CN110217397A - A kind of anti-spraying mechanism that floats of plant protection unmanned aerial vehicle - Google Patents
A kind of anti-spraying mechanism that floats of plant protection unmanned aerial vehicle Download PDFInfo
- Publication number
- CN110217397A CN110217397A CN201910612731.4A CN201910612731A CN110217397A CN 110217397 A CN110217397 A CN 110217397A CN 201910612731 A CN201910612731 A CN 201910612731A CN 110217397 A CN110217397 A CN 110217397A
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- China
- Prior art keywords
- air duct
- constriction device
- side plate
- disperser
- aerial vehicle
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- 238000005507 spraying Methods 0.000 title claims abstract description 17
- 238000003384 imaging method Methods 0.000 claims abstract description 19
- 239000007921 spray Substances 0.000 claims abstract description 14
- 230000003019 stabilising effect Effects 0.000 claims description 59
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000004744 fabric Substances 0.000 claims description 6
- 238000009792 diffusion process Methods 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000008676 import Effects 0.000 claims 2
- 230000008602 contraction Effects 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 9
- 239000003595 mist Substances 0.000 abstract description 5
- 230000007423 decrease Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- 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
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention discloses a kind of plant protection unmanned aerial vehicle anti-float spraying mechanism, including preceding imaging sensor (101), rear imaging sensor (102), gas hood component (200) and sprinkler parts (400)；The gas hood component (200) is connected to the unmanned aerial vehicle (100) shell by interior shelf, the lateral adjustments component (300) is mounted on gas hood component (200) lower part, the vertical adjustment component (500) is mounted on gas hood component (200) lower side, the sprinkler part (400) is mounted on the middle air duct constriction device of the gas hood component (200), and spray head is located at the middle air duct constriction device center.The anti-flusher that floats of plant protection unmanned aerial vehicle proposed by the present invention can form a circle air curtain in spray head spray area periphery, reduce external air flow to the impact effect of droplet, realize that droplet is anti-and float；The size that exit flow can be adjusted in real time according to size, the canopy density degree of flight information, extraneous wind speed simultaneously, further decreases float of mist droplet.
Description
Technical field
The present invention relates to plant protection unmanned aerial vehicle fields, specifically, refer to that one kind can be realized uniform sprinkling, reduce droplet
The anti-spraying mechanism that floats of the plant protection unmanned aerial vehicle of drift.
Background technique
It is efficient, convenient that plant protection unmanned aerial vehicle has many advantages, such as, intelligence degree is high, it is easy to operate, it can be achieved that remote control,
Routeing can carry out plant protection under various complicated farm environments and fly anti-operation, and not influenced by landform, landforms, be anti-
It controls explosive pest and disease damage and is made that larger contribution.
Since unmanned aerial vehicle is in flight course, rotor can generate downwash flow, and flow field characteristic is more complex, a part of gas
Stream can disturb crop canopies and coerce droplet and move downward, and enhance the penetrability of droplet, generate beneficial effect, another part air-flow
Part droplet can be carried to non-target regional movement, drift is formed, generate ill effect；Simultaneously because the influence of external environment,
Part droplet also will appear drift under the action of extraneous wind-force.In view of the above-mentioned problems, people carry out the installation site of spray boom
Improve, spray boom position is changed as ZL201711230201.0 devises a kind of regulating mechanism, but it cannot all have
The effect of the performance rotor downwash of effect；Patent ZL201410158111.5 devise a kind of gas help the big breadth plant protection of formula nobody
Helicopter is collected the air-flow below rotor by air bag and is utilized, and realizes that Flow Field Performance part improves, but it cannot be right
Downwash flow is all collected, and pushing wind field cannot change, and if crop canopies is relatively dredged, pushing wind field is excessive, and droplet easily sprays
To ground, pollute；If crop canopies is closeer, pushing wind field is too small, and droplet cannot penetrate crop, and prevention and treatment is caused to be not thorough.
Summary of the invention
Goal of the invention: the present invention provides a kind of anti-flusher that floats of plant protection unmanned aerial vehicle, by collecting rotor downwash
It realizes that droplet is anti-float, uniformly spray, and can be adjusted out in real time according to size, the canopy density degree of flight information, extraneous wind speed
The size of implication stream.
Technical solution:
A kind of anti-spraying mechanism that floats of plant protection unmanned aerial vehicle, the anti-spraying mechanism that floats of the plant protection unmanned aerial vehicle are mounted on nobody and fly
Below machine, including preceding imaging sensor, rear imaging sensor, gas hood component and sprinkler part；
The preceding imaging sensor and the rear imaging sensor are separately mounted to the anteroposterior position below the unmanned aerial vehicle
It sets, respectively detection crop canopies density and working width when the unmanned aerial vehicle is just flying and is anti-winged；On the unmanned aerial vehicle
Sensor for detecting the unmanned aerial vehicle heading and flying speed is installed；
The gas hood component is connected to the unmanned aerial vehicle shell by interior shelf, and the sprinkler part is mounted on institute
State the lower section of gas hood component；
The gas hood component includes gas collecting apparatus, disperser, stabilising arrangement, air duct constriction device, air duct flow directing device
And air outlet velocity sensor；The stabilising arrangement and the disperser, the gas collecting apparatus and the disperser are distinguished
Axis connection is rotated by the second rotary shaft, third, the air duct flow directing device is mounted on two side positions below the stabilising arrangement,
And its length is consistent with the side length of the gas collecting apparatus, is equipped with venthole in the bottom of the air duct flow directing device；The air duct
Constriction device is made of primary air separating duct constriction device, middle air duct constriction device, rear air duct constriction device three parts, passes through the first rotation
Shaft is connect with the stabilising arrangement, and can respectively be rotated around its first rotary shaft；The length L of the air duct constriction device is
Spraying operation breadth；Air outlet velocity sensor is equipped in the end of each air duct constriction device；
The sprinkler part is mounted on the middle air duct constriction device of the gas hood component, and spray head is located in described
Air duct constriction device center.
The disperser is made of disperser front and rear panel and disperser side plate, and the disperser side plate includes the
One disperser side plate and the second disperser side plate, are provided with elongated slot on the second disperser side plate, described first
Corresponding position is equipped with protruding shaft on disperser side plate, and the first disperser side plate is matched by the protruding shaft and the elongated slot
It closes, is slidably mounted on the second disperser side plate；It is equipped on the inner wall of the disperser front and rear panel to low
Fast air-flow carries out the disperser flexible fluid-directing plate of flow guide distribution；The upper end of the disperser flexible fluid-directing plate is mounted on described
On the inner wall of disperser front and rear panel, lower end is fixed on the stabilising arrangement, and side is mounted on disperser flexibility front and rear panel
On；Disperser flexibility front and rear panel is installed between the disperser front and rear panel and the disperser side plate；
The stabilising arrangement is made of stabilising arrangement front and rear panel and stabilising arrangement side plate, the stabilising arrangement front and rear panel with
Stabilising arrangement flexibility front and rear panel is installed between the stabilising arrangement side plate, is equipped with inside the stabilising arrangement flexibility front and rear panel
Honeycomb cowling panel；
The air duct constriction device includes the first air duct constriction device side plate, the second air duct constriction device side plate and installation
Air duct constriction device front and rear panel in the first air duct constriction device side plate and the second air duct constriction device side plate, institute
The first air duct constriction device side plate is stated to be slidably mounted on the outside of the second air duct constriction device side plate；It shrinks in the air duct
The shape of device front and rear panel is designed with Vickers curve, sees formula (1), so that air-flow is flowed out from the air duct constriction device
When wind speed it is uniform, direction is consistent, and and exit normal；
In formula: RcIt is x for air duct constriction device axial distancecThe height dimension at place, unit m；R1For air duct constriction device
Inlet height size, unit m；R2For air duct constriction device outlet height size, unit m；xcFor away from air duct constriction device into
Mouth distance；
Lateral adjustments component is fixed on the stabilising arrangement of the gas hood component, the lateral adjustments component includes
Lateral adjustments motor and mutually matched lateral adjustments screw rod and lateral adjustments swivel nut；The lateral adjustments motor is fixed on institute
The stabilising arrangement side of gas hood component is stated, the lateral adjustments screw rod is mounted on the output shaft of the lateral adjustments motor
On, the lateral adjustments swivel nut is fixed on the stabilising arrangement side plate side plate.
Further include vertical adjustment component, the vertical adjustment component include vertical adjustment motor, driving gear, left rack gear,
Driven gear, right rack gear and gear housing；The gear housing is fixed on air duct air duct direct current by the bracket of its two sides
On device side plate, the left rack gear is fixed on the first air duct constriction device side plate, and the right rack gear is fixed on the second air duct receipts
On compression apparatus side plate；The vertical adjustment motor is fixedly mounted on the side plate of the air duct flow directing device, while passing through support
Screw rod is fixed on the gear housing；The driving gear is mounted on the output shaft of vertical adjustment motor, the passive tooth
Wheel is mounted on the gear housing by support shaft, and is intermeshed between the driving gear and the driven gear；With
The rotation of the vertical adjustment motor, the driving gear and the driven gear drive the left rack gear and the right side respectively
Rack gear moves along a straight line, so that the band first moves air duct constriction device side plate and the second air duct constriction device side plate fortune
It is dynamic, realize the air duct constriction device opening size variation.
Raised line is equipped on the first air duct constriction device side plate interior sides wall, in the second air duct constriction device side plate
Correspondingly position is equipped with sliding slot corresponding with the raised line set on the first air duct constriction device side plate interior sides wall in outside,
The two cooperates.
Mutually matched lateral adjustments screw rod and lateral adjustments swivel nut are two groups in the lateral adjustments component, in the cross
The second drive bevel gear is fixedly mounted on the output shaft for adjusting motor, divides on the opposite two sides of second drive bevel gear
First drive bevel gear is not installed, first drive bevel gear is engaged with second drive bevel gear；Two are laterally adjusted
Section screw rod is separately mounted on first transmission gear of two sides, and corresponding lateral adjustments swivel nut is described by being threadably mounted at
On lateral adjustments screw rod.
The distance H of rotor of the gas collecting apparatus apart from the unmanned aerial vehicle is 200mm, and bore is on the gas collecting apparatus
Square, side length a are 1.2 times of diagonal rotor outer rim.
The gas collecting apparatus, the disperser, the stabilising arrangement, the air duct constriction device and the air duct direct current
There is sealing flexible cloth on the inside of each side plate of device and front and rear panel, shape is consistent when shape is unfolded with the gas hood component.
Compared with prior art, the present invention having beneficial to following technical effect:
(1) droplet is anti-floats.The anti-flusher that floats of plant protection unmanned aerial vehicle proposed by the present invention, can be outside spray head spray area
It encloses to form a circle air curtain, reduces external air flow to the impact effect of droplet, realize that droplet is anti-and float；Simultaneously can according to flight information,
Size, the canopy density degree of extraneous wind speed adjust the size of exit flow in real time, further decrease float of mist droplet.
(2) droplet sprinkling is uniform.The anti-flusher that floats of plant protection unmanned aerial vehicle proposed by the present invention, the gas that exit is formed
Stream wind speed is uniform, and direction is consistent, realizes that droplet uniformly sprays.
(3) mechanism is simple and practical.Apparatus of the present invention use simple current-collecting device, realize the secondary benefit of rotor downwash
With
Detailed description of the invention
Fig. 1 is in working condition front view.
Fig. 2 is in working condition removal left air path flow directing device side view.
Fig. 3 travel position front view.
Fig. 4 is gas hood part structure diagram.
Fig. 5 is the disperser for removing partially stabilized device flexible front plate, stabilising arrangement airbag structure figure (part in this figure
It is flexible cloth capsule).
Fig. 6 is lateral adjustments component diagram.
Fig. 7 is vertical adjustment component diagram.
Fig. 8 is air duct constriction device structure chart.
Fig. 9 is air duct flow directing device structure chart.
Figure 10 is control flow chart.
Wherein, 100- unmanned aerial vehicle；200- gas hood component；300- lateral adjustments component；400- sprinkler part；500- is longitudinal
Regulating member；
Imaging sensor before 101-；Imaging sensor after 102-；201- gas collecting apparatus；202- disperser；202a- diffusion
Device flexible fluid-directing plate；202b- the second disperser side plate；202c- disperser front and rear panel；The first disperser of 202d- side
Plate；202e- disperser flexibility front and rear panel；203- stabilising arrangement；203a- cowling panel；203b- stabilising arrangement front and rear panel；203c-
Stabilising arrangement side plate；203d- stabilising arrangement flexibility front and rear panel；The air duct 204- constriction device；The first air duct 204a- constriction device side
Plate；The second air duct 204b- constriction device side plate；The air duct 204c- constriction device front and rear panel；The air duct 205- flow directing device；206-
One rotary shaft；The second rotary shaft of 207-；208- third rotary shaft；209- air outlet velocity sensor；301- lateral adjustments swivel nut；
302- lateral adjustments screw rod；303- lateral adjustments motor；The first drive bevel gear of 304-；The second drive bevel gear of 305-；501-
Vertical adjustment motor；502- studdle；503- bracket；The left rack gear of 504-；505- driving gear；506- driven gear；507-
Right rack gear；508- gear housing；509- support shaft.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated.
As shown in Figure 1, 2, 3, the anti-spraying mechanism that floats of plant protection unmanned aerial vehicle of the invention is mounted under the unmanned aerial vehicle 100
Side, including preceding imaging sensor 101, rear imaging sensor 102, gas hood component 200, lateral adjustments component 300, sprinkler part
400 and vertical adjustment component 500.The preceding imaging sensor 101 and the rear imaging sensor 102 are separately mounted to described
The front-rear position of the lower section of unmanned aerial vehicle 100, respectively the unmanned aerial vehicle 100 just flying and it is anti-fly when detection crop canopies density and
Working width；Biography for detecting the unmanned aerial vehicle heading and flying speed is installed on the unmanned aerial vehicle 100
Sensor.The gas hood component 200 is connected to 100 shell of unmanned aerial vehicle, the lateral adjustments component by interior shelf
300 are mounted on 200 lower part of gas hood component, and the vertical adjustment component 500 is mounted on 200 lower side of gas hood component
Face, the sprinkler part 400 are mounted on the lower section of the gas hood component 200.
As shown in Figure 3,4, the gas hood component 200 includes gas collecting apparatus 201, disperser 202, stabilising arrangement 203, wind
Road constriction device 204, air duct flow directing device 205 and air outlet velocity sensor 209；The stabilising arrangement 203 and the diffusion
Device 202, the gas collecting apparatus 201 and the disperser 202 are connected by the second rotary shaft 207, third rotary shaft 208 respectively
It connects, the air duct flow directing device 205 is mounted on 203 two side positions of lower section of stabilising arrangement, and its length and the gas collection fill
Set 201 side length it is consistent.The distance H of rotor of the gas collecting apparatus 201 apart from the unmanned aerial vehicle 100 is 200mm, the collection
Bore is square on device of air 201, and side length a is 1.2 times of diagonal rotor outer rim；As shown in figure 4, the disperser
202 are made of disperser front and rear panel 202c and disperser side plate, and the disperser side plate includes the first disperser side
Plate 202b and the second disperser side plate 202d, is provided with elongated slot on the second disperser side plate 202b, described first
Corresponding position is equipped with protruding shaft on disperser side plate 202d, and the first disperser side plate 202b passes through the protruding shaft and described
The cooperation of elongated slot is slidably mounted on the second disperser side plate 202d.In the disperser front and rear panel 202c
Inner wall on be equipped with to low speed flow carry out flow guide distribution disperser flexible fluid-directing plate 202a；The disperser is flexible
The upper end of deflector 202a is mounted on the inner wall of the disperser front and rear panel 202c, and lower end is fixed on the stabilising arrangement
On 203, side is mounted on 202e；Expansion is installed between the disperser front and rear panel 202c and the disperser side plate
It is in bulk to set flexible front and rear panel 202e；；As shown in figure 4, the stabilising arrangement 203 is by stabilising arrangement front and rear panel 203b and stabilising arrangement
Side plate 203c is constituted, and is equipped with stabilising arrangement between the stabilising arrangement front and rear panel 203b and the stabilising arrangement side plate 203c
Honeycomb cowling panel 203a is installed inside flexible front and rear panel 203d, the stabilising arrangement flexibility front and rear panel 203d；The air duct
Constriction device 204 is made of primary air separating duct constriction device, middle air duct constriction device, rear air duct constriction device three parts, by the
One rotary shaft 206 is connect with the stabilising arrangement 203, and can respectively be rotated around its first rotary shaft 206；It shrinks in the air duct
The length L of device 204 is spraying operation breadth；Air outlet velocity sensor 209 is equipped in the end of each air duct constriction device.Such as
Shown in Fig. 8, the air duct constriction device 204 includes the first air duct constriction device side plate 204a, the second air duct constriction device side plate
204b and air duct constriction device front and rear panel 204c, the first air duct constriction device side plate 204a are slidably mounted in described
On the outside of second air duct constriction device side plate 204b；Pass through flexible coating between the air duct constriction device front and rear panel 204c of two sides
Cloth connection sealing；In the present invention, raised line is equipped on the first air duct constriction device side plate 204a inner sidewall, described the
On the outside of two air duct constriction device side plate 204b correspondingly position be equipped with in the first air duct constriction device side plate 204a
The corresponding sliding slot of the raised line set on side wall, the two cooperate；The shape of the air duct constriction device front and rear panel 204c is to tie up
Family name's curve is designed, and sees formula (1), so that wind speed is uniform when air-flow is flowed out from the air duct constriction device 204, direction one
It causes, and and exit normal；
In formula: RcIt is x for air duct constriction device axial distancecThe height dimension at place, unit m；R1For air duct constriction device
Inlet height size, unit m；R2For air duct constriction device outlet height size, unit m；xcFor away from air duct constriction device into
Mouth distance.
As shown in figure 9, undercarriage of the air duct flow directing device 205 as plant protection unmanned aerial vehicle, structure is with side
Vertical rectangular parallelepiped structure, side are used to the distance between sealing air flue constriction device 204 and air duct flow directing device 205；Described
The bottom of air duct flow directing device 205 is equipped with narrow slit shape venthole.
The lateral adjustments component 300 is fixed on the stabilising arrangement 203 of the gas hood component 200 by two side stands
On；As shown in fig. 6, the lateral adjustments component 300 includes lateral adjustments motor 303, lateral adjustments screw rod 302, lateral adjustments
Swivel nut 301, the first drive bevel gear 304 and the second drive bevel gear 305；The lateral adjustments motor 303 is fixed on described
Among 203 foreboard of the stabilising arrangement of gas hood component 200, it is fixedly mounted on the output shaft of the lateral adjustments motor 303
There is the second drive bevel gear 305, the first drive bevel gear 304 be equipped on the opposite two sides of second drive bevel gear 305,
First drive bevel gear 304 is engaged with second drive bevel gear 305；The lateral adjustments screw rod 302 is mounted on
On one transmission gear 304, the lateral adjustments swivel nut 301 is mounted on the stabilising arrangement side plate 203c, the lateral adjustments
Swivel nut 301 is by being threadably mounted on the lateral adjustments screw rod 302；The lateral adjustments motor 303 drives the second driving cog
305 rotation of wheel, second transmission gear 305 drive the rotation of the first transmission gear 304, and first transmission gear 304 drives
Lateral adjustments screw rod 302 rotates, so that lateral adjustments swivel nut 301 moves along a straight line；So that the disperser 202, described
Stabilising arrangement 203, the air duct constriction device 204 can stretch.The sprinkler part 400 is mounted on the gas hood component
On the front and rear panel 204c of the 200 middle air duct constriction device, spray head is located at the middle air duct constriction device center.Such as Fig. 7
Shown, the vertical adjustment component 500 includes vertical adjustment motor 501, driving gear 505, left rack gear 504, driven gear
506, right rack gear 507 and gear housing 508；It is straight that the bracket 503 that the gear housing 508 passes through its two sides is fixed on the air duct
It flows on 205 side plate of device, the left rack gear 504 is fixed on the first air duct constriction device side plate 204a, and the right rack gear 507 is solid
It is scheduled on the second air duct constriction device side plate 204b；The vertical adjustment motor 501 is fixedly mounted on the air duct flow directing device
On 205 side plate, while being fixed on the gear housing 508 by studdle 502；The driving gear 505 is mounted on
On the output shaft of vertical adjustment motor 501, the driven gear 506 is mounted on the gear housing 508 by support shaft 509
On, and be intermeshed between the driving gear 505 and the driven gear 506；With the rotation of the vertical adjustment motor 501
Turn, the driving gear 505 drives the left rack gear 504 to carry out directly with the right rack gear 507 respectively with the driven gear 506
Line movement is realized so that the first air duct constriction device side plate 204a, the second air duct constriction device side plate 204b be driven to move
204 opening size of the air duct constriction device variation.
In addition, the gas collecting apparatus 201, the disperser 202, the stabilising arrangement 203, the air duct constriction device
204 and each side plate of the air duct flow directing device 205 and front and rear panel on the inside of have sealing flexible cloth (such as coating cloth), shape and institute
Shape is consistent when stating the expansion of gas hood component 200, and design in this way effectively can avoid air-flow from leaking.
Working principle of the present invention is as follows:
1) when the preparation work of plant protection unmanned aerial vehicle, power supply is opened, the lateral adjustments component 300 is started to work, the cross
The lateral adjustments screw rod 302 is driven to rotate to the rotation of motor 303 is adjusted, by be set forth in lateral adjustments motor 303 and the cross
It is each attached on the stabilising arrangement 203 to 301 end of Adjusting bolt Adjusting screw, so that the disperser 202, the stable dress
Set the expansion of 203, the air duct constriction device 204；2) unmanned aerial vehicle 100 starts, the downwash flow whole quilt that rotor generates
200 Collection utilization of gas hood component, the air-flow of collection in entering the gas collecting apparatus 201, subsequently into arrive the expansion
In bulk to set in 202, the disperser 202 is since upper end is small, lower end is big, so that air velocity reduces, reduces loss, together
There is the disperser flexible fluid-directing plate 202a inside Shi Suoshu disperser 202, flow guide distribution is carried out to low speed flow, so that
Air-flow enters the stabilising arrangement 203 with low speed, there is the cowling panel 203a inside the stabilising arrangement 203, further will
Air-flow leads that direct join is mutually stable, and stable air-flow, which enters in the air duct constriction device 204, to be accelerated, since the air duct is received
The shape of compression apparatus front and rear panel 204c is designed with Vickers curve, so that air-flow is flowed out from the air duct constriction device 204
When wind speed it is uniform, direction is consistent, and and exit normal.
In addition, fraction enters in the air duct flow directing device 205, and flows out from two sides, left and right air curtain is formed, it can
To resist influence of the external environment crosswind to droplet.
The air-flow of air duct constriction device 204 is divided into three stocks not from primary air separating duct constriction device, middle air duct constriction device, rear wind
The exit of road constriction device is flowed out, and the air-flow of forward and backward air duct constriction device forms front and back air curtain, can resist extraneous flight side
To influence of the external air flow to droplet, and crop canopies can be disturbed so that droplet is able to enter inside crop,
The air-flow of middle air duct constriction device carries droplet sharp downward movement and reaches crop, completes sprinkling；Meanwhile the air duct direct current
The air-flow of device 205 forms left and right air curtain, can resist influence of the external environment crosswind to droplet.Pass through four all around
Air curtain effect realizes uniformly sprinkling so that droplet is not susceptible to drift.
3) after the unmanned aerial vehicle 100 takes off, according to the airline operation of planning.
