CN107140195A - A kind of agricultural unmanned plane - Google Patents
A kind of agricultural unmanned plane Download PDFInfo
- Publication number
- CN107140195A CN107140195A CN201710356673.4A CN201710356673A CN107140195A CN 107140195 A CN107140195 A CN 107140195A CN 201710356673 A CN201710356673 A CN 201710356673A CN 107140195 A CN107140195 A CN 107140195A
- Authority
- CN
- China
- Prior art keywords
- medicine
- frame
- chest
- unmanned plane
- horn
- 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
Links
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 14
- 239000003814 drug Substances 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 239000007921 spray Substances 0.000 claims abstract description 10
- 239000007788 liquid Substances 0.000 claims description 3
- 229940079593 drug Drugs 0.000 claims description 2
- 238000000465 moulding Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 239000002002 slurry Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 208000035473 Communicable disease Diseases 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000010152 pollination Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000000576 supplementary effect Effects 0.000 description 1
Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
-
- 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
-
- 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
- B64D43/00—Arrangements or adaptations of instruments
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Insects & Arthropods (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Catching Or Destruction (AREA)
- Special Spraying Apparatus (AREA)
Abstract
The present invention is to be related to a kind of improvement of agricultural unmanned plane.A kind of agricultural unmanned plane, including frame, frame are provided with flight control system, and frame periphery is evenly equipped with several horns, and the horn end is provided with motor, and the output shaft of motor is provided with propeller, and horn lower end motor cabinet is provided with night-run lamp；Frame lower end is provided with medicine-chest and ultrasonic equipment, and medicine-chest lower end is provided with the medicine bar of spray, and servo flow regulator is provided between described medicine bar and medicine-chest；Frame is provided with three IMU modules, two magnetic compasses, two accelerometers and GPS module；Decoction surplus detection module is provided with medicine-chest.The present invention by three, two magnetic compasses, uniformity signal is averaged after two accelerometers are measured respectively, it is more accurate to measure, so that flight is more steady；In addition, after flying speed and flight angle that can be by measuring unmanned plane, servo flow regulator regulation spray flow be controlled by control module, so that spray is more uniform.
Description
Technical field
The present invention is to be related to a kind of improvement of agricultural unmanned plane.
Background technology
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, using radio robot and providing for oneself
The not manned aircraft that presetting apparatus is manipulated.It can be divided into from technical standpoint definition：Unmanned fixed-wing aircraft, unmanned VTOL
Machine, unmanned airship, depopulated helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..
Unmanned plane press application field, can be divided into it is military with it is civilian.Military aspect, unmanned plane is divided into reconnaissance plane and target drone.The people
With aspect, unmanned plane+sector application is that unmanned plane has really just been needed；At present taking photo by plane, agricultural, plant protection, miniature auto heterodyne, express delivery
Transport, disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making, system
The application in romance etc. field is made, the purposes of unmanned plane in itself has greatly been expanded, developed country also answers in actively extension industry
With with developing unmanned air vehicle technique.
It can be seen that the application of unmanned plane is widely, operating efficiency and effect that the application especially in agricultural is greatly increased
Really.Performance in terms of the sprinkling of crops medicament, the prospecting of breeding of hybrid rice supple-mentary pollination, crop information is all very prominent.But
It is pesticide spraying amount control of the unmanned plane under stability, friction speed, it is all immature, it is necessary to further research, reinforcement.
The content of the invention
In view of the deficienciess of the prior art, the technical problems to be solved by the invention be to provide a kind of stability it is strong, can
Control the agricultural unmanned plane of the pesticide spraying amount under friction speed.
The present invention adopts the following technical scheme that to complete：A kind of agricultural unmanned plane, including frame, frame is provided with winged
Row control system, frame periphery is evenly equipped with several horns, it is characterised in that：The horn end is provided with motor, the output of motor
Axle is provided with propeller, and horn lower end motor cabinet is provided with night-run lamp；Frame lower end is provided with medicine-chest and ultrasonic equipment, medicine-chest
Medicine bar of the end provided with spray, described medicine bar one end connects medicine-chest, and servo Flow-rate adjustment is provided between described medicine bar and medicine-chest
Device；Frame is provided with three IMU modules, two magnetic compasses, two accelerometers and GPS module, described three IMU modules,
Two magnetic compasses, two accelerometers and GPS module are all connected with the signal input part of control module, the signal output of control module
The controller input of end electrical connection servo flow controller and flight control system；In medicine-chest mould is detected provided with decoction surplus
Block, decoction surplus detection module connects the signal input part of flight control system internal controller.
As a kind of preferred scheme, described decoction surplus detection module is liquid level sensor.
As another preferred scheme, folded piece is provided with the middle part of described horn；Horn can be folded at autofolding part,
Described folded piece is provided with position limiting structure, it is to avoid horn is folded in flight course.
As another preferred scheme, provided with ultrasonic wave structure in frame, ultrasonic wave structure connects the signal of controller
Input；The ultrasound examination barrier that ultrasonic wave structure is sent, makes course line adjustment in time.
As another preferred scheme, protective cap is provided with frame upper end, described flight control system is arranged at described
In protective cap.
The beneficial effects of the invention are as follows：The present invention is carried out respectively by three IMU, two magnetic compasses, two accelerometers
Inertia measurement, course angular measurement and the incoming control module of acceleration information, control module carry out data analysis, carry out speed and row
Enter the control of angle, and control signal is sent to the controller of flight control system, so as to control flight path and speed.This
Invention by three, two magnetic compasses, uniformity signal is averaged after two accelerometers are measured respectively, it is more accurate to measure,
So that flight is more steady；In addition, after flying speed and flight angle that can be by measuring unmanned plane, passing through control module control
Servo flow regulator regulation spray flow processed, so that spray is more uniform.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
In figure, 1 it is propeller, 2 is motor, 3 is horn, 4 is frame, 5 is medicine-chest, 6 is medicine bar, 7 is shower nozzle.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
With reference to the accompanying drawings shown in 1, a kind of agricultural unmanned plane, including frame 4 has flight control system in frame 4, in frame
4 upper ends are provided with protective cap, and described flight control system is arranged in the protective cap；The periphery of frame 4 is evenly equipped with several horns
3, the described middle part of horn 3 is provided with folded piece, and horn vertical frames are set；Horn 3 can be folded at autofolding part, described
Folded piece is provided with position limiting structure, it is to avoid horn is folded in flight course；The end of horn 3 be provided with motor 2, motor 2 it is defeated
Shaft is provided with propeller 1, and described propeller 1 is sandwich slurry, and sandwich slurry can save electric power, improve efficiency, the lower end of horn 3 electricity
Support is provided with night-run lamp；The lower end of frame 4 is provided with medicine-chest 5 and ultrasonic equipment, and the lower end of medicine-chest 5 is provided with the medicine bar 6 of spray, institute
The end of medicine bar 6 is stated provided with shower nozzle 7, described one end of medicine bar 6 connects medicine-chest 5, and servo flow is provided between described medicine bar 6 and medicine-chest 5
Measure adjuster；Frame 4 is provided with three IMU modules, two magnetic compasses, two accelerometers and GPS module, described three
IMU modules, two magnetic compasses, two accelerometers and GPS module are all connected with the signal input part of control module, control module
Signal output part electrically connects servo flow controller and the controller input of flight control system；It is provided with medicine-chest more than decoction
Detection module is measured, described decoction surplus detection module is liquid level sensor；Decoction surplus detection module connection flight control system
The signal input part for internal controller of uniting；Frame is provided with ultrasonic wave structure, and ultrasonic wave structure connects the signal input part of controller；
The ultrasound examination barrier that ultrasonic wave structure is sent, makes course line adjustment in time.
When decoction surplus detection module detects decoction surplus deficiency, control module issues a signal to flight control system
Controller, control unmanned plane make a return voyage.
The present invention carries out inertia measurement, course angular measurement respectively by three IMU, two magnetic compasses, two accelerometers
With the incoming control module of acceleration information, control module carries out data analysis, carries out the control of speed and travel angle, and will control
Signal processed is sent to the controller of flight control system, so as to control flight path and speed.The present invention passes through three, two magnetic
Compass, uniformity signal is averaged after two accelerometers are measured respectively, and it is more accurate to measure, so that flight is more steady；
In addition, after flying speed and flight angle that can be by measuring unmanned plane, controlling servo flow regulator to adjust by control module
Section spray flow, so that spray is more uniform.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Need creative work just can make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (4)
1. a kind of agricultural unmanned plane, including frame (4), frame 4 are provided with flight control system, frame (4) periphery is evenly equipped with number
Individual horn (3), it is characterised in that：Horn (3) end is provided with motor (2), and the output shaft of motor (2) is provided with propeller
(1), horn (3) lower end motor cabinet is provided with night-run lamp；The lower end of frame 4 is provided with medicine-chest (5) and ultrasonic equipment, medicine-chest (5)
Medicine bar (6) of the end provided with spray, medicine bar (6) one end connection medicine-chest (5), sets between described medicine bar (6) and medicine-chest (5)
There is servo flow regulator；Frame (4) is provided with three IMU modules, two magnetic compasses, two accelerometers and GPS module, institute
Three IMU modules, two magnetic compasses, two accelerometers and the GPS module stated are all connected with the signal input part of control module, control
The signal output part electrical connection servo flow controller and the controller input of flight control system of molding block；In medicine-chest (5)
Interior to be provided with decoction surplus detection module, decoction surplus detection module connects the signal input part of flight control system internal controller.
2. a kind of agricultural unmanned plane according to claim 1, it is characterised in that：Described decoction surplus detection module is liquid
Level sensor.
3. a kind of agricultural unmanned plane according to claim 1, it is characterised in that：Provided with folding in the middle part of described horn (3)
Part.
4. a kind of agricultural unmanned plane according to claim 1, it is characterised in that：Provided with ultrasonic wave structure in frame (4),
Ultrasonic wave structure connects the signal input part of controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710356673.4A CN107140195A (en) | 2017-05-12 | 2017-05-12 | A kind of agricultural unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710356673.4A CN107140195A (en) | 2017-05-12 | 2017-05-12 | A kind of agricultural unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107140195A true CN107140195A (en) | 2017-09-08 |
Family
ID=59777196
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710356673.4A Pending CN107140195A (en) | 2017-05-12 | 2017-05-12 | A kind of agricultural unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107140195A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108522467A (en) * | 2018-03-07 | 2018-09-14 | 芜湖翼讯飞行智能装备有限公司 | A kind of pesticide spraying unmanned plane |
| WO2019218501A1 (en) * | 2018-05-17 | 2019-11-21 | Chen Pei | Agricultural unmanned aerial vehicle spraying device |
| CN113016758A (en) * | 2021-03-01 | 2021-06-25 | 王�华 | Unmanned aerial vehicle that navigates back automatically without medicine with distinguish medicine function |
| WO2021184352A1 (en) * | 2020-03-20 | 2021-09-23 | 深圳市大疆创新科技有限公司 | Agricultural plant protection unmanned aerial vehicle and operation method therefor |
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| CN205469807U (en) * | 2016-03-11 | 2016-08-17 | 尖蜂航空科技有限公司 | Six spool collapsible plant protection machines |
| CN105857612A (en) * | 2016-04-01 | 2016-08-17 | 南充驭云创新科技有限公司 | Rotor wing agricultural unmanned aerial vehicle for plant protection |
-
2017
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| KR20140102584A (en) * | 2013-02-14 | 2014-08-22 | 공주대학교 산학협력단 | Unmanned aerial vehicle with multiple rotor |
| CN104386249A (en) * | 2014-11-17 | 2015-03-04 | 马鞍山市靓马航空科技有限公司 | Multi-rotor unmanned aerial vehicle for fast surveying and surveying method of multi-rotor unmanned aerial vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108522467A (en) * | 2018-03-07 | 2018-09-14 | 芜湖翼讯飞行智能装备有限公司 | A kind of pesticide spraying unmanned plane |
| WO2019218501A1 (en) * | 2018-05-17 | 2019-11-21 | Chen Pei | Agricultural unmanned aerial vehicle spraying device |
| WO2021184352A1 (en) * | 2020-03-20 | 2021-09-23 | 深圳市大疆创新科技有限公司 | Agricultural plant protection unmanned aerial vehicle and operation method therefor |
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| CN113016758A (en) * | 2021-03-01 | 2021-06-25 | 王�华 | Unmanned aerial vehicle that navigates back automatically without medicine with distinguish medicine function |
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Application publication date: 20170908 |