CN108216632A - A kind of automatic unmanned plane for sowing material, mobile control terminal and spreading method - Google Patents
A kind of automatic unmanned plane for sowing material, mobile control terminal and spreading method Download PDFInfo
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- CN108216632A CN108216632A CN201810032718.7A CN201810032718A CN108216632A CN 108216632 A CN108216632 A CN 108216632A CN 201810032718 A CN201810032718 A CN 201810032718A CN 108216632 A CN108216632 A CN 108216632A
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- 239000000463 material Substances 0.000 title claims abstract description 76
- 238000009331 sowing Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000007480 spreading Effects 0.000 title claims abstract description 9
- 230000008569 process Effects 0.000 claims abstract description 10
- 238000007599 discharging Methods 0.000 claims description 17
- 230000003137 locomotive effect Effects 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 6
- 239000002245 particle Substances 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
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- 238000013461 design Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
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- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
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Classifications
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- 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
- B64D1/02—Dropping, ejecting, or releasing articles
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- 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
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- 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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Sowing (AREA)
Abstract
The present invention provides a kind of automatic unmanned plane for sowing material, mobile control terminal and spreading method.Wherein unmanned plane includes unmanned plane ontology and sowing apparatus, sowing apparatus is equipped with multiple rotatable devices, therefore material can be made uniformly to sow away, and sows mouth laterally setting and high-speed rotation, therefore realize material to send out range wider, effectively improve working efficiency；And using the mobile control terminal with APP Control System Softwares, it can control unmanned plane that operation is performed fully automatic by APP systems, be remotely controlled without artificial whole process, can also manipulate multiple UAVs simultaneously, so as to greatly improve economic benefit；The spreading method is simple, great intelligence.
Description
Technical field
The present invention relates to agriculture unmanned plane field, specifically a kind of automatic unmanned plane for sowing material, mobile control terminal with
And spreading method.
Background technology
Traditional artificial progress farm work, operating speed is slow, and labor intensity is big, can not quickly carry out large area farmland and broadcast
The operations such as kind.In the prior art, had and ground locomotive has been replaced to carry out seeding operation using agricultural unmanned plane.
Existing agricultural unmanned plane using being controlled with ground station control or remote controler, can not fully achieve complete
Automation mechanized operation needs artificial whole process to be remotely controlled, and operating personnel are needed by professional training, and learning time is long, together
When by the agriculture unmanned plane working range of ground station control, there is also limitations；And agricultural unmanned plane can only set fixed fly
Row height carries out operation, and operation height can not be changed according to the height of landform, there is very big danger；Also it is exactly agricultural
Sowing apparatus design on unmanned plane is also undesirable, exists and sows uneven, the problems such as single sows area, range is small, therefore whole
Body running efficiency is not also high.
Invention content
The problems of for the above-mentioned prior art, the object of the present invention is to provide it is a kind of it is automatic sow material nobody
Machine.It solves in the prior art, to need manually to work and existing unmanned plane is needed manually through remote controller operation, operation
It is cumbersome, it has not been convenient to, and can not even operation the problem of..
In order to achieve the above objectives, the technical solution adopted in the present invention is：A kind of automatic unmanned plane for sowing material, including
Unmanned plane ontology and the sowing apparatus for being connected to unmanned plane body bottom portion, its main feature is that the sowing apparatus includes：
Hopper, the hopper are mounted on the unmanned plane body bottom portion；
Swingle, the swingle are arranged on inside the hopper, and the pivot center of the swingle is leaked with the storing
The length direction of bucket is consistent；
Linkage, the linkage are arranged on the discharge outlet of the hopper bottom end；
Screw, the screw are arranged below the discharge port of the hopper, and control is adjusted in the screw
Make the output quantity of material fallen from hopper；And
Discharge turntable, and high-speed electric expreess locomotive is equipped with below the discharging turntable and drives the discharging turntable rotation, the discharging turntable
Sow the setting of mouth transverse direction discharge port.
Preferably, the unmanned plane ontology includes casing and is arranged on multiple driving devices of the casing surrounding, institute
It states in casing and is equipped with：
Flight master control borad, the control of the various states to unmanned plane for receiving and transmitting signal and realization；And
Battery, for the unmanned plane ontology and sowing apparatus power supply.
Preferably, the flight master control borad is equipped with：
Central processing unit has data and signal processing function and can preserve the data received；
Gyro sensor, for balancing the unmanned plane ontology；
Acceleration transducer, for providing the flying speed of the unmanned plane ontology；
GPS signal receiver is currently located longitude and latitude degrees of data a little for obtaining the unmanned plane ontology；
Height sensor, for adjusting the flying height of the unmanned plane ontology, to keep the height with ground in initial setting
Position；And
Wireless transceiver, for receiving the course data for controlling the unmanned plane ontology flight.
Preferably, the swingle be by an axostylus axostyle and setting with axostylus axostyle on the body of rod that at least a rod for stiring materials forms,
The lower end of the swingle is connected with an electric rotating machine and the electric rotating machine drives the swingle rotation.
Preferably, the linkage includes trident interlocking lever and linkage motor, and the discharge port of the hopper is set
Three small discharge ports are counted into, the trident interlocking lever is respectively provided with one group of three fork arm in the position of corresponding each small discharge port,
Three group of three fork arm is linked into an integrated entity by a universal driving shaft, and the universal driving shaft is connected with the linkage motor and the linkage electricity
Machine drives the universal driving shaft rotation.
Preferably, the screw includes rotary screw and screw motor, the rotary screw and spiral electricity
Machine is detachably connected, and the rotary screw for selecting appropriate flight pitch according to material particles size is connect with the screw motor.
Further, the present invention provides a kind of mobile control terminal being used cooperatively with unmanned plane, include display screen and
Control system, its main feature is that the control system includes：
GPS positioning module, for being positioned the longitude and latitude degrees of data to obtain anchor point, and transmittable institute to place job site
State longitude and latitude degrees of data；
Electric map module, for receiving the longitude and latitude degrees of data of GPS positioning module transmission, according to the longitude and latitude data search institute
Satellite photo in job site, and the boundary in the region on the satellite photo to that need to sow material carries out polymarker；
Area acquisition module is sowed, generates for the label on satellite photo to be linked in sequence and sows working region
Job area figure, and determine working area；
Data input module, for input the course line spacing of the unmanned plane described in any claims of claim 1-6, enroute altitude,
The amount of sowing and flying speed and for adjusting the anchor point and the label manually；
Line of flight determining module, according to the determining working area and the data input module inputted about institute
The parameter of unmanned plane is stated, automatically generates Flight path data；
Communication module for the Flight path data to be transmitted to the flight master control borad of the unmanned plane, and flies to described
Row course data is preserved.
Preferably, the control system integration can control unmanned plane described in multi rack simultaneously in APP softwares, the control system
Carry out full-automatic operation.