When due to unmanned aerial vehicle flight, the air-flow reversed relative to plant protection unmanned aerial vehicle heading can be generated, it can be to mist
Drop drift impacts；Extraneous wind speed can also impact float of mist droplet；Crop canopies Effects of Density spray effect.
Ground wind speed wind direction sensor measures extraneous wind speed and direction, after the preceding imaging sensor 101 (just flying) or described
Imaging sensor 102 (anti-to fly) detects crop canopies density and working width, and sensor detects heading in drone body
(just fly, is anti-winged) and flying speed, and it is transmitted to control system, signal is described to being mounted on based on the received for control system
The vertical adjustment component 500 and the lateral adjustments component 300 of air duct constriction device 204 are controlled.
When ground wind speed wind direction sensor detects extraneous wind speed numerical value, and it is wirelessly transmitted to control system, drone body
Upper sensor detects heading (just fly, is anti-winged) and flying speed, is transmitted to control system, meanwhile, forward and backward air duct is shunk
Forward and backward air duct constriction device exit wind speed is transmitted to control system by the air outlet velocity sensor 209 of device, since control is
System storage inside has air duct constriction device air outlet velocity value corresponding with extraneous wind speed, heading, flying speed (before operation
Obtained by test, which can reduce influence of the external air flow to droplet), so that control system controls forward and backward wind
The vertical adjustment component 500 on road constriction device is realized forward and backward so that forward and backward air duct constriction device opening size changes
Air duct constriction device exit air velocity changes, meanwhile, the air outlet velocity sensor 209 of the forward and backward air duct constriction device
Air outlet velocity is re-transmitted to control system, and is compared with the data of internal system storage, is such as met, then forward and backward wind
Constriction device outlet in road no longer changes, to reduce external environment wind speed and heading, flying speed to the shadow of float of mist droplet
It rings.
When forward and backward imaging sensor detection crop canopies density, and it is transmitted to control system, meanwhile, dress is shunk in middle air duct
Middle air duct constriction device exit wind speed is transmitted to control system by the air outlet velocity sensor 209 set, since control is
System storage inside has middle air duct constriction device air outlet velocity value corresponding with crop canopies density (to obtain before operation by test
, droplet can penetrate corresponding crop canopies under certain air outlet velocity), so that the control system control middle air duct is received
The vertical adjustment component 500 on compression apparatus, so that the middle air duct constriction device opening size variation, realizes the apoplexy
Road constriction device exit air velocity changes, meanwhile, the air outlet velocity sensor 209 of the middle air duct constriction device will
Air outlet velocity is re-transmitted to control system, and is compared with the data of internal system storage, such as meets, then the middle air duct
Constriction device outlet no longer changes, to increase penetration of droplets.
When imaging sensor monitors sprinkling breadth beyond manipulating object range (such as field edge, young age fruit tree), control
System controls the lateral adjustments component 300, and the rotation of lateral adjustments motor 303 drives described 302 turns of lateral adjustments screw rod
It is dynamic, since the lateral adjustments motor 303 is each attached on the stabilising arrangement 203 with 301 end of lateral adjustments swivel nut,
So that the disperser 202, the stabilising arrangement 203, the air duct constriction device 204 are shunk, due to all around
The inhibiting effect of air-flow realizes that sprinkling breadth reduces；Further, since sprinkling breadth reduces, flight control system increases flight speed
Degree, so that unit area sprinkling flow is consistent.
4) after the completion of plant protection operation, plant protection unmanned aerial vehicle prepares to return to landing, and control system controls the lateral adjustments portion
Part 300 works, and the rotation of lateral adjustments motor 303 drives the lateral adjustments screw rod 302 to rotate backward, so that described
Disperser 202, the stabilising arrangement 203, the air duct constriction device 204 are shunk, and reduce flight resistance.Left and right wind after landing
Road flow directing device 205 can be used as undercarriage use.
The preferred embodiment of the present invention has been described above in detail, but during present invention is not limited to the embodiments described above
Detail can carry out a variety of equivalents to technical solution of the present invention (in full within the scope of the technical concept of the present invention
Amount, shape, position etc.), these equivalents belong to protection of the invention.
Claims (7)
1. a kind of anti-spraying mechanism that floats of plant protection unmanned aerial vehicle, it is characterised in that: passed including preceding imaging sensor (101), rear image
Sensor (102), gas hood component (200) and sprinkler part (400)；
The preceding imaging sensor (101) and the rear imaging sensor (102) are separately mounted under the unmanned aerial vehicle (100)
The front-rear position of side detects crop canopies density and working width when the unmanned aerial vehicle (100) just flies and instead flies respectively；?
