CN107608383B - Multi-rotor unmanned aerial vehicle automatic control instrument for spraying pesticides - Google Patents
Multi-rotor unmanned aerial vehicle automatic control instrument for spraying pesticides Download PDFInfo
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- CN107608383B CN107608383B CN201710950985.8A CN201710950985A CN107608383B CN 107608383 B CN107608383 B CN 107608383B CN 201710950985 A CN201710950985 A CN 201710950985A CN 107608383 B CN107608383 B CN 107608383B
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Abstract
The invention discloses an automatic controller of a multi-rotor unmanned aerial vehicle for spraying pesticides, which comprises a robot main body, wherein wing frames are welded at four corners of the upper side of the robot main body, a rotor adapter is installed at the tail end of each wing frame, the wing frames are fixedly connected with the rotor adapters, a wind-proof cover is clamped at the central position of the top end of the robot main body, an automatic spraying controller is arranged at the central position of the wind-proof cover, the unmanned aerial vehicle is automatically controlled to spray pesticides under the combined action of an ultrasonic range finder and the automatic controller, the ultrasonic range finder is used for sending ultrasonic waves to measure the distance of a spraying ground, the automatic controller is used for controlling the automatic spraying controller to drive a sprayer to spray pesticides, the labor force is reduced, the unmanned aerial vehicle freely rises and falls through the installation of the multiple rotors, and the take-off and landing of a runway are not needed, the operation flight is slower, and the device is suitable for the operation environment with complex terrain and a plurality of obstacles in an operation area.
Description
Technical Field
The invention relates to the technical field of automatic control instruments, in particular to an automatic control instrument of a multi-rotor unmanned aerial vehicle for spraying pesticides.
Background
The world is currently undergoing a technological revolution in green agriculture, organic agriculture, precision agriculture, and will implement more advanced digital agriculture. The prevention and control of agricultural diseases and insect pests are still the key content of agricultural production, and are the basis for ensuring high yield and high quality of agriculture and realizing sustainable development of agricultural economy. Therefore, in the hilly and mountainous areas, the mechanization of plant protection is difficult to realize by only using ground spraying equipment, and a complete mechanical plant protection system can be formed only by combining a modern unmanned aerial operation technology. In order to avoid or reduce the influence of pesticide on non-target areas and environmental pollution, the unmanned aerial vehicle needs to consider the following two factors before operation, namely, operation conditions such as meteorological conditions, particularly wind direction and wind speed; and secondly, flight parameters such as flight height and flight speed are adjusted according to the requirements of field size, operation conditions and liquid spraying amount, and a set of indoor position positioning system is formed by mainly integrating various technologies such as wireless communication, base station positioning, inertial navigation positioning and the like, so that the position monitoring of personnel, objects and the like in the indoor space is realized.
Present many rotor unmanned aerial vehicle automatic control appearance that sprays insecticide, because automatic control appearance design is reasonable inadequately, and the pesticide sprays mode inefficiency, drawbacks such as polluted environment, simultaneously take off and landing of some fixed wing unmanned aerial vehicle must use the runway, operation flying speed is fast, therefore be not suitable for the topography complicacy, the many operation environment of operation district barrier, especially not be applicable to in, the pest control of small field piece, unable automatic adjustment, cause unable all-round collection to unmanned aerial vehicle information, make to be comprehensive inadequately of unmanned aerial vehicle information understanding, bring the difficulty for the work in later stage simultaneously, even bigger loss.
Therefore, how to design a many rotor unmanned aerial vehicle automatic control appearance of spraying insecticide becomes the problem that we will solve at present.
Disclosure of Invention
The invention aims to provide an automatic controller of a multi-rotor unmanned aerial vehicle for spraying pesticides, which aims to solve the problems that in the background art, due to the defects that the automatic controller is not reasonable enough in design, pesticide spraying modes are low in efficiency, the environment is polluted and the like, and meanwhile, runways are needed for taking off and landing of fixed-wing unmanned aerial vehicles.
In order to achieve the purpose, the invention provides the following technical scheme: a multi-rotor unmanned aerial vehicle automatic controller for spraying pesticides comprises a robot main body, wherein wing frames are welded at four corners of the upper side of the robot main body, a rotor adapter is installed at the tail end of each wing frame, the wing frames are fixedly connected with the rotor adapters, a windproof cover is clamped at the central position of the top end of the robot main body, an automatic spraying controller is arranged at the central position of the windproof cover and embedded into the windproof cover, a water delivery device is installed at the left end of the rear side of the automatic spraying controller and closely attached to the robot main body, a driving machine is fixed on the lower side of the robot main body, a control cabinet is arranged at the front end of the driving machine and rotatably connected with the control cabinet, an ultrasonic sensor is installed at the top end of the control cabinet, and the control cabinet is electrically connected with the ultrasonic sensor, the bottom of driving machine is fixed with sprays the appearance, the downside of robot main part is equipped with the support frame, just robot main part and support frame welded closely, the both ends bonding of the downside of support frame has descending pad, the one end of robot main part is provided with the automatic control appearance, just the robot main part is connected with automatic control appearance signal, the top of automatic control appearance is fixed with the receiver, the downside of the front end of automatic control appearance is equipped with directional control, just automatic control appearance and directional control electric connection, the downside swing joint of automatic spray controller has the axis of rotation, the bottom of axis of rotation is provided with the water treatment ware, just axis of rotation and water treatment ware fixed connection, the downside of water treatment ware is fixed with ultrasonic ranging appearance.
Further, many rotors are installed to the upper end of rotor adapter, just rotor adapter rotates with many rotors and is connected.
Furthermore, a wireless transmitter is installed at the front end of the control cabinet and is in signal connection with the receiver.
Furthermore, the two ends of the lower side of the support frame are provided with universal wheels, and the support frame is welded with the universal wheels.
Furthermore, the middle part of the water treatment device is provided with a regulator, and the water treatment device is movably connected with the regulator.
Further, the upper right end of the robot main body is provided with a medicament feeder, and the medicament feeder is fixedly connected with the robot main body.
Further, the lower left side of the front end of the automatic control instrument is provided with a weather detection device, and the weather detection device is electrically connected with the automatic control instrument.
Compared with the prior art, the invention has the beneficial effects that: the automatic control instrument of the multi-rotor unmanned aerial vehicle for spraying pesticides can automatically control the unmanned aerial vehicle to spray pesticides under the combined action of the ultrasonic range finder and the automatic control instrument, utilizes the ultrasonic range finder to send ultrasonic waves to carry out distance measurement on a spraying ground, improves pesticide spraying efficiency, avoids environmental pollution, controls the automatic spraying controller to drive the spraying instrument to spray pesticides by utilizing the automatic control instrument, reduces labor force, carries out free take-off and landing of the unmanned aerial vehicle by installing a plurality of rotors, realizes that a runway is not needed for take-off and landing, is slow in operation flight, is suitable for operation environments with complex terrains and a plurality of obstacles in operation areas, is also suitable for pest control of medium and small fields, utilizes the ultrasonic sensor to comprehensively collect information of the unmanned aerial vehicle, and transmits the information to the automatic control instrument through the wireless transmitter, the reliability of the unmanned aerial vehicle is enhanced, the information of the unmanned aerial vehicle can be comprehensively known, and the convenience of the unmanned aerial vehicle can be effectively improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a portion of the automatic spray control of the present invention;
FIG. 3 is a schematic view of a partial structure of the automatic control apparatus of the present invention;
in the figure: 1-unmanned body; 2-a medicament feeder; 3-a wing frame; 4-multiple rotors; 5-automatic spraying controller; 6-a windproof cover; 7-a water delivery device; 8-a support frame; 9-rotor adapter; 10-a control cabinet; 11-an ultrasonic sensor; 12-a wireless transmitter; 13-driving the machine; 14-a universal wheel; 15-a landing pad; 16-a rotating shaft; 17-a regulator; 18-a water treatment device; 19-ultrasonic range finders; 20-automatic control instrument; 21-a weather detection device; 22-direction control; 23-a receiver; 24-spraying instrument.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: an automatic controller of a multi-rotor unmanned aerial vehicle for spraying pesticides comprises a robot main body 1, wherein wing frames 3 are welded at four corners of the upper side of the robot main body 1, a rotor adapter 9 is installed at the tail end of each wing frame 3, the wing frames 3 are fixedly connected with the rotor adapters 9, a windproof cover 6 is clamped at the central position of the top end of the robot main body 1, an automatic spraying controller 5 is arranged at the central position of the windproof cover 6, the automatic spraying controller 5 is embedded in the windproof cover 6, a water delivery device 7 is installed at the left end of the rear side of the automatic spraying controller 5, the water delivery device 7 is tightly attached to the robot main body 1, a driving machine 13 is fixed to the lower side of the robot main body 1, a control cabinet 10 is arranged at the front end of the driving machine 13, and the driving machine 13 is rotatably connected with the control cabinet 10, the ultrasonic sensor 11 is installed on the top end of the control cabinet 10, the control cabinet 10 is electrically connected with the ultrasonic sensor 11, the spraying instrument 24 is fixed at the bottom of the driving machine 13, the support frame 8 is arranged on the lower side of the robot main body 1, the robot main body 1 is tightly welded with the support frame 8, the landing pads 15 are bonded on the two ends of the lower side of the support frame 8, the automatic controller 20 is arranged at one end of the robot main body 1, the robot main body 1 is in signal connection with the automatic controller 20, the receiver 23 is fixed on the top end of the automatic controller 20, the direction controller 22 is arranged on the lower side of the front end of the automatic controller 20, the automatic controller 20 is electrically connected with the direction controller 22, the rotating shaft 16 is movably connected with the lower side of the automatic spraying controller 5, and the water treatment device 18 is arranged at the bottom end of the rotating shaft 16, the rotating shaft 16 is fixedly connected with a water treatment device 18, and an ultrasonic distance meter 19 is fixed on the lower side of the water treatment device 18.
Further, many rotors 4 are installed to rotor adapter 9's upper end, just rotor adapter 9 rotates with many rotors 4 to be connected, utilizes rotor adapter 9 to carry out the switching of many rotors 4, is favorable to the rotation of many rotors 4.
Further, wireless transmitter 12 is installed to the front end of control machine case 10, just wireless transmitter 12 and receiver 23 signal connection, through wireless transmitter 12 with information transfer to automatic control appearance 20 on, be favorable to in time knowing unmanned aerial vehicle's operation conditions.
Further, both ends of the downside of support frame 8 are equipped with universal wheel 14, support frame 8 and universal wheel 14 welding carry out unmanned aerial vehicle's free movement through universal wheel 14.
Furthermore, the regulator 17 is installed in the middle of the water treatment device 18, the water treatment device 18 is movably connected with the regulator 17, and the water treatment device 18 is used for water treatment, so that the pesticide effect is improved.
Further, medicament adder 2 is installed at the upper right end of robot main body 1, just medicament adder 2 and robot main body 1 fixed connection use medicament adder 2 to carry out the medicament and handle, are favorable to the even of medicament.
Further, the left lower side of the front end of the automatic control instrument 20 is provided with a weather detection device 21, and the weather detection device 21 is electrically connected with the automatic control instrument 20, and weather detection is performed through the weather detection device 21, which is favorable for spraying.
The working principle is as follows: when the multi-rotor unmanned aerial vehicle automatic controller for spraying pesticides is used, firstly, the automatic spraying controller 5 is installed in the robot main body 1, the water treatment device 18 is communicated with the water delivery device 7 in the robot main body 1 and water is delivered through the water delivery device 7, a pesticide is added into the unmanned aerial vehicle through the pesticide addition device 2, the windproof cover 6 is covered, the water treatment device 18 is used for pesticide treatment, at the moment, the robot main body 1 is started through the automatic controller 20, the driving machine 13 is used for driving the multi-rotor 4 on the support frame 8 to rotate for pesticide spraying, then, the automatic spraying controller 5 is pushed through the control cabinet 10 to open the spraying device 24 for spraying pesticides, then the ultrasonic distance meter 19 is used for sending ultrasonic waves for distance measurement of a spraying place, and after the distance measurement is finished, the information of the unmanned aerial vehicle is collected in an omnibearing manner through the ultrasonic sensor 11, utilize weather detection device 21 to carry out weather detection, convey information to automatic control appearance 20 through wireless transmitter 12 and receiver 23 on immediately, the staff drives regulator 17 through automatic control appearance 20 control axis of rotation 16's rotation and adjusts the automatic spraying speed this moment, the pesticide waste has been avoided, and utilize direction control 22 to carry out the automatic control of unmanned aerial vehicle direction, play the effect of location, and finally, whether come response automatic control appearance 20 to accomplish through automatic spraying controller 5 and spray the task, the completion sprays the task after, carry out safe descending through descending pad 15, and utilize universal wheel 14 to carry out unmanned aerial vehicle's free walk about.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (1)
1. The utility model provides a spray many rotor unmanned aerial vehicle automatic control appearance of pesticide, includes robot main part (1), its characterized in that: the four corners of the upper side of the robot main body (1) are welded with a wing frame (3), the tail end of the wing frame (3) is provided with a rotor wing adapter (9), the wing frame (3) is fixedly connected with the rotor wing adapter (9), the center position of the top end of the robot main body (1) is clamped with a windproof cover (6), the center position of the windproof cover (6) is provided with an automatic spraying controller (5), the automatic spraying controller (5) is embedded in the windproof cover (6), the left end of the rear side of the automatic spraying controller (5) is provided with a water delivery device (7), the water delivery device (7) is tightly attached to the robot main body (1), the lower side of the robot main body (1) is fixed with a driving machine (13), the front end of the driving machine (13) is provided with a control cabinet (10), and the driving machine (13) is rotatably connected with the control cabinet (10), the ultrasonic sensor (11) is installed on the top end of the control cabinet (10), the control cabinet (10) is electrically connected with the ultrasonic sensor (11), the spraying instrument (24) is fixed to the bottom of the driving machine (13), the support frame (8) is arranged on the lower side of the robot main body (1), the robot main body (1) is tightly welded with the support frame (8), landing pads (15) are bonded to the two ends of the lower side of the support frame (8), the automatic controller (20) is arranged at one end of the robot main body (1), the robot main body (1) is in signal connection with the automatic controller (20), a receiver (23) is fixed to the top end of the automatic controller (20), the direction controller (22) is arranged on the lower side of the front end of the automatic controller (20), and the automatic controller (20) is electrically connected with the direction controller (22), a rotating shaft (16) is movably connected to the lower side of the automatic spraying controller (5), a water treatment device (18) is arranged at the bottom end of the rotating shaft (16), the rotating shaft (16) is fixedly connected with the water treatment device (18), and an ultrasonic distance meter (19) is fixed to the lower side of the water treatment device (18);
the upper end of the rotor wing adapter (9) is provided with a plurality of rotor wings (4), and the rotor wing adapter (9) is rotatably connected with the plurality of rotor wings (4);
the front end of the control cabinet (10) is provided with a wireless transmitter (12), and the wireless transmitter (12) is in signal connection with the receiver (23);
universal wheels (14) are arranged at two ends of the lower side of the support frame (8), and the support frame (8) is welded with the universal wheels (14);
the middle part of the water processor (18) is provided with a regulator (17), and the water processor (18) is movably connected with the regulator (17);
a medicament adding device (2) is arranged at the upper right end of the robot main body (1), and the medicament adding device (2) is fixedly connected with the robot main body (1);
a weather detection device (21) is arranged on the left lower side of the front end of the automatic controller (20), and the weather detection device (21) is electrically connected with the automatic controller (20);
the control method of the automatic controller of the multi-rotor unmanned aerial vehicle comprises the following steps:
s1, installing the automatic spraying controller (5) into the robot main body (1), communicating a water treatment device (18) with a water delivery device (7) in the robot main body (1), delivering water through the water delivery device (7), adding a medicament into the unmanned aerial vehicle through a medicament adding device (2), covering a windproof cover (6) and performing pesticide treatment by using the water treatment device (18);
s2, starting the robot main body (1) by using the automatic controller (20), driving the multi-rotor (4) on the support frame (8) to rotate by using the driving machine (13) to take off, and then pushing the automatic spraying controller (5) to start the spraying instrument (24) to spray pesticide by using the control case (10);
s3, then using the ultrasonic range finder (19) to send out ultrasonic waves to carry out range finding of the spraying ground, after the range finding is finished, carrying out all-around collection on unmanned aerial vehicle information through the ultrasonic sensor (11), using the weather detection device (21) to carry out weather detection, and then transmitting the information to the automatic controller (20) through the wireless transmitter (12) and the receiver (23);
s4, at the moment, the worker controls the rotation of the rotating shaft (16) through the automatic control instrument (20) to drive the regulator (17) to regulate the automatic spraying speed, pesticide waste is avoided, and the direction of the unmanned aerial vehicle is automatically controlled by the direction control (22) to play a role in positioning;
s5, finally, whether the automatic controller (20) finishes the spraying task or not is sensed through the automatic spraying controller (5), after the spraying task is finished, the unmanned aerial vehicle safely descends through the descending pad (15), and the unmanned aerial vehicle freely walks by utilizing the universal wheels (14).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710950985.8A CN107608383B (en) | 2017-10-13 | 2017-10-13 | Multi-rotor unmanned aerial vehicle automatic control instrument for spraying pesticides |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710950985.8A CN107608383B (en) | 2017-10-13 | 2017-10-13 | Multi-rotor unmanned aerial vehicle automatic control instrument for spraying pesticides |
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| CN107608383A CN107608383A (en) | 2018-01-19 |
| CN107608383B true CN107608383B (en) | 2021-01-08 |
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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 |
| 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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- 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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| CN107608383A (en) | 2018-01-19 |
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