CN110171572B - Deformable air-land plant protection unmanned aerial vehicle - Google Patents
Deformable air-land plant protection unmanned aerial vehicle Download PDFInfo
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- CN110171572B CN110171572B CN201910540117.1A CN201910540117A CN110171572B CN 110171572 B CN110171572 B CN 110171572B CN 201910540117 A CN201910540117 A CN 201910540117A CN 110171572 B CN110171572 B CN 110171572B
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- 241000196324 Embryophyta Species 0.000 title claims abstract description 78
- 238000005507 spraying Methods 0.000 claims abstract description 38
- 239000012530 fluid Substances 0.000 claims description 15
- 239000007788 liquid Substances 0.000 claims description 12
- 239000007921 spray Substances 0.000 claims description 11
- 238000007789 sealing Methods 0.000 claims description 7
- 230000001808 coupling effect Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000005288 electromagnetic effect Effects 0.000 claims description 3
- 230000035515 penetration Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 238000001802 infusion Methods 0.000 description 4
- 241000238631 Hexapoda Species 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
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- 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
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
-
- 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
- B64D43/00—Arrangements or adaptations of instruments
-
- 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Remote Sensing (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a deformable air-land plant protection unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, a landing gear, a rotor wing adjusting bracket, a rotor wing part and a spraying part, wherein the landing gear is arranged on the unmanned aerial vehicle body; the unmanned aerial vehicle body is arranged on the landing gear, and a speed sensor and a gyroscope are arranged on the unmanned aerial vehicle body; the rotor wing adjusting bracket is arranged on the unmanned aerial vehicle body and is provided with four symmetrical mounting ends; the number of the rotor wing supports is four, the rotor wing supports are respectively fixed on four mounting ends of the rotor wing adjusting support, and the rotor wing parts are mounted on the tail ends of the rotor wing supports; the spraying component is arranged at the tail end position of the rotor bracket. The deformable plant protection unmanned aerial vehicle provided by the invention can realize aerial flight operation and ground walking operation, and widens the operation modes of the traditional plant protection unmanned aerial vehicle; simultaneously, according to the operation requirement, the rotor wing distance and the wheel track are adjustable when the plant protection unmanned plane flies.
Description
Technical Field
The invention relates to the field of plant protection unmanned aerial vehicles, in particular to a deformable air-land plant protection unmanned aerial vehicle capable of realizing air-ground switching.
Background
The plant protection unmanned plane has the advantages of high efficiency, convenience, high intelligent degree, convenient operation, realization of remote control and route planning, plant protection flight protection operation under various complex farmland environments, no influence of topography and landform, and great contribution to prevention and control of outbreak diseases and insect pests.
The operation mode of the plant protection unmanned aerial vehicle is flight operation, and the plant protection unmanned aerial vehicle mainly disturbs crop canopy through downwash airflow generated by a rotor wing, so that fog drops enter the crops, and the control effect is achieved. When the crop canopy is dense, the plant diseases and insect pests mainly occur at the lower part of the crop, and most fog drops can not effectively reach the target position at the moment, and under the condition, the ground walking machine is mainly adopted for preventing and controlling; however, when the ground working space is narrow, the common ground walking machine tool cannot enter the field to perform the working, and under the condition, the ground robot is mainly adopted to perform the plant protection working.
To the unable narrow space's of entering into of above-mentioned ordinary ground machines and tools problem, people have changed unmanned aerial vehicle's walking mode, realize aerial and the switching of ground two kinds of modes, can effectually walk in narrow ground space, like ZL201710427215.5, ZL 201810446474.7 have designed an air-land dual-purpose rotor unmanned aerial vehicle, mainly used air-land investigation. However, the following technical problems exist in the above modes: the running speed of the plant protection unmanned aerial vehicle is closely related to the rotating speed of the rotor wing, and the wind field of the rotor wing cannot be reasonably utilized when walking on the ground.
Disclosure of Invention
The invention aims to: the invention designs the plant protection unmanned aerial vehicle capable of freely switching the aerial and ground operation modes without adding a power system, organically combines the ground and the aerial plant protection operation, realizes three-dimensional on-demand control, freely switches the operation modes according to the plant protection operation requirement, and has important practical significance for improving the operation efficiency and reducing the production cost.
