CN107608383A - A kind of multi-rotor unmanned aerial vehicle auto-controller sprayed insecticide - Google Patents
A kind of multi-rotor unmanned aerial vehicle auto-controller sprayed insecticide Download PDFInfo
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- CN107608383A CN107608383A CN201710950985.8A CN201710950985A CN107608383A CN 107608383 A CN107608383 A CN 107608383A CN 201710950985 A CN201710950985 A CN 201710950985A CN 107608383 A CN107608383 A CN 107608383A
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- controller
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- aerial vehicle
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Abstract
The invention discloses a kind of multi-rotor unmanned aerial vehicle auto-controller sprayed insecticide,Including robot body,The corner of the upside of the robot body is welded with wing frame,The end of the wing frame is provided with rotor adapter,And the wing frame is fixedly connected with rotor adapter,The center on the top of the robot body is connected with storm shutter,The center of the storm shutter is provided with automatic spraying controller,Get off to carry out unmanned plane by ultrasonic range finder and auto-controller collective effect and automatically control to spray insecticide,Ultrasonic wave is sent using ultrasonic range finder to carry out the ranging on sprinkling ground,And automatic spraying controller ground driving sprinkler is controlled to be sprayed insecticide with auto-controller,Reduce labour,The free landing of unmanned plane is carried out by being provided with more rotors,Realize take-off and landing necessarily duty runway,Operation flight is slow,It is adapted to a varied topography,Operating environment more than the barrier of operation area.
Description
Technical field
The present invention relates to auto-controller technical field, specially a kind of multi-rotor unmanned aerial vehicle sprayed insecticide automatically controls
Instrument.
Background technology
The world today is carrying out the technological revolution of green agriculture, organic agriculture, precision agriculture, will also implement more advanced
Digital Agriculture.The preventing and treating of agricultural pest is still the key content of agricultural production, is to ensure agricultural year, high-quality, realization
The basis of Sustainable Development of Agriculture.Therefore, China wants only to realize plant protection by ground spray equipment in these Hills
Mechanization is highly difficult, it is necessary to reference to the unmanned aerial work technology of modernization, could form complete plant protection mechanization body
System.To avoid or mitigating influence and environmental pollution of the agricultural chemicals to non-target region, following two sides are considered as before unmanned machine operation
Face factor:First, operating condition, such as meteorological condition, particularly wind direction, wind speed；Second, flight parameter, such as flying height and flight
Speed, it should be adjusted according to field size, operating condition, spouting liquid requirement, mainly using wireless telecommunications, architecture, inertial navigation
The multiple technologies such as positioning are integrated to form a set of indoor location locating system, so as to realize personnel, object etc. indoors in space
Monitoring position.
The existing multi-rotor unmanned aerial vehicle auto-controller sprayed insecticide, because auto-controller design is not reasonable, and
And the drawback such as pesticide spraying mode efficiency is low, pollution environment, while the take-off and landing of some fixed-wing unmanned planes must use
Runway, operation flying speed is fast, therefore is not suitable for the operating environment more than with a varied topography, operation area barrier, especially inapplicable
Yu Zhong, small the field prevention and control of plant diseases, pest control, can not adjust automatically, causing can not be to the comprehensive collection of unmanned machine information so that right
Unmanned machine information understands not comprehensive enough, while brings difficulty, even more big loss to the work in later stage.
So how to design a kind of multi-rotor unmanned aerial vehicle auto-controller sprayed insecticide, turning into us will currently solve
The problem of.
The content of the invention
It is an object of the invention to provide a kind of multi-rotor unmanned aerial vehicle auto-controller sprayed insecticide, to solve the above-mentioned back of the body
Itd is proposed in scape technology because auto-controller designs not reasonable, and pesticide spraying mode efficiency is low, the pollution disadvantage such as environment
End, at the same some fixed-wing unmanned planes take-off and landing must duty runway the problem of.
To achieve the above object, the present invention provides following technical scheme：A kind of multi-rotor unmanned aerial vehicle for spraying insecticide is automatic
Controller, including robot body, the corner of the upside of the robot body are welded with wing frame, the end of the wing frame
Rotor adapter is installed, and the wing frame is fixedly connected with rotor adapter, the center on the top of the robot body
Position is connected with storm shutter, and the center of the storm shutter is provided with automatic spraying controller, and the automatic spraying controls
Device insertion is arranged in storm shutter, and the left end of the rear side of the automatic spraying controller is provided with water delivery apparatus, and the water delivery apparatus
It is brought into close contact with robot body, driving machine is fixed with the downside of the robot body, the front end of the driving machine is set
Controlling machine box are equipped with, and the driving machine is rotatablely connected with controlling machine box, the top of the controlling machine box is provided with ultrasonic wave
Sensor, and the controlling machine box are electrically connected with ultrasonic sensor, the bottom of the driving machine is fixed with sprinkling instrument, institute
The downside for stating robot body is provided with support frame, and the robot body closely welds with support frame, under support frame as described above
The both ends of side are bonded with landing pad, and one end of the robot body is provided with auto-controller, and the robot body with
Auto-controller signal connects, and the top of the auto-controller is fixed with receiver, under the front end of the auto-controller
Side is provided with direction controlling, and the auto-controller is electrically connected with direction controlling, and the downside of the automatic spraying controller is lived
Dynamic to be connected with rotary shaft, the bottom of the rotary shaft is provided with hydrotreater, and the rotary shaft is fixedly connected with hydrotreater,
Ultrasonic range finder is fixed with the downside of the hydrotreater.
Further, the upper end of the rotor adapter is provided with more rotors, and the rotor adapter turns with more rotors
Dynamic connection.
Further, the front end of the controlling machine box is provided with wireless launcher, and the wireless transmitter and receiver
Signal connects.
Further, the both ends of the downside of support frame as described above are provided with universal wheel, and support frame as described above welds with universal wheel.
Further, adjuster is installed, and the hydrotreater connects with adjuster activity in the middle part of the hydrotreater
Connect.
Further, the upper right side of the robot body is provided with medicament and adds device, and the medicament adds device and robot
Main body is fixedly connected.
Further, the lower left side of the front end of the auto-controller is provided with weather detector, and the meteorological inspection
Device is surveyed to be electrically connected with auto-controller.
Compared with prior art, the beneficial effects of the invention are as follows：The multi-rotor unmanned aerial vehicle that this kind is sprayed insecticide automatically controls
Instrument, get off to carry out unmanned plane by ultrasonic range finder and auto-controller collective effect and automatically control to spray insecticide, using super
Sound-ranging equipment sends ultrasonic wave to carry out the ranging on sprinkling ground, improves pesticide spraying efficiency, while avoids pollution environment,
And control automatic spraying controller ground driving sprinkler to be sprayed insecticide with auto-controller, labour is reduced, is led to
Cross and more rotors are installed to carry out the free landing of unmanned plane, realize take-off and landing necessarily duty runway, operation flight
It is slow, it is adapted to the operating environment more than with a varied topography, operation area barrier, is also applied for the prevention and control of plant diseases, pest control of middle or small field,
With comprehensive collection of the ultrasonic sensor to unmanned machine information, and information is sent to by wireless launcher and automatically controlled
On instrument, the reliability of unmanned plane is enhanced, is advantageous to unmanned machine information and understands comprehensive, the effective convenience for improving unmanned plane.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the partial structural diagram of automatic spraying controller of the present invention；
