CN107128493B - Wide-width plant protection unmanned aerial vehicle with multiple transverse rotors and driving method - Google Patents
Wide-width plant protection unmanned aerial vehicle with multiple transverse rotors and driving method Download PDFInfo
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- CN107128493B CN107128493B CN201710478573.9A CN201710478573A CN107128493B CN 107128493 B CN107128493 B CN 107128493B CN 201710478573 A CN201710478573 A CN 201710478573A CN 107128493 B CN107128493 B CN 107128493B
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000003814 drug Substances 0.000 claims abstract description 43
- 238000005507 spraying Methods 0.000 claims abstract description 32
- 239000000575 pesticide Substances 0.000 claims abstract description 20
- 239000007921 spray Substances 0.000 claims description 36
- 230000033001 locomotion Effects 0.000 claims description 24
- 239000007788 liquid Substances 0.000 claims description 18
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 11
- 229910052744 lithium Inorganic materials 0.000 claims description 11
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 7
- 238000005192 partition Methods 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000033228 biological regulation Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 230000005484 gravity Effects 0.000 claims 1
- 230000007423 decrease Effects 0.000 description 3
- 230000018109 developmental process Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention relates to a wide plant protection unmanned aerial vehicle with a plurality of transverse rotors and a driving method thereof, which are used for improving the operation efficiency. The adopted technical scheme is as follows: comprises a frame, a gesture control mechanism and a medicine spraying system. The frame provides backbone support for the plant protection unmanned aerial vehicle and is used as a carrying platform for placing required parts. The gesture control mechanism provides power output for taking off, landing and adjusting the flying height of the unmanned aerial vehicle, and drives the plant protection unmanned aerial vehicle to advance and stop along the working direction and change the working channel. And the pesticide spraying system controls the pesticide spraying system to start pesticide spraying operation when the plant protection unmanned aerial vehicle reaches a preset operation area. The driving method is mainly used for adjusting the operation posture and the flight channel of the unmanned aerial vehicle by changing the rotating speed of the rotor wings at corresponding positions. According to the invention, the unmanned aerial vehicle lift force is provided by adopting a combination of a plurality of pairs of transverse axis rotors and a pair of longitudinal axis rotors, so that the loading capacity and the cruising capacity of the unmanned aerial vehicle are improved, the operation width is increased, and the overall operation efficiency is improved.
Description
Technical Field
The invention relates to the field of agricultural aviation plant protection, in particular to a wide plant protection unmanned aerial vehicle with a plurality of horizontal rotary wings and a driving method thereof, which are used for improving the operation efficiency.
Background
The plant protection unmanned aerial vehicle is mainly used for spraying and pesticide application operation on grains or cash crops in large-area forests or farmlands. The spray nozzle has the advantages that the high-speed downward gas washing flow generated by the high-speed rotary wing can realize secondary atomization on the fog drops sprayed by the spray nozzle, the entrainment capacity of the fog drops is improved, the penetrability of liquid medicine is improved, the disease and insect pest prevention and control effect is good, and the like, and the spray nozzle can be remotely controlled, so that a remote control operator is prevented from being exposed in the pesticide fog drops, and the pesticide application safety is improved. The remote control unmanned aerial vehicle has become one of the important development trends of agriculture and forestry plant protection.
At present, the plant protection unmanned aerial vehicle mostly adopts an unmanned helicopter and a multi-rotor aircraft as an operation platform, the wind field coverage range is small, the one-time flight operation breadth is small, the dead time is short, the liquid medicine needs to be repeatedly added, the overall operation efficiency is low, the development of agricultural plant protection control which needs large-scale and short-time aging is hindered, and therefore, the plant protection unmanned aerial vehicle platform with large operation breadth and high efficiency and the driving method are urgently needed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a wide plant protection unmanned aerial vehicle with a plurality of horizontal rotors and a driving method thereof, and the wide plant protection unmanned aerial vehicle has the advantages of high load capacity, wide operation range, high working efficiency, low use and maintenance cost and the like.
The invention relates to a technical scheme adopted by a transverse multi-rotor wide plant protection unmanned aerial vehicle, which comprises the following steps: comprises a frame, a gesture control mechanism and a medicine spraying system. The frame provides backbone support for the plant protection unmanned aerial vehicle and is used as a carrying platform for placing required parts. The gesture control mechanism provides power output for taking off, landing and adjusting the flying height of the unmanned aerial vehicle, and drives the plant protection unmanned aerial vehicle to advance and stop along the working direction and change the working channel. And the pesticide spraying system controls the pesticide spraying system to start pesticide spraying operation when the plant protection unmanned aerial vehicle reaches a preset operation area.
The attitude control mechanism comprises a lithium battery, a flight controller, an electronic speed regulator and a rotor wing assembly. The lithium battery provides power for a flight controller, an electronic speed regulator and a rotor wing assembly of the wide plant protection unmanned aerial vehicle, and can be provided with a plurality of lithium batteries according to requirements, and the lithium batteries are distributed in a central area of the frame in groups. The flight controller is fixed in the central area of the frame, automatically collects flight parameters of the wide plant protection unmanned aerial vehicle, and outputs steering engine and accelerator instructions for the electronic speed regulator. The electronic speed regulator is fixed in the central area of the frame, receives the output signal of the flight controller, controls the speed and the direction of the rotor wing assembly, and further controls the gesture and the track of the wide plant protection unmanned aerial vehicle. The rotor assembly comprises a transverse axis motor, a transverse axis rotor, a longitudinal axis motor, a longitudinal axis rotor, a motor support and a motor bracket. The motor support and the motor bracket are used for fixedly supporting the transverse axis motor and the longitudinal axis motor. The transverse axis motor and the longitudinal axis motor are brushless motors. The transverse axis rotor wing and the longitudinal axis rotor wing are respectively and correspondingly coaxially connected with the transverse axis motor and the longitudinal axis motor output shaft, and rotate along with the rotation of the motor. The rotor wing assembly totally has 2n (n is greater than or equal to 2), each rotor wing assembly has the same size and hardware parameters, wherein 2 are located on the longitudinal axis of the frame, and are symmetrically fixed at the front end and the rear end of the frame about the transverse axis, so that lift force is provided for the wide plant protection unmanned aerial vehicle to lift on one hand, and the wide plant protection unmanned aerial vehicle is controlled to advance and stop along the operation direction on the other hand. The rest 2n-2 are located on the transverse axis of the frame, are symmetrical about the longitudinal axis, and are provided with n-1 rotor wing assemblies uniformly distributed on each side, so that on one hand, lift force is provided for the plant protection unmanned aerial vehicle to take off and adjust the flying height together with the rotor wing assemblies on the longitudinal axis, and on the other hand, the wide plant protection unmanned aerial vehicle is driven to carry out gesture adjustment, so that the unmanned aerial vehicle is controlled to transversely move after finishing one course operation, and the operation course is changed.
The medicine spraying system comprises a large-volume medicine box, an lengthened spray rod, an electric diaphragm pump and a spray head. The large-volume medicine box comprises a box body and grid type medicine liquid partition boards, wherein the grid type medicine liquid partition boards are perpendicular to the box bottom of the large-volume medicine box and are fixed on the inner wall of the large-volume medicine box, and the large-volume medicine box is divided into a plurality of grid type areas which are communicated with each other so as to prevent unbalance of the unmanned aerial vehicle caused by overlarge fluctuation of medicine liquid. The lengthened spray rod is uniformly fixed with a spray head. The spray heads are located below the transverse axial rotary wings and are in one-to-one correspondence with the transverse axial rotary wings, and spray out after atomizing the liquid medicine. The electric diaphragm pumps are provided with n-1, are fixed on the upper part of the unmanned aerial vehicle frame, and each electric diaphragm pump controls 2 spray heads to operate.
The invention provides a driving method of a wide plant protection unmanned aerial vehicle with a plurality of horizontal rotors, which comprises the following steps:
1) The 2 rotors on the longitudinal axis rotate in the same direction at a certain speed v, and the 2 rotors on the transverse axis near the central region rotate in the same direction at the same speed v, but the direction is opposite to the rotor group on the longitudinal axis. The left rotor group of every side on the horizontal axis is two in pairs a set of, and the order is evenly fixed in both sides frame, and two rotor groups of every group turn to in opposite, when providing the lift on the wide-width plant protection unmanned aerial vehicle, guarantee gyro effect and the aerodynamic torque effect that each rotor produced offset each other, make unmanned aerial vehicle platform stable flight, do not take place yaw motion.
2) Hovering state of wide-range plant protection unmanned aerial vehicle is through synchronous regulation rotational speed v of every rotor group i The lift force generated by the rotor wing is controlled to make the sum of the lift force provided by the rotor wing equal to the dead weight of the wide plant protection unmanned plane, namely
Wherein f (v) i ) Lifting force, m, provided for rotor group i u G is the weight acceleration of the whole machine of the wide plant protection unmanned aerial vehicle. By varying rotor speed v during lifting movement i Control each group rotor and change the lift force size f of wide plant protection unmanned aerial vehicle jointly u And then adjust the working height of the wide plant protection unmanned aerial vehicle.
3) The rotating speeds of the front rotor wing and the rear rotor wing on the longitudinal axis of the wide plant protection unmanned aerial vehicle are changed, and the forward and backward movement of the wide plant protection unmanned aerial vehicle can be controlled: the rotation speed of the rear rotor wing is increased by deltav, the rotation speed of the front rotor wing is reduced by deltav by equal amount, so that the lift force generated by the rear rotor wing is increased, the lift force generated by the front rotor wing is reduced, and the wide plant protection unmanned aerial vehicle tilts forward, so that forward horizontal component force is generated, and the wide plant protection unmanned aerial vehicle is propelled forward; similarly, the front rotor speed increases by Δv, and the rear rotor speed decreases by Δv in equal amount, causing it to move backward.
4) The rotating speed of the rotor wings on the longitudinal axis of the wide plant protection unmanned aerial vehicle is kept unchanged, the rotating speeds of the rotor wings on the two sides on the transverse axis are changed, and the transverse rolling movement of the wide plant protection unmanned aerial vehicle can be controlled: when one side rotor wingGroup increases the rotational speed Deltav and the rotational speed of the rotor on the other side decreases by an equal amount Deltav r The lifting force of one rotor wing is increased, the lifting force of the other rotor wing is correspondingly reduced, and the wide plant protection unmanned plane realizes the rolling motion.
5) Synchronously changing the rotational speed of the rotor on the longitudinal and transverse axes controls its yaw movement: the rotary wings on the longitudinal axis are reduced by the rotation speed Deltav, and the single rotary wing on the longitudinal axis is increased by the rotation speed Deltav/n-1 in proportion, so that unbalanced reactive torque is generated by the rotary wings on the transverse axis and the longitudinal axis, and the wide plant protection unmanned plane realizes yaw motion.
The invention also provides an operation method of the wide plant protection unmanned aerial vehicle with the row-type multi-rotor wing, which comprises the following steps:
1) After the plant protection unmanned aerial vehicle is transported to the operation area, the frame is horizontally unfolded, the wide plant protection unmanned aerial vehicle is started, lifting motion is carried out according to the driving method, the wide plant protection unmanned aerial vehicle flies off the ground stably, and the wide plant protection unmanned aerial vehicle is hovered at a proper plant protection operation height.
2) The electric diaphragm pump is remotely controlled to be started, the lengthened spray boom is unfolded to implement pesticide spraying operation, the rotating speed of the longitudinal axis rotor wing is changed according to a driving method of the plant protection unmanned aerial vehicle, and the unmanned aerial vehicle is remotely controlled to fly along the crop row course; after the spraying operation of the air route is completed, the diaphragm pump is closed, the transverse axis rotor wing is regulated to rotate at the same direction and different speeds, so that the unmanned aerial vehicle tends to move, the channel conversion is completed, another course spraying operation along the crop row is started, and the unmanned aerial vehicle is controlled to complete the spraying operation of the whole operation area.
3) After the field pesticide application operation is completed, the electric diaphragm pump is remotely controlled to be closed, pesticide spraying is stopped, the lengthened spray boom is folded and retracted, the unmanned aerial vehicle is remotely controlled to slowly land, the unmanned aerial vehicle power supply is turned off, and the unmanned aerial vehicle is transported out of the operation area.
The wide plant protection unmanned aerial vehicle with the row-type multiple rotors has the beneficial effects that:
1) Adopt many pairs of horizontal axis rotors of row formula and a pair of longitudinal axis rotor combination to provide unmanned aerial vehicle lift, improve unmanned aerial vehicle's load capacity and duration.
2) The unmanned aerial vehicle platform with high load capacity can carry the large-volume liquid medicine box, can carry out long-time continuous operation, saves the time of adding medicine because the liquid medicine is insufficient and needs to be returned, and improves the operation efficiency.
3) The unmanned aerial vehicle is provided with the thrust of the forward by adopting two groups of electrically driven rotors on the front side and the rear side of the unmanned aerial vehicle, and the thrust configuration is matched with the requirement of the plant protection unmanned aerial vehicle on low-speed horizontal plane movement in a farmland.
4) The horizontal multi-rotor structure and the lengthened spray boom enable the unmanned aerial vehicle to increase spray breadth. Under the condition that the liquid medicine amount of the unmanned aerial vehicle is unchanged, the large-width spray improves the medicine application rate and reduces the power consumption of the unmanned aerial vehicle.
Drawings
FIG. 1 is a front view of a plant protection drone of the present invention.
FIG. 2 is a right side view of the plant protection drone of the present invention.
Fig. 3 is a top view of the plant protection drone of the present invention.
Fig. 4 is an isometric view of the plant protection drone of the present invention.
FIG. 5 shows a large-volume medicine-chest box with grid-type medicine liquid partition plates according to the present invention.
In the figure: 1. transverse axis rotor 2, transverse axis motor 3, frame 4, spray boom 5, spray head 6, spray boom elbow 7, frame elbow 8, longitudinal axis rotor 9, longitudinal axis motor 10, bulk medicine box 11, motor support 12, lithium battery 13, motor support 14, base 15, flight controller 16, electric diaphragm pump 17, electronic speed regulator
Detailed Description
The patent of the invention is further described below with reference to the accompanying drawings. Fig. 1, 2 and 3 are three views of a mechanical structure of a horizontal multi-rotor plant protection unmanned aerial vehicle.
The invention relates to a technical scheme adopted by a transverse multi-rotor wide plant protection unmanned aerial vehicle, which comprises the following steps: comprises a frame (3), a gesture control mechanism and a medicine spraying system. The frame (3) provides backbone support for the plant protection unmanned aerial vehicle and is used as a carrying platform for placing required parts. The gesture control mechanism provides power output for taking off, landing and adjusting the flying height of the unmanned aerial vehicle, and drives the plant protection unmanned aerial vehicle to advance and stop along the working direction and change the working channel. And the pesticide spraying system controls the pesticide spraying system to start pesticide spraying operation when the plant protection unmanned aerial vehicle reaches a preset operation area.
