A (en) * | 2015-02-14 | 2015-06-03 | 江苏大学 | Automatic adjusting device and method for boom balance |
| CN104920327A (en) * | 2015-06-04 | 2015-09-23 | 江苏大学 | Automatic regulating device for spray lance balance |
| CN205150250U (en) * | 2015-11-24 | 2016-04-13 | 合肥赛为智能有限公司 | Plant protection unmanned aerial vehicle spray lance and plant protection unmanned aerial vehicle |
| CN105707040A (en) * | 2016-01-29 | 2016-06-29 | 北京农业智能装备技术研究中心 | Accurate aerial spraying control system and method for aircraft |
| CN105882969A (en) * | 2016-03-30 | 2016-08-24 | 中国农业大学 | Automatic profile-modeling spraying device and angle adjustment method of agricultural aviation crop protection machine |
| CN206297735U (en) * | 2016-12-12 | 2017-07-04 | 农业部南京农业机械化研究所 | A kind of agricultural remote control flight fog machine spray boom active balancing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106741952A (en) | 2017-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106741952B (en) | Active balancing device and adjusting method for spray boom of agricultural remote control flight plant protection machine | |
| CN105468009B (en) | It is applied to many power fusion flight control system and the method for micro air vehicle | |
| CN208470114U (en) | A kind of plant protection unmanned aerial vehicle spray head active balancing device | |
| US8561937B2 (en) | Unmanned aerial vehicle | |
| Flores et al. | Quad-tilting rotor convertible mav: Modeling and real-time hover flight control | |
| CN109018440B (en) | VTOL carrier rocket grade landing phase precise perpendicularity soft landing quartic polynomial method of guidance | |
| US11603196B2 (en) | Methods and systems for energy-efficient take-offs and landings for vertical take-off and landing (VTOL) aerial vehicles | |
| CN108750120A (en) | A kind of plant protection unmanned aerial vehicle nozzle active balancing device and adjusting method | |
| CN106990790B (en) | Anti-saturation multi-rotor aircraft control method | |
| CN104648667B (en) | Aircraft | |
| CN106864738A (en) | The control method and device of a kind of unmanned plane undercarriage | |
| DE202017104421U1 (en) | Unmanned aircraft | |
| US20210055427A1 (en) | Methods and Systems for Utilizing Dual Global Positioning System (GPS) Antennas in Vertical Take-Off and Landing (VTOL) Aerial Vehicles | |
| CN111699451A (en) | Flight control method and device for vertical take-off and landing unmanned aerial vehicle and vertical take-off and landing unmanned aerial vehicle | |
| CN111942577A (en) | Gravity center balancing method of unmanned aerial vehicle and unmanned aerial vehicle | |
| CN107741300B (en) | A kind of center of gravity of airplane instruction device | |
| CN109263902A (en) | A kind of fixed wing aircraft direct force assisting in flying control method and system | |
| Xu et al. | Full attitude control of an efficient quadrotor tail-sitter VTOL UAV with flexible modes | |
| CN205150250U (en) | Plant protection unmanned aerial vehicle spray lance and plant protection unmanned aerial vehicle | |
| CN110471454B (en) | Connected unmanned aerial vehicle formation and control method thereof | |
| CN202490444U (en) | Circuit board for flight control on fixed-wing model aircraft and fixed-wing model aircraft | |
| CN104986341A (en) | Aircraft side turning prevention method and device | |
| CN206297735U (en) | A kind of agricultural remote control flight fog machine spray boom active balancing device | |
| CN211364916U (en) | Anti-tilt unmanned aerial vehicle structure | |
| CN210479035U (en) | Deformable air-land plant protection unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |