CN107264805A - A kind of six rotor plant protection unmanned plane agricultural chemicals Electrostatic spraying systems - Google Patents

Abstract

The invention discloses a six-rotor plant protection UAV pesticide electrostatic spraying system in the technical field of agricultural UAV plant protection, including a six-wing UAV body, and a wireless data transceiver is arranged on the left side of the six-wing UAV body , the right side of the main body of the six-wing drone is provided with a GPS positioning module, and the bottom of the main body of the six-wing drone is provided with an electromagnetic sucker seat, compared with the existing six-rotor plant protection drone pesticide electrostatic spraying system , the present invention is simple in structure and easy to use. The pesticide electrostatic spraying system of the six-rotor plant protection drone of the present invention uses an electromagnetic sucker to fix the medicine storage box, so that when the medicine storage box is replaced, only the electromagnetic sucker needs to be used to fix the medicine storage box. Adsorption fixation replaces the previous process of manually fixing the medicine storage box, which reduces the difficulty of operation and improves work efficiency.

Description

A six-rotor plant protection UAV pesticide electrostatic spraying system

technical field

The invention relates to the technical field of agricultural drone plant protection, in particular to a pesticide electrostatic spraying system of a six-rotor plant protection drone.

Background technique

With the acceleration of urban-rural integration in China, the development of large-scale planting has become an important measure for agricultural modernization. With the emergence and growth of new agricultural production and management entities such as large agricultural planters, family farms and farmers' cooperatives, the traditional piggyback plant protection operation method , can no longer meet the requirements of modern agricultural development. According to statistics, the plant protection machinery currently used in China is mainly manual and small-scale motorized sprayers, of which manual pesticide spraying machinery and backpack motorized pesticide machinery account for 93.07% of the domestic plant protection machinery inventory. and 5.53%, and tractor-mounted plant protection machinery accounts for about 0.57%. Plant protection operations require a lot of labor and labor intensity, and poisoning incidents of pesticide applicators occur from time to time. With the development and progress of science and technology, agricultural unmanned helicopters have become more and more popular in recent years. More and more agricultural drones appear in domestic agricultural production, and agricultural drones have a wide range of adaptability. They can perform remote control operations in different terrain areas, such as plains, mountains, hills, etc., which can greatly save labor costs and improve agricultural technology. Level, so that traditional artificial agriculture is moving towards modern agriculture. At present, the drug storage barrels on the intelligent remote-controlled drone pesticide spraying devices on the market are relatively small, about 10-20kg, and the take-off weight is within 35kg. After the pesticide in the storage tank is sprayed, the drone needs to return to add pesticides to the storage tank. In order to improve the working efficiency of the drone, people choose to replace the storage tank of the drone and replace the storage tank with pesticides. The medicine barrel is directly replaced with the medicine storage barrel sprayed with pesticides on the UAV, thereby improving the working efficiency of the UAV. This method of replacing the medicine storage barrel requires fixing the medicine storage barrel every time the medicine storage barrel is replaced , At present, most of the intelligent remote-controlled UAVs are manually fixed to replace the storage barrels, which is a waste of human energy. For this reason, we propose a six-rotor plant protection UAV pesticide electrostatic spraying system.

Contents of the invention

The purpose of the present invention is to provide a six-rotor plant protection UAV pesticide electrostatic spraying system to solve the problem that most of the intelligent remote control UAVs proposed in the above background technology are replaced by manual fixing, which is very wasteful. Physical problems.

In order to achieve the above object, the present invention provides the following technical solutions: a six-rotor plant protection UAV pesticide electrostatic spraying system, including a six-wing UAV body, the left side of the six-wing UAV body is provided with a wireless data transceiver , the right side of the main body of the six-wing UAV is provided with a GPS positioning module, the bottom of the main body of the six-wing UAV is provided with an electromagnetic sucker seat, and the surface of the electromagnetic sucker seat is provided with a speed sensor and an infrared ranging sensor , and the speed sensor is located on the left side of the infrared ranging sensor, the left and right sides of the bottom of the electromagnetic chuck seat are provided with high-voltage electrostatic sprayers, and the right side and the right side of the high-voltage electrostatic sprayer on the left side are equipped with high-voltage electrostatic sprayers. The left side of the drug device is provided with a connecting hose, the bottom of the electromagnetic chuck seat is provided with an electromagnetic chuck, and the electromagnetic chuck is located between two groups of high-voltage electrostatic sprayers, and the bottom of the electromagnetic chuck is provided with a medicine storage box. The top of the left side wall of the medicine storage box is provided with a medicine inlet, the center of the bottom of the inner cavity of the medicine storage box is provided with a pressure sensor, and the left and right sides of the inner cavity bottom of the medicine storage box are provided with liquid medicine pumps , the tops of the liquid medicine pumps of the two groups are all provided with infusion tubes, and the tops of the two groups of infusion tubes protrude from the top of the medicine storage box, and the tops of the infusion tubes protrude and connect with the connecting hoses, and the wireless The data transceivers are electrically bidirectionally connected to the execution terminal and the control terminal respectively. The execution terminal includes the main body of the six-wing drone, a GPS positioning module, a speed sensor, an infrared ranging sensor, a high-voltage electrostatic sprayer, an electromagnetic chuck, a pressure sensor and The liquid medicine pump, the control terminal includes a display, an operation panel, a data processor, a map memory and a ground data acquisition system.

When the control terminal inputs the operation signal to the execution terminal, the operation signal is divided into the UAV flight control signal, the medicine storage box loading and unloading control signal and the spraying management control signal, and the UAV flight control signal is the operation panel to control the six-wing UAV The flight route, flight speed and flight altitude of the main body, the GPS positioning module locates the flight route of the main body of the six-wing UAV, the speed sensor senses the flight speed of the main body of the six-wing UAV, and the infrared ranging sensor monitors the flight path of the six-wing UAV. The flying height of the main body of the drone is sensed, and the control signal for loading and unloading the medicine storage box is to control the electromagnetic sucker to work through the operation panel. When the medicine storage box is installed, the electromagnetic sucker is controlled to work, and the medicine storage box is adsorbed. To achieve the effect of fixing the medicine storage box, and then manually connect the infusion tube and the connecting hose together, if the medicine storage box is unloaded, the electromagnetic chuck is controlled to stop working, and the adsorption force of the electromagnetic chuck disappears, then To achieve the unloading of the medicine storage box, the infusion tube and the connecting hose are manually disassembled. The control signal of the spraying management is to control the liquid medicine pump through the operation panel to pump the medicine liquid into the high-voltage electrostatic spraying through the infusion pipe and the connecting hose. In the device, and control the high-voltage electrostatic sprayer to carry out high-voltage electrostatic atomization treatment on the liquid medicine, and finally output the liquid medicine through the atomization nozzle on the high-voltage electrostatic sprayer to spray the plant protection crops, and the pressure sensor controls the stored medicine The liquid medicine pressure in the tank is sensed, and then the content of the medicine liquid in the medicine storage box can be judged. The map memory stores the map data of the spraying area, and the ground data acquisition system collects the wind speed, temperature and humidity data of the area where the medicine is sprayed, and then The ground data acquisition system and the data transmitted through the wireless data transceiver are processed by the data processor. The processing content includes data optimization and chart drawing, and finally the data is displayed on the display, which is convenient for the operator to execute according to the processed data. The terminal performs operation control.

Preferably, the ground data acquisition system includes a data acquisition module, the data acquisition module is electrically connected to a temperature and humidity sensor and a wind speed sensor, and the electrical output of the data acquisition module is connected to an A/D conversion module. The electrical output of the D conversion module is connected to the microprocessor, and the electrical output of the microprocessor is connected to the data transmission module.

When the ground data acquisition system is working, the temperature and humidity sensor senses the temperature and humidity in the spraying area. Different temperature and humidity will require the amount of spraying, which is convenient for the operator to adjust. The wind speed sensor in the spraying area For sensing, the wind speed will affect the operation of the main body of the six-wing drone, and the collection of wind speed by the wind speed sensor can facilitate the operator to operate the main body of the six-wing drone. The data acquisition module senses the temperature and humidity sensor and the wind speed sensor. The collected data is collected through the data conversion process of the A/D conversion module, so that the data is converted into a form that is convenient for the microprocessor to identify and process, and then transmitted to the control terminal through the data transmission module, and the control terminal controls The data processor processes the data.

Preferably, a threaded connector is provided at the connection between the infusion tube and the connecting hose.

Preferably, the electromagnetic chucks are arranged in a rectangular array on the surface of the electromagnetic chuck seat.

Preferably, the drug inlet is provided with a sealing cover.

Preferably, the display is a liquid crystal display.

Compared with the prior art, the beneficial effects of the present invention are: compared with the existing six-rotor plant protection UAV pesticide electrostatic spraying system, the present invention is simple in structure and easy to use, and the six-rotor plant protection UAV pesticide electrostatic spraying system of the present invention The spraying system uses electromagnetic suckers to fix the medicine storage box, so that when replacing the medicine storage box, it only needs to absorb and fix the medicine storage box through the electromagnetic sucker, which replaces the previous process of manually fixing the medicine storage box, reducing the Difficulty in operation, and work efficiency is improved.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a functional block diagram of the control system of the present invention;

Fig. 3 is a schematic block diagram of the ground data acquisition system of the present invention;

Fig. 4 is a schematic diagram of the structure of the electromagnetic chuck seat of the present invention.

In the figure: 1 main body of the six-wing drone, 2 wireless data transceiver, 3 GPS positioning module, 4 electromagnetic sucker seat, 5 speed sensor, 6 infrared ranging sensor, 7 high-voltage electrostatic sprayer, 8 connecting hose, 9 Electromagnetic chuck, 10 medicine storage box, 11 medicine inlet, 12 pressure sensor, 13 medicine liquid pump, 14 infusion tube, 15 executive terminal, 16 control terminal, 17 display, 18 joystick, 19 data processor, 20 map memory, 21 ground data acquisition system, 211 data acquisition module, 212 temperature and humidity sensor, 213 wind speed sensor, 214 A/D conversion module, 215 microprocessor, 216 data transmission module.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Figures 1-4, the present invention provides a technical solution: a six-rotor plant protection UAV pesticide electrostatic spraying system, including a six-wing UAV main body 1, the left side of the six-wing UAV main body 1 is provided with a wireless Data transceiver 2, the right side of the hexaplane main body 1 is provided with a GPS positioning module 3, the bottom of the hexaplane main body 1 is provided with an electromagnetic chuck seat 4, and the surface of the electromagnetic chuck seat 4 is provided with a speed sensor 5 and Infrared ranging sensor 6, and speed sensor 5 is positioned at the left side of infrared ranging sensor 6, and the left and right sides of the bottom of electromagnetic chuck seat 4 are all provided with high-voltage electrostatic sprayer 7, the right side of left side high-voltage electrostatic sprayer 7 and the left side of the high-voltage electrostatic sprayer 7 on the right side are all provided with a connecting hose 8, and the bottom of the electromagnetic chuck seat 4 is provided with an electromagnetic chuck 9, and the electromagnetic chuck 9 is positioned between two groups of high-voltage electrostatic sprayers 7, and the electromagnetic chuck The bottom of 9 is provided with a medicine storage box 10, the top of the left side wall of the medicine storage box 10 is provided with a medicine inlet 11, the center of the inner cavity bottom of the medicine storage box 10 is provided with a pressure sensor 12, and the inner cavity bottom of the medicine storage box 10 The left and right sides are all provided with liquid medicine pumps 13, and the tops of two groups of liquid medicine pumps 13 are all provided with infusion tubes 14, and the tops of two groups of infusion tubes 14 all stretch out the top of medicine storage box 10, and the tops of infusion tubes 14 stretch out. Connected with the connecting hose 8, the wireless data transceiver 2 is electrically bidirectionally connected to the execution terminal 15 and the control terminal 16 respectively. Distance sensor 6, high-voltage electrostatic sprayer 7, electromagnetic chuck 9, pressure sensor 12 and liquid medicine pump 13, control terminal 16 includes display 17, operation panel 18, data processor 19, map memory 20 and ground data acquisition system 21.

When the control terminal 16 inputs the operation signal to the execution terminal 15, the operation signal is divided into the flight control signal of the drone, the loading and unloading control signal of the medicine storage box 10, and the spraying management control signal, and the flight control signal of the drone is the control signal of the operation panel 18. The flight route, flight speed and flight altitude of the main body 1 of the wing UAV, the GPS positioning module 3 locates the flight route of the main body 1 of the six-wing UAV, and the speed sensor 5 carries out the flight speed of the main body 1 of the hexa-wing UAV. Induction, the infrared ranging sensor 6 senses the flight height of the hexaplane main body 1, and the loading and unloading control signal of the medicine storage box 10 is to control the electromagnetic sucker 9 through the operation panel 18 to work. If the medicine storage box 10 is installed, Control the electromagnetic chuck 9 to work, to adsorb the medicine storage box 10, and then achieve the effect of fixing the medicine storage box 10, and then manually connect the infusion tube 14 and the connecting hose 8 together, if the medicine storage box 10 When performing unloading work, control the electromagnetic chuck 9 to stop working, then the adsorption force of the electromagnetic chuck 9 disappears, and then the unloading work of the medicine storage box 10 is achieved, and then the infusion tube 14 and the connecting hose 8 are manually disassembled, and the spraying management The control signal is to control the liquid medicine pump 13 through the operation panel 18 to pump the liquid medicine into the high-voltage electrostatic sprayer 7 through the infusion tube 14 and the connecting hose 8, and to control the high-voltage electrostatic sprayer 7 to carry out high-voltage electrostatic atomization of the liquid medicine treatment, and finally output the liquid medicine through the atomizing nozzle on the high-voltage electrostatic sprayer 7, and spray the plant protection crops. The pressure sensor 12 senses the pressure of the liquid medicine in the medicine storage box 10, and then can judge the pressure of the medicine storage box 10. Chinese medicinal liquid content, the map memory 20 stores the map data of the spraying area, the ground data acquisition system 21 collects the wind speed and temperature and humidity data of the spraying area, and then the ground data acquisition system 21 and the ground data acquisition system 21 and the The data transmitted by the wireless data transceiver 2 is processed, and the processed content includes data optimization and chart drawing, and finally the data is displayed on the display 17, which is convenient for the operator to operate and control the execution terminal 15 according to the processed data.

Wherein, the ground data acquisition system 21 includes a data acquisition module 211, the data acquisition module 211 is electrically connected to the temperature and humidity sensor 212 and the wind speed sensor 213 respectively, and the electrical output of the data acquisition module 211 is connected to the A/D conversion module 214, and the A/D conversion The electrical output of the module 214 is connected to the microprocessor 215 , and the electrical output of the microprocessor 215 is connected to the data transmission module 216 .

When the ground data acquisition system 21 is working, the temperature and humidity sensor 212 senses the temperature and humidity of the spraying area. Different temperature and humidity will require the spraying amount, which is convenient for the operator to adjust. The wind speed in the area is sensed, and the wind speed will affect the operation of the main body 1 of the six-wing UAV, and the collection of wind speed by the wind speed sensor 213 can facilitate the operator to operate the main body 1 of the six-wing UAV. The data sensed by the temperature and humidity sensor 212 and the wind speed sensor 213 are collected, and the collected data is processed through the data conversion of the A/D conversion module 214, so that the data is converted into a form that is convenient for the microprocessor 215 to identify and process, and then passed The data transmission module 216 transmits to the control terminal 16, and the control terminal 16 controls the data processor 19 to process the data;

The connection between the infusion tube 14 and the connecting hose 8 is provided with a threaded connector, the electromagnetic chucks 9 are arranged in a rectangular array on the surface of the electromagnetic chuck seat 4, the medicine inlet 11 is provided with a sealing cover, and the display 17 is a liquid crystal display. Screen.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (6)

1. A six-rotor plant protection drone pesticide electrostatic spraying system, comprising a six-wing drone main body (1), is characterized in that: the left side of the six-wing drone main body (1) is provided with a wireless data transceiver (2), the right side of the hexaplane main body (1) is provided with a GPS positioning module (3), and the bottom of the hexaplane main body (1) is provided with an electromagnetic chuck seat (4), so The surface of the electromagnetic chuck seat (4) is provided with a speed sensor (5) and an infrared ranging sensor (6), and the speed sensor (5) is positioned at the left side of the infrared ranging sensor (6), and the electromagnetic chuck seat (4 ) is provided with a high-voltage electrostatic sprayer (7) on the left and right sides of the bottom, and the left side of the high-voltage electrostatic sprayer (7) on the left side and the left side of the right high-voltage electrostatic sprayer (7) are all provided with Connect the hose (8), the bottom of the electromagnetic chuck seat (4) is provided with an electromagnetic chuck (9), and the electromagnetic chuck (9) is located between two groups of high-voltage electrostatic sprayers (7), the electromagnetic chuck ( 9) is provided with a medicine storage box (10) at the bottom, and the top of the left side wall of the medicine storage box (10) is provided with a medicine inlet (11), and the center of the inner cavity bottom of the medicine storage box (10) is provided with There is a pressure sensor (12), and the left and right sides of the inner chamber bottom of the medicine storage box (10) are provided with liquid medicine pumps (13), and the tops of the two groups of liquid medicine pumps (13) are provided with infusion tubes ( 14), and the tops of the two groups of infusion tubes (14) all stretch out from the top of the medicine storage box (10), and the tops of the infusion tubes (14) stretch out to be connected with the connecting hose (8), and the wireless data The transceiver (2) is electrically bidirectionally connected to the execution terminal (15) and the control terminal (16) respectively, and the execution terminal (15) includes a six-wing UAV main body (1), a GPS positioning module (3), a speed sensor ( 5), infrared ranging sensor (6), high-voltage electrostatic sprayer (7), electromagnetic chuck (9), pressure sensor (12) and liquid medicine pump (13), described control terminal (16) comprises display (17) ), operation panel (18), data processor (19), map memory (20) and ground data acquisition system (21). When the control terminal (16) inputs the operation signal to the execution terminal (15), the operation signal is divided into the UAV flight control signal, the medicine storage box (10) loading and unloading control signal and the spraying management control signal, and the UAV flight control signal. Control the flight route, flight speed and flight height of the six-wing drone main body (1) for the operation panel (18), the GPS positioning module (3) locates the flight route of the six-wing drone main body (1), and the speed sensor (5) Sensing the flight speed of the hexaplane main body (1), the infrared ranging sensor (6) sensing the flight height of the hexaplane main body (1), loading and unloading the medicine storage box (10) The control signal is to control the electromagnetic chuck (9) to work through the operation panel (18). If the medicine storage box (10) is installed, the electromagnetic chuck (9) is controlled to work, and the medicine storage box (10) is adsorbed. And then reach the effect that the medicine storage box (10) is fixed, then by manually connecting the infusion tube (14) and the connecting hose (8), if the medicine storage box (10) is unloaded, the control electromagnetic When the sucker (9) stops working, the adsorption force of the electromagnetic sucker (9) disappears, and then the unloading work of the medicine storage box (10) is reached, and then the infusion tube (14) and the connecting hose (8) are manually disassembled, sprayed The medicine management control signal is to control the medicine liquid pump (13) through the operation panel (18) to pump the medicine liquid into the high-voltage electrostatic sprayer (7) through the infusion tube (14) and the connecting hose (8), and to control the high-voltage electrostatic sprayer (7). The sprayer (7) carries out high-voltage electrostatic atomization treatment to the medicinal liquid, and finally outputs the medicinal liquid through the atomizing nozzle on the high-voltage electrostatic sprayer (7) to spray the plant protection crops, and the pressure sensor (12) The pressure of the medicine liquid in the medicine storage box (10) is sensed, and then the content of the medicine solution in the medicine storage box (10) can be judged, the map memory (20) stores the map data of the spraying area, and the ground data acquisition system (21) The wind speed and temperature and humidity data in the spraying area are collected, and then the ground data acquisition system (21) and the data transmitted by the wireless data transceiver (2) are processed by the data processor (19), and the processed content includes data Optimizing and charting, and finally the data is displayed through the display (17), which is convenient for the operator to operate and control the execution terminal (15) according to the processed data. 2. a kind of six-rotor plant protection UAV pesticide electrostatic spraying system according to claim 1, is characterized in that: described ground data acquisition system (21) comprises data acquisition module (211), and described data acquisition module (211 ) are connected to the temperature and humidity sensor (212) and the wind speed sensor (213) by electrical input respectively, and the electrical output of the data acquisition module (211) is connected to the A/D conversion module (214), and the A/D conversion module (214) The electrical output is connected to the microprocessor (215), and the electrical output of the microprocessor (215) is connected to the data transmission module (216). When the ground data acquisition system (21) is working, the temperature and humidity sensor (212) senses the temperature and humidity of the spraying area. Different temperature and humidity will require the spraying amount, which is convenient for the operator to adjust. The wind speed sensor (213) The wind speed in the spraying area is sensed, and the wind speed will affect the operation of the main body (1) of the six-wing drone, and the collection of the wind speed by the wind speed sensor (213) can facilitate the operator to control the six-wing drone. The main body (1) operates, and the data acquisition module (211) collects the data sensed by the temperature and humidity sensor (212) and the wind speed sensor (213), and the collected data is processed through the data conversion of the A/D conversion module (214) , so that the data is converted into a form that is convenient for the microprocessor (215) to identify and process, and then passed to the control terminal (16) through the data transmission module (216), and the control terminal (16) controls the data processor (19) to process the data to process. 3. A six-rotor plant protection drone electrostatic spraying system for pesticides according to claim 1, characterized in that: the connection between the infusion tube (14) and the connecting hose (8) is provided with a threaded connector. 4. A six-rotor plant protection drone electrostatic spraying system for pesticides according to claim 1, characterized in that: the electromagnetic chucks (9) are arranged in a rectangular array on the surface of the electromagnetic chuck seat (4). 5. A six-rotor plant protection drone electrostatic spraying system for pesticides according to claim 1, characterized in that a sealing cover is provided on the drug inlet (11). 6. A six-rotor plant protection drone electrostatic spraying system for pesticides according to claim 1, characterized in that: the display (17) is a liquid crystal display.