The attitude control mechanism comprises a lithium battery (12), a flight controller (15), an electronic speed regulator (17) and a rotor wing assembly. The lithium battery (12) provides power for a flight controller (15), an electronic speed regulator (17) and a rotor wing assembly of the wide plant protection unmanned aerial vehicle, and a plurality of lithium batteries can be arranged in groups and uniformly distributed in the center area of the frame according to requirements. The flight controller (15) is fixed in the central area of the frame, automatically collects flight parameters of the wide-range plant protection unmanned aerial vehicle, and outputs steering engine and accelerator instructions for the electronic speed regulator (17). The electronic speed regulator (17) is fixed in the central area of the frame, receives the output signal of the flight controller (15), controls the speed and the direction of the rotor assembly, and further controls the gesture and the track of the wide plant protection unmanned aerial vehicle. The rotor assembly comprises a transverse axis motor (2), a transverse axis rotor (1), a longitudinal axis motor (9), a longitudinal axis rotor (8), a motor support (11) and a motor bracket (13). The motor support (11) and the motor bracket (13) are used for fixedly supporting the transverse axis motor (2) and the longitudinal axis motor (9). The transverse axis motor (2) and the longitudinal axis motor (9) are brushless motors. The transverse axis rotor wing (1) and the longitudinal axis rotor wing (8) are respectively and coaxially connected with output shafts of the transverse axis motor (2) and the longitudinal axis motor (9), and rotate along with the rotation of the motors. The rotor wing assemblies are 2n in total (n is greater than or equal to 2), each rotor wing assembly is provided with the same size and hardware parameters, wherein 2 rotor wing assemblies are located on the longitudinal axis of the frame (3), are symmetrically fixed at the front end and the rear end of the frame (3) relative to the transverse axis, and provide lifting force for the wide plant protection unmanned aerial vehicle to lift on one hand, and control the wide plant protection unmanned aerial vehicle to advance and stop along the operation direction on the other hand. The rest 2n-2 are located on the transverse axis of the frame (3), are symmetrical about the longitudinal axis, and are uniformly distributed with n-1 rotor wing assemblies on each side, so that on one hand, lift force is provided for the plant protection unmanned aerial vehicle to take off and adjust the flying height together with the rotor wing assemblies on the longitudinal axis, on the other hand, the wide plant protection unmanned aerial vehicle is driven to carry out attitude adjustment, the unmanned aerial vehicle is controlled to transversely move after finishing one course operation, and the operation channel is changed.
The medicine spraying system comprises a large-volume medicine box (10), an lengthened spray rod (4), an electric diaphragm pump (16) and a spray head (5). The large-volume medicine box (10) comprises a box body and grid type medicine liquid partition boards, wherein the grid type medicine liquid partition boards are perpendicular to the box bottom of the large-volume medicine box (10) and are fixed on the inner wall of the large-volume medicine box (10), and the large-volume medicine box (10) is divided into a plurality of grid type areas which are communicated with each other so as to prevent unbalance of the unmanned aerial vehicle caused by overlarge fluctuation of medicine liquid. The lengthened spray rod (4) is uniformly fixed with a spray head (5). The spray heads (5) are positioned below the transverse axis rotary wings (1) and correspond to the transverse axis rotary wings (1) one by one, and spray out the atomized liquid medicine. The electric diaphragm pumps (16) are n-1, are fixed on the upper part of the unmanned aerial vehicle frame (3), and each electric diaphragm pump (16) controls 2 spray heads to operate.
The invention provides a driving method of a wide plant protection unmanned aerial vehicle with a plurality of horizontal rotors, which comprises the following steps:
1) The 2 rotor sets on the longitudinal axis rotate in the same direction at a certain speed v, and the 2 rotor sets on the transverse axis near the central area rotate in the same direction at the same speed v, but the direction of rotation is opposite to that of the rotor sets on the longitudinal axis. The left rotor wing groups on each side of the transverse axis are pairwise one group, the sequence is uniformly fixed on the racks (3) on two sides, the two rotor wing groups of each group are opposite in steering, the gyro effect and the aerodynamic torque effect generated by each rotor wing are mutually offset while the lift force of the wide plant protection unmanned aerial vehicle is provided, and the unmanned aerial vehicle platform stably flies without yaw motion.
2) Hovering state of wide-range plant protection unmanned aerial vehicle is through synchronous regulation rotational speed v of every rotor group i The lift force generated by the rotor wing is controlled to make the sum of the lift force provided by the rotor wing equal to the dead weight of the wide plant protection unmanned plane, namely
Wherein f (v) i ) Lifting force, m, provided for rotor group i u G is the weight acceleration of the whole machine of the wide plant protection unmanned aerial vehicle. Through change of lifting movementVariable rotor speed v i Control each group rotor and change the lift force size f of wide plant protection unmanned aerial vehicle jointly u And then adjust the working height of the wide plant protection unmanned aerial vehicle.