Further, the present invention provides a kind of automatic spreading method of the automatic unmanned plane for sowing material, its main feature is that
Include the following steps：
1）, setting unmanned plane ontology, load material completely to be sowed into hopper, and according to the granular size of material, adjust
Section replaces the flight pitch of the rotary screw, to reach the output quantity for being precisely controlled material；
2）, start the power supply of the mobile control terminal, place job site is positioned by the GPS positioning module, will
The longitude and latitude degrees of data got is sent to the electric map module, by the electric map module according to longitude and latitude degrees of data, looks into
The satellite photo of job site where looking for, and according to satellite photo, polymarker is carried out to the boundary in region of material need to be sowed,
Multiple labels are attached by the area acquisition module of sowing, if there is error, mould is inputted by the data
Block carries out adjusting anchor point manually, ultimately produces the job area figure for sowing working region, and determine working area；
3）, pass through the data input module and input course line spacing, enroute altitude, the amount of sowing and flying speed, the flight boat
Line determining module generates Flight path data, and the Flight path data is passed through described lead to according to determining working area
Module transfer is believed to the wireless transceiver of the flight master control borad, and course line is preserved；
4）, after the unmanned plane receives Flight path data by the wireless transceiver, the driving device is started to work,
Unmanned plane takes off, and obtains data by the gyro sensor, the acceleration transducer and the barometer, controls the nothing
The smooth flight of man-machine ontology obtains longitude and latitude, and reach according to the Flight path data by the GPS signal receiver
Course line initial position, and with ground keep initial setting up height；
5）, reach course line designated position after, the sowing apparatus is started to work, and the hopper bottom discharge mouth is opened, institute
It states swingle to start to rotate under electric rotating machine drive, material is made to loosen and under self gravitation effect to three small dischargings
Mouth is mobile, and the trident interlocking lever also begins to rotate in the case where the linkage motor drives at this time, by the material fallen sending orderly
Into the screw, the rotary screw starts to rotate under the driving of the screw motor, so as to accurately that material is defeated
Be sent in the discharging turntable, the high-speed motor of least significant end starts at this time, drive be divided into multiple sector regions it is described go out
Expect turntable high-speed rotation, sowed away material from lateral mouth of sowing using rotary centrifugal force, process is sowed in completion.
Preferably, the step（5）In, the height sensor of unmanned plane is sowed in the process in flight constantly to sowing
Then ground launch signal is compiled into pulse signal by the central processing unit and feeds back to the driving device, realizes real-time
Control flying height, make unmanned plane can according to the different height on ground or hillside automatically adjust flying height, keep unmanned plane with
Ground or hillside are in the height and position of initial setting.
The beneficial effects of the invention are as follows：
Sowing apparatus is equipped with multiple rotatable devices, therefore material can be made uniformly to sow away；And it sows mouth and laterally sets
Put and high-speed rotation, thus realize material to send out range wider, effectively improve working efficiency.
Using the mobile control terminal with APP Control System Softwares, the region of unmanned aerial vehicles sowing operation is obtained after positioning
Map location, then unmanned plane job area and working path are set in advance by APP software platforms, and then instruct unmanned plane complete certainly
It is dynamic to carry out operation and sow seed according to certain speed, a determining deviation, doses, it is remotely controlled without artificial whole process；And
The APP systems can manipulate multiple UAVs simultaneously, so as to greatly improve economic benefit.
The invention will be further described with reference to the accompanying drawings and examples.
Description of the drawings
Fig. 1 is unmanned plane structure diagram of the present invention.
Fig. 2 is Fig. 1 internal structure schematic diagrams.
Fig. 3 is the structure diagram of screw of the present invention.
Fig. 4 is the structure diagram of discharging turntable.
Fig. 5 is discharge turntable and the structure diagram of high-speed electric expreess locomotive cooperation.
In figure：1st, driving device；2nd, flight master control borad；3rd, battery；4th, feed inlet；5th, hopper；6th, swingle；7th, go out
Material mouth；8th, linkage；9th, screw；10th, discharge turntable；11st, mouth is sowed；12nd, undercarriage；13rd, high-speed electric expreess locomotive；14th, pacify
Fill seat；15th, supporting rod；16th, housing；61st, axostylus axostyle；62nd, rod for stiring materials；63rd, electric rotating machine；81st, trident interlocking lever；82nd, linkage electricity
Machine；83rd, universal driving shaft；91st, rotary screw；92nd, screw motor；101st, circular disk body；102nd, round turntable.
Specific embodiment
As shown in Figure 1, a kind of automatic unmanned plane for sowing material, including unmanned plane ontology and is connected to unmanned plane ontology
The sowing apparatus of bottom, unmanned plane ontology are equipped with casing（It is not shown in figure）, unmanned plane ontology be surrounded by it is multiple driving dress
1 is put, and driving device 1 is fixed on by mounting base 14 on the casing of unmanned plane ontology.The sowing apparatus includes tapered storage
Funnel 5, the hopper 5 are mounted on the unmanned plane body bottom portion；Have in 5 inside of hopper close to bottom end closing in position
Swingle 6, the pivot center of swingle 6 are consistent with the length direction of the hopper 5；There are three go out 5 lower section of hopper
Material mouth 7 is equipped with linkage 8,7 one group of lower section collocation of discharge port at discharge port 7（3）Screw 9, screw 9 can
The output quantity for the material that adjusting control is fallen from hopper 5；9 lower section of screw, which is connected with, is divided into the half of multiple sector regions
The round discharging turntable 10 of sealing, 10 lower section of discharging turntable have high-speed electric expreess locomotive 13 to drive its rotation；In in casing be equipped with flight master control
The control of plate 2 and battery 3, wherein flight the master control borad 2 various states to unmanned plane for receiving and transmitting signal and realization, battery 3 are used for
It powers to unmanned plane ontology and sowing apparatus.The sowing apparatus is equipped with multiple rotatable devices, therefore material can be made uniform
It sows away；And sow mouth 11 laterally setting and high-speed rotation, therefore realize material to send out range wider, effectively improve work
Efficiency.
Further, the flight master control borad 2 of the unmanned plane is equipped with：Central processing with data and signal processing function
Device can also preserve the data received；For balancing the gyro sensor of unmanned plane ontology, when unmanned plane is in non-equilibrium
During state, which can detect the deflection of unmanned plane, and realize adjust automatically, and unmanned plane is made to remain balance
State；For providing the acceleration transducer of unmanned plane ontology flying speed, the speed of unmanned plane can be controlled in real time；For obtaining
Unmanned plane ontology is currently located a GPS signal receiver for longitude and latitude degrees of data, therefore can recognize the specific location of unmanned plane in real time,
Facilitate understanding job schedule；For adjusting the height sensor of unmanned plane ontology flying height, so as to which unmanned plane be made to keep and ground
Face is in the height and position of initial setting；And the wireless transceiver for receiving control unmanned plane ontology course data, therefore can connect
The unmanned plane is controlled by mobile control terminal.
As shown in Figure 1, each driving device 1 of the embodiment is connect by a supporting rod 15 with casing, the mounting base
14 are connected to the end far from ontology on supporting rod 15, which includes the motor being mounted in mounting base 14, the electricity
Motivation upper end is connected with blade.The supporting rod 15 is being additionally provided with undercarriage 12 close to one end of unmanned plane ontology, the undercarriage 12
The body of rod vertically downward on supporting rod 15 is socketed in for one, which plays the role of landing support unmanned plane, make nothing
It is man-machine steady, while sowing apparatus during landing can be avoided to be damaged.
As shown in Fig. 2, swingle 6 is to be made of an axostylus axostyle 61 and setting at least rod for stiring materials 62 on axostylus axostyle 61
The body of rod, the lower end of swingle 6 is connected with an electric rotating machine 63, and electric rotating machine 63 can drive axostylus axostyle 61 to rotate.The implementation
Rod for stiring materials 62 of example collectively forms a triangle with axostylus axostyle 61, therefore can increase the area of material toggling in bending shape.
As shown in Fig. 2, the linkage 8 of the embodiment includes trident interlocking lever 81 and linkage motor 82, storing leakage
The discharge port of bucket 5 is designed to three small discharge port 7, and trident interlocking lever 81 is respectively provided with one in the position of corresponding each small discharge port 7
Group trident interlocking lever 81, this three groups of trident interlocking levers 81 are linked into an integrated entity by a universal driving shaft 83, the universal driving shaft 83 and linkage motor
82 are connected, and 83 rotation of universal driving shaft can be driven by the linkage motor 82.It is understood that the trident interlocking lever 81 can also
It is made of three three independent fork arms, is connect after being connected by connector between them with same linkage motor 82 respectively
Realize linkage or respectively one linkage motor 82 of connection.