Sensor for detecting the unmanned aerial vehicle heading and flying speed is installed on the unmanned aerial vehicle (100)；
The gas hood component (200) is mounted below the unmanned aerial vehicle (100), and the sprinkler part (400) is mounted on described
The lower section of gas hood component (200)；
The gas hood component (200) includes gas collecting apparatus (201), disperser (202), stabilising arrangement (203), air duct contraction dress
Set (204), air duct flow directing device (205) and air outlet velocity sensor (209)；The stabilising arrangement (203) and the diffusion
Device (202), the gas collecting apparatus (201) and the disperser (202) are revolved by the second rotary shaft (207), third respectively
Shaft (208) connection, the air duct flow directing device (205) is mounted on two side positions below the stabilising arrangement (203), and it is grown
Degree is consistent with the side length of the gas collecting apparatus (201), is equipped with venthole in the bottom of the air duct flow directing device (205)；It is described
Air duct constriction device (204) is made of primary air separating duct constriction device, middle air duct constriction device, rear air duct constriction device three parts,
It is connect by the first rotary shaft (206) with the stabilising arrangement (203), and can respectively be rotated around its first rotary shaft (206)；
The length L of the air duct constriction device (204) is spraying operation breadth；One's intention as revealed in what one says is equipped with out in the end of each air duct constriction device
Fast sensor (209)；
The sprinkler part (400) is mounted on the middle air duct constriction device of the gas hood component (200), and spray head is located at
The middle air duct constriction device center.
2. the anti-spraying mechanism that floats of plant protection unmanned aerial vehicle according to claim 1, it is characterised in that: the disperser
(202) it is made of disperser front and rear panel (202c) and disperser side plate, the disperser side plate includes the first diffusion dress
Side plate (202d) and the second disperser side plate (202b) are set, is provided with elongated slot on the second disperser side plate (202b),
Corresponding position is equipped with protruding shaft on the first disperser side plate (202d), and the first disperser side plate (202d) passes through
The cooperation of the protruding shaft and the elongated slot is slidably mounted on the second disperser side plate (202b)；The diffusion
The disperser flexible fluid-directing plate that flow guide distribution is carried out to low speed flow is installed on the inner wall of device front and rear panel (202c)
(202a)；The upper end of the disperser flexible fluid-directing plate (202a) is mounted on the inner wall of the disperser front and rear panel (202c)
On, lower end is fixed on the stabilising arrangement (203), and side is mounted on disperser flexibility front and rear panel (202e)；Described
Disperser flexibility front and rear panel (202e) is installed between disperser front and rear panel (202c) and the disperser side plate；
The stabilising arrangement (203) is made of stabilising arrangement front and rear panel (203b) and stabilising arrangement side plate (203c), described steady
Determine that stabilising arrangement flexibility front and rear panel (203d) is installed between device front and rear panel (203b) and the stabilising arrangement side plate (203c),
Honeycomb cowling panel (203a) is installed inside the stabilising arrangement flexibility front and rear panel (203d)；
The air duct constriction device (204) includes the first air duct constriction device side plate (204a), the second air duct constriction device side plate
(204b) and it is mounted on the first air duct constriction device side plate (204a) and the second air duct constriction device side plate
Air duct constriction device front and rear panel (204c) in (204b), the first air duct constriction device side plate (204a) are slidably mounted
On the outside of the second air duct constriction device side plate (204b)；The shape of the air duct constriction device front and rear panel (204c) is with Vickers
Curve is designed, and sees formula (1), so that wind speed is uniform when outflow from the air duct constriction device (204) for air-flow, direction one
It causes, and and exit normal；
In formula: RcIt is x for air duct constriction device axial distancecThe height dimension at place, unit m；R1For air duct constriction device import
Height dimension, unit m；R2For air duct constriction device outlet height size, unit m；xcFor away from air duct constriction device import away from
From；
Lateral adjustments component (300), the transverse direction are fixed on the stabilising arrangement (203) of the gas hood component (200)
Regulating member (300) includes lateral adjustments motor (303) and mutually matched lateral adjustments screw rod (302) and lateral adjustments spiral shell
It covers (301)；The lateral adjustments motor (303) is fixed on the stabilising arrangement (203) side of the gas hood component (200),
The lateral adjustments screw rod (302) is mounted on the output shaft of the lateral adjustments motor (303), the lateral adjustments swivel nut
(301) it is fixed on the stabilising arrangement side plate side plate (203c).
3. the anti-spraying mechanism that floats of plant protection unmanned aerial vehicle according to claim 2, it is characterised in that: further include vertical adjustment portion
Part (500), the vertical adjustment component (500) include vertical adjustment motor (501), driving gear (505), left rack gear (504),
Driven gear (506), right rack gear (507) and gear housing (508)；The gear housing (508) passes through the bracket of its two sides
(503) it is fixed on air duct flow directing device (205) side plate, the left rack gear (504) is fixed on the first air duct constriction device
On side plate (204a), the right rack gear (507) is fixed on the second air duct constriction device side plate (204b)；The vertical adjustment electricity
Machine (501) is fixedly mounted on the side plate of the air duct flow directing device (205), while being fixed on institute by studdle (502)
It states on gear housing (508)；The driving gear (505) is mounted on the output shaft of vertical adjustment motor (501), described passive
Gear (506) is mounted on the gear housing (508) by support shaft (509), and the driving gear (505) and the quilt
Moving gear is intermeshed between (506)；With the rotation of the vertical adjustment motor (501), the driving gear (505) and institute
State driven gear (506) drives the left rack gear (504) to move along a straight line with the right rack gear (507) respectively, thus described
Band first moves air duct constriction device side plate (204a) and the second air duct constriction device side plate (204b) movement, realizes the wind
The variation of road constriction device (204) opening size.
4. the anti-spraying mechanism that floats of plant protection unmanned aerial vehicle according to claim 2, it is characterised in that: received in first air duct
Compression apparatus side plate (204a) inner sidewall is equipped with raised line, on the outside of the second air duct constriction device side plate (204b) correspondingly
Position is equipped with sliding slot corresponding with the raised line set on the first air duct constriction device side plate 204a inner sidewall, and the two is mutual
Cooperation.
5. the anti-spraying mechanism that floats of plant protection unmanned aerial vehicle according to claim 2, it is characterised in that: the lateral adjustments component
(300) mutually matched lateral adjustments screw rod and lateral adjustments swivel nut are two groups in, in the defeated of the lateral adjustments motor (303)
The second drive bevel gear (305) are fixedly mounted on shaft, pacify respectively on the opposite two sides of second drive bevel gear (305)
Equipped with the first drive bevel gear (304), first drive bevel gear (304) is engaged with second drive bevel gear (305)；
Two lateral adjustments screw rods are separately mounted on first transmission gear of two sides, and corresponding lateral adjustments swivel nut passes through screw thread
It is mounted on the lateral adjustments screw rod.
6. the anti-spraying mechanism that floats of plant protection unmanned aerial vehicle according to claim 1, it is characterised in that: the gas collecting apparatus
(201) the distance H of the rotor apart from the unmanned aerial vehicle (100) is 200mm, the bore side of being positive on the gas collecting apparatus (201)
Shape, side length a are 1.2 times of diagonal rotor outer rim.
7. the anti-spraying mechanism that floats of plant protection unmanned aerial vehicle according to claim 1, it is characterised in that: the gas collecting apparatus
(201), the disperser (202), the stabilising arrangement (203), the air duct constriction device (204) and the air duct direct current
There are sealing flexible cloth, shape when shape and the gas hood component (200) are unfolded on the inside of each side plate of device (205) and front and rear panel
Unanimously.
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| CN201910612731.4A CN110217397B (en) | 2019-07-09 | 2019-07-09 | Unmanned aerial vehicle of plant protection prevents spraying mechanism that wafts |
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| CN112987793A (en) * | 2021-04-06 | 2021-06-18 | 中国农业科学院都市农业研究所 | Spraying method and device based on unmanned aerial vehicle, electronic equipment and medium |
| CN113148171A (en) * | 2021-04-07 | 2021-07-23 | 中国农业科学院烟草研究所(中国烟草总公司青州烟草研究所) | Spraying unmanned aerial vehicle |
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| CN113665818A (en) * | 2021-09-23 | 2021-11-19 | 华南农业大学 | Drift plant protection unmanned aerial vehicle is prevented in spraying |
| CN114667987A (en) * | 2022-04-24 | 2022-06-28 | 农业农村部南京农业机械化研究所 | Air curtain type double-spraying-system boom sprayer under composite planting mode |
| CN115024303A (en) * | 2022-06-15 | 2022-09-09 | 农业农村部南京农业机械化研究所 | Wind-assisted double-spraying-system boom sprayer for strip-shaped composite planting |
| CN115095112A (en) * | 2022-07-29 | 2022-09-23 | 广纳新能源科技(广州)有限公司 | Unmanned aerial vehicle spraying device |
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| CN113665818A (en) * | 2021-09-23 | 2021-11-19 | 华南农业大学 | Drift plant protection unmanned aerial vehicle is prevented in spraying |
| CN114667987B (en) * | 2022-04-24 | 2022-11-11 | 农业农村部南京农业机械化研究所 | Air curtain type double-spraying-system boom sprayer under composite planting mode |
| CN114667987A (en) * | 2022-04-24 | 2022-06-28 | 农业农村部南京农业机械化研究所 | Air curtain type double-spraying-system boom sprayer under composite planting mode |
| CN115024303A (en) * | 2022-06-15 | 2022-09-09 | 农业农村部南京农业机械化研究所 | Wind-assisted double-spraying-system boom sprayer for strip-shaped composite planting |
| CN115095112A (en) * | 2022-07-29 | 2022-09-23 | 广纳新能源科技(广州)有限公司 | Unmanned aerial vehicