CN108773490B - Solar agricultural unmanned aerial vehicle and agricultural condition remote sensing monitoring method - Google Patents
Solar agricultural unmanned aerial vehicle and agricultural condition remote sensing monitoring method Download PDFInfo
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- CN108773490B CN108773490B CN201810382602.6A CN201810382602A CN108773490B CN 108773490 B CN108773490 B CN 108773490B CN 201810382602 A CN201810382602 A CN 201810382602A CN 108773490 B CN108773490 B CN 108773490B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 15
- 238000000034 method Methods 0.000 title claims abstract description 8
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 31
- 238000012806 monitoring device Methods 0.000 claims abstract description 10
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 30
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 27
- 229910052799 carbon Inorganic materials 0.000 claims description 27
- 229910052742 iron Inorganic materials 0.000 claims description 15
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims description 9
- 238000005476 soldering Methods 0.000 claims description 9
- 239000002390 adhesive tape Substances 0.000 claims description 7
- 239000002689 soil Substances 0.000 claims description 4
- 230000006641 stabilisation Effects 0.000 claims description 4
- 238000011105 stabilization Methods 0.000 claims description 4
- 230000012010 growth Effects 0.000 claims description 3
- 238000001228 spectrum Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000000087 stabilizing effect Effects 0.000 claims 1
- 238000005457 optimization Methods 0.000 abstract description 2
- 239000000575 pesticide Substances 0.000 abstract description 2
- 238000009331 sowing Methods 0.000 abstract description 2
- 238000005507 spraying Methods 0.000 abstract description 2
- 241000196324 Embryophyta Species 0.000 description 3
- 230000005855 radiation Effects 0.000 description 2
- 241000127225 Enceliopsis nudicaulis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 230000008635 plant growth Effects 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/10—Shape of wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/32—Wings specially adapted for mounting power plant
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/36—Structures adapted to reduce effects of aerodynamic or other external heating
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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
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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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
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- 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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a solar agricultural unmanned aerial vehicle and an agricultural condition remote sensing monitoring method, wherein the unmanned aerial vehicle comprises a machine body device, a solar power supply device, a flight control device and a remote sensing monitoring device, the remote sensing monitoring device comprises a remote sensing camera and a ground receiving station which are connected, the solar power supply device, the flight control device and the remote sensing camera are arranged on the machine body device, and the solar power supply device, the flight control device and the machine body device are sequentially connected. The invention sets different operation parameters, can make the flight more stable, even realize fixed-point cruising, more efficiently utilize solar energy, realize optimization on the aerial time and course control, can be applied to large-area agricultural condition monitoring, is applied to the aspects of pesticide spraying or seed sowing in an expanded way, or jumps out of agricultural aviation, is applied to haze treatment work, and has the advantages of light weight, long endurance, stable flight, no pollution and the like.
Description
Technical Field
The invention relates to an unmanned aerial vehicle, in particular to a solar agricultural unmanned aerial vehicle and an agricultural condition remote sensing monitoring method, and belongs to the technical field of agricultural aviation remote sensing monitoring.
Background
With the formation of convenient subsidies for agriculture and cooperative society in China, the existing technology is difficult to meet the requirements of large-scale agriculture, the number of workers is reduced, and the field management is more scientific. Scientific progress of agricultural aviation makes scientific management of fields practical. For traditional agricultural unmanned aerial vehicle, the agricultural fixed wing section unmanned aerial vehicle of solar energy does not take fuel, absorbs energy from the sun ray during flight. This means that once a sufficiently high system efficiency and level is achieved, a continuous flight can be achieved. In theory, it has an infinite flight, and if the equipment system is reliable enough not to damage and the sunlight continues to be sufficient, the flight can continue.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides a solar agricultural unmanned aerial vehicle, which is provided with different operation parameters, can make the flight more stable, even realize fixed-point cruising, more efficiently utilize solar energy, realize optimization on aerial time and air route control, can be applied to large-area agricultural condition monitoring, is widely applied to the aspects of pesticide spraying or seed sowing, or jumps out of agricultural aviation, is applied to haze improvement work, and has the advantages of light weight, long endurance, stable flight, no pollution and the like.
The invention also aims to provide an agricultural condition remote sensing monitoring method based on the unmanned aerial vehicle.
The purpose of the invention can be achieved by adopting the following technical scheme:
agricultural unmanned aerial vehicle of solar energy, including organism device, solar power supply unit, flight control device and remote sensing monitoring devices, remote sensing monitoring devices is including the remote sensing camera and the ground receiving station that are connected, solar power supply unit, flight control device and remote sensing camera setting are on the organism device, and solar power supply unit, flight control device and organism device connect gradually.
Further, the body device comprises wings, a middle body, a left main body, a right main body, a horizontal tail wing, a left vertical tail wing, a right vertical tail wing, a middle undercarriage, a left undercarriage and a right undercarriage, wherein the wings are respectively connected with the middle body, the left main body and the right main body; the solar power supply device is arranged on the wings, and the flight control device is arranged on the middle section fuselage.
Further, the wing includes middle section wing, upper left anti-wing, upper right anti-wing, left wingtip winglet, right wingtip winglet and two steering engines, two steering engines set up respectively on upper left anti-wing, upper right anti-wing to be connected with flight control device, upper left anti-wing and upper right anti-wing are symmetrical, and upper left anti-wing, upper right anti-wing pass through the wing connecting piece respectively with middle section wing fixed connection, left wingtip winglet sets up at the upper left anti-wing left end, right wingtip winglet sets up at the upper right anti-wing right-hand member.
Furthermore, the middle section wing comprises a plurality of wing ribs, wing spars, carbon tubes, a front edge wing spar and a rear edge wing spar, the wing spars, the carbon tubes, the front edge wing spar and the rear edge wing spar penetrate through the wing ribs to enable the wing ribs to be fixed in parallel, and part of the wing ribs are respectively connected with the middle section fuselage, the left main fuselage and the right main fuselage;
the left upper reverse wing and the right upper reverse wing respectively comprise a plurality of wing ribs, wing spars, a front edge wing spar, a rear edge wing spar and ailerons, the wing spars, the front edge wing spar and the rear edge wing spar penetrate through the wing ribs to enable the wing ribs to be fixed in parallel, and the ailerons are connected to the rear end of the rear edge wing spar through adhesive tapes; the two steering engines are respectively arranged on one wing rib of the left upper counter wing and the right upper counter wing and are respectively connected with the rudder arms on the ailerons of the left upper counter wing and the right upper counter wing through iron wires.
Further, the middle fuselage comprises an inner skeleton, an outer skeleton, wing fixing pieces, undercarriage fixing pieces and a nose fairing, the outer skeleton wraps the inner skeleton, the wing fixing pieces and the undercarriage fixing pieces are embedded in the front end of the inner skeleton, and the nose fairing wraps the front end of the outer skeleton; the wing fixing piece is connected with the wing, and the landing gear fixing piece is connected with the middle landing gear;
the left main body and the right main body are symmetrical and respectively comprise an inner framework, an outer framework, a wing fixing piece, an undercarriage fixing piece, an empennage fixing piece, a motor and a propeller, wherein the outer framework wraps the inner framework, the wing fixing piece and the undercarriage fixing piece are embedded in the front end of the inner framework, the empennage fixing piece is embedded in the rear end of the inner framework, the motor is fixedly connected with the front end of the outer framework and is connected with a flight control device, and the propeller is connected with the motor through a bullet; the wing mounting is connected with the wing, the undercarriage mounting and the left undercarriage of left main body are connected, and the fin mounting and the left perpendicular fin of left main body are connected, the undercarriage mounting and the right undercarriage of right main body are connected, and the fin mounting and the right perpendicular fin of right main body are connected.
Furthermore, the horizontal tail wing comprises a plurality of wing ribs, wing spars, front edge wing spars, rear edge wing spars, elevators and steering engines, the wing spars, the front edge wing spars and the rear edge wing spars penetrate through the wing ribs to enable the wing ribs to be fixed in parallel, the elevators are connected to the rear ends of the rear edge wing spars through adhesive tapes, the steering engines are arranged on one wing rib, and the steering engines are connected with the elevator arms on the elevators through iron wires and connected with the flight control device; the left end and the right end of the horizontal tail wing are respectively and fixedly connected with the left main body and the right main body through a body-wing connecting piece.
Furthermore, the left vertical tail wing and the right vertical tail wing are symmetrical and respectively comprise a plurality of wing ribs, wing spars, front edge wing spars, rear edge wing spars, rudders and steering engines, the wing spars, the front edge wing spars and the rear edge wing spars penetrate through the wing ribs to enable the wing ribs to be fixed in parallel, the rudders are connected to the rear ends of the rear edge wing spars through adhesive tapes, the steering engines are arranged on one wing rib, and the steering engines are connected with steering arms on the steering engines through iron wires and connected with a flight control device; the lower ends of the left vertical tail wing and the right vertical tail wing are respectively and fixedly connected with the left main body and the right main body through a body-wing connecting piece.
Further, well undercarriage, left undercarriage and right undercarriage's structure is the same, all includes wheel, carbon pipe and undercarriage fastener, the wheel is connected with the lower extreme of carbon pipe, the carbon pipe upper end of well undercarriage is passed through undercarriage fastener and middle section fuselage fastening connection, the carbon pipe upper end of left undercarriage is passed through undercarriage fastener and left main fuselage fastening connection, the carbon pipe upper end of right undercarriage is passed through undercarriage fastener and right main fuselage fastening connection.
Furthermore, the solar power supply device comprises a plurality of groups of solar cell sets, each group of solar cell sets comprises a plurality of solar cells, the plurality of solar cells of each group of solar cell sets are connected in series through soldering tin bars, and the plurality of groups of solar cell sets are connected in parallel through soldering tin bars.
The other purpose of the invention can be achieved by adopting the following technical scheme:
the agricultural condition remote sensing monitoring method based on the unmanned aerial vehicle comprises the following steps: the remote sensing camera of the remote sensing monitoring device detects the characteristics of the ground soil and the growth and the change of plants through a spectrum wave band, and the ground receiving station receives data detected by the remote sensing camera and analyzes the data to realize large-area agricultural condition monitoring.
Compared with the prior art, the invention has the following beneficial effects:
1. the solar agricultural unmanned aerial vehicle provided by the invention takes solar radiation as a propulsion energy, the problems of short endurance time and high energy consumption of the unmanned aerial vehicle can be well solved by utilizing solar power supply, the agricultural condition monitoring on the long endurance of a farmland can be realized by carrying the remote sensing camera, the unmanned aerial vehicle can be more stable and the route is more accurate by adjusting the flight control device, the shake of the unmanned aerial vehicle is reduced, and the shooting precision of the remote sensing camera is improved.
2. The solar agricultural unmanned aerial vehicle is an airplane with a Clark Y-shaped conical wing and a large aspect ratio of about four meters in wingspan, and adopts the layout of double motors, three machine bodies and double vertical tail wings, so that good pneumatic performance can be obtained, air resistance is reduced, and the lift-drag ratio is improved.
3. The wing of the solar agricultural unmanned aerial vehicle adopts the rectangular middle-section wing with a large aspect ratio, and the upper counter wing is the conical wing, so that a larger lift-drag ratio and a smaller sinking rate can be obtained during low-speed flight, better gliding performance can be obtained, and more solar cells can be laid to the maximum extent.
4. The power energy source of the solar agricultural unmanned aerial vehicle is mainly a solar cell array arranged on a machine body device, the solar cell array is formed by connecting a plurality of groups of solar cells in parallel through a soldering tin bar array, each group of solar cells is formed by connecting a plurality of solar cells in series through soldering tin bars, and because the voltage and the power of a single cell are lower, the load and the voltage of a driving part of the machine body device are obviously insufficient, so that the problem of obviously insufficient load and voltage of the driving part of the machine body device is solved by connecting a plurality of solar cells in series to provide higher voltage and power.
5. In the solar agricultural unmanned aerial vehicle, the flight control device can stabilize the flight attitude of the unmanned aerial vehicle and control the unmanned aerial vehicle to fly autonomously or semi-autonomously; according to the program or the remote control terminal real time control that have set for, utilize flight controller output different signals, change the rotational speed of motor, realize the rotational speed stability and the differential turn of two motors, when unmanned aerial vehicle received external disturbance, flight controller can be according to the rotational speed of two motors of unmanned aerial vehicle's attitude control, the rotation angle of aileron, the rotation angle of elevator, the swing angle of rudder for unmanned aerial vehicle adjusts to best gesture rapidly, it is more outstanding in the aspect of current unmanned aerial vehicle's stability and wind resistance performance to compare.
Drawings
Fig. 1 is a schematic structural view of a solar agricultural unmanned aerial vehicle in embodiment 1 of the present invention.
Fig. 2 is an enlarged view of a point a in fig. 1.
Fig. 3 is a schematic view of a general structure of the body device according to embodiment 1 of the present invention.
Fig. 4 is a schematic view of a wing structure of the airframe device according to embodiment 1 of the present invention.
Fig. 5 is an enlarged view at B in fig. 4.
Fig. 6 is an enlarged view at C in fig. 4.
Fig. 7 is a schematic diagram of a middle-section fuselage structure of the airframe device according to embodiment 1 of the present invention.
Fig. 8 is a schematic structural view of the left main body of the body apparatus according to embodiment 1 of the present invention, fully showing the inner frame.
Fig. 9 is a schematic structural view of a right main body of the body device according to embodiment 1 of the present invention.
Fig. 10 is a schematic view of a horizontal rear wing structure of the airframe device according to embodiment 1 of the present invention.
Fig. 11 is a schematic view of a left vertical tail structure of the body device according to embodiment 1 of the present invention.
Fig. 12 is a schematic structural view of a left landing gear of the airframe device according to embodiment 1 of the invention.
Fig. 13 is a schematic view of a solar cell of the solar power supply device according to embodiment 1 of the present invention.
Wherein, 1-the body device, 101-the wing, 1011-the mid-section wing, 10111-the first wing rib, 10112-the first wing spar, 10113-the first carbon tube, 10114-the first leading edge wing spar, 10115-the first trailing edge wing spar, 1012-the upper left counter wing, 10121-the second wing rib, 10122-the second wing spar, 10123-the second leading edge wing spar, 10124-the second trailing edge wing spar, 10125-the aileron, 101251-the rudder arm, 1013-the upper right counter wing, 1014-the left wingtip winglet, 1015-the right wingtip winglet, 1016-the first steering engine, 1017-the wing connecting piece, 1018-the first rudder mount, 102-the mid-section fuselage, 1021-the first inner frame, 10211-the first long pole, 10212-the first skeleton fixing piece, 1022-the first outer skeleton fixing piece, 1023-the first wing fixing piece, 1024-a first landing gear attachment, 1025-a nose fairing, 103-a left main fuselage, 1031-a second inner frame, 10311-a second spar, 10312-a second attachment, 1032-a second outer frame, 1033-a second wing attachment, 1034-a second landing gear attachment, 1035-a first tail attachment, 1036-a first motor, 1037-a first propeller, 104-a right main fuselage, 1041-a third inner frame, 10411-a third spar, 10412-a third attachment, 1042-a third outer frame, 1043-a third wing attachment, 1044-a third landing gear attachment, 1045-a second attachment, 1046-a second motor, 1047-a second propeller, 105-a horizontal tail wing, 1051-a third wing rib, 1052-a third wing spar, 1053-third leading edge spar, 1054-third trailing edge spar, 1055-elevator, 10551-elevator arm, 1056-second steering engine, 1057-second rudder stock, 1058-first fuselage-wing connection, 106-left vertical tail, 1061-fourth rib, 1062-fourth spar, 1063-fourth leading edge spar, 1064-fourth trailing edge spar, 1065-rudder, 10651-rudder arm, 1066-third steering engine, 1067-third rudder stock, 1068-second fuselage-wing connection, 107-right vertical tail, 108-center gear, 1081-wheels, 1082-second carbon tube, 1083-gear fastener, 1084-bolt, 109-left gear, 110-right gear, 2-solar power supply, 201-solar cell, 202-soldering tin bar, 3-flight control device, 301-flight controller, 302-receiver, 4-remote sensing monitoring device and 401-remote sensing camera.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Example 1:
as shown in fig. 1, the present embodiment provides a solar agricultural unmanned aerial vehicle, which includes a body device 1, a solar power supply device 2, a flight control device 3 and a remote sensing monitoring device 4.
As shown in fig. 1 and 3, the airframe device 1 includes a wing 101, a middle fuselage 102, a left main fuselage 103, a right main fuselage 104, a horizontal tail wing 105, a left vertical tail wing 106, a right vertical tail wing 107, a middle landing gear 108, a left landing gear 109 and a right landing gear 110, the wing 101 is respectively connected with the middle fuselage 102, the left main fuselage 103 and the right main fuselage 104, the left vertical tail wing 105 and the right vertical tail wing 106 are respectively arranged at the tail ends of the left main fuselage 103 and the right main fuselage 104, the horizontal tail wing 106 is clamped between the tail portions of the left main fuselage 103 and the right main fuselage 104, and the middle landing gear 108, the left landing gear 109 and the right landing gear 110 are respectively installed at the lower ends of the middle fuselage 102, the left main fuselage 103 and the right main fuselage.
As shown in fig. 3 to 6, the wing 101 of the present embodiment is in the form of clark Y-shaped tapered wing, the adopted rib model is NACA0009, and the wing 101 includes a middle wing 1011, an upper left wing 1012, an upper right wing 1013, a wingtip winglet 1014, a wingtip winglet 1015 and two first steering engines 1016, the two first steering engines 1016 are respectively disposed on the upper left wing 1012 and the upper right wing 1013, the upper left wing 1012 and the upper right wing 1013 are symmetrical, and the upper left wing 1012 and the upper right wing 1013 are respectively and fixedly connected to the middle wing 1011 through a wing connector 1017; a left tip winglet 1014 is disposed to the left of the upper left winglet 1012 and a right tip winglet 1015 is disposed to the right of the upper right winglet 1013.
As shown in fig. 4 and 5, the mid-section wing 1011 includes twenty-two first wing ribs 10111, a first wing spar 10112, a first carbon tube 10113, a first leading edge wing spar 10114 and a first trailing edge wing spar 10115, the first wing spar 10112, the first carbon tube 10113, the first leading edge wing spar 10114 and the first trailing edge wing spar 10115 pass through eighteen first wing ribs 10111, so that the eighteen first wing ribs 10111 are fixed side by side, the first wing spar 10112, the first carbon tube 10113 and the first leading edge wing spar 10114 pass through two first wing ribs 10111 of the remaining four first wing ribs 10111, and the first wing spar 10112 and the first carbon tube 10113 pass through the last two first wing ribs 10111; in the twenty-twelve first wing ribs 10111, the eleventh and twelfth first wing ribs 10111 from left to right are respectively connected with the middle fuselage 102, the sixth and seventh first wing ribs 10111 from left to right are respectively connected with the left main fuselage 103, the sixteenth and seventeenth first wing ribs 10111 from left to right are respectively connected with the right main fuselage 104, and the front ends of the middle fuselage 102, the left main fuselage 103 and the right main fuselage 104 connected with the first wing ribs 10111 are all manufactured into bayonet shapes, so that the wings 101 can be further fixed.
Since the left upper anti-wing 1012 and the right upper anti-wing 1013 are symmetrical, the structure is the same, taking the left upper anti-wing 1012 as an example, as shown in fig. 4 and fig. 6, the left upper anti-wing 1012 includes ten second ribs 10121, a second wing beam 10122, a second leading edge wing beam 10123, a second trailing edge wing beam 10124 and an aileron 10125, the second wing beam 10122, the second leading edge wing beam 10123 and the second trailing edge wing beam 10124 penetrate the ten second ribs 10121, so that the ten second ribs 10121 are fixed side by side, the aileron 10125 is connected to the rear end of the second trailing edge wing beam 10124 by a tape, and the aileron 10125 has a rudder arm 101251 thereon; one of the first steering engines 1016 is respectively disposed on one of the second wing ribs 10121 of the upper left counter wing 1012, preferably, the first steering engine 1016 is disposed on the sixth second wing rib 10121 from left to right, the first steering engine 1016 is specifically fixed on the sixth second wing rib 10121 from left to right through the first steering engine seat 1018, the first steering engine 1016 is further connected with the rudder arm 101251 on the aileron 10125 through an iron wire, so that the aileron 10125 can rotate around the second rear edge spar 10124 by a certain angle; it will be appreciated that another first steering engine 1016 is provided in the upper right counter wing 1013 at a position symmetrical to the upper left counter wing 1012.
In this embodiment, the wing connector 1017 is formed by two glass fiber strips at a certain angle, the connection part between the wing connector 1017 and the middle wing 1011 is formed by five round wood blocks embedded and arranged, the first carbon tube 10113 extends into the middle wing 1011, is connected with the first carbon tube 10113, and the connection part between the left upper counter wing 1012 and the right upper counter wing 1013 extends into the second wing beam 10122 of the left upper counter wing 1012 and the right upper counter wing 1013, and is connected with the second wing beam 10122 of the left upper counter wing 1012 and the right upper counter wing 1013.
The body of the body device of the present embodiment is in the form of three bodies, namely, a middle body 102, a left main body 103 and a right main body 104, and the left main body 103 and the right main body 104 are symmetrical, so that the structure is the same.
As shown in fig. 3 and 7, the middle fuselage 102 includes a first inner skeleton 1021, a first outer skeleton 1022, a first wing fastener 1023, a first falling frame fastener 1024 and a nose fairing 1025, the first inner skeleton 1021 is fixed by four first long rods 10211 through fourteen square first fixing pieces 10212 hollowed out in a fork shape, the first outer skeleton 1022 wraps the first inner skeleton 1021, the first wing fastener 1023 and the first falling frame fastener 1024 are embedded in the front end of the first inner skeleton 1021, the nose fairing 1025 wraps the front end of the first outer skeleton 1022, and preferably, the nose fairing 1025 wraps the front end of the first outer skeleton 1022 through an ultra-light skin; the first wing mount 1023 is connected to the wing 101 and the first landing gear mount 1024 is connected to the middle landing gear 108.
As shown in fig. 3 and 8, the left main body 103 includes a second inner frame 1031, a second outer frame 1032, and a second wing fixing member 1033, the aircraft comprises a second landing gear fixing piece 1034, a first tail wing fixing piece 1035, a first motor 1036 and a first propeller 1037, wherein a second inner framework 1031 is fixed by four second long rods 10311 through fifteen second fixing pieces 10312 with square inner parts hollowed into fork shapes, the second outer framework 1032 wraps the second inner framework 1031, a second wing fixing piece 1033 and the second landing gear fixing piece 1034 are embedded in the front end of the second inner framework 1031, the first tail wing fixing piece 1035 is embedded in the rear end of the second inner framework 1031, the first motor 1036 is fixedly connected with the front end of the second outer framework 1032, preferably, the first motor 1036 is fixedly connected with the front end of the second outer framework 1032 through bolts and nuts, the first propeller 1037 is connected with the first motor 1036 through a bullet head, and particularly, the first propeller 1037 is connected with the motor shaft of the first motor 1036 through a bullet head; the second wing mount 1033 is connected to the wing 101, the second landing gear mount 1034 is connected to the left landing gear 109, and the first tail mount 1035 is connected to the left vertical tail 105.
As shown in fig. 3 and 9, the right main body 104 includes a third inner frame 1041, a third outer frame 1042, a third wing fixing member 1043, a third landing gear fixing part 1044, a second empennage fixing part 1045, a second motor 1046 and a second propeller 1047, wherein a third inner framework 1041 is fixed by four third long rods 10411 through fifteen third fixing plates 10412 hollowed out in a fork shape in a square, a third outer framework 1042 wraps the third inner framework 1041, a third wing fixing part 1043 and the third landing gear fixing part 1045 are embedded in the front end of the third inner framework 1041, a first empennage fixing part 1034 is embedded in the rear end of the third inner framework 1041, a first motor 1036 is fixedly connected with the front end of the third outer framework 1042, preferably, the second motor 1046 is fixedly connected with the front end of the third outer framework 1042 through bolts and nuts, the second propeller 1047 is connected with the second motor 1046 through a bullet head, and specifically, the second propeller 1047 is connected with a motor shaft of the second motor 1046 through a bullet head; the third wing mount 1043 is connected to the wing 101, the third landing gear mount 1044 is connected to the right landing gear 110, and the second tail mount 1045 is connected to the right vertical tail 106.
As shown in fig. 3 and 10, the horizontal rear wing 105 of the present embodiment is a rectangular rear wing, the surface of which is covered by an ultra-light skin, and includes nine third wing ribs 1051, a third wing beam 1052, a third leading edge wing beam 1053, a third trailing edge wing beam 1054, an elevator 1055 and a second steering engine 1056, the third wing beams 1052, the third leading edge wing beam 1053 and the third trailing edge wing beam 1054 pass through the nine third wing ribs 1051, so that the nine third wing ribs 1051 are fixed in parallel, the elevator 1055 is connected to the rear end of the third trailing edge wing beam 1054 by an adhesive tape, and the elevator 1055 has an elevator arm 10551; the second steering engine 1056 is arranged on one of the third wing ribs 1051, preferably, the second steering engine 1056 is arranged on the fifth third wing rib 1051 from left to right, the second steering engine 1056 is fixed on the fifth third wing rib 1051 from left to right through the second steering engine seat 1057, and the second steering engine 10565 is further connected with the elevator arm 10551 on the elevator 1055 through an iron wire, so that the elevator 1055 can rotate a certain angle around the third trailing edge spar 1054; the left and right ends of the horizontal rear wing 105 are fixedly connected to the left main body 103 and the right main body 104, respectively, via a first body-wing connection 1058.
As shown in fig. 3 and 11, the left vertical tail wing 106 and the right vertical tail wing 107 of the present embodiment are wedge-shaped tail wings, and the left vertical tail wing 106 and the right vertical tail wing 107 are symmetrical, so the structure is the same, taking the left vertical tail wing 106 as an example, the left vertical tail wing 106 includes six fourth ribs 1061, a fourth wing beam 1062, a fourth leading edge wing beam 1063, a fourth trailing edge wing beam 1064, a rudder 1065 and a third steering engine 1066, the fourth wing beam 1062, the fourth leading edge wing beam 1063 and the fourth trailing edge wing beam 1064 pass through the six fourth ribs 1061, so that the six fourth ribs 1061 are fixed side by side, the rudder 1065 is connected to the rear end of the fourth trailing edge wing beam 1064 by a tape, and the rudder 1065 has a rudder arm 10651; a third steering engine 1066 is disposed on one of the fourth wing ribs 1061, preferably, the third steering engine 1066 is disposed on a fourth wing rib 1061 from top to bottom, the third steering engine 1066 is fixed on the fourth wing rib 1061 from top to bottom specifically through a third steering engine seat 1067, and the third steering engine 1066 is further connected with a rudder arm 10651 on a rudder 1065 through an iron wire, so that the rudder 1065 can rotate a certain angle around a fourth trailing edge spar 1064; the left vertical tail wing 106 is fixedly connected to the left main body 103 through a second body-wing connection 1068, and similarly, the lower end of the right vertical tail wing 107 is fixedly connected to the right main body 104 through a second body-wing connection 1068.
As shown in fig. 3 and 12, the middle landing gear 108, the left landing gear 109, and the right landing gear 110 of the present embodiment have the same structure, and are all a dual-wheel structure, taking the middle landing gear 108 as an example, and include two wheels 1081, a second carbon tube 1082, and a landing gear fastener 1083, where the two wheels 1081 are connected to the lower end of the second carbon tube 1082 by a bolt 1084, and the second carbon tube 1082 is fastened to the middle fuselage 102 by the landing gear fastener 1083; it can be understood that the second carbon tube 1082 of the left landing gear 109 is fastened and connected with the left main body 103 through a landing gear fastener 1083, and the second carbon tube 1082 of the right landing gear 109 is fastened and connected with the right main body 104 through a landing gear fastener 1083, so as to ensure normal takeoff and landing of the unmanned aerial vehicle.
As shown in fig. 1 and fig. 2, the flight control device 3 can stabilize the flight attitude of the unmanned aerial vehicle for the unmanned aerial vehicle, and can control the unmanned aerial vehicle to fly autonomously or semi-autonomously, the flight control device 3 is disposed on the middle section fuselage 102 of the fuselage device 1, and is specifically disposed on the upper surface of the middle section fuselage 102, and includes a flight controller 301 and a receiver 302 connected to each other, the receiver 302 is connected to a remote control terminal, and can receive an instruction sent by the remote control terminal, and transmit the instruction to the flight controller 301, the flight controller 301 is respectively connected to the first steering engine 1016, the second steering engine 1056, the third steering engine 1066, the first motor 1036, and the second motor 1046 of the fuselage device 1, and the flight controller 301 is specifically controlled as follows:
controlling according to a set program: the flight controller 301 is used for outputting different signals, so that the rotating speeds of the first motor 1036 and the second motor 1046 are changed, and the rotating speed stabilization and differential turning of the first motor 1036 and the second motor 1046 are realized; when the unmanned aerial vehicle is disturbed by the outside world, the flight controller 301 controls the rotation speeds of the first motor 1036 and the second motor 1046, the rotation angle of the aileron 10125, the rotation angle of the elevator 1055, and the swing angle of the rudder 1065 according to the attitude of the unmanned aerial vehicle, so that the unmanned aerial vehicle is rapidly adjusted to the optimal attitude.
Controlling by using a remote control terminal: the rotating speeds of the first motor 1036 and the second motor 1046 are controlled through the remote control terminal, so that the first motor 1036 drives the first propeller 1037 to rotate, the second motor 1046 drives the second propeller 1047 to rotate, forward thrust is obtained, the rotating speeds of the first motor 1036 and the second motor 1046 are stable in cooperation with automatic control of the flight controller 301, and linear flight and stable turning are further achieved; when the unmanned aerial vehicle takes off from the ground, the first steering engine 1016 is controlled through the remote control terminal, the first steering engine 1016 pulls the rudder arm 101251 on the aileron 10125 through an iron wire, so that the aileron 10125 rotates upwards, according to the Bernoulli principle, the pressure intensity of the upper surface of the wing 101 is smaller than the pressure intensity of a small surface, so that the unmanned aerial vehicle takes off, when the unmanned aerial vehicle needs to turn, the two ailerons 10125 are controlled through the remote control terminal to rotate upwards and downwards, and the turning and attitude stabilization of the unmanned aerial vehicle are realized; the rudder angle of the second steering engine 1056 is controlled through the remote control terminal, so that the rudder angle rotates, and the elevator 1055 is driven to rotate up and down through the iron wire and the elevator rudder arm 10551, so that the lifting and the body stabilization of the unmanned aerial vehicle are realized; the rudder angle of the third steering engine 1066 is controlled through the manipulator to rotate, and the rudder 1065 is driven to swing left and right through the iron wire and the rudder arm 10651, so that the air course of the unmanned aerial vehicle can yaw and be stable.
As shown in fig. 1 and 2, the remote sensing monitoring device 4 includes a remote sensing camera 401 and a ground receiving station, which are connected, the remote sensing camera 401 is disposed on the middle fuselage 102, and is specifically installed on the lower surface of the front end of the middle fuselage 102, the remote sensing camera 401 detects the characteristics of the ground soil, the growth of plants and the change of plants through the spectrum band, the ground receiving station receives the data detected by the remote sensing camera 401, and analyzes the data, so as to realize the large-area agricultural condition monitoring.
As shown in fig. 1 and 13, the solar power supply device 2 includes two groups of solar cell sets, each group of solar cell sets is composed of thirty-eight solar cells 201, the thirty-eight solar cells 201 of each group of solar cell sets are connected in series through soldering tin bars 202, and the two groups of solar cell sets are connected in parallel through soldering tin bars 202; seventy-six solar cells 201 of the two groups of solar cell groups are arranged on the upper surface of the wing 101 of the airframe device 1 in an array mode, and the wing 101 and the solar cells 201 are wrapped through transparent ultralight skins; the solar power supply device 2 is connected to the flight controller 301 to provide higher voltage and power, and ensure the normal operation of the first steering engine 1016, the second steering engine 1056, the third steering engine 1066, the first motor 1036, and the second motor 1046.
In summary, the solar agricultural unmanned aerial vehicle provided by the invention uses solar radiation as a propulsion energy, the flight control device is arranged on the upper surface of the body device, the remote sensing camera is arranged on the lower surface of the body device, the stable flight of the body device of the unmanned aerial vehicle is controlled by the flight control device, the remote sensing camera is used for monitoring the agricultural condition on the ground, the characteristics of soil on the ground, the growth and the change of plants are detected through a spectral band, the ground receiving station receives data detected by the remote sensing camera and analyzes the data.
The above description is only for the preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the scope of the present invention.
Claims (7)
1. Agricultural unmanned aerial vehicle of solar energy, its characterized in that: the remote sensing monitoring device comprises a remote sensing camera and a ground receiving station which are connected;
the aircraft body device comprises wings, a middle fuselage, a left main fuselage, a right main fuselage, a horizontal tail wing, a left vertical tail wing, a right vertical tail wing, a middle undercarriage, a left undercarriage and a right undercarriage, wherein the wings are respectively connected with the middle fuselage, the left main fuselage and the right main fuselage; the solar power supply device is arranged on the wings, and the flight control device and the remote sensing camera are arranged on the middle section fuselage;
the aircraft wing is in a Clark Y-shaped conical wing, the wing span is four meters, and the aircraft wing comprises a middle section wing, an upper left counter wing, an upper right counter wing, a left wing tip winglet, a right wing tip winglet and two steering engines, wherein the two steering engines are respectively arranged on the upper left counter wing and the upper right counter wing and are connected with a flight control device;
the solar power supply device is connected with the flight control device and comprises a plurality of groups of solar cell sets, each group of solar cell sets consists of a plurality of solar cells, the plurality of solar cells of each group of solar cell sets are connected in series through soldering tin bars, the plurality of groups of solar cell sets are connected in parallel through soldering tin bars, and the plurality of solar cells of each group of solar cell sets are arranged on the upper surface of the wing in an array manner;
flight control device is used for realizing stabilizing unmanned aerial vehicle flight gesture to unmanned aerial vehicle, and control unmanned aerial vehicle independently or semi-independently flight, flight control device sets up the middle section fuselage upper surface at the fuselage device, flight control device is including the flight control ware and the receiver that are connected, the receiver is connected with remote control terminal, an instruction for receiving remote control terminal and sending, and give flight control ware with the instruction transmission, flight control ware respectively with the steering wheel of wing, horizontal fin's steering wheel, the steering wheel of left side perpendicular fin, the steering wheel of right side perpendicular fin, the motor of left side fuselage, the motor of right side fuselage is connected, flight control ware's specific control is as follows:
controlling according to a set program: the flight controller is used for outputting different signals, so that the rotating speeds of the motors of the left main body and the right main body are changed, and the stable rotating speed and differential turning of the motors of the left main body and the right main body are realized; when the unmanned aerial vehicle is interfered by the outside, the flight controller controls the rotating speed of the motors of the left main body and the right main body, the rotating angles of the ailerons of the left upper anti-wing and the right upper anti-wing, the rotating angle of the elevator of the horizontal tail wing and the swinging angles of the rudders of the left vertical tail wing and the right vertical tail wing according to the posture of the unmanned aerial vehicle, so that the unmanned aerial vehicle is quickly adjusted to the optimal posture;
controlling by using a remote control terminal: the rotating speeds of the motors of the left main body and the right main body are controlled through the remote control terminal, so that the motor of the left main body drives the propeller of the left main body to rotate, and the motor of the right main body drives the propeller of the right main body to rotate, forward thrust is obtained, the rotating speeds of the motors of the left main body and the right main body are stable, and linear flight and stable turning are realized by matching with automatic control of a flight controller; when the unmanned aerial vehicle takes off from the ground, the steering gears of the wings are controlled through the remote control terminal, the steering gears of the wings pull the rudder arms on the ailerons of the upper left counter wing and the ailerons of the upper right counter wing through iron wires, so that the ailerons of the upper left counter wing and the upper right counter wing rotate upwards, and according to the Bernoulli principle, the pressure intensity of the upper surfaces of the wings is smaller than that of the small surfaces, so that the unmanned aerial vehicle can take off; when the unmanned aerial vehicle needs to turn, the ailerons of the left upper counter wing and the right upper counter wing are controlled through the remote control terminal, one is rotated upwards, the other is rotated downwards, and the turning and the attitude stabilization of the unmanned aerial vehicle are realized; the rudder angle of a steering engine of the horizontal tail wing is controlled through the remote control terminal, so that the rudder angle rotates, and an elevator of the horizontal tail wing is driven to rotate up and down through an iron wire and an elevator rudder arm, so that the lifting of the unmanned aerial vehicle and the stability of the body are realized; the rudder angle of the steering engine of the left vertical tail wing and the right vertical tail wing is controlled through the remote control terminal, so that the rudder angle is rotated, and the rudder of the left vertical tail wing and the right vertical tail wing is driven to swing left and right through the iron wire and the rudder arm, so that the air course of the unmanned aerial vehicle can yaw and be stable.
2. The solar agricultural unmanned aerial vehicle of claim 1, wherein: the middle section wing comprises a plurality of wing ribs, wing spars, carbon tubes, a front edge wing spar and a rear edge wing spar, the wing spars, the carbon tubes, the front edge wing spar and the rear edge wing spar penetrate through the wing ribs to enable the wing ribs to be fixed in parallel, and part of the wing ribs are respectively connected with the middle section fuselage, the left main fuselage and the right main fuselage;
the left upper reverse wing and the right upper reverse wing respectively comprise a plurality of wing ribs, wing spars, a front edge wing spar, a rear edge wing spar and ailerons, the wing spars, the front edge wing spar and the rear edge wing spar penetrate through the wing ribs to enable the wing ribs to be fixed in parallel, and the ailerons are connected to the rear end of the rear edge wing spar through adhesive tapes; the two steering engines are respectively arranged on one wing rib of the left upper counter wing and the right upper counter wing and are respectively connected with the rudder arms on the ailerons of the left upper counter wing and the right upper counter wing through iron wires.
3. The solar agricultural unmanned aerial vehicle of claim 1, wherein: the middle fuselage comprises an inner skeleton, an outer skeleton, wing fixing pieces, undercarriage fixing pieces and a nose fairing, the outer skeleton wraps the inner skeleton, the wing fixing pieces and the undercarriage fixing pieces are embedded in the front end of the inner skeleton, and the nose fairing wraps the front end of the outer skeleton; the wing fixing piece is connected with the wing, and the landing gear fixing piece is connected with the middle landing gear;
the left main body and the right main body are symmetrical and respectively comprise an inner framework, an outer framework, a wing fixing piece, an undercarriage fixing piece, an empennage fixing piece, a motor and a propeller, wherein the outer framework wraps the inner framework, the wing fixing piece and the undercarriage fixing piece are embedded in the front end of the inner framework, the empennage fixing piece is embedded in the rear end of the inner framework, the motor is fixedly connected with the front end of the outer framework and is connected with a flight control device, and the propeller is connected with the motor through a bullet; the wing mounting is connected with the wing, the undercarriage mounting and the left undercarriage of left main body are connected, and the fin mounting and the left perpendicular fin of left main body are connected, the undercarriage mounting and the right undercarriage of right main body are connected, and the fin mounting and the right perpendicular fin of right main body are connected.
4. The solar agricultural unmanned aerial vehicle of claim 1, wherein: the horizontal tail wing comprises a plurality of wing ribs, wing spars, a front edge wing spar, a rear edge wing spar, elevators and steering engines, the wing spars, the front edge wing spar and the rear edge wing spar penetrate through the wing ribs to enable the wing ribs to be fixed in parallel, the elevators are connected to the rear end of the rear edge wing spar through adhesive tapes, the steering engines are arranged on one wing rib, and the steering engines are connected with the elevator rudder arms on the elevators through iron wires and connected with a flight control device; the left end and the right end of the horizontal tail wing are respectively and fixedly connected with the left main body and the right main body through a body-wing connecting piece.
5. The solar agricultural unmanned aerial vehicle of claim 1, wherein: the left vertical tail wing and the right vertical tail wing are symmetrical and respectively comprise a plurality of wing ribs, wing spars, front edge wing spars, rear edge wing spars, rudders and steering gears, the wing spars, the front edge wing spars and the rear edge wing spars penetrate through the wing ribs to enable the wing ribs to be fixed in parallel, the rudders are connected to the rear ends of the rear edge wing spars through adhesive tapes, the steering gears are arranged on one wing rib, and the steering gears are connected with rudder arms on the rudders through iron wires and connected with a flight control device; the lower ends of the left vertical tail wing and the right vertical tail wing are respectively and fixedly connected with the left main body and the right main body through a body-wing connecting piece.
6. The solar agricultural unmanned aerial vehicle of claim 1, wherein: well undercarriage, left undercarriage and right undercarriage's structure is the same, all includes wheel, carbon pipe and undercarriage fastener, the wheel is connected with the lower extreme of carbon pipe, the carbon pipe upper end of well undercarriage is passed through undercarriage fastener and middle section fuselage fastening connection, the carbon pipe upper end of left undercarriage is passed through undercarriage fastener and left main fuselage fastening connection, the carbon pipe upper end of right undercarriage is passed through undercarriage fastener and right main fuselage fastening connection.
7. The remote sensing monitoring method for agricultural conditions of unmanned aerial vehicle based on any one of claims 1-6, characterized in that: the method comprises the following steps: the remote sensing camera of the remote sensing monitoring device detects the characteristics of the ground soil and the growth and the change of plants through a spectrum wave band, and the ground receiving station receives data detected by the remote sensing camera and analyzes the data to realize large-area agricultural condition monitoring.
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| DE202013010593U1 (en) * | 2013-11-27 | 2015-03-05 | Julius Pretterebner | Unmanned aerial vehicle |
| CN105398561A (en) * | 2015-11-12 | 2016-03-16 | 中国人民解放军国防科学技术大学 | Solar aircraft |
| CN205633042U (en) * | 2016-05-06 | 2016-10-12 | 北京京东尚科信息技术有限公司 | Unmanned aerial vehicle |
| CN205861560U (en) * | 2016-05-27 | 2017-01-04 | 中国农业科学院农业信息研究所 | Farmland monitoring system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20170253322A1 (en) * | 2016-03-02 | 2017-09-07 | Google Inc. | Split Winglet Lateral Control |
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| DE202013010593U1 (en) * | 2013-11-27 | 2015-03-05 | Julius Pretterebner | Unmanned aerial vehicle |
| CN105398561A (en) * | 2015-11-12 | 2016-03-16 | 中国人民解放军国防科学技术大学 | Solar aircraft |
| CN205633042U (en) * | 2016-05-06 | 2016-10-12 | 北京京东尚科信息技术有限公司 | Unmanned aerial vehicle |
| CN205861560U (en) * | 2016-05-27 | 2017-01-04 | 中国农业科学院农业信息研究所 | Farmland monitoring system |
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