CN107719670A - Continue sprinkling system and lasting spray method - Google Patents
Continue sprinkling system and lasting spray method Download PDFInfo
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- CN107719670A CN107719670A CN201710843329.8A CN201710843329A CN107719670A CN 107719670 A CN107719670 A CN 107719670A CN 201710843329 A CN201710843329 A CN 201710843329A CN 107719670 A CN107719670 A CN 107719670A
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- unmanned plane
- sprinkling
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- liquid electricity
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- 239000007921 spray Substances 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000002045 lasting effect Effects 0.000 title claims description 12
- 239000007788 liquid Substances 0.000 claims abstract description 138
- 230000005611 electricity Effects 0.000 claims abstract description 128
- 238000005507 spraying Methods 0.000 claims abstract description 6
- 230000007812 deficiency Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 7
- 239000012530 fluid Substances 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 241000894007 species Species 0.000 claims description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 231100000572 poisoning Toxicity 0.000 description 2
- 230000000607 poisoning effect Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 241000256844 Apis mellifera Species 0.000 description 1
- 241000876443 Varanus salvator Species 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012857 repacking Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/022—Tethered aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
-
- 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
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
-
- 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
- B64U2201/20—Remote controls
- B64U2201/202—Remote controls using tethers for connecting to ground station
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Catching Or Destruction (AREA)
Abstract
Continue sprinkling system and spray method the invention discloses a kind of.Described system includes sprinkling unmanned plane, multiple stringing unmanned planes and ground tank car.The sprinkling unmanned plane of the system of the present invention is connected by liquid electricity multiple tube with ground tank car, multiple stringing unmanned planes connect and suspend liquid electricity multiple tube in midair, sprinkling unmanned plane is followed to be moved accordingly, prevent liquid electricity multiple tube from pulling sprinkling unmanned plane, enable sprinkling unmanned plane to implement to continue spraying operation for the crops of larger area apart from ground tank car larger distance.The invention also discloses the sprinkling unmanned plane of the system and the collaboration flight of stringing unmanned plane, to realize the method persistently sprayed.
Description
Technical field
The present invention relates to the unmanned plane plant protection field of lasting sprinkling, more particularly it relates to using stringing nobody
The liquid electricity multiple tube of decoction and electric power is persistently supplied in machine suspention for sprinkling unmanned plane, so as to realize sprinkling unmanned plane in a big way
Inside carry out continuing the field of plant protection operation.
Background technology
Unmanned air vehicle technique has had larger progress at present, and the flight control assemblies of unmanned plane can be completed according to instruction
The work of the multiple types such as plant protection is surveyed and drawn, the more advanced unmanned plane in part even can independently judge completion task within the specific limits
More excellent scheme.By the binocular identification device of carrying, unmanned function judges target object and the relative position of itself, police
With electric power safeguard field, unmanned plane can carry different task apparatus, complete transmitting arrest net, be the work such as electric wire deicing.
In the field of multifunction operation vehicle elevation, with all kinds of special Operation Vans of truck chassis repacking at present wide range of services in
Each field of national economy, such as the mobile bee-keeper of cultivation honeybee, the groove tank car for transporting fluid, the fire-fighting tank car with fire water monitor
Deng, with multifunction operation vehicle elevation carry unmanned plane perform plant protection task, had certain technical foundation in agriculture field.
In plant protection field, the application of unmanned plane is quite extensive.But when traditional unmanned plane is used for plant protection operation, due to
Load limitation, it is necessary to frequently interruption operation supplement carry decoction, oil plant, or change electrokinetic cell, continuous operation ability by
Larger limitation.
The Chinese patent of Application No. 2016101579398 discloses a kind of unmanned plane feed flow electric power system, to include confession
Electric wire connects the unmanned plane for implementing sprinkling work and the engineering with electric supply installation and liquid feed device with the heaving pile of liquid feeding pipeline
Car, and expansion link is provided with engineering truck, direction where heaving pile is oriented into unmanned plane.But because the drawing of heaving pile influences, the party
Case can not realize large range of operation application, larger limitation be present.
Based on this, there is an urgent need to a kind of reliable and practical lasting sprinkling system, can realize and hold in larger job area
The plant protection task of continuous sprinkling, to meet a wide range of, large span agricultural plant protection demand.
The content of the invention
It is an object of the invention to solve above-mentioned technical problem, there is provided a kind of to continue sprinkling system.
The present invention specifically adopts the following technical scheme that:
Continue sprinkling system, it is characterised in that described system includes:
Unmanned plane is sprayed, it carries shower nozzle, is flown on the circuit set in advance of region to be sprayed, and performs sprinkling with shower nozzle and appoint
Business scheme；
Liquid electricity multiple tube, its one end are connected with described shower nozzle, and the other end is connected with ground tank car, and ground tank car is stored
Decoction to be sprayed is transported to described shower nozzle, wherein the inside of described liquid electricity multiple tube is woven hose and supply line, with
Constantly powered for described sprinkling unmanned plane；
Multiple stringing unmanned planes, connect and suspend described liquid electricity multiple tube in midair, and flown accordingly with the sprinkling unmanned plane
OK, to prevent liquid electricity multiple tube from pulling sprinkling unmanned plane, sprinkling unmanned plane is enable to implement apart from ground tank car larger distance
The spraying operation of large area；And
Ground tank car, jack and fluid reservoir and pressue device provided with liquid electricity multiple tube, it is that described liquid replies conjunction by cable
Pipe provides decoction to be sprayed, and generating/power transmission control device, provided by the liquid electricity multiple tube to spray unmanned plane and its
The identical electric energy supply of power consumption.
Further, described system also includes server, itself and described sprinkling unmanned plane and stringing UAV Communication, and
Sprinkling scheme is preassigned, to control described sprinkling unmanned plane and stringing unmanned plane, completes described scheme.
Further, described server can be arranged separately at control centre, or be integrated on the tank car of ground.
In the embodiment more optimized of the system, described sprinkling unmanned plane, multiple stringing unmanned planes and
The ground tank car carries positioner and communicator, can communicate to share respective position, and with it is described
Server communication, so that under the control of the server, sprinkling task is constantly performed according to positional information.
In the embodiment more optimized of the system, described server is previously stored with single stringing unmanned plane
The qualitative data that can be lifted, and the pipeline that can be lifted under the predetermined quality of liquid electricity multiple tube under the topping up state length of storage
Degrees of data, to use different unmanned planes and liquid electricity multiple tube according to sprinkling task, complete predetermined sprinkling task.
Further, the sprinkling unmanned plane of the system and stringing unmanned plane are provided with perfect flight control assemblies, Neng Gouhe
Server communication simultaneously stores the assignment instructions that receive, and combined command is to judge to perform the action of itself next step.
In the embodiment more optimized of the system, described sprinkling unmanned plane connection liquid electricity multiple tube, which rises, to be flown away from
After face tank car execution task of turning up the soil, the server is according to the position relationship between the sprinkling unmanned plane and the ground tank car
Calculate when the length of the liquid electricity multiple tube of the above two connections, when the liquid electricity of the jack release of the liquid electricity multiple tube of ground tank car
When compound length of tube often reaches threshold value, described one stringing unmanned plane of server arrangement is responsible for lifting this section of liquid of suspention and replies conjunction by cable
Pipe.
Specifically, described server is previously stored with the quality A that single stringing unmanned plane can be lifted, while server
Also be stored with length L when liquid electricity multiple tube quality is 30%A under topping up state, system of the invention with each stringing nobody
The liquid electricity multiple tube for the topping up state that machine lifting length is L is to realize the nargin of 70% hoisting power；Further, when sprinkling nothing
Man-machine connection liquid electricity multiple tube takes off when leaving ground tank car and performing task, server according to sprinkling unmanned plane and ground tank car it
Between position relationship calculate when the above two connection liquid electricity multiple tube length, when the radio and tape player of the liquid electricity multiple tube of ground tank car
The liquid of structure release, which is replied by cable, closes length of tube when often reaching L, then arranges a stringing unmanned plane to be responsible for being lifted the liquid of this section of L length and reply by cable
Close pipe.
More preferably, when the more harsh working condition of the systems face of the present invention, such as there are complicated airflow influence time, institute
The length L stated can be preferably set to more suitable parameter to mitigate the load of stringing unmanned plane, increase margin of safety.
In the embodiment more optimized of the system, described task scheme is by the server according to be sprayed
The landform in region and crops to be sprayed or object feature are formulated, wherein described task scheme further comprises：
The flight scenario of unmanned plane is sprayed, it contains the sprinkling power of flight line, speed, height and circuit each point；
The flight scenario of multiple stringing unmanned planes, it contains flight line, speed, height；And
Ground tank car follows the scheme that unmanned plane travels.
In the embodiment more optimized of the system, the sprinkling unmanned plane and multiple stringings of described system nobody
Machine can be stored and transported by the ground tank car, and landed and taken off on the ground tank car.
Further, stringing unmanned plane of the invention uses replaceable powerful lithium battery power supply, and ground tank car is provided with
Charging device, rapidly it can be charged for stringing unmanned plane, or the battery charging displaced for it.
In the embodiment more optimized of the system, described stringing unmanned plane carries binocular identification device and folder
Device is held, by the binocular identification device, in a manner of visual identity, judges position of the liquid electricity multiple tube with respect to the machine, then
Clamping crawl is carried out to the liquid electricity multiple tube via the clamping device.
Further, the clamping device that stringing unmanned plane of the invention is set carries stroke inductive switch, when clamping device has
When the crawl of effect ground has clamped liquid electricity multiple tube, travel switch trigger signal is current to feed back to the winged control device of stringing unmanned plane
Clamp position.