Fig. 3 is the partial structural diagram of auto-controller of the present invention；
In figure：The unmanned bodies of 1-；2- medicaments add device；3- wing framves；The more rotors of 4-；5- automatic spraying controllers；6- storm shutters；7-
Water delivery apparatus；8- support frames；9- rotor adapters；10- controlling machine box；11- ultrasonic sensors；12- wireless launchers；13- drives
Movement machine；14- universal wheels；15- landing pads；16- rotary shafts；17- adjusters；18- hydrotreaters；19- ultrasonic range finders；
20- auto-controllers；21- weather detectors；22- direction controllings；23- receivers；24- sprays instrument.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1-3 are referred to, the present invention provides a kind of technical scheme：A kind of multi-rotor unmanned aerial vehicle sprayed insecticide automatically controls
Instrument, including robot body 1, the corner of the upside of the robot body 1 are welded with wing frame 3, the end of the wing frame 3
Rotor adapter 9 is installed, and the wing frame 3 is fixedly connected with rotor adapter 9, the top of the robot body 1
Center is connected with storm shutter 6, and the center of the storm shutter 6 is provided with automatic spraying controller 5, and the automatic spray
The insertion of controller 5 is spilt to be arranged in storm shutter 6, the left end of the rear side of the automatic spraying controller 5 is provided with water delivery apparatus 7, and
The water delivery apparatus 7 is brought into close contact with robot body 1, and the downside of the robot body 1 is fixed with driving machine 13, the drive
The front end of movement machine 13 is provided with controlling machine box 10, and the driving machine 13 is rotatablely connected with controlling machine box 10, the control
The top of cabinet 10 is provided with ultrasonic sensor 11, and the controlling machine box 10 are electrically connected with ultrasonic sensor 11, institute
The bottom for stating driving machine 13 is fixed with sprinkling instrument 24, and the downside of the robot body 1 is provided with support frame 8, and the machine
Human agent 1 closely welds with support frame 8, and the both ends of the downside of support frame as described above 8 are bonded with landing pad 15, the robot body
1 one end is provided with auto-controller 20, and the robot body 1 is connected with the signal of auto-controller 20, the automatic control
The top of instrument 20 processed is fixed with receiver 23, and the downside of the front end of the auto-controller 20 is provided with direction controlling 22, and described
Auto-controller 20 is electrically connected with direction controlling 22, and the downside of the automatic spraying controller 5 is connected with rotary shaft 16,
The bottom of the rotary shaft 16 is provided with hydrotreater 18, and the rotary shaft 16 is fixedly connected with hydrotreater 18, the water
The downside of processor 18 is fixed with ultrasonic range finder 19.
Further, the upper end of the rotor adapter 9 is provided with more rotors 4, and the rotor adapter 9 and more rotors
4 rotation connections, the switching of more rotors 4 is carried out using rotor adapter 9, is advantageous to the rotation of more rotors 4.
Further, the front end of the controlling machine box 10 is provided with wireless launcher 12, and the wireless launcher 12 with
The signal of receiver 23 connects, and is transmitted information to by wireless launcher 12 on auto-controller 20, is advantageous to know nothing in time
Man-machine operation conditions.
Further, the both ends of the downside of support frame as described above 8 are provided with universal wheel 14, and support frame as described above 8 welds with universal wheel 14
Connect, moving freely for unmanned plane is carried out by universal wheel 14.
Further, the middle part of the hydrotreater 18 is provided with adjuster 17, and the hydrotreater 18 and adjuster
17 are flexibly connected, and carry out water process with hydrotreater 18, improve the drug effect of agricultural chemicals.
Further, the upper right side of the robot body 1 is provided with medicament and adds device 2, and the medicament adds device 2 and machine
Human agent 1 is fixedly connected, and carries out chemicals treatment using medicament plus device 2, is advantageous to the uniform of medicament.
Further, the lower left side of the front end of the auto-controller 20 is provided with weather detector 21, and the gas
As detection means 21 and auto-controller 20 are electrically connected with, meteorological detection is carried out by weather detector 21, is advantageous to spray
Spill the progress of work.
Operation principle：In the multi-rotor unmanned aerial vehicle auto-controller sprayed insecticide using this kind, first, by automatic spraying
Controller 5 is installed into unmanned body 1, and hydrotreater 18 connects in unmanned body 1 with water delivery apparatus 7, and passes through water delivery
Device 7 carries out water delivery, and medicament is added to unmanned plane by medicament plus device 2, while storm shutter 6 is covered, using hydrotreater 18 come
Pesticide-treated is carried out, now starts unmanned body 1 with auto-controller 20, then machine 13 is driven to drive support to utilize
More rotors 4 on frame 8 are rotated to be taken off, and then, automatic spraying controller 5 are promoted by sprinkler by controlling machine box 10
24 open and are sprayed insecticide, and then send ultrasonic wave using ultrasonic range finder 19 to carry out the ranging on sprinkling ground, ranging is complete
Bi Hou, by comprehensive collection of the ultrasonic sensor 11 to unmanned machine information, meteorology is carried out using weather detector 21
Detection, is and then sent to information on auto-controller 20 by wireless launcher 12 and receiver 23, now staff
Drive adjuster 17 to adjust automatic spraying speed the rotation for controlling rotary shaft 16 by auto-controller 20, avoid agriculture
Medicine wastes, and utilization orientation controls 22 to carry out automatically controlling for unmanned plane direction, plays a part of positioning, finally, by certainly
Dynamic sprinkling controller 5 senses whether auto-controller 20 completes sprinkling task, after completing sprinkling task, by land pad 15 come
Safe falling is carried out, and freely walking about for unmanned plane is carried out using universal wheel 14.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. a kind of multi-rotor unmanned aerial vehicle auto-controller sprayed insecticide, including robot body（1）, it is characterised in that：It is described
Robot body（1）The corner of upside be welded with wing frame（3）, the wing frame（3）End rotor adapter is installed
（9）, and the wing frame（3）With rotor adapter（9）It is fixedly connected, the robot body（1）Top center
It is connected with storm shutter（6）, the storm shutter（6）Center be provided with automatic spraying controller（5）, and the automatic spraying
Controller（5）Insertion is arranged on storm shutter（6）In, the automatic spraying controller（5）The left end of rear side water delivery apparatus is installed
（7）, and the water delivery apparatus（7）With robot body（1）It is brought into close contact, the robot body（1）Downside be fixed with driving
Machine（13）, the driving machine（13）Front end be provided with controlling machine box（10）, and the driving machine（13）With control machine
Case（10）Rotation connection, the controlling machine box（10）Top ultrasonic sensor is installed（11）, and the controlling machine box
（10）With ultrasonic sensor（11）It is electrically connected with, the driving machine（13）Bottom be fixed with sprinkling instrument（24）, the machine
Device human agent（1）Downside be provided with support frame（8）, and the robot body（1）With support frame（8）Close welding, the branch
Support（8）Downside both ends be bonded with landing pad（15）, the robot body（1）One end be provided with auto-controller
（20）, and the robot body（1）With auto-controller（20）Signal connects, the auto-controller（20）Top fix
There is receiver（23）, the auto-controller（20）The downside of front end be provided with direction controlling（22）, and the auto-controller
（20）With direction controlling（22）It is electrically connected with, the automatic spraying controller（5）Downside be connected with rotary shaft（16）, institute
State rotary shaft（16）Bottom be provided with hydrotreater（18）, and the rotary shaft（16）With hydrotreater（18）It is fixedly connected,
The hydrotreater（18）Downside be fixed with ultrasonic range finder（19）.
A kind of 2. multi-rotor unmanned aerial vehicle auto-controller sprayed insecticide according to claim 1, it is characterised in that：It is described
Rotor adapter（9）Upper end more rotors are installed（4）, and the rotor adapter（9）With more rotors（4）Rotation connection.
A kind of 3. multi-rotor unmanned aerial vehicle auto-controller sprayed insecticide according to claim 1, it is characterised in that：It is described
Controlling machine box（10）Front end wireless launcher is installed（12）, and the wireless launcher（12）With receiver（23）Signal connects
Connect.
A kind of 4. multi-rotor unmanned aerial vehicle auto-controller sprayed insecticide according to claim 1, it is characterised in that：It is described
Support frame（8）The both ends of downside be provided with universal wheel（14）, support frame as described above（8）With universal wheel（14）Welding.
A kind of 5. multi-rotor unmanned aerial vehicle auto-controller sprayed insecticide according to claim 1, it is characterised in that：It is described
Hydrotreater（18）Middle part adjuster is installed（17）, and the hydrotreater（18）With adjuster（17）It is flexibly connected.
A kind of 6. multi-rotor unmanned aerial vehicle auto-controller sprayed insecticide according to claim 1, it is characterised in that：It is described
Robot body（1）Upper right side medicament be installed add device（2）, and the medicament adds device（2）With robot body（1）It is fixed to connect
Connect.
A kind of 7. multi-rotor unmanned aerial vehicle auto-controller sprayed insecticide according to claim 1, it is characterised in that：It is described
Auto-controller（20）The lower left side of front end be provided with weather detector（21）, and the weather detector（21）With oneself
Dynamic controller（20）It is electrically connected with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710950985.8A CN107608383B (en) | 2017-10-13 | 2017-10-13 | Multi-rotor unmanned aerial vehicle automatic control instrument for spraying pesticides |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710950985.8A CN107608383B (en) | 2017-10-13 | 2017-10-13 | Multi-rotor unmanned aerial vehicle automatic control instrument for spraying pesticides |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107608383A true CN107608383A (en) | 2018-01-19 |
| CN107608383B CN107608383B (en) | 2021-01-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710950985.8A Active CN107608383B (en) | 2017-10-13 | 2017-10-13 | Multi-rotor unmanned aerial vehicle automatic control instrument for spraying pesticides |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101575120B1 (en) * | 2013-11-06 | 2015-12-07 | 이희성 | Flying Apparatus Having Multiple Rotors |
| CN105292480A (en) * | 2015-11-13 | 2016-02-03 | 南京衡创天伟无人机技术有限公司 | Multi-rotor unmanned aerial vehicle sprinkling system and sprinkling control method |
| CN105292473A (en) * | 2015-10-26 | 2016-02-03 | 重庆光煦科技有限公司 | Multi-rotor type plant protection unmanned aerial vehicle |
| CN106448105A (en) * | 2016-09-29 | 2017-02-22 | 安徽翼讯飞行安全技术有限公司 | Fixed-point pesticide spraying unmanned plane |
| CN107117297A (en) * | 2017-05-06 | 2017-09-01 | 安徽省先胜农业发展有限公司 | A kind of multi-rotor aerocraft for pesticide spraying |
-
2017
- 2017-10-13 CN CN201710950985.8A patent/CN107608383B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101575120B1 (en) * | 2013-11-06 | 2015-12-07 | 이희성 | Flying Apparatus Having Multiple Rotors |
| CN105292473A (en) * | 2015-10-26 | 2016-02-03 | 重庆光煦科技有限公司 | Multi-rotor type plant protection unmanned aerial vehicle |
| CN105292480A (en) * | 2015-11-13 | 2016-02-03 | 南京衡创天伟无人机技术有限公司 | Multi-rotor unmanned aerial vehicle sprinkling system and sprinkling control method |
| CN106448105A (en) * | 2016-09-29 | 2017-02-22 | 安徽翼讯飞行安全技术有限公司 | Fixed-point pesticide spraying unmanned plane |
| CN107117297A (en) * | 2017-05-06 | 2017-09-01 | 安徽省先胜农业发展有限公司 | A kind of multi-rotor aerocraft for pesticide spraying |
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| Publication number | Publication date |
|---|---|
| CN107608383B (en) | 2021-01-08 |
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