As shown in figure 3, the screw 9 of the embodiment includes rotary screw 91 and screw motor 92, rotary screw 91
It is detachably connected with screw motor 92, can be axis mating with axle sleeve or magnetic suction for detachable connection
The mode of attached cooperation.One end of rotary screw 91 is connect with screw motor 92, and the other end is connect with 10 upper end of discharging turntable
Housing 16 is rotatably connected.Three screws 9 are arranged side by side, and rotary screw 91 is equipped with and falls spiral ridge, spiral prominence prismatic
Into flight pitch, the gap of flight pitch passes through for material particles, therefore can select appropriate screw thread according to material particles size
The rotary screw 91 of spacing is connect with screw motor 92.
As shown in Figure 4 and Figure 5, the discharging turntable 10 of the embodiment includes：Circular disk body 101 and round turntable 102,
In the circular disk body 101 be semitight disk body, the bottom surface closing of the circular disk body 101 is opened wide above, and surface also opens
It opens, is dropped into round turntable 101 for the material of top wherein opening wide above, and the unlimited place of side spreads out for material；
The round turntable 102 is equipped with the multiple fins holded up of circular bottom plate and projection in circular bottom plate, these fins pass through circle
The axle center of shape turntable so as to which round turntable 102 is separated into multiple sector regions, ensures that material is fallen into round turntable 102 not
It blocks.There is high-speed electric expreess locomotive 13 in 10 lower section of discharging turntable, and the shaft of the high-speed electric expreess locomotive 13 passes through simultaneously from the bottom of circular disk body 101
The axis line location of round turntable 102 is connected to, 102 high-speed rotation of round turntable can be driven so as to fulfill the high-speed electric expreess locomotive 13,
And then the material in round turntable 102 is sowed away from the side place of opening wide of circular disk body 101 by centrifugal force.
The unmanned plane can implement control by mobile control terminal, which includes display screen and control is
System, wherein control system includes：GPS positioning module, for being positioned to obtain the longitude and latitude of anchor point to place job site
Degrees of data, and the longitude and latitude degrees of data can be transmitted；Electric map module, for receiving the longitude and latitude number of degrees of GPS positioning module transmission
According to according to the satellite photo of job site where longitude and latitude data search, and to the region of material need to be sowed on satellite photo
Boundary carry out polymarker；Sow area acquisition module, for the label on satellite photo to be linked in sequence and
The job area figure of working region is sowed in generation, and determines working area；Data input module, for inputting the course line of unmanned plane
Spacing, enroute altitude, the amount of sowing and flying speed and for adjusting the anchor point and the label manually；Flight boat
Line determining module, it is automatic raw according to the parameter about unmanned plane that determining working area and data input module are inputted
Into Flight path data；Communication module, for Flight path data to be transmitted to the flight master control borad of unmanned plane, and to flight
Course data is preserved.
For the control system integration of the embodiment in APP softwares, which can be the shiftings such as mobile phone, tablet, computer
Dynamic equipment, by downloading corresponding APP softwares, you can realize and control the unmanned plane.Further for control can be distinguished,
More Account Logon functions can also be set in APP softwares, and there are one accounts for corresponding each unmanned plane setting, are recorded by account
Enter to log in, so as to realize a mobile control terminal while more unmanned planes are carried out with division of labor control, realize that multiple UAVs are same
Shi Jinhang full-automation operations.
Map is downloaded by APP software platforms and the area map position of unmanned aerial vehicles sowing operation is obtained by GPS information,
Unmanned plane job area and working path are set in advance by APP software platforms（It is kept away as there is barrier that can set in operation way
It opens）Instruction unmanned plane automatically reaches predetermined operation region and carries out operation and broadcast according to certain speed, a determining deviation, doses
It sows seeds son, after unmanned plane during flying operation, this flight path, position coordinates can be stored in APP software platforms
On, facilitate carry out flight operation next time, be not required to reset flight path again.
The invention provides one kind and sows material automatically（Seed）The agriculture automatic spreading method of unmanned plane, including following step
Suddenly：
（1）Unmanned plane ontology is set, hopper 5 is equipped in unmanned plane ontology, is loaded into hopper 5 completely to be sowed
Material, and according to the granular size of material, adjust the flight pitch for replacing the rotary screw 91, material is precisely controlled to reach
Output quantity；
（2）Start the power supply of the mobile control terminal, place job site is positioned by the GPS positioning module, it will
The longitude and latitude degrees of data got is sent to electric map module, by electric map module according to longitude and latitude degrees of data, work where searching
Make the satellite photo in place, and according to satellite photo, polymarker is carried out to the boundary in region of material need to be sowed, by sowing
Multiple labels are attached by area acquisition module, if there is error, carry out adjusting anchor point manually by data input module,
The job area figure for sowing working region is ultimately produced, and determines working area；
（3）Course line spacing, enroute altitude, the amount of sowing and flying speed, the line of flight are inputted by data input module and determine mould
Root tuber generates Flight path data, and Flight path data is transmitted to flight by communication module according to determining working area
The wireless transceiver of master control borad, and course line is preserved；
（4）After flight master control borad 2 receives Flight path data by wireless transceiver, driving device 1 is started to work, unmanned plane
Ontology takes off, and obtains data by gyro sensor, acceleration transducer and barometer, the steady of control unmanned plane ontology flies
Row obtains longitude and latitude, and reach course line initial position, and according to infrared according to Flight path data by GPS signal receiver
Line height sensor adjusts flying height, keeps the height with ground initial setting up；
（5）After reaching course line designated position, sowing apparatus is started to work, and 5 bottom discharge mouth 7 of hopper is opened, and stores full object
The swingle 6 of 5 bottom end of hopper of material starts to rotate under the drive of rotation motor 63, and material starts under the effect of gravity from cone
It is fallen in the hopper 5 of shape, 5 lower section of hopper faces three small discharge port 7, and the trident at discharge port 7 interlocks at this time
Bar 81 also begins to rotate in the case where the linkage motor 82 drives, by the orderly feeding feed opening of the material fallen, at the same time, under
Rotary screw 91 below material mouth starts to rotate under the driving of screw motor 92, receives the material come out from feed opening, object
The top for expecting accurately to be transported to discharging turntable 10 under the control of the flight pitch and rotational time of rotary screw 91 itself allows it
Automatic landing, the high-speed motor 13 of least significant end starts at this time, and the round turntable 102 for being divided into multiple sector regions is driven to rotate, profit
With the centrifugal force of round turntable 102, the material fallen from screw 9 is sowed away, process is sowed in completion.
Step（1）The hopper 5 is equipped with material capacity sensor, judges material surplus by capacity sensor, real
It applies and feeds back to flight master control borad 2, when detecting that material spreads most, send out instruction of making a return voyage to flight control panel 2, pass through GPS satellite
Behind signal receiver label current location, unmanned plane ontology returns to the origin that takes off and adds materials, after charging, unmanned plane ontology
It is flown back to position to be spread and worked on according to the coordinate of label.
Step（3）It further includes：With reference to the terrain data of electronic map, the obstructing objects in working region are obtained, work as obstacle
Object height be more than preset height when, course line is automatically selected as detouring, when obstacle height is less than preset height, then course line from
Dynamic selected as hoisting depth, when being flown over above barrier, and flying over barrier, sowing apparatus break-off.
Step（5）Sowing apparatus is generally applicable to sowing for solid granular material, and the design of screw 9 therein can
Realize that independently dismounting assembles, energy can be according to the size of solid particle, between the screw thread for adjusting replacement rotary screw 91 in operation process
Away from so as to the output quantity of accurate control material.
In there are some embodiments, battery capacity detection device is additionally provided on the unmanned plane ontology, when battery capacity is low,
Battery capacity detection device will send out the instruction maked a return voyage automatically to flight master control borad, be worked as by GPS satellite signal receiver tag
Behind front position, unmanned plane ontology returns to the origin that takes off, and after battery 3 is replaced, unmanned plane ontology flies according to the coordinate of label
Position to be spilt is returned to work on, and sowing apparatus does not work in two-way process.