On the other hand, the work of this link can also be by human assistance, when the folding and unfolding of the liquid electricity multiple tube of ground tank car
The liquid of mechanism release, which is replied by cable, closes length of tube when often reaching L, and liquid electricity multiple tube is put into stringing unmanned plane in advance manually
Clamping device, after winged control device of the travel switch trigger signal to stringing unmanned plane, stringing unmanned plane takes off into suspention
The task status of flight.
Specifically, when sprinkling unmanned plane during flying is to ground tank car certain distance, and stringing unmanned plane suspention liquid is not used
During electric multiple tube, sprinkling unmanned plane offsets the issuable pulling force of liquid electricity multiple tube by flight control system；When liquid electricity multiple tube is often released
When putting L long measures, server arrangement stringing unmanned plane crawl liquid electricity multiple tube carries out suspention flight, to reduce sprinkling unmanned plane
The pipeline traction force being subject to, system is entered standard operating conditions, that is, realize sprinkling unmanned plane and stringing unmanned plane between, it is multiple
Between stringing unmanned plane, the unit gap flight for closing length of tube L is replied by cable according to liquid.It is abundant in view of reserving enough safety for system
Degree, server preferably control sprinkling unmanned plane and stringing unmanned plane between, between multiple stringing unmanned planes according to 60%L extremely
The interval of 100%L length cooperates.
In the method that the system of the present invention is implemented persistently to spray, it comprises the following steps：
S1, demand parameter to be sprayed inputted into server, to obtain sprinkling task；
S2, the server are current sprinkling task creation task scheme, and task scheme is sent into sprinkling unmanned plane, stringing
Unmanned plane and ground tank car；
S3, travelled to the position suitably begun a task with according to task scheme, described ground tanks car；
S4, the sprinkling unmanned plane connection liquid electricity multiple tube, take off, and carried out according to described flight scenario from the tank car of ground
Spray work；
S5, described server are calculated when the above two connections according to the position relationship between sprinkling unmanned plane and ground tank car
The length of liquid electricity multiple tube, to dispatch required stringing unmanned plane according to length；
S6, multiple stringing unmanned planes are with the flight path of sprinkling unmanned plane, in suitable position connection suspention liquid electricity multiple tube
Flight, to avoid liquid electricity multiple tube gravity from pulling unmanned plane, to complete sprinkling task.
In the more optimal application of the present invention, methods described further comprises the steps of：
Self residual charge condition is sent to server by S7, the stringing unmanned plane in real time, in its electric power deficiency, the clothes
The abundant stringing unmanned plane of another electric power of device arrangement be engaged near the unmanned plane of current power deficiency, captures the region in advance
Pipeline, the work for the battery that charged or changed with the hypodynamic unmanned plane return ground tank car of replacement electricity or charged area.
Further, in the preferably embodiment of lasting spray method one of the present invention, between each unmanned plane of the system
The step of collaborative work is：
The nearest stringing unmanned plane 20 of S61, distance sprinkling unmanned plane, flying for subsequent time period sprinkling unmanned plane is obtained from server
Row scheme, and understand the project flight path of sprinkling unmanned plane；
S62, stringing unmanned plane 20 obtain the real-time position information of itself from self poisoning device, and are sprayed from server
The real-time position information of unmanned plane；
S63, stringing unmanned plane 20 by the flight scenario of itself in received task scheme and spray man-machine flight path phase
Compare, further preferably distance sprinkling unmanned plane is no more than foregoing 60%L long measures, and reduces itself by a relatively large margin as far as possible
Acceleration motor-driven and significantly displacement flight path, rocked with the liquid electricity multiple tube saved electricity, reduce suspention, and will
The preferable flight path is sent to server；
S64, a time frame stringing unmanned plane 201 nearest apart from stringing unmanned plane 20, it is previous also according to being obtained from server
The flight path of stringing unmanned plane 20, the scope of foregoing 60%L length is further preferably no more than apart from stringing unmanned plane 20,
And itself motor-driven and significantly displacement flight path of acceleration by a relatively large margin is reduced as far as possible, to save electricity, reduce and suspend in midair
Liquid electricity multiple tube rock, and the preferable flight path is sent to server, follow-up multiple stringing unmanned planes are according to same
Sample loading mode, realize the optimization of flight path.
In an embodiment more optimized of the spray method of the present invention, the ground tank car is according to current work area
The total length of the condition of road surface in domain, crop specie and liquid electricity multiple tube, selection continue release liquid electricity multiple tube or from road/
Farmland movement self-position is passed through, to keep sprinkling unmanned plane to be in all the time in the range of liquid electricity multiple tube overall length.
In one of lasting sprinkling system of the present invention more specifically embodiment, described liquid electricity multiple tube and stringing
Unmanned plane can also use the second preferable scheme, contact power supply be carried out for stringing unmanned plane, to realize that stringing unmanned plane exempts to replace
Follow-on mission.Scheme includes：
Internal woven hose, in the liquid electricity multiple tube of described alternative plan, to convey decoction to be sprayed；
Power supply contact, is located at both sides corresponding to the outer surface of the liquid electricity multiple tube；And
By electric contact point, it is arranged on the grabbing device of described stringing unmanned plane, and the power supply contact phase outside liquid electricity multiple tube
Contact, powered for stringing unmanned plane.
In the application of second preferred scheme, the grabbing device of described stringing unmanned plane is provided with electronic disk roller, with
The angle by electric contact point and power supply contact of grabbing device is not enough coincide when causing contact to contact, the electromotive roller wheel drive
The liquid electricity multiple tube rotates a certain angle, and realizes the electrical power contact by electric contact point and power supply contact.
In an inexpensive application examples of the system, the stringing unmanned plane of the system is not provided with clamping device and visually
Identification device, and use low cost can loose formula strapping, each stringing unmanned plane and liquid electricity multiple tube are bundled by manually solid
It is fixed.Under such a inexpensive work pattern, when the liquid electricity multiple tube of the jack release of the liquid electricity multiple tube of ground tank car
When length often reaches L, manually using releasable strapping by the substructure of liquid electricity multiple tube and stringing unmanned plane
Bundle.
Further, when the unmanned electro-mechanical force deficiency of stringing, server arrangement ground tank car withdraws pipeline, each stringing by near and
The remote ground tank car that flies back successively, by each stringing unmanned plane of manual recovery, after changing battery for it, resume work again, and spray
Unmanned plane is awaited orders in this stage sustainable leave blank.
Present invention is disclosed a kind of system persistently sprayed to crops and spray method, using the principle of the system, leads to
The power of increase sprinkling unmanned plane and the specification of liquid electricity multiple tube are crossed, i.e., can realize more high-power, larger range of lasting spray
Spill operation.On the other hand, it is obvious that when needing to spray the article of other non-crops, of the invention is
System and method are equally applicable.
【Brief description of the drawings】
Below in conjunction with accompanying drawing, the present invention is described in detail, to be more clearly understood that technical scheme, wherein：
Fig. 1 show the structured flowchart of the lasting sprinkling system of the present invention；
Fig. 2 show the structured flowchart of the sprinkling unmanned plane of the present invention；
Fig. 3 show the structured flowchart of the stringing unmanned plane of the present invention；
Fig. 4 show the structured flowchart of the stringing unmanned plane clamping device of the present invention；
Fig. 5 show the structured flowchart of the ground tank car of the present invention；
Fig. 6 show the schematic cross-section of the liquid electricity multiple tube of the present invention；
Fig. 7 show the schematic cross-section of the liquid electricity multiple tube of the second preferred scheme of the present invention；
Fig. 8 show the working state schematic representation of the system of the present invention.
【Embodiment】
The lasting sprinkling system of the present invention is described in detail with reference to the accompanying drawings and examples:
With reference to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 5, Fig. 6, continue sprinkling system, comprising:
Unmanned plane 10 is sprayed, it carries shower nozzle 11, flown on the circuit set in advance of region to be sprayed, and performed with shower nozzle 11
Spray task scheme；
Liquid electricity multiple tube 30, its one end are connected with described shower nozzle 11, the liquid electricity multiple tube folding and unfolding of the other end and ground tank car 40
Device 41 connects, and the decoction to be sprayed that the fluid reservoir 44 of ground tank car 40 stores is transported to described shower nozzle 11, such as Fig. 6 institutes
Show, the inside of described liquid electricity multiple tube 30 is woven hose 31 and supply line 32, and the supply line 32 is described spray
Unmanned plane 10 is spilt constantly to power；
Multiple stringing unmanned planes 20, connect and suspend described liquid electricity multiple tube 30 in midair, and phase is carried out with the sprinkling unmanned plane 10
The flight answered, with prevent liquid electricity multiple tube 30 pull sprinkling unmanned plane, enable sprinkling unmanned plane 10 apart from ground tank car 40 compared with
Remote distance implements the spraying operation of large area；And
Ground tank car 40, jack 41 and fluid reservoir and pressue device 44 provided with liquid electricity multiple tube 60, it is described
Liquid electricity multiple tube provides decoction to be sprayed, and generating/power transmission control device 45, is sprinkling nothing by the liquid electricity multiple tube 30
Man-machine 10, which provide the electric energy being coincide with its power consumption, supplies.
Further, described system also includes server 50, itself and described sprinkling unmanned plane 10 and stringing unmanned plane 20
Communication, and sprinkling scheme is preassigned, to control described sprinkling unmanned plane 10 and stringing unmanned plane 20, complete described side
Case.
Further, described server 50 can be arranged separately at control centre, or be integrated on ground tank car 40.
In the embodiment more optimized of the system, described sprinkling unmanned plane 10, multiple stringing unmanned planes 20
And the ground tank car 40 carries positioner and communicator.Specifically as shown in Fig. 2, Fig. 3 and Fig. 5, unmanned plane is sprayed
10 carry communicator 22 and positioner 23, ground tank car with communicator 12 and positioner 13, stringing unmanned plane 20
40 carry communicator 42 and positioner 43, can communicate to share respective position, and with described server 50
Communication, so that under the control of the server 50, sprinkling task is constantly performed according to positional information.
In the embodiment more optimized of the system, described server 50 be previously stored with single stringing nobody
The qualitative data that machine 20 can be lifted, and storage can be lifted under topping up state under the predetermined quality of liquid electricity multiple tube 30
Length of pipeline data, to use different unmanned planes and liquid electricity multiple tube according to sprinkling task, complete predetermined sprinkling task.
Further, the sprinkling unmanned plane 10 of the system and stringing unmanned plane 20 are provided with perfect flight control assemblies, energy
Enough and server 50 communicates and stored the assignment instructions received, and combined command is to judge to perform moving for itself next step
Make.
Continuing with shown in Fig. 1 to Fig. 5, Fig. 8, in the embodiment more optimized of the system, described sprinkling
Unmanned plane 10 is connected after liquid electricity multiple tube 30 takes off and leave ground tank car execution task, and the server 50 is according to the sprinkling nothing
Position relationship between man-machine 10 and the ground tank car 40 is calculated when the length of the liquid electricity multiple tube 30 of the above two connections, local
The liquid that the jack 41 of the liquid electricity multiple tube of face tank car 40 discharges is replied by cable when closing length of tube and often reaching threshold value, the server 50
A stringing unmanned plane 20 is arranged to be responsible for lifting this section of liquid electricity multiple tube of suspention.
Specifically, described server 50 is previously stored with the quality A that single stringing unmanned plane 20 can be lifted, and takes simultaneously
Business device 50 is also stored with length L when liquid electricity multiple tube quality is 30%A under topping up state, and system of the invention is with each frame
Line unmanned plane 20 lifts the liquid electricity multiple tube for the topping up state that length is L to realize the nargin of 70% hoisting power；Further,
When spray unmanned plane 10 connect liquid electricity multiple tube 30 take off leave ground tank car and perform task when, server 50 is according to spraying nobody
Position relationship between machine 10 and ground tank car 40 is calculated when the length of the liquid electricity multiple tube 30 of the above two connections, when ground tank car
When the length of liquid electricity multiple tube 30 that the jack 41 of 40 liquid electricity multiple tube discharges often reaches L, then arrange a stringing nobody
Machine 20 is responsible for the liquid electricity multiple tube 30 of this section of L length of lifting.
More preferably, when the more harsh working condition of the systems face of the present invention, such as there are complicated airflow influence time, institute
The length L stated can be preferably set to more suitable parameter to mitigate the load of stringing unmanned plane 20, increase margin of safety.
As shown in figure 1, in the embodiment more optimized of the system, described task scheme is by the server
50 formulate according to the landform in region to be sprayed and crops to be sprayed or object feature, wherein described task scheme enters one
Step includes：
The flight scenario of unmanned plane 10 is sprayed, it contains the sprinkling power of flight line, speed, height and circuit each point；
The flight scenario of multiple stringing unmanned planes 20, it contains flight line, speed, height；And
Ground tank car 40 follows the scheme that unmanned plane travels.
In the embodiment more optimized of the system, the sprinkling unmanned plane 10 and multiple stringings of described system without
Man-machine 20 can be stored and be transported by the ground tank car 40, and are landed and taken off on the ground tank car 40.
Further, stringing unmanned plane 20 of the invention uses replaceable powerful lithium battery（Figure is not fitted）Power supply, ground
Face tank car is provided with charging device（It is not shown）, rapidly it can be charged for stringing unmanned plane 20, or the battery displaced for it
Charging.
As shown in figure 4, in the embodiment more optimized of the system, described stringing unmanned plane 20 carries binocular
Identification device（It is not shown）With clamping device 21, by the binocular identification device, in a manner of visual identity, judge that liquid is replied by cable
Position of the pipe 30 with respect to the machine is closed, then clamping crawl is carried out to the liquid electricity multiple tube 30 via the clamping device 21.
Further, the clamping device 21 that stringing unmanned plane 20 of the invention is set carries stroke inductive switch, when clamping fills
Put 21 effectively crawls when having clamped liquid electricity multiple tube 30, travel switch trigger signal to stringing unmanned plane 21 winged control device with
Feed back current clamp position.
With reference to shown in Fig. 1 and Fig. 8, on the other hand, the work of this link can also be by human assistance, when ground tank car 40
Liquid electricity multiple tube the length of liquid electricity multiple tube 30 that discharges of jack 41 when often reaching L, manually in advance by liquid electricity
Multiple tube 30 is put into the clamping device 21 of stringing unmanned plane 20, when travel switch trigger signal fills to the winged control of stringing unmanned plane 20
Postpone, stringing unmanned plane 20 is the task status taken off into suspention flight.
Specifically, when sprinkling unmanned plane 10 flies to the certain distance of ground tank car 40, and stringing unmanned plane 20 is not used
When suspending liquid electricity multiple tube 30 in midair, sprinkling unmanned plane 10 offsets 30 issuable pulling force of liquid electricity multiple tube by flight control system；Work as liquid
When electric multiple tube 30 often discharges L long measures, it is winged that server 50 arranges the crawl liquid electricity multiple tube of stringing unmanned plane 20 to carry out suspention
OK, to reduce the pipeline traction force that sprinkling unmanned plane 10 is subject to, system is entered standard operating conditions, that is, realize sprinkling unmanned plane
Between 10 and stringing unmanned plane 20, between multiple stringing unmanned planes 20, the unit gap flight for closing length of tube L is replied by cable according to liquid.
In view of reserving enough margins of safety for system, server preferably control sprinkling unmanned plane 10 and stringing unmanned plane 20 it
Between, between multiple stringing unmanned planes 20 according to 60%L to 100%L length interval cooperate.
Continuing with shown in Fig. 1 and Fig. 8, in the method that the system of the present invention is implemented persistently to spray, it comprises the following steps：
S1, demand parameter to be sprayed inputted into server 50, to obtain sprinkling task；
S2, the server 50 are current sprinkling task creation task scheme, and by task scheme be sent to sprinkling unmanned plane 10,
Stringing unmanned plane 20 and ground tank car 40；
S3, travelled to the position suitably begun a task with according to task scheme, described ground tank car 40；
S4, the sprinkling unmanned plane 10 connect liquid electricity multiple tube 30, are taken off from ground tank car 40, and according to described flight side
Case carries out sprinkling work；
S5, described server 50 work as the above two according to the position relationship between sprinkling unmanned plane 10 and ground tank car 40, calculating
The length of the liquid electricity multiple tube 30 of connection, to dispatch required stringing unmanned plane 20 according to length；
S6, multiple stringing unmanned planes 20 reply conjunction by cable with the flight path of sprinkling unmanned plane in suitable position connection suspention liquid
Pipe 30 flies, to avoid liquid electricity multiple tube gravity from pulling unmanned plane, to complete sprinkling task.
In the more optimal application of the present invention, methods described further comprises the steps of：
Self residual charge condition is sent to server 50 by S7, the stringing unmanned plane 20 in real time, in its electric power deficiency, institute
Stating server 50 arranges the abundant stringing unmanned plane of another electric power to grab the electricity in advance near the unmanned plane of current power deficiency
Hypodynamic unmanned plane is responsible for the liquid electricity multiple tube of suspention, and ground tank car or charging zone are returned to replace the hypodynamic unmanned plane of electricity
Domain is charged or changed the work of battery.
Further, in the preferably embodiment of lasting spray method one of the present invention, between each unmanned plane of the system
The step of collaborative work is：
The nearest stringing unmanned plane 20 of S61, distance sprinkling unmanned plane 10, subsequent time period sprinkling unmanned plane is obtained from server 50
10 flight scenario, and understand the project flight path of sprinkling unmanned plane；
S62, stringing unmanned plane 20 obtain the real-time position information of itself from self poisoning device 23, and are obtained from server 50
Spray the real-time position information of unmanned plane 10；
S63, stringing unmanned plane 20 by the flight scenario of itself in received task scheme and spray unmanned plane 10 flight road
Footpath compares, further preferably larger apart from spraying unmanned plane 10 no more than foregoing 60%L long measures and reducing itself as far as possible
Motor-driven and significantly displacement the flight path of the acceleration of amplitude, with the rolling saved electricity, reduce the liquid electricity multiple tube 30 suspended in midair
It is dynamic, and the preferable flight path is sent to server 50；
S64, a time frame stringing unmanned plane 201 nearest apart from stringing unmanned plane 20, it is previous also according to being obtained from server
The flight path of stringing unmanned plane 20, the scope of foregoing 60%L length is further preferably no more than apart from stringing unmanned plane 20,
And itself motor-driven and significantly displacement flight path of acceleration by a relatively large margin is reduced as far as possible, to save electricity, reduce and suspend in midair
Liquid electricity multiple tube 30 rock, and the preferable flight path is sent to server 50, follow-up multiple stringing unmanned planes 20,
201 ... according to the same manner, realize the optimization of flight path.
In an embodiment more optimized of the spray method of the present invention, the ground tank car 40 is according to current work
The total length of the condition of road surface in region, crop specie and liquid electricity multiple tube 30, selection continue release liquid electricity multiple tube 30 or from
On road/and farmland movement self-position is passed through, to keep sprinkling unmanned plane 10 to be in the scope of the overall length of liquid electricity multiple tube 30 all the time
It is interior.
In one of lasting sprinkling system of the present invention more specifically embodiment, described liquid electricity multiple tube 30 and frame
Line unmanned plane 20 can also use the second preferable scheme, contact power supply be carried out for stringing unmanned plane, to realize that stringing unmanned plane is exempted from
The follow-on mission of replacement.Scheme includes：
The liquid electricity multiple tube 330 of alternative plan, inside carries woven hose 331, to convey decoction to be sprayed；
Power supply contact 332, as shown in fig. 7, being located at two corresponding to the outer surface of the liquid electricity multiple tube 330 of the alternative plan
Side；And
By electric contact point 213, with reference to shown in 3, Fig. 4, it is arranged on the clamping device 21 of described stringing unmanned plane 20, and liquid is replied by cable
Close the power supply contact 332 outside pipe 330 to be in contact, powered for stringing unmanned plane 20.
In the application of second preferred scheme, the clamping device 21 of described stringing unmanned plane 20 is provided with electronic disk roller
212, when the angle by electric contact point 223 and power supply contact 332 of grabbing device 21, which is not enough coincide, to be caused to contact, the electricity
Dynamic disk roller 212 drives the liquid electricity multiple tube 330 of the alternative plan to rotate a certain angle, and realizes by electric contact point 213 and power supply
The electrical power contact of contact 332.
Further in conjunction with shown in Fig. 1 and Fig. 8, in an inexpensive application examples of the system, the stringing of the system nobody
Machine 20 is not provided with clamping device and visual identification means, and can loose formula strapping using inexpensive（It is not shown）, by manually will
Each stringing unmanned plane 20 and the bundled fixed of liquid electricity multiple tube 30.Under such a inexpensive work pattern, when ground tank car 40
Liquid electricity multiple tube the length of liquid electricity multiple tube 30 that discharges of jack 41 when often reaching L, use manually can unclamp
Formula strapping bundles the substructure of liquid electricity multiple tube 30 and stringing unmanned plane 20.
Further, when 20 electric power deficiency of stringing unmanned plane, server 50 arranges ground tank car 40 to withdraw liquid electricity multiple tube
Pipeline, each stringing unmanned plane 20 from the close-by examples to those far off flies back ground tank car 40 successively, is it by each stringing unmanned plane 20 of manual recovery
After changing battery, resume work again, and spray unmanned plane 10 and awaited orders in this stage sustainable leave blank.
Above disclosed be only a kind of preferred embodiment of the present invention, can not limit this with this certainly
The scope of the claim of invention.Anyone is made any within the spirit and principle of the claim of the present invention
Equivalent variations and change, still belong to the scope that the present invention is covered.
Claims (10)
1. continue sprinkling system, it is characterised in that described system includes:
Unmanned plane is sprayed, it carries shower nozzle, is flown on the circuit set in advance of region to be sprayed, and performs sprinkling with shower nozzle and appoint
Business scheme；
Liquid electricity multiple tube, its one end are connected with described shower nozzle, and the other end is connected with ground tank car, and ground tank car is stored
Decoction to be sprayed is transported to described shower nozzle, wherein the inside of described liquid electricity multiple tube is woven hose and supply line, with
Constantly powered for described sprinkling unmanned plane；
Multiple stringing unmanned planes, connect and suspend described liquid electricity multiple tube in midair, and flown accordingly with the sprinkling unmanned plane
OK, to prevent liquid electricity multiple tube from pulling sprinkling unmanned plane, sprinkling unmanned plane is enable to implement apart from ground tank car larger distance
The spraying operation of large area；And
Ground tank car, jack and fluid reservoir and pressue device provided with liquid electricity multiple tube, it is that described liquid replies conjunction by cable
Pipe provides decoction to be sprayed, and generating/power transmission control device, provided by the liquid electricity multiple tube to spray unmanned plane and its
The identical electric energy supply of power consumption.
2. it is according to claim 1 continue sprinkling system, it is characterised in that described system also includes server, its with
Described sprinkling unmanned plane and stringing UAV Communication, and preassign sprinkling scheme, with control described sprinkling unmanned plane and
Stringing unmanned plane, complete described scheme.
3. according to the lasting sprinkling system described in claim 1 and 2, it is characterised in that described sprinkling unmanned plane, multiple stringings
Unmanned plane and the ground tank car carry positioner and communicator, can communicate to share respective position,
And with described server communication, so that under the control of the server, sprinkling task is constantly performed according to positional information.
4. according to claim 1 continue sprinkling system, it is characterised in that described server is previously stored with single carrier
The qualitative data that line unmanned plane can be lifted, and single stringing under the predetermined quality of liquid electricity multiple tube is stored with topping up state
The length of pipeline data that unmanned plane can be lifted, to use different unmanned planes and liquid electricity multiple tube according to sprinkling task, complete
Predetermined sprinkling task.
5. according to claim 4 continue sprinkling system, it is characterised in that described sprinkling unmanned plane connection liquid replies conjunction by cable
Pipe takes off leave ground tank car execution task after, the server according to it is described sprinkling unmanned plane and the ground tank car between
Position relationship is calculated when the length of the liquid electricity multiple tube of the above two connections, when the jack of the liquid electricity multiple tube of ground tank car is released
The liquid put, which is replied by cable, closes length of tube when often reaching threshold value, and described one stringing unmanned plane of server arrangement is responsible for lifting this section of liquid of suspention
Electric multiple tube.
6. according to claim 1 continue sprinkling system, it is characterised in that the sprinkling unmanned plane of described system and multiple
Stringing unmanned plane can be stored and transported by the ground tank car, and landed and taken off on the ground tank car.
7. according to claim 1 continue sprinkling system, it is characterised in that described stringing unmanned plane identifies with binocular
Device and clamping device, by the binocular identification device, in a manner of visual identity, by the clamping device to liquid electricity
Multiple tube carries out clamping crawl.
8. according to claim 1 continue sprinkling system, it is characterised in that described liquid electricity multiple tube and stringing unmanned plane
The second preferable scheme can be also used, including：
Internal woven hose, in the liquid electricity multiple tube of described alternative plan, to convey decoction to be sprayed；
Power supply contact, is located at both sides corresponding to the outer surface of the liquid electricity multiple tube；And
By electric contact point, it is arranged on the grabbing device of described stringing unmanned plane, and the power supply contact phase outside liquid electricity multiple tube
Contact, continued power is realized for stringing unmanned plane.
9. continue spray method, it is characterised in that the described method comprises the following steps：
S1, demand parameter to be sprayed inputted into server, to obtain sprinkling task；
S2, the server are current sprinkling task creation task scheme, and task scheme is sent into sprinkling unmanned plane, stringing
Unmanned plane and ground tank car；
S3, travelled to the position suitably begun a task with according to task scheme, described ground tanks car；
S4, the sprinkling unmanned plane connection liquid electricity multiple tube, take off, and carried out according to described flight scenario from the tank car of ground
Spray work；
S5, described server are calculated when the above two connections according to the position relationship between sprinkling unmanned plane and ground tank car
The length of liquid electricity multiple tube, to dispatch required stringing unmanned plane according to length；
S6, multiple stringing unmanned planes are with the flight path of sprinkling unmanned plane, in suitable position connection suspention liquid electricity multiple tube
Flight, to avoid liquid electricity multiple tube gravity from pulling unmanned plane, to complete sprinkling task；
Self residual charge condition is sent to server by S7, the stringing unmanned plane in real time, in its electric power deficiency, the clothes
The abundant stringing unmanned plane of another electric power of device arrangement be engaged near the unmanned plane of current power deficiency, captures the region in advance
Pipeline, to replace the hypodynamic unmanned plane of electricity.
10. according to claim 9 continue spray method, it is characterised in that the ground tank car of the system is made according to current
The total length of the condition of road surface in industry region, crop specie and liquid electricity multiple tube, selection continue release liquid electricity multiple tube or from roads
On road/and farmland movement self-position is passed through, to keep sprinkling unmanned plane to be in all the time in the range of liquid electricity multiple tube overall length.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710843329.8A CN107719670A (en) | 2017-09-20 | 2017-09-20 | Continue sprinkling system and lasting spray method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710843329.8A CN107719670A (en) | 2017-09-20 | 2017-09-20 | Continue sprinkling system and lasting spray method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482677A (en) * | 2018-03-21 | 2018-09-04 | 广州动钛电子有限公司 | Online unmanned plane multimachine sprinkling system |
| CN108566942A (en) * | 2018-07-31 | 2018-09-25 | 佛山市高明曦逻科技有限公司 | Low latitude agriculture plant pesticide sprinkling system |
| CN108974365A (en) * | 2018-07-31 | 2018-12-11 | 佛山市高明曦逻科技有限公司 | Brainpower insufflation pesticide system |
| CN111077911A (en) * | 2020-01-10 | 2020-04-28 | 深圳慧源创新科技有限公司 | Method and device for following flight of unmanned aerial vehicle |
| CN111459163A (en) * | 2020-04-07 | 2020-07-28 | 三一汽车制造有限公司 | Control method and control system for cooperative work of unmanned road roller group |
| CN111485524A (en) * | 2020-04-16 | 2020-08-04 | 新石器慧通（北京）科技有限公司 | Spraying control method, spraying vehicle and storage medium |
-
2017
- 2017-09-20 CN CN201710843329.8A patent/CN107719670A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482677A (en) * | 2018-03-21 | 2018-09-04 | 广州动钛电子有限公司 | Online unmanned plane multimachine sprinkling system |
| CN108566942A (en) * | 2018-07-31 | 2018-09-25 | 佛山市高明曦逻科技有限公司 | Low latitude agriculture plant pesticide sprinkling system |
| CN108974365A (en) * | 2018-07-31 | 2018-12-11 | 佛山市高明曦逻科技有限公司 | Brainpower insufflation pesticide system |
| CN111077911A (en) * | 2020-01-10 | 2020-04-28 | 深圳慧源创新科技有限公司 | Method and device for following flight of unmanned aerial vehicle |
| CN111459163A (en) * | 2020-04-07 | 2020-07-28 | 三一汽车制造有限公司 | Control method and control system for cooperative work of unmanned road roller group |
| CN111485524A (en) * | 2020-04-16 | 2020-08-04 | 新石器慧通（北京）科技有限公司 | Spraying control method, spraying vehicle and storage medium |
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