3) The rotating speed of the front rotor wing (8) and the rear rotor wing (8) on the longitudinal axis of the wide plant protection unmanned plane is changed, and the forward and backward movement of the wide plant protection unmanned plane can be controlled: the rotation speed of the rear rotor wing is increased by deltav, the rotation speed of the front rotor wing is reduced by deltav by equal amount, so that the lift force generated by the rear rotor wing is increased, the lift force generated by the front rotor wing is reduced, and the wide plant protection unmanned aerial vehicle tilts forward, so that forward horizontal component force is generated, and the wide plant protection unmanned aerial vehicle is propelled forward; similarly, the front rotor speed increases by Δv, and the rear rotor speed decreases by Δv in equal amount, causing it to move backward.
4) The rotating speed of the rotor wings (8) on the longitudinal axis of the wide plant protection unmanned aerial vehicle is kept unchanged, the rotating speed of the rotor wings (1) on the two sides on the transverse axis is changed, and the transverse rolling movement of the wide plant protection unmanned aerial vehicle can be controlled: when one rotor group increases the rotation speed delta v, the rotation speed of the other rotor group is reduced by delta v r The lifting force of one rotor wing is increased, the lifting force of the other rotor wing is correspondingly reduced, and the wide plant protection unmanned plane realizes the rolling motion.
5) Synchronously changing the rotational speed of the rotor on the longitudinal and transverse axes controls its yaw movement: the rotary wings on the longitudinal axis are reduced by the rotation speed Deltav, and the single rotary wing on the longitudinal axis is increased by the rotation speed Deltav/n-1 in proportion, so that unbalanced reactive torque is generated by the rotary wings on the transverse axis and the longitudinal axis, and the wide plant protection unmanned plane realizes yaw motion.
The invention also provides an operation method of the wide plant protection unmanned aerial vehicle with the row-type multi-rotor wing, which comprises the following steps:
1) After the plant protection unmanned aerial vehicle is transported to an operation area, the frame (3) is horizontally unfolded, the wide plant protection unmanned aerial vehicle is started, lifting motion is carried out according to the driving method, the wide plant protection unmanned aerial vehicle is enabled to fly off the ground stably, and the wide plant protection unmanned aerial vehicle is enabled to hover at a proper plant protection operation height;
2) The electric diaphragm pump (16) is opened in a remote control mode, the lengthened spray boom (4) is unfolded to carry out spraying operation, the rotating speed of the longitudinal axis rotor wing (8) is changed according to a driving method of the plant protection unmanned aerial vehicle, and the unmanned aerial vehicle flies along the crop row course; after the spraying operation of the air route is finished, the diaphragm pump (16) is closed, the transverse axis rotor wing (1) is regulated to rotate in the same direction and at different speeds, so that the unmanned aerial vehicle tends to move, the channel transformation is finished, the other course spraying operation along the crop row is started, and the unmanned aerial vehicle is controlled to finish the spraying operation of the whole operation area.
3) After the field pesticide application operation is completed, the electric diaphragm pump (16) is remotely controlled to be closed, pesticide spraying is stopped, the lengthened spray boom (4) is folded and retracted, the unmanned aerial vehicle is remotely controlled to slowly land, the unmanned aerial vehicle power supply is turned off, and the unmanned aerial vehicle is transported out of the operation area.
Claims (3)
1. A wide-width plant protection unmanned aerial vehicle of many rotors of row formula, its characterized in that: comprises a frame, a gesture control mechanism and a medicine spraying system;
the attitude control mechanism comprises a lithium battery, a flight controller, an electronic speed regulator and a rotor wing assembly; the lithium battery provides power for a flight controller, an electronic speed regulator and a rotor wing assembly of the wide plant protection unmanned aerial vehicle, and a plurality of lithium batteries can be arranged according to requirements and distributed in a grouping and uniform manner in the central area of the frame; the flight controller is fixed in the central area of the frame, and is used for automatically collecting various flight parameters of the wide plant protection unmanned aerial vehicle and outputting steering engine and throttle instructions for the electronic speed regulator; the electronic speed regulator is fixed in the central area of the frame, receives the output signal of the flight controller, controls the speed and the direction of the rotor wing assembly, and further controls the gesture and the track of the wide plant protection unmanned aerial vehicle; the rotor wing assembly comprises a transverse axis motor, a transverse axis rotor wing, a longitudinal axis motor, a longitudinal axis rotor wing, a motor support and a motor bracket; the motor support and the motor bracket are used for fixedly supporting the transverse axis motor and the longitudinal axis motor; the transverse axis motor and the longitudinal axis motor are brushless motors; the transverse axis rotor wing and the longitudinal axis rotor wing are respectively and correspondingly coaxially connected with the transverse axis motor and the longitudinal axis motor output shaft, and rotate along with the rotation of the motor; the number of the rotor wing assemblies is 2n or more, n is 2 or more, each rotor wing assembly has the same size and hardware parameters, 2 of the rotor wing assemblies are positioned on the longitudinal axis of the frame, and are symmetrically fixed at the front end and the rear end of the frame about the transverse axis, so that on one hand, lift force is provided for the lifting of the wide plant protection unmanned aerial vehicle, and on the other hand, the wide plant protection unmanned aerial vehicle is controlled to advance and stop along the operation direction; the rest 2n-2 are positioned on the transverse axis of the frame, are symmetrical about the longitudinal axis, and are uniformly distributed with n-1 rotor wing assemblies on each side, so that on one hand, lift force is provided for the plant protection unmanned aerial vehicle to take off and adjust the flying height together with the rotor wing assemblies on the longitudinal axis, and on the other hand, the wide plant protection unmanned aerial vehicle is driven to adjust the gesture, so that the unmanned aerial vehicle is controlled to transversely move after finishing one course of operation, and the operation course is changed;
the medicine spraying system comprises a large-volume medicine box, an elongated spray rod, an electric diaphragm pump and a spray head; the large-volume medicine box comprises a box body and a grid type medicine liquid partition board, wherein the grid type medicine liquid partition board is perpendicular to the bottom of the large-volume medicine box and is fixed on the inner wall of the large-volume medicine box, and the large-volume medicine box is divided into a plurality of grid type areas which are communicated with each other so as to prevent unbalance of the unmanned aerial vehicle caused by overlarge fluctuation of medicine liquid; the lengthened spray rod is uniformly fixed with a spray head; the spray heads are positioned below the transverse axial rotary wings and correspond to the transverse axial rotary wings one by one, and spray the liquid medicine after atomizing; the electric diaphragm pumps are provided with n-1, are fixed on the upper part of the unmanned aerial vehicle frame, and each electric diaphragm pump controls 2 spray heads to operate.
2. The method for driving a wide plant protection unmanned aerial vehicle with a plurality of horizontal rotors according to claim 1, comprising the following steps:
1) The 2 rotor groups on the longitudinal axis rotate in the same direction at a certain speed v, and the 2 rotor groups on the transverse axis close to the central area rotate in the same direction at the same speed v, but the direction of rotation is opposite to that of the rotor groups on the longitudinal axis; the left rotor wing groups on each side of the transverse axis are pairwise and are sequentially and uniformly fixed on the racks on two sides, and the two rotor wing groups of each group are opposite in steering, so that the gyro effect and the aerodynamic torque effect generated by each rotor wing are mutually counteracted while the lift force of the wide plant protection unmanned aerial vehicle is provided, and the unmanned aerial vehicle platform stably flies and does not generate yaw motion;
2) Hovering state of wide-range plant protection unmanned aerial vehicle is through synchronous regulation rotational speed v of every rotor group i Control the lifting force generated by the rotor to enable the rotor to provideThe sum of the lifting forces of the unmanned aerial vehicle is equivalent to the dead weight of the wide plant protection unmanned aerial vehicle, namely