In addition, the height sensor of the embodiment is infrared ray sensor, the bottom surface of unmanned plane is arranged on, by towards farming
Object surface emitting infrared light, the camera lens of infrared ray height sensor is reflected to through crop surface, then is compiled by central processing unit
It is translated into pulse signal and feeds back to flight master control borad 2, control flying height in real time, so as to make unmanned plane ontology according to ground or hillside
Different height automatic adjustment, the distance remained fixed with ground or hillside.I.e. to the height on ground in unmanned plane during flying operation
Or the height on hillside carries out automatic sensing detection, flying height is automatically adjusted, so as to nimbly elude the barrier of different height
Hinder object, allow unmanned machine operation when can more precisely, it is more rationally, safer.
Although the present invention is to be described with reference to specific embodiments, this description is not meant to form limit to the present invention
System.With reference to description of the invention, other variations of the disclosed embodiments are all to be anticipated that for those skilled in the art
, this variation should belong in appended claims limited range.
Claims (10)
1. a kind of automatic unmanned plane for sowing material, including unmanned plane ontology and be connected to unmanned plane body bottom portion sow dress
It puts, which is characterized in that the sowing apparatus includes：
Hopper, the hopper are mounted on the unmanned plane body bottom portion；
Swingle, the swingle are arranged on inside the hopper, and the pivot center of the swingle is leaked with the storing
The length direction of bucket is consistent；
Linkage, the linkage are arranged on the discharge outlet of the hopper bottom end；
Screw, the screw are arranged below the discharge port of the hopper, and control is adjusted in the screw
Make the output quantity of material fallen from hopper；And
Discharge turntable, and high-speed electric expreess locomotive is equipped with below the discharging turntable and drives the discharging turntable rotation, the discharging turntable
Sow the setting of mouth transverse direction discharge port.
2. the automatic unmanned plane for sowing material according to claim 1, which is characterized in that the unmanned plane ontology includes
Casing and the multiple driving devices for being arranged on the casing surrounding are equipped in the casing：
Flight master control borad, the control of the various states to unmanned plane for receiving and transmitting signal and realization；And
Battery, for the unmanned plane ontology and sowing apparatus power supply.
3. the automatic unmanned plane for sowing material according to claim 2, which is characterized in that set on the flight master control borad
Have：
Central processing unit has data and signal processing function and can preserve the data received；
Gyro sensor, for balancing the unmanned plane ontology；
Acceleration transducer, for providing the flying speed of the unmanned plane ontology；
GPS signal receiver is currently located longitude and latitude degrees of data a little for obtaining the unmanned plane ontology；
Height sensor, for adjusting the flying height of the unmanned plane ontology, to keep the height with ground in initial setting
Position；And
Wireless transceiver, for receiving the course data for controlling the unmanned plane ontology flight.
4. the automatic unmanned plane for sowing material according to claim 1, which is characterized in that the swingle is by an axostylus axostyle
And the body of rod that setting is formed at least rod for stiring materials on axostylus axostyle, the lower end of the swingle is connected simultaneously with an electric rotating machine
The electric rotating machine drives the swingle rotation.
5. the automatic unmanned plane for sowing material according to claim 1, which is characterized in that the linkage includes three
Interlocking lever and linkage motor are pitched, the discharge port of the hopper is designed to three small discharge ports, and the trident interlocking lever is right
The position of each small discharge port is answered to be respectively provided with one group of three fork arm, three group of three fork arm is linked into an integrated entity by a universal driving shaft,
The universal driving shaft is connected with the linkage motor and the linkage motor drives the universal driving shaft rotation.
6. the automatic unmanned plane for sowing material according to claim 1, which is characterized in that the screw includes rotation
Turn screw rod and screw motor, the rotary screw is detachably connected with the screw motor, is selected according to material particles size suitable
When the rotary screw of flight pitch is connect with the screw motor.