The technical scheme is as follows:
a deformable air-land plant protection unmanned aerial vehicle comprises an unmanned aerial vehicle body, a landing gear, a rotor wing adjusting bracket, a rotor wing part and a spraying part;
The unmanned aerial vehicle body is arranged on the landing gear, and a speed sensor for detecting the flight speed of the air-land plant protection unmanned aerial vehicle and a gyroscope for detecting the flight attitude of the air-land plant protection unmanned aerial vehicle are arranged on the unmanned aerial vehicle body; the rotor wing adjusting bracket is arranged on the unmanned aerial vehicle body and is provided with four symmetrical mounting ends; the number of the rotor wing supports is four, the rotor wing supports are respectively fixed on four mounting ends of the rotor wing adjusting support, and the rotor wing parts are mounted on the tail ends of the rotor wing supports; the spraying component is arranged at the tail end position of the rotor bracket;
The rotor wing support comprises a first rotor wing support, a second rotor wing support, a third rotor wing support, an image sensor and a position sensor; the top end of the first rotor wing support is fixedly arranged on four mounting ends of the rotor wing adjusting support, a rotating shaft is arranged at the tail end of the first rotor wing support, and a steering engine for controlling the rotation of the rotating shaft is connected with the rotating shaft; the top end of the second rotor wing bracket is fixedly arranged on the rotating shaft; a cylindrical hole is formed in the tail end of the second rotor wing support, a spring ball plunger is arranged at the top end of the third rotor wing support, a hemispherical hole is formed in the position, corresponding to the spring ball plunger, of the surface of the cylindrical hole formed in the tail end of the second rotor wing support, and the spring ball plunger stretches into the cylindrical hole and is matched with the hemispherical hole in the surface of the cylindrical hole; a rotating motor is arranged on the side surface of the second rotor bracket, and a second gear is fixedly arranged on an output shaft of the rotating motor; a first gear is fixedly arranged at a position corresponding to the second gear outside the third rotor bracket, and the first gear is meshed with the second gear; the position image sensor for detecting the density of crop canopy and the position sensor for detecting the flying height or the spraying distance of the air Liu Zhibao unmanned aerial vehicle are respectively arranged on the side surface of the lower part of the third rotor wing bracket; the tail end of the third rotor wing bracket is of a folded angle structure, and a rotor wing part is arranged on the third rotor wing bracket; installing the sprinkler component at a position below the end of the third rotor support;
the rotor component comprises a rotor motor, a rotor, a rubber outer cover, a support outer ring and a support inner ring; the rotor motor is fixedly arranged at the tail end of the third rotor bracket; mounting the rotor on an output shaft of the rotor motor; a round rotor wing supporting frame is arranged outside the rotor wing, and a rubber outer cover is arranged outside the circumference of the rotor wing supporting frame; a supporting outer ring is arranged in the rubber outer cover, the cross section of the supporting outer ring is a groove with an inward opening, a supporting inner ring is arranged at the groove opening of the supporting outer ring, a buckle extending inwards is arranged on the groove opening of the supporting outer ring, a ball capable of freely rotating is arranged at the outer end of the buckle, and an annular groove is arranged at the side surface of the supporting inner ring and corresponds to the buckle of the groove opening of the supporting outer ring; the support outer ring and the support inner ring are movably connected with the annular groove through the matching of the upper round ball of the buckle; the support inner ring is fixedly arranged on the outer circumference of the rotor support frame and fixedly connected with the tail end of the rotor; a sealing ring is further arranged between the inner side surface of the support outer ring and the outer side surface of the support outer ring for sealing; an electromagnetic coil is fixedly arranged on the outer circumference of the support inner ring; and magnetorheological fluid is arranged between the support outer ring and the support inner ring.
The rotor wing adjusting bracket comprises a longitudinal adjusting bracket and a transverse adjusting bracket; the number of the longitudinal adjusting brackets is two, the longitudinal adjusting brackets are respectively arranged on two opposite side surfaces of the unmanned aerial vehicle body, and the transverse adjusting brackets are arranged at the tail end positions of the longitudinal adjusting brackets;
The longitudinal adjusting bracket comprises a longitudinal bracket, a longitudinal adjusting motor, a longitudinal adjusting screw rod and a longitudinal adjusting sliding block, wherein the top end of the longitudinal bracket is arranged on the unmanned aerial vehicle body, the longitudinal adjusting motor is arranged in the top end of the longitudinal bracket, and the longitudinal adjusting screw rod is arranged in the longitudinal bracket; the top end of the longitudinal adjusting screw is connected with the output shaft of the longitudinal adjusting motor, and the tail end of the longitudinal adjusting screw is abutted against the tail end position of the longitudinal bracket; a longitudinal adjusting sliding block is arranged on the longitudinal adjusting screw rod through threads; the transverse adjusting bracket is fixedly arranged on the longitudinal adjusting sliding block;
The transverse adjusting bracket comprises a transverse bracket, a transverse adjusting motor, a transverse adjusting bevel gear, a first bevel gear and a second bevel gear; the transverse adjusting motor is fixedly arranged in the middle of the transverse bracket; the transverse adjusting bevel gear is arranged in the transverse bracket and fixedly arranged on an output shaft of the transverse adjusting motor; the first bevel gear and the second bevel gear are respectively arranged at the left side and the right side of the transverse adjusting bevel gear in the transverse bracket, and are respectively meshed with the transverse adjusting bevel gear;
The transverse brackets comprise a first transverse bracket and a second transverse bracket; a first screw rod is fixedly arranged in the first transverse bracket, the top end of the first screw rod is fixedly connected with the first bevel gear, and the tail end of the first screw rod is propped against the inner side of the tail end of the first transverse bracket; a second screw rod is fixedly arranged in the second transverse bracket, the top end of the second screw rod is fixedly connected with the second bevel gear, and the tail end of the second screw rod is propped against the inner side of the tail end of the second transverse bracket; a first sliding block and a second sliding block are respectively arranged on the first screw rod and the second screw rod through threads; the rotor wing supports at two ends are respectively and fixedly arranged on the first sliding block and the second sliding block.
A limiting block is arranged at the top end of the first transverse support, a first ultrasonic sensor is arranged on the limiting block, the first ultrasonic sensor is connected with the control end of the air-land plant protection unmanned aerial vehicle, the moving distance of a first sliding block on the first transverse support is detected in real time and is sent to the control end of the air-land plant protection unmanned aerial vehicle, and the moving distance of the first sliding block is ensured to be within a preset safety range;
The second ultrasonic sensor is installed at the top end position of the longitudinal support, the second ultrasonic sensor is connected with the control end of the air-land plant protection unmanned aerial vehicle, the moving distance of the longitudinal adjustment sliding block on the longitudinal support is detected in real time, and the moving distance of the longitudinal adjustment sliding block is guaranteed to be within a preset safety range through the control end of the air-land plant protection unmanned aerial vehicle.
Steering wheel passes through steering wheel support to be fixed at the terminal side of first rotor support, rotation axis fixed mounting is in on the output shaft of steering wheel.
The rotation angle of the second rotor wing bracket is between 0 and 90 degrees.
According to the requirements of the appearance characteristics or the spraying distance of crops, the steering engine adjusts and changes the camber angle of the rotor wing part to realize inclined spraying.
The end of the second rotor support is provided with a cylindrical hole opening part, a bearing and a bearing cover are arranged at the end of the second rotor support, and the third rotor support is axially positioned through the bearing and the bearing cover.
The spraying part comprises a spray head and an infusion hose, the spray head is arranged below the tail end of the third rotor wing support, a liquid tank for containing spraying liquid is arranged in the unmanned aerial vehicle body, an outlet is formed in the bottom of the liquid tank, the spray head and the liquid tank outlet are respectively connected to two ends of the infusion hose, the pipe body of the infusion hose is respectively fixed on the rotor wing support, the transverse adjusting support and the longitudinal adjusting support, and the length of the infusion hose is larger than the maximum length of the longitudinal adjusting support, the maximum length of the transverse adjusting support and the length of the addition of the rotor wing support and the three.
The electromagnetic coil fixed on the outer circumference of the support inner ring is connected with a power supply in the unmanned aerial vehicle body through a circuit, and the control end of the air-land plant protection unmanned aerial vehicle is used for supplying power to the electromagnetic coil through controlling the power supply in the unmanned aerial vehicle body.
The speed difference between the inner rotor wing part and the outer rotor wing part is formed by controlling the rotation speeds of the rotor wing motors on the inner rotor wing part and the outer rotor wing part, so that the steering of the air-land plant protection unmanned aerial vehicle is realized.
Compared with the prior art, the invention has the following beneficial effects:
(1) The mode of operation is variable. The deformable plant protection unmanned aerial vehicle provided by the invention can realize aerial flight operation and ground walking operation, and widens the operation modes of the traditional plant protection unmanned aerial vehicle; simultaneously, according to the operation requirement, the rotor wing distance and the wheel track are adjustable when the plant protection unmanned plane flies.
(2) The driving mode is stable. According to the deformable plant protection unmanned aerial vehicle power driving system, the traveling device is driven by magnetic force, and the speed is adjustable; meanwhile, the camber angle of the wheels is adjustable, and wind power auxiliary spraying at different angles is realized.
(3) The mechanism is simple and practical. The device of the invention adds the travelling wheel on the rotor wing outer ring of the traditional plant protection unmanned aerial vehicle, and has good terrain trafficability.
Drawings
Fig. 1 is a top view of a flight state.
Fig. 2 is a front view of the flight state.
Fig. 3 is a front view of the landing state.
Fig. 4 is a front view of the ground walking state.
Fig. 5 is a rotor assembly view.
Fig. 6 is a rotor support assembly view.
Fig. 7 is a view of a lateral adjustment bracket component.
Fig. 8 is a view of a longitudinal adjustment bracket component.
FIG. 9 is a control system flow diagram; fig. 9a is a flight operation flow chart, and fig. 9b is a walking operation flow chart.
Wherein, 100-rotor components; 200-rotor support; 300-laterally adjusting the bracket; 400-longitudinally adjusting the bracket; 500-unmanned aerial vehicle body; 600-landing gear; 700-spraying means;
101-a rubber housing; 102-supporting an outer ring; 103-rotor; 104-magnetorheological fluid; 105-electromagnetic coils; 106-sealing ring; 107-rotor motor; 108-supporting the inner ring; 201-a first rotor support; 202-a rotation axis; 203-a second rotor support; 204-spring ball plunger; 205-bearings; 206-a bearing cap; 207-first gear; 208-a third rotor support; 209-an image sensor; 210-a position sensor; 211-a second gear; 212-a rotating electric machine; 213-steering engine; 214-steering engine bracket; 301-a first slider; 302-a first transverse bracket; 303-a first screw; 304-a transverse adjustment motor; 305-a second transverse bracket; 306-a second slider; 307-second screw; 308-a second bevel gear; 309-transverse adjustment bevel gear; 310-a first bevel gear; 311-a first ultrasonic sensor; 401-longitudinally adjusting the motor; 402-longitudinal adjustment screw; 403-longitudinal stent; 404-longitudinal adjustment slide; 405-a second ultrasonic sensor.
Detailed Description
The invention is further elucidated below in connection with the drawings and the specific embodiments.
As shown in fig. 1 and 2, the deformable hollow Liu Zhibao unmanned aerial vehicle of the present invention includes an unmanned aerial vehicle body 500, a landing gear 600, a longitudinal adjustment stand 400, a lateral adjustment stand 300, a rotor stand 200, a rotor part 100, and a sprinkling part 700. The number of the unmanned aerial vehicle bodies 500 is two, the longitudinal adjustment brackets 400 are respectively arranged on two opposite sides of the unmanned aerial vehicle bodies 500, the transverse adjustment brackets 300 are arranged at the tail end positions of the longitudinal adjustment brackets 400, the number of the rotor wing brackets 200 is four, the rotor wing parts 100 are respectively fixed on two ends of the two transverse adjustment brackets 300, and the rotor wing parts 100 are arranged at the tail ends of the rotor wing brackets 200; the spray member 700 is mounted at the end position of the rotor frame 200. The unmanned aerial vehicle body 500 is provided with a speed sensor for detecting the flight speed of the air-land plant protection unmanned aerial vehicle and a gyroscope for detecting the flight attitude of the air-land plant protection unmanned aerial vehicle.
Fig. 3 is a front view showing a landing gear 600 of the present invention, as shown in fig. 3, connected to the bottom of the unmanned aerial vehicle 500 through a telescopic rod, which can be controlled to be telescopic by a hydraulic cylinder or a motor in the present invention.
Fig. 8 is a view of a longitudinal adjustment bracket component. As shown in fig. 8, the longitudinal adjustment bracket 400 includes a longitudinal bracket 403, a longitudinal adjustment motor 401, a longitudinal adjustment screw 402, and a longitudinal adjustment slider 404, wherein the top end of the longitudinal bracket 403 is mounted on the unmanned aerial vehicle body 500, the longitudinal adjustment motor 401 is mounted in the top end of the longitudinal bracket 403, and the longitudinal adjustment screw 402 is mounted in the longitudinal bracket 403; the top end of the longitudinal adjusting screw 402 is connected with the output shaft of the longitudinal adjusting motor 401, and the tail end of the longitudinal adjusting screw 402 is abutted against the tail end position of the longitudinal bracket 402; a longitudinal adjustment slider 404 is mounted on the longitudinal adjustment screw 402 by screw threads; the lateral adjustment bracket is fixedly mounted on the longitudinal adjustment slider 404. The second ultrasonic sensor 405 is installed at the top end of the longitudinal support 403, the second ultrasonic sensor 405 is connected with the control end of the air-land plant protection unmanned aerial vehicle, and the distance that the longitudinal adjustment sliding block 404 on the longitudinal support 403 moves is detected in real time and is sent to the control end of the air-land plant protection unmanned aerial vehicle, so that the movement distance of the longitudinal adjustment sliding block 404 is ensured to be within a preset safety range.
Fig. 7 is a view of a lateral adjustment bracket component. As shown in fig. 7, the lateral adjustment bracket 300 includes a lateral bracket, a lateral adjustment motor 304, a lateral adjustment bevel gear 309, a first bevel gear 310, and a second bevel gear 308; the transverse adjusting motor 304 is fixedly arranged in the middle of the transverse bracket; the transverse adjusting bevel gear 309 is installed inside the transverse bracket and is fixedly installed on the output shaft of the transverse adjusting motor 304; the first bevel gear 310 and the second bevel gear 308 are respectively disposed on the left and right sides of the lateral adjustment bevel gear 309 in the lateral bracket, and the first bevel gear 310 and the second bevel gear 308 are respectively meshed with the lateral adjustment bevel gear 309.
The transverse brackets include a first transverse bracket 302 and a second transverse bracket 305; a first screw rod 303 is fixedly arranged in the first transverse bracket 302, the top end of the first screw rod 303 is fixedly connected with the first bevel gear 310, and the tail end of the first screw rod 303 abuts against the inner side of the tail end of the first transverse bracket 302; a second screw rod 307 is fixedly arranged in the second transverse bracket 305, the top end of the second screw rod 307 is fixedly connected with the second bevel gear 308, and the tail end of the second screw rod 307 abuts against the inner side of the tail end of the second transverse bracket 305; a first slider 301 and a second slider 306 are respectively mounted on the first screw 303 and the second screw 307 by screws. The rotor supports 200 at both ends are fixedly mounted on the first slider 301 and the second slider 306, respectively. The limiting block is installed on the top end of the first transverse bracket 302, the first ultrasonic sensor 311 is installed on the limiting block, the first ultrasonic sensor 311 is connected with the control end of the air-land plant protection unmanned aerial vehicle, the moving distance of the first sliding block 301 on the first transverse bracket 302 is detected in real time, and the moving distance of the first sliding block 301 is guaranteed to be within a preset safety range through the control end of the air-land plant protection unmanned aerial vehicle. In the present invention, since the movement distances of the first slider 301 and the second slider 306 are always identical, only one ultrasonic sensor needs to be provided here.
Fig. 6 is a rotor support assembly view. As shown in fig. 6, the rotor frame includes a first rotor frame 201, a second rotor frame 203, a third rotor frame 208, an image sensor 209, and a position sensor 210; the top end of the first rotor wing support 201 is fixedly arranged on a sliding block of the transverse adjusting support 300, a rotating shaft 202 is arranged at the tail end of the first rotor wing support 201, a steering engine 213 is connected with the rotating shaft 202, the steering engine 213 is fixed on the side surface of the tail end of the first rotor wing support 201 through a steering engine support 214, and the rotating shaft 202 is fixedly arranged on an output shaft of the steering engine 213; the top end of the second rotor bracket 203 is fixedly mounted on the rotating shaft 202, and the steering engine 213 drives the rotating shaft 202 to rotate around the first rotor bracket 201, so as to drive the second rotor bracket 203 to rotate; in the present invention, the rotation angle of the second rotor stand 203 is between 0 ° and 90 °; a cylindrical hole is formed in the tail end of the second rotor wing bracket 203, a spring ball plunger 204 is arranged at the top end of the third rotor wing bracket 208, a hemispherical hole is formed in the side surface of the cylindrical hole formed in the tail end of the second rotor wing bracket 203, which corresponds to the spring ball plunger 204, and the spring ball plunger 204 extends into the cylindrical hole and is matched with the hemispherical hole on the side surface of the cylindrical hole, so that radial positioning of the third rotor wing bracket 208 is realized under the action of no external force; and a bearing 205 and a bearing cover 206 are arranged at the opening of the cylindrical hole, and the third rotor bracket 208 realizes axial positioning with the bearing cover 206 through the bearing 205, so that the stability of the rotor component is ensured.
