CN108298089A - A kind of agricultural unmanned aerial vehicle onboard pesticide automatic-balancing system - Google Patents
A kind of agricultural unmanned aerial vehicle onboard pesticide automatic-balancing system Download PDFInfo
- Publication number
- CN108298089A CN108298089A CN201711406647.4A CN201711406647A CN108298089A CN 108298089 A CN108298089 A CN 108298089A CN 201711406647 A CN201711406647 A CN 201711406647A CN 108298089 A CN108298089 A CN 108298089A
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- CN
- China
- Prior art keywords
- medicine
- chest
- group
- drone body
- aerial vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
- A01M7/0085—Tanks
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS 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
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
Abstract
The present invention provides a kind of agricultural unmanned aerial vehicle onboard pesticide automatic-balancing system,Including drone body and the medicine-chest group being fixed in drone body,Electronic pump group peace weighing apparatus control system,Medicine-chest is fixed on front and back two side of the lift focus O of drone body,Balance control system includes PLC controller,Signal acquisition module,Data processing module and execution module,Weight sensor connects the signal acquisition module with acceleration transducer,Electronic pump group connects execution module,The present invention measures the data mounted on each medicine-chest bottom heaviness sensor in real time,And it inputs in PLC controller,Pass through data processing module operation,Electronic pump group is controlled by execution module to be allocated the liquid in each medicine-chest according to equation of equilibrium,Reach autobalance,Compared with prior art,The present invention increases pesticide useful load in limitedly cabin space,Reduce the reciprocal powder charge number of unmanned plane,It improves work efficiency.
Description
【Technical field】
The present invention relates to civil aviation technical field, especially a kind of agricultural unmanned aerial vehicle onboard pesticide automatic-balancing system.
【Background technology】
Spray and fertilising work are implemented to the farmland of large area using unmanned plane, reduces cost in labour, improves work
Industry efficiency has had some agriculture rich anies influential family to start to be equipped with this equipment at present, is even more universal in foreign countries.But unmanned plane is effective at present
The small situation of drugloading rate always exists, and increasingly mature with engine technology, working continuously for long period can be real
Existing, however often fuel only consumes half, pesticide has sprayed, it is necessary to go back to airport and fill pesticide, drugloading rate at
One bottleneck of unmanned plane agricultural operation.
Unmanned plane, because there are certain particularity in its structure, in order to meet the basic aerodynamic demands of flight, institute
With many positions must it is necessary to structure and support, but these structures and support it is very sensitive to weight, so seeming large
Big unmanned plane cabin, it is difficult to these spaces are so reasonable that make good use of, equally, drugloading rate is increased nor doing big fly simply
Machine ground volume.The present invention seeks to solve to fill pesticide as much as possible by automatic-balancing system in limitedly cabin space
It is more, and unmanned plane during flying, to meet longitudinally, laterally lift, gravity must balance, that is, so-called lift focus and gravity
Focus.General aircraft obtains lift focus all on the crossbeam of wing, that is to say, that the lift concentration that aircraft wing generates acts on
On the crossbeam of wing, the gravity of all objects acts also on crossbeam on aircraft, and liquid can be freely in a larger space
It shakes, equilibrium problem when aircraft flight can be destroyed in this way, cannot be too big so which limits the containers of dress pesticide, but also
Must be on centre of lift position, which limits the drugloading rates of aircraft.
【Invention content】
The purpose of the present invention is exactly to solve the problems of the prior art, proposes that a kind of agricultural unmanned aerial vehicle onboard pesticide is put down automatically
Balance system can increase pesticide useful load in limitedly cabin space, reduce reciprocal time, improve unmanned plane working efficiency.
To achieve the above object, the present invention proposes a kind of agricultural unmanned aerial vehicle onboard pesticide automatic-balancing system, including nothing
Man-machine ontology and the medicine-chest group being fixed in drone body, electronic pump group peace weighing apparatus control system, the medicine-chest group is by prodrug
Case group and rear medicine-chest group composition, the preceding medicine-chest group are fixed on the front of the lift focus O of drone body, and rear medicine-chest group is fixed
At the rear of the lift focus O of drone body；Electronic pump group drives the medicine-chest group, and weight is fixed in the medicine-chest group
Sensor is fixed with acceleration transducer in the drone body, and the balance control system is connect with electronic pump group, described
Balance control system includes PL controllers, signal acquisition module, data processing module and execution module, weight sensor and acceleration
It spends sensor and connects the signal acquisition module, the electronic pump group connects execution module.
Preferably, the preceding medicine-chest group include the first medicine-chest and the second medicine-chest, rear medicine-chest group include third medicine-chest and
4th medicine-chest, first medicine-chest, the second medicine-chest, third medicine-chest and the 4th medicine-chest bottom divide equally cloth and are provided with weight sensor,
First medicine-chest and the second medicine-chest are located at the front of the lift focus O of drone body, and third medicine-chest and the 4th medicine-chest are located at
The rear of the lift focus O of drone body.
Preferably, first medicine-chest and the second medicine-chest are located at the left and right sides of drone body, third medicine-chest
The left and right sides of drone body is located at the 4th medicine-chest.
Preferably, meeting following formula between first medicine-chest, the second medicine-chest, third medicine-chest and the 4th medicine-chest：
G1L1+G2L2=G3L3+G4L4
In above-mentioned formula：L1 is the distance of the first medicine-chest A to lift focus O；L2 is the second medicine-chest B to lift focus O's
Distance；L3 is the distance of third medicine-chest C to lift focus O；L4 is the distance of the 4th medicine-chest D to lift focus O；G1 is the first medicine
The weight of case A；G2 is the weight of the second medicine-chest B；G3 is the weight of third medicine-chest C；G4 is the weight of the 4th medicine-chest D.
Preferably, the electronic pump group includes that the first electrodynamic pump, the second electrodynamic pump, third electrodynamic pump and the 4th are electronic
Pump, the first electrodynamic pump the first medicine-chest of driving, the second electrodynamic pump the second medicine-chest of driving, third electrodynamic pump driving third medicine-chest, the 4th
Electrodynamic pump drives the 4th medicine-chest.
Preferably, first medicine-chest, the second medicine-chest, third medicine-chest and the 4th medicine-chest communicate with each other through channel, it is convenient
Electronic pump group adjusts the pesticide in each medicine-chest.
Preferably, each medicine-chest is both provided with anti-wobble mechanism in the medicine-chest group, the anti-wobble mechanism includes floating
Plate and several floating seats, the floating seat are connected and fixed with floating plate, and floating seat tool has buoyancy, so that floating plate floats
In on the liquid level of medicine-chest, prevent liquid level from generating violent shaking.
Preferably, groove corresponding with the floating quantity of seat, institute are offered in the medicine-chest group on the inner wall of each medicine-chest
It states floating seat insertion to be fixed in groove so that groove has positioning action to floating seat tool, and floating plate is facilitated to follow liquid level perpendicular
Histogram moves upwards, and prevents liquid level from generating violent shaking.
Preferably, each medicine-chest is both provided with locating rod in the medicine-chest group, offered on floating plate and locating rod position
Corresponding location hole, locating rod run through the location hole so that locating rod has positioning action to floating plate, facilitates floating plate
It follows liquid level to move in the vertical direction, prevents liquid level from generating violent shaking.
Beneficial effects of the present invention：The variation of aircraft flight height defined in the present invention is the movement of " z " axis, works as acceleration
When sensor detects that z-axis acceleration is 0, so that it may with the real-time data measured mounted on each medicine-chest bottom heaviness sensor, and
It is generating as a result, controlling electrodynamic pump by execution module by data processing module operation and in input PLC controller
Group is allocated the liquid in each medicine-chest according to equation of equilibrium, reaches autobalance, and compared with prior art, the present invention exists
Pesticide useful load is limitedly increased in cabin space, is reduced the reciprocal powder charge number of unmanned plane, is improved work efficiency.
The feature and advantage of the present invention will be described in detail by embodiment combination attached drawing.
【Description of the drawings】
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is balance control system framework in the present invention；
Fig. 3 is the structural schematic diagram of fuel tank in the present invention.
In figure：Medicine-chest group, the first electrodynamic pumps of 4-, the second electrodynamic pumps of 5-, 6- after medicine-chest group, 3- before 1- drone bodies, 2-
Third electrodynamic pump, the 4th electrodynamic pumps of 7-, 8- acceleration transducers, 9- weight sensors, 11- floating plates, 12- floatings seat, 13- are recessed
Slot, 14- locating rods, 15- location holes, the first medicine-chests of A-, the second medicine-chests of B-, C- thirds medicine-chest, the 4th medicine-chests of D-.
【Specific implementation mode】
Refering to fig. 1, Fig. 2 and Fig. 3, the present invention include drone body 1 and the medicine-chest group being fixed in drone body 1,
Electronic pump group peace weighing apparatus control system, the medicine-chest group are made of preceding medicine-chest group 2 and rear medicine-chest group 3, and the preceding medicine-chest group 2 is fixed
In the front of the lift focus O of drone body 1, rear medicine-chest group 3 is fixed on the rear of the lift focus O of drone body 1；Before
The sum of the weight of each medicine-chest and the medicine-chest to the distance product of lift focus O are equal to each in rear medicine-chest group 3 in medicine-chest group 2
The sum of the distance product of the weight of medicine-chest and the medicine-chest to lift focus O；The electronic pump group driving medicine-chest group, the medicine
It is fixed with weight sensor 9 in case group, acceleration transducer 8, the balance control system are fixed in the drone body 1
It is connect with electronic pump group, the balance control system includes PLC controller, signal acquisition module, data processing module and execution
Module, weight sensor 9 and acceleration transducer 8 connect the signal acquisition module, and the electronic pump group connects execution module,
The preceding medicine-chest group 2 includes the first medicine-chest A and the second medicine-chest B, and rear medicine-chest group 3 includes third medicine-chest C and the 4th medicine-chest D, institute
It states the first medicine-chest A, the second medicine-chest B, third medicine-chest C and the 4th bottoms medicine-chest D and divides equally cloth and be provided with weight sensor 9, described
One medicine-chest A and the second medicine-chest B is located at the front of the lift focus O of drone body 1, and third medicine-chest C and the 4th medicine-chest D are located at nothing
The rear of the lift focus O of man-machine ontology 1, the first medicine-chest A and the second medicine-chest B are located at the left and right of drone body 1
Both sides, third medicine-chest C and the 4th medicine-chest D are located at the left and right sides of drone body 1, the first medicine-chest A, the second medicine-chest
B, meet following formula between third medicine-chest C and the 4th medicine-chest D：
G1L1+G2L2=G3L3+G4L4
In above-mentioned formula：L1 is the distance of the first medicine-chest A to lift focus O；L2 is the second medicine-chest B to lift focus O's
Distance；L3 is the distance of third medicine-chest C to lift focus O；L4 is the distance of the 4th medicine-chest D to lift focus O；G1 is the first medicine
The weight of case A；G2 is the weight of the second medicine-chest B；G3 is the weight of third medicine-chest C；G4 is the weight of the 4th medicine-chest D.
The electronic pump group include the first electrodynamic pump 4, the second electrodynamic pump 5, third electrodynamic pump 6 and the 4th electrodynamic pump 7, first
Electrodynamic pump 4 drives the first medicine-chest A, the second electrodynamic pump 5 that the second medicine-chest B, third electrodynamic pump 6 is driven to drive third medicine-chest B, the 4th electricity
7 the 4th medicine-chest B of driving of dynamic pump, the first medicine-chest A, the second medicine-chest B, third medicine-chest C and the 4th medicine-chest D connect each other through channel
Logical, each medicine-chest is both provided with anti-wobble mechanism in the medicine-chest group, and the anti-wobble mechanism includes floating plate 11 and several floatings
Seat 12, the floating seat 12 is connected and fixed with floating plate 11, is offered and is floated on the inner wall of each medicine-chest in the medicine-chest group
The corresponding groove 13 of quantity of seat 12, the insertion of floating seat 12 are fixed in groove 13, and each medicine-chest is all provided in the medicine-chest group
It is equipped with locating rod 14, location hole 15 corresponding with 14 position of locating rod is offered on floating plate 11, locating rod 15 is through described
Location hole 15.