7. a kind of mobile control terminal being used cooperatively with unmanned plane, includes display screen and control system, which is characterized in that described
Control system includes：
GPS positioning module, for being positioned the longitude and latitude degrees of data to obtain anchor point, and transmittable institute to place job site
State longitude and latitude degrees of data；
Electric map module, for receiving the longitude and latitude degrees of data of GPS positioning module transmission, according to the longitude and latitude data search institute
Satellite photo in job site, and the boundary in the region on the satellite photo to that need to sow material carries out polymarker；
Area acquisition module is sowed, generates for the label on satellite photo to be linked in sequence and sows working region
Job area figure, and determine working area；
Data input module, for input the course line spacing of the unmanned plane described in any claims of claim 1-6, enroute altitude,
The amount of sowing and flying speed and for adjusting the anchor point and the label manually；
Line of flight determining module, according to the determining working area and the data input module inputted about institute
The parameter of unmanned plane is stated, automatically generates Flight path data；
Communication module for the Flight path data to be transmitted to the flight master control borad of the unmanned plane, and flies to described
Row course data is preserved.
8. the mobile control terminal according to claim 7 being used cooperatively with unmanned plane, which is characterized in that the control system
APP softwares are integrated in, the control system can control unmanned plane described in multi rack to be carried out at the same time full-automatic operation.
9. a kind of automatic spreading method of the automatic unmanned plane for sowing material, which is characterized in that include the following steps：
1）, setting unmanned plane ontology, load material completely to be sowed into hopper, and according to the granular size of material, adjust
Section replaces the flight pitch of the rotary screw, to reach the output quantity for being precisely controlled material；
2）, start the power supply of the mobile control terminal, place job site is positioned by the GPS positioning module, will
The longitude and latitude degrees of data got is sent to the electric map module, by the electric map module according to longitude and latitude degrees of data, looks into
The satellite photo of job site where looking for, and according to satellite photo, polymarker is carried out to the boundary in region of material need to be sowed,
Multiple labels are attached by the area acquisition module of sowing, if there is error, mould is inputted by the data
Block carries out adjusting anchor point manually, ultimately produces the job area figure for sowing working region, and determine working area；
3）, pass through the data input module and input course line spacing, enroute altitude, the amount of sowing and flying speed, the flight boat
Line determining module generates Flight path data, and the Flight path data is passed through described lead to according to determining working area
Module transfer is believed to the wireless transceiver of the flight master control borad, and course line is preserved；
4）, after the unmanned plane receives Flight path data by the wireless transceiver, the driving device is started to work,
Unmanned plane takes off, and obtains data by the gyro sensor, the acceleration transducer and the barometer, controls the nothing
The smooth flight of man-machine ontology obtains longitude and latitude, and reach according to the Flight path data by the GPS signal receiver
Course line initial position, and with ground keep initial setting up height；
5）, reach course line designated position after, the sowing apparatus is started to work, and the hopper bottom discharge mouth is opened, institute
It states swingle to start to rotate under electric rotating machine drive, material is made to loosen and under self gravitation effect to three small dischargings
Mouth is mobile, and the trident interlocking lever also begins to rotate in the case where the linkage motor drives at this time, by the material fallen sending orderly
Into the screw, the rotary screw starts to rotate under the driving of the screw motor, so as to accurately that material is defeated
Be sent in the discharging turntable, the high-speed motor of least significant end starts at this time, drive be divided into multiple sector regions it is described go out
Expect turntable high-speed rotation, sowed away material from lateral mouth of sowing using rotary centrifugal force, process is sowed in completion.
10. the automatic spreading method of the automatic unmanned plane for sowing material according to claim 9, which is characterized in that described
Step（5）In, the height sensor of unmanned plane is sowed in the process in flight constantly to sowing ground launch signal, Ran Houtong
It crosses the central processing unit and is compiled into pulse signal and feed back to the driving device, realize control flying height in real time, make nobody
Machine can automatically adjust flying height according to the different height on ground or hillside, and unmanned plane is kept to be in ground or hillside and is initially set
Fixed height and position.
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Application publication date: 20180629 |