A rotary electric machine 212 is mounted on a side surface of the second rotor bracket 203, and a second gear 211 is fixedly mounted on an output shaft of the rotary electric machine 212; a first gear 207 is fixedly installed at a position corresponding to the second gear 211 outside the third rotor bracket 208, and the first gear 207 is engaged with the second gear 211. The image sensor 209 for detecting the density of crop canopy and the position sensor 210 for detecting the flying height or the spraying distance of the air Liu Zhibao unmanned aerial vehicle are respectively installed on the lower side of the third rotor bracket 208.
The third rotor support 208 terminates in a dog-leg structure on which rotor assembly 100 is mounted; in the present invention, the spraying unit 700 is installed below the end of the third rotor support 208, the spraying unit 700 includes a spray head and a fluid hose, the spray head is installed below the end of the third rotor support 208, a fluid tank for containing spraying fluid is provided in the unmanned aerial vehicle body 500, an outlet is provided at the upper bottom of the fluid tank, two ends of the fluid hose are respectively connected to the spray head and the outlet of the fluid tank, the pipe bodies of the fluid hose are respectively fixed on the rotor support 200, the transverse adjustment support 300 and the longitudinal adjustment support 400, and the length of the fluid hose is greater than the sum length of the maximum length of the longitudinal adjustment support 400, the maximum length of the transverse adjustment support 300 and the length of the rotor support 200. Fig. 5 is a view of a rotor assembly, as shown in fig. 5, the rotor assembly 100 includes a rotor motor 107, a rotor 103, a rubber casing 101, a support outer ring 102, and a support inner ring 108; the rotor motor 107 is fixedly mounted on the end of the third rotor support 208; mounting the rotor 103 on an output shaft of the rotor motor 107; a circular rotor wing supporting frame is arranged outside the rotor wing 103, and a rubber outer cover 101 is arranged outside the circumference of the rotor wing supporting frame; a supporting outer ring 102 is arranged in the rubber outer cover 101, the cross section of the supporting outer ring 102 is a groove with an inward opening, a supporting inner ring 108 is arranged at the groove opening of the supporting outer ring 102, a buckle extending inwards is arranged on the groove opening of the supporting outer ring 102, a ball capable of freely rotating is arranged at the outer end of the buckle, and an annular groove is arranged at the side surface of the supporting inner ring 108 and corresponds to the buckle of the groove opening of the supporting outer ring 102; the outer support ring 102 and the inner support ring 108 are movably connected with the annular groove through the matching of the snap upper round ball; the inner support ring 108 is fixedly arranged on the outer circumference of the rotor support frame and fixedly connected with the tail end of the rotor 103; a sealing ring 106 is further arranged between the inner side surface of the support outer ring 102 and the outer side surface of the support outer ring 108 for sealing; an electromagnetic coil 105 is fixedly arranged on the outer circumference of the supporting inner ring 108; a magnetorheological fluid 104 is disposed between the support outer ring 102 and the support inner ring 108. In the present invention, the electromagnetic coil 105 fixed on the outer circumference of the support inner ring 108 is connected with the power supply in the unmanned aerial vehicle body 500 through a circuit, and the control end of the air-land plant protection unmanned aerial vehicle supplies power to the electromagnetic coil 105 by controlling the power supply in the unmanned aerial vehicle body 500.
The working principle of the invention is as follows:
As shown in fig. 3 and 6, after the hollow Liu Zhibao unmanned aerial vehicle of the present invention is dropped, the landing gear 600 contacts the ground, and the steering gear 213 mounted on the first rotor frame 201 drives the second rotor frame 203 to rotate downward by 90 ° around the rotation shaft 202, so that the rotor assembly 100 can be changed from the flying mode to the walking mode; then, the rotating motor 212 drives the second gear 211 to work, drives the first gear 207 meshed with the second gear 211 to rotate 180 °, and the first gear 207 drives the third rotor support 208 to rotate 180 °, so that a spraying component 700 installed at a position below the tail end of the third rotor support 208 faces to the outside, as shown in fig. 4; after the rotational deformation of the hollow Liu Zhibao unmanned aerial vehicle is completed, the landing gear component 600 is retracted upwards, and the rotor component 100 is in contact with the ground, so that preparation before spraying is realized.
As shown in fig. 5, the rotor motor 107 drives the rotor 103 to rotate, the rotor 103 is fixed on the support inner ring 108, at this time, the control chip controls the storage battery to supply power to the electromagnetic coil 105, and controls the magnetorheological fluid 104 to generate a magnetorheological effect through the generated electromagnetic effect, so as to drive the support outer ring 102 to rotate.
Fig. 9 is a control system flow diagram. As shown in fig. 9, the control flow of the deformable air-land plant protection unmanned aerial vehicle of the invention is specifically as follows:
1) When the air-land plant protection unmanned aerial vehicle flies in the air to spray, the image sensor 209 and the position sensor 210 respectively detect the density of crop canopy and the flying height of the air-land plant protection unmanned aerial vehicle; meanwhile, the speed sensor on the unmanned aerial vehicle body 500 detects the flying speed, the gyroscope detects the flying attitude, and transmits the obtained crop canopy density and flying information to the air-land plant protection unmanned aerial vehicle control end, the air-land plant protection unmanned aerial vehicle control end compares with a set target according to the above information, and then adjusts the rotating speed of the rotor, the flying height, the flying speed and the spraying amount, and meanwhile, the air-land plant protection unmanned aerial vehicle control end controls the transverse adjusting bracket 300 and the longitudinal adjusting bracket 400 according to the flying attitude, so that the distance between four rotor components 100 is adjusted, and the flying stability is increased.
2) When the air-land plant protection unmanned aerial vehicle is in ground preparation operation or walking, the control end of the air-land plant protection unmanned aerial vehicle passes through steering engine 213 according to the received instruction overturns rotor component 100 along the horizontal axis, realizes rotor component 100 changes from the horizontal state into the vertical state, rotor component 100 becomes the walking wheel, further the control end of the air-land plant protection unmanned aerial vehicle passes through gear transmission on rotor support 200 according to the received instruction, will rotor component 100 rotates 180 degrees along the vertical axis, realizes spray component 700 changes from the inboard to the outside of orientation to accomplish unmanned aerial vehicle deformation, at this moment, undercarriage 600 is packed up, rotor component 100 contacts with the ground.
When the rotor wing part 100 walks, the rotor wing motor 107 drives the rotor wing 103 to rotate, and the rotor wing 103 is fixedly connected with the support inner ring 108, so that the support inner ring 108 is driven to rotate together, at this time, the electromagnetic coil 105 is electrified, and the magnetorheological fluid 104 between the support inner ring 108 and the support outer ring 102 is controlled by the generated electromagnetic effect to generate the magnetorheological effect, so that the support outer ring 102 is driven to rotate. Further, in the running state, since the rotor 103 generates an air flow when rotating at a high speed, the rotation speed of the rotor motor 107 is reduced, and the current of the electromagnetic coil 105 is increased, so that the coupling effect between the inner support ring 108 and the outer support ring 102 is increased, and a certain running speed is ensured. In the spraying state, the airflow generated when the rotor wing 103 rotates at a high speed can disturb the crop canopy, so as to improve the penetration performance of the droplets, so that the rotor wing 103 must rotate at a high speed, and the current of the electromagnetic coil 105 is reduced at this time, so that the coupling effect between the supporting inner ring 108 and the supporting outer ring 102 is reduced, and a certain running speed can be ensured.
3) When the air-land plant protection unmanned aerial vehicle sprays on the ground, the image sensor 209 and the position sensor 210 respectively detect the density and the spraying distance of the crop canopy, and transmit the density and the spraying distance of the crop canopy to the air-land plant protection unmanned aerial vehicle control end, the air-land plant protection unmanned aerial vehicle control end adjusts the spraying amount, the rotating speed and the running speed of a spraying system according to the density information of the crop canopy, and meanwhile, the air-land plant protection unmanned aerial vehicle control end adjusts the distance between the rotating wing (nozzle) and the crop according to the spraying requirement to realize uniform spraying; furthermore, the control end of the air-land plant protection unmanned aerial vehicle can adjust and change the camber angle of the rotor wing part 100 through the steering engine 213 according to the appearance characteristics of crops or the requirements of the spraying distance, so as to realize inclined spraying; in addition, the gyroscope detects the driving gesture, and feeds back to the unmanned aerial vehicle control end of air-land plant protection, the unmanned aerial vehicle control end of air-land plant protection adjusts the distance between the front and back rotor according to the testing result, guarantees driving stability.
4) When the operation in-process turns, through the route of planning in advance, the rotor motor rotational speed on the rotor part of the air-land plant protection unmanned aerial vehicle control end control inboard and the rotor part of outside forms the speed difference between rotor part of inboard and the rotor part of outside to realize automatic steering.
5) After the operation is completed, the air-land plant protection unmanned aerial vehicle returns to the original place, the landing gear 600 falls down, and the rotor component 100 is controlled to be retracted.
The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and these equivalent changes all belong to the protection of the present invention.
Claims (10)
1. A deformable air-land plant protection unmanned aerial vehicle which is characterized in that: comprises an unmanned plane body (500), a landing gear (600), a rotor wing adjusting bracket, a rotor wing bracket (200), a rotor wing component (100) and a spraying component (700);
the unmanned aerial vehicle body (500) is arranged on the landing gear (600), and a speed sensor for detecting the flight speed of the air-land plant protection unmanned aerial vehicle and a gyroscope for detecting the flight attitude of the air-land plant protection unmanned aerial vehicle are arranged on the unmanned aerial vehicle body (500); the rotor wing adjusting bracket is arranged on the unmanned aerial vehicle body (500) and is provided with four symmetrical mounting ends; the number of the rotor wing brackets (200) is four, the rotor wing brackets are respectively fixed on four mounting ends of the rotor wing adjusting bracket, and the rotor wing component (100) is mounted on the tail end of the rotor wing bracket (200); the spraying component (700) is arranged at the tail end position of the rotor bracket (200);
The rotor support (200) comprises a first rotor support (201), a second rotor support (203), a third rotor support (208), an image sensor (209) and a position sensor (210); the top end of the first rotor wing support (201) is fixedly arranged on four installation ends of the rotor wing adjusting support, a rotating shaft (202) is arranged at the tail end of the first rotor wing support (201), and a steering engine (213) for controlling the rotation of the rotating shaft (202) is connected with the rotating shaft; the top end of the second rotor bracket (203) is fixedly arranged on the rotating shaft (202); a cylindrical hole is formed in the tail end of the second rotor wing bracket (203), a spring ball plunger (204) is arranged at the top end of the third rotor wing bracket (208), a hemispherical hole is formed in the position, corresponding to the spring ball plunger (204), of the surface of the cylindrical hole formed in the tail end of the second rotor wing bracket (203), and the spring ball plunger (204) stretches into the cylindrical hole and is matched with the hemispherical hole in the surface of the cylindrical hole; a rotating motor (212) is mounted on the side surface of the second rotor bracket (203), and a second gear (211) is fixedly mounted on an output shaft of the rotating motor (212); a first gear (207) is fixedly arranged at a position corresponding to the second gear (211) outside the third rotor bracket (208), and the first gear (207) is meshed with the second gear (211); the image sensor (209) for detecting the density of crop canopy and the position sensor (210) for detecting the flying height or the spraying distance of the air Liu Zhibao unmanned aerial vehicle are respectively arranged on the lower side surface of the third rotor bracket (208); the tail end of the third rotor bracket (208) is of a folded angle structure, and a rotor component (100) is arranged on the folded angle structure; -mounting the sprinkling part (700) below the end of the third rotor support (208);
The rotor component (100) comprises a rotor motor (107), a rotor (103), a rubber outer cover (101), a support outer ring (102) and a support inner ring (108); the rotor motor (107) is fixedly mounted on the end of the third rotor support (208); -mounting said rotor (103) on an output shaft of said rotor motor (107); a round rotor wing supporting frame is arranged outside the rotor wing (103), and a rubber outer cover (101) is arranged outside the circumference of the rotor wing supporting frame; a supporting outer ring (102) is arranged in the rubber outer cover (101), the cross section of the supporting outer ring (102) is a groove with an inward opening, a supporting inner ring (108) is arranged at the groove opening of the supporting outer ring (102), a buckle extending inwards is arranged at the groove opening of the supporting outer ring (102), a ball capable of freely rotating is arranged at the outer end of the buckle, and an annular groove is arranged at the position on the side surface of the supporting inner ring (108) corresponding to the buckle of the groove opening of the supporting outer ring (102); the support outer ring (102) and the support inner ring (108) are movably connected with the annular groove through the matching of the upper round ball of the buckle; the support inner ring (108) is fixedly arranged on the outer circumference of the rotor support frame and is fixedly connected with the tail end of the rotor (103); a sealing ring (106) is further arranged between the inner side surface of the support outer ring (102) and the outer side surface of the support inner ring (108) for sealing; an electromagnetic coil (105) is fixedly arranged on the outer circumference of the supporting inner ring (108); -a magnetorheological fluid (104) is arranged between the support outer ring (102) and the support inner ring (108);
When the air-land plant protection unmanned aerial vehicle is used for preparing to work or walking on the ground, the control end of the air-land plant protection unmanned aerial vehicle turns over the rotor wing part (100) along the horizontal axis through the steering engine (213) according to the received instruction, so that the rotor wing part (100) is changed into a vertical state from the horizontal state, the rotor wing part (100) is changed into a walking wheel, the control end of the air-land plant protection unmanned aerial vehicle rotates the rotor wing part (100) by 180 degrees along the vertical axis according to the received instruction through a gear transmission device on the rotor wing bracket (200), and the spray part (700) is changed from the inside to the outside, thereby completing unmanned aerial vehicle deformation, at the moment, the landing gear (600) is retracted, and the rotor wing part (100) is contacted with the ground;
When the rotor wing part (100) walks, the rotor wing motor (107) drives the rotor wing (103) to rotate, and the rotor wing (103) is fixedly connected with the support inner ring (108) so as to drive the support inner ring (108) to rotate together, at the moment, the electromagnetic coil (105) is electrified, and the magnetorheological fluid (104) between the support inner ring (108) and the support outer ring (102) is controlled to generate a magnetorheological effect through the generated electromagnetic effect so as to drive the support outer ring (102) to rotate; in a walking state, because air flow is generated when the rotor (103) rotates at a high speed, the rotating speed of the rotor motor (107) is reduced, the current of the electromagnetic coil (105) is increased, and therefore the coupling effect of the supporting inner ring (108) and the supporting outer ring (102) is increased; in a spraying state, the airflow generated when the rotor (103) rotates at a high speed can disturb crop canopy, so that the penetration performance of fog drops is improved, and therefore, the rotor (103) must rotate at a high speed, and at the same time, the current of the electromagnetic coil (105) is reduced, so that the coupling effect of the supporting inner ring (108) and the supporting outer ring (102) is weakened.
2. The transformable air-land plant protection unmanned aerial vehicle of claim 1, wherein: the rotor wing adjusting bracket comprises a longitudinal adjusting bracket (400) and a transverse adjusting bracket (300); the number of the longitudinal adjusting brackets (400) is two, the longitudinal adjusting brackets are respectively arranged on two opposite side surfaces of the unmanned aerial vehicle body (500), and the transverse adjusting brackets (300) are arranged at the tail end positions of the longitudinal adjusting brackets (400);
The longitudinal adjusting bracket (400) comprises a longitudinal bracket (403), a longitudinal adjusting motor (401), a longitudinal adjusting screw (402) and a longitudinal adjusting sliding block (404), wherein the top end of the longitudinal bracket (403) is arranged on the unmanned aerial vehicle body (500), the longitudinal adjusting motor (401) is arranged in the top end of the longitudinal bracket (403), and the longitudinal adjusting screw (402) is arranged in the longitudinal bracket (403); the top end of the longitudinal adjusting screw rod (402) is connected with an output shaft of the longitudinal adjusting motor (401), and the tail end of the longitudinal adjusting screw rod (402) is abutted against the tail end position of the longitudinal bracket (403); a longitudinal adjusting sliding block (404) is arranged on the longitudinal adjusting screw rod (402) through threads; the transverse adjusting bracket is fixedly arranged on the longitudinal adjusting sliding block (404);
The transverse adjusting bracket (300) comprises a transverse bracket, a transverse adjusting motor (304), a transverse adjusting bevel gear (309), a first bevel gear (310) and a second bevel gear (308); the transverse adjusting motor (304) is fixedly arranged at the middle position of the transverse bracket; the transverse adjusting bevel gear (309) is arranged inside the transverse bracket and fixedly arranged on an output shaft of the transverse adjusting motor (304); the first bevel gear (310) and the second bevel gear (308) are respectively arranged at the left side and the right side of the transverse adjusting bevel gear (309) in the transverse bracket, and the first bevel gear (310) and the second bevel gear (308) are respectively meshed with the transverse adjusting bevel gear (309);
The transverse brackets comprise a first transverse bracket (302) and a second transverse bracket (305); a first screw rod (303) is fixedly arranged in the first transverse bracket (302), the top end of the first screw rod (303) is fixedly connected with the first bevel gear (310), and the tail end of the first screw rod (303) is propped against the inner side of the tail end of the first transverse bracket (302); a second screw rod (307) is fixedly arranged in the second transverse bracket (305), the top end of the second screw rod (307) is fixedly connected with the second bevel gear (308), and the tail end of the second screw rod (307) is propped against the inner side of the tail end of the second transverse bracket (305); a first slider (301) and a second slider (306) are respectively arranged on the first screw (303) and the second screw (307) through threads; the rotor wing supports (200) at two ends are fixedly arranged on the first sliding block (301) and the second sliding block (306) respectively.
3. The transformable air-land plant protection unmanned aerial vehicle of claim 2, wherein: a limiting block is arranged at the top end of the first transverse bracket (302), a first ultrasonic sensor (311) is arranged on the limiting block, the first ultrasonic sensor (311) is connected with the control end of the air-land plant protection unmanned aerial vehicle, the moving distance of a first sliding block (301) on the first transverse bracket (302) is actually detected, and the moving distance of the first sliding block (301) is sent to the control end of the air-land plant protection unmanned aerial vehicle, so that the moving distance of the first sliding block (301) is ensured to be within a preset safety range;
The second ultrasonic sensor (405) is installed at the top end position of the longitudinal support (403), the second ultrasonic sensor (405) is connected with the control end of the air-land plant protection unmanned aerial vehicle, the moving distance of the longitudinal adjustment sliding block (404) on the longitudinal support (403) is detected in real time, and the moving distance of the longitudinal adjustment sliding block (404) is guaranteed to be within a preset safety range through the transmission to the control end of the air-land plant protection unmanned aerial vehicle.
4. The transformable air-land plant protection unmanned aerial vehicle of claim 1, wherein: steering wheel (213) are fixed at the terminal side of first rotor support (201) through steering wheel support (214), rotation axis (202) fixed mounting is in on the output shaft of steering wheel (213).
5. The transformable air-land plant protection unmanned aerial vehicle of claim 1, wherein: the rotation angle of the second rotor wing bracket (203) is 0-90 degrees.
6. The transformable air-land plant protection unmanned aerial vehicle of claim 5, wherein: according to the requirements of the appearance characteristics or the spraying distance of crops, the steering engine (213) adjusts the camber angle of the rotor component (100) by adjusting the rotation angle of the second rotor bracket (203) so as to realize inclined spraying.
7. The transformable air-land plant protection unmanned aerial vehicle of claim 1, wherein: the end of the second rotor support (203) is provided with a cylindrical hole opening, a bearing (205) and a bearing cover (206) are arranged at the end of the cylindrical hole opening, and the third rotor support (208) is axially positioned with the bearing cover (206) through the bearing (205).
8. The transformable air-land plant protection unmanned aerial vehicle of claim 1, wherein: the spraying component (700) comprises a spraying head and a liquid conveying hose, the spraying head is arranged below the tail end of the third rotor wing support (208), a liquid tank for containing spraying liquid is arranged in the unmanned aerial vehicle body (500), an outlet is formed in the bottom of the liquid tank, the two ends of the liquid conveying hose are respectively connected with the spraying head and the outlet of the liquid tank, the pipe bodies of the liquid conveying hose are respectively fixed on the rotor wing support (200), the transverse adjusting support (300) and the longitudinal adjusting support (400), and the length of the liquid conveying hose is larger than the maximum length of the longitudinal adjusting support (400), the maximum length of the transverse adjusting support (300) and the added length of the rotor wing support (200).
9. The transformable air-land plant protection unmanned aerial vehicle of claim 1, wherein: the electromagnetic coil (105) fixed on the outer circumference of the support inner ring (108) is connected with a power supply in the unmanned aerial vehicle body (500) through a circuit, and the control end of the air-land plant protection unmanned aerial vehicle supplies power for the electromagnetic coil (105) through controlling the power supply in the unmanned aerial vehicle body (500).
10. The transformable air-land plant protection unmanned aerial vehicle of claim 1, wherein: the speed difference between the inner rotor wing part and the outer rotor wing part is formed by controlling the rotation speeds of the rotor wing motors on the inner rotor wing part and the outer rotor wing part, so that the steering of the air-land plant protection unmanned aerial vehicle is realized.
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| CN111516443B (en) * | 2020-05-08 | 2021-07-13 | 中国人民解放军陆军炮兵防空兵学院 | Hollow wheel multi-rotor aerocar |
| CN113955114B (en) * | 2021-11-23 | 2024-06-11 | 江苏大学 | Linear type unmanned aerial vehicle structure based on focus self-adaptation adjusting device |
| CN114326797A (en) * | 2021-12-15 | 2022-04-12 | 湖北襄开电力设备有限公司 | Unmanned aerial vehicle automatic weighing and stabilizing system |
| CN114403113B (en) * | 2022-01-13 | 2022-12-09 | 山东兆源智能科技有限公司 | Plant protection is atomizing system for unmanned aerial vehicle |
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