The operation principle of the present invention：The center of gravity of aircraft is each sections such as wing, fuselage, empennage center of gravity " closing center of gravity ", when
After the model of an airplane is devised and manufactures, the position of center of gravity just determines.Aircraft is the aircraft for overweighting air,
It to fly in the air and must have lift.Lift is mainly to be generated by wing and tailplane, the resultant force of this two parts lift
It is the total life of the model of an airplane, position is lift focus, and whether its position is appropriately the weight for determining aeroplane performance
Want one of factor.Due to spraying the particularity of operation, great changes have taken place with weight meeting when landing when taking off for unmanned plane, because
Dose is constantly being reduced, so the load of flying aircraft is constantly reducing.The variation that we define aircraft flight height is " z "
The movement of axis.Calculation formula is inputted in PLC controller：The distance of 4 medicine-chest A/B/C/D, medicine-chest to lift focus O are L, and
And medicine-chest A and B be in the front of lift focus O, medicine-chest C and D is at the rear of lift focus O to get to formula G1L1+G2L2=
G3L3+G4L4, when acceleration transducer detects that z-axis acceleration is 0, so that it may constantly to measure mounted on each medicine-chest bottom weight
The data of quantity sensor.And it inputs in PLC controller, passes through data processing module operation.It is generating as a result, by holding
Row module controls electronic pump group and the liquid in each medicine-chest is allocated according to equation of equilibrium, reaches autobalance, and existing
Technology is compared, and the present invention increases pesticide useful load in limitedly cabin space, is reduced the reciprocal powder charge number of unmanned plane, is carried
High working efficiency.
Above-described embodiment is the description of the invention, is not limitation of the invention, it is any to simple transformation of the present invention after
Scheme all belong to the scope of protection of the present invention.
Claims (8)
1. a kind of agricultural unmanned aerial vehicle onboard pesticide automatic-balancing system, it is characterised in that：Including drone body (1) and it is fixed on
Medicine-chest group, electronic pump group peace weighing apparatus control system in drone body (1), the medicine-chest group is by preceding medicine-chest group (2) and rear medicine
Case group (3) forms, and the preceding medicine-chest group (2) is fixed on the front of the lift focus (O) of drone body (1), rear medicine-chest group (3)
It is fixed on the rear of the lift focus (O) of drone body (1)；The electronic pump group driving medicine-chest group, in the medicine-chest group
It is fixed with weight sensor (9), acceleration transducer (8), the balance control system are fixed on the drone body (1)
It is connect with electronic pump group, the balance control system includes PLC controller, signal acquisition module, data processing module and execution
Module, weight sensor (9) and acceleration transducer (8) connect the signal acquisition module, and the electronic pump group connection executes
Module.
2. a kind of agricultural unmanned aerial vehicle onboard pesticide automatic-balancing system as described in claim 1, it is characterised in that：Before described
Medicine-chest group (2) includes the first medicine-chest (A) and the second medicine-chest (B), and rear medicine-chest group (3) includes third medicine-chest (C) and the 4th medicine-chest
(D), first medicine-chest (A), the second medicine-chest (B), third medicine-chest (C) and the 4th bottom medicine-chest (D) divide equally cloth and are provided with weight
Sensor (9), first medicine-chest (A) and the second medicine-chest (B) are located at the front of the lift focus (O) of drone body (1), the
Three medicine-chests (C) and the 4th medicine-chest (D) are located at the rear of the lift focus (O) of drone body (1).
3. a kind of agricultural unmanned aerial vehicle onboard pesticide automatic-balancing system as claimed in claim 2, it is characterised in that：Described first
Medicine-chest (A) and the second medicine-chest (B) are located at the left and right sides of drone body (1), third medicine-chest (C) and the 4th medicine-chest (D)
It is located at the left and right sides of drone body (1).