Wherein f (v) i ) Lifting force, m, provided for rotor group i u The weight of the whole machine of the wide plant protection unmanned aerial vehicle is g, which is gravity acceleration; by varying rotor speed v during lifting movement i Control each group rotor and change the lift force size f of wide plant protection unmanned aerial vehicle jointly u Further, the working height of the wide plant protection unmanned aerial vehicle is adjusted;
3) The rotating speeds of the front rotor wing and the rear rotor wing on the longitudinal axis of the wide plant protection unmanned aerial vehicle are changed, and the forward and backward movement of the wide plant protection unmanned aerial vehicle can be controlled: the rotation speed of the rear rotor wing is increased by deltav, the rotation speed of the front rotor wing is reduced by deltav by equal amount, so that the lift force generated by the rear rotor wing is increased, the lift force generated by the front rotor wing is reduced, and the wide plant protection unmanned aerial vehicle tilts forward, so that forward horizontal component force is generated, and the wide plant protection unmanned aerial vehicle is propelled forward; similarly, the rotating speed of the front rotor wing is increased by Deltav, and the rotating speed of the rear rotor wing is reduced by Deltav by the same amount, so that the rear rotor wing moves backwards;
4) The rotating speed of the rotor wings on the longitudinal axis of the wide plant protection unmanned aerial vehicle is kept unchanged, the rotating speeds of the rotor wings on the two sides on the transverse axis are changed, and the transverse rolling movement of the wide plant protection unmanned aerial vehicle can be controlled: when one rotor group increases the rotation speed delta v, the rotation speed of the other rotor group is reduced by delta v r The lift force of one rotor wing is increased, the lift force of the other rotor wing is correspondingly reduced, and the wide plant protection unmanned aerial vehicle realizes the rolling motion;
5) Synchronously changing the rotational speed of the rotor on the longitudinal and transverse axes controls its yaw movement: the rotary wings on the longitudinal axis are reduced by the rotation speed Deltav, and the single rotary wing on the longitudinal axis is increased by the rotation speed Deltav/n-1 in proportion, so that unbalanced reactive torque is generated by the rotary wings on the transverse axis and the longitudinal axis, and the wide plant protection unmanned plane realizes yaw motion.
3. The method for operating a wide plant protection unmanned aerial vehicle with a plurality of horizontal rotors according to claim 1 or 2, comprising the following steps:
1) After the plant protection unmanned aerial vehicle is transported to an operation area, the frame is horizontally unfolded, the wide plant protection unmanned aerial vehicle is started, lifting motion is carried out according to the driving method, the wide plant protection unmanned aerial vehicle flies off the ground stably, and the wide plant protection unmanned aerial vehicle hovers at a proper plant protection operation height;
2) The electric diaphragm pump is remotely controlled to be started, the lengthened spray boom is unfolded to implement pesticide spraying operation, the rotating speed of the longitudinal axis rotor wing is changed according to a driving method of the plant protection unmanned aerial vehicle, and the unmanned aerial vehicle is remotely controlled to fly along the crop row course; after the spraying operation of the air route is finished, closing the diaphragm pump, adjusting the transverse axis rotor wing to rotate at the same direction and different speeds, enabling the unmanned aerial vehicle to move in a leaning mode, finishing the air route conversion, starting another course spraying along the crop row until controlling the unmanned aerial vehicle to finish the spraying operation of the whole operation area;
3) After the field pesticide application operation is completed, the electric diaphragm pump is remotely controlled to be closed, pesticide spraying is stopped, the lengthened spray boom is folded and retracted, the unmanned aerial vehicle is remotely controlled to slowly land, the unmanned aerial vehicle power supply is turned off, and the unmanned aerial vehicle is transported out of the operation area.
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| CN108995815A (en) * | 2018-09-08 | 2018-12-14 | 灵翼飞航（天津）科技有限公司 | A kind of cross-arranging type multi-rotor unmanned aerial vehicle |
| CN109677614B (en) * | 2019-01-31 | 2024-03-19 | 临沂大学 | Plant protection unmanned aerial vehicle |
| 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 |
| CN112352759B (en) * | 2020-10-26 | 2024-06-11 | 江苏大学 | Multi-rotor spray rod structure and control method thereof |
| CN113320691B (en) * | 2021-05-06 | 2023-04-21 | 华南农业大学 | Operation method of multi-purpose pollination unmanned aerial vehicle with extensible endurance time |
| CN115610659B (en) * | 2022-11-10 | 2023-06-09 | 咸宁职业技术学院 | Agricultural plant protection unmanned aerial vehicle |
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