4. a kind of agricultural unmanned aerial vehicle onboard pesticide automatic-balancing system as claimed in claim 2 or claim 3, it is characterised in that：It is described
Meet following formula between first medicine-chest (A), the second medicine-chest (B), third medicine-chest (C) and the 4th medicine-chest (D)：
G1L1+G2L2=G3L3+G4L4
In above-mentioned formula：L1 is the distance that the first medicine-chest (A) arrives lift focus (O)；L2 is that the second medicine-chest (B) arrives lift focus
(O) distance；L3 is the distance that third medicine-chest (C) arrives lift focus (O)；L4 be the 4th medicine-chest (D) to lift focus (O) away from
From；G1 is the weight of the first medicine-chest (A)；G2 is the weight of the second medicine-chest (B)；G3 is the weight of third medicine-chest (C)；G4 is the 4th
The weight of medicine-chest (D).
5. a kind of agricultural unmanned aerial vehicle onboard pesticide automatic-balancing system as described in claim 1, it is characterised in that：It is described electronic
Pump group includes the first electrodynamic pump (4), the second electrodynamic pump (5), third electrodynamic pump (6) and the 4th electrodynamic pump (7), the first electrodynamic pump
(4) the first medicine-chest of driving (A), the second electrodynamic pump (5) drive the second medicine-chest (B), third electrodynamic pump (6) to drive third medicine-chest (B),
4th electrodynamic pump (7) drives the 4th medicine-chest (B).
6. a kind of agricultural unmanned aerial vehicle onboard pesticide automatic-balancing system as claimed in claim 2, it is characterised in that：Described first
Medicine-chest (A), the second medicine-chest (B), third medicine-chest (C) and the 4th medicine-chest (D) communicate with each other through channel.
7. a kind of agricultural unmanned aerial vehicle onboard pesticide automatic-balancing system as described in claim 1, it is characterised in that：The medicine-chest
Each medicine-chest is both provided with anti-wobble mechanism in group, and the anti-wobble mechanism includes floating plate (11) and several floating seats (12), institute
The floating seat (12) stated is connected and fixed with floating plate (11).
8. a kind of agricultural unmanned aerial vehicle onboard pesticide automatic-balancing system as claimed in claim 7, it is characterised in that：The medicine-chest
Groove (13) corresponding with the quantity of floating seat (12) is offered in group on the inner wall of each medicine-chest, the floating seat (12) is embedded solid
It is scheduled in groove (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711406647.4A CN108298089A (en) | 2017-12-22 | 2017-12-22 | A kind of agricultural unmanned aerial vehicle onboard pesticide automatic-balancing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711406647.4A CN108298089A (en) | 2017-12-22 | 2017-12-22 | A kind of agricultural unmanned aerial vehicle onboard pesticide automatic-balancing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108298089A true CN108298089A (en) | 2018-07-20 |
Family
ID=62870449
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711406647.4A Withdrawn CN108298089A (en) | 2017-12-22 | 2017-12-22 | A kind of agricultural unmanned aerial vehicle onboard pesticide automatic-balancing system |
Country Status (1)
| Country | Link |
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| CN (1) | CN108298089A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109122640A (en) * | 2018-09-25 | 2019-01-04 | 长春市智本致华科技有限公司 | Self-balancing agricultural plant protection robot |
| CN111959788A (en) * | 2020-08-19 | 2020-11-20 | 唐婕 | Self-balancing agricultural sprays unmanned aerial vehicle |
-
2017
- 2017-12-22 CN CN201711406647.4A patent/CN108298089A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109122640A (en) * | 2018-09-25 | 2019-01-04 | 长春市智本致华科技有限公司 | Self-balancing agricultural plant protection robot |
| CN111959788A (en) * | 2020-08-19 | 2020-11-20 | 唐婕 | Self-balancing agricultural sprays unmanned aerial vehicle |
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| PB01 | Publication | ||
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Application publication date: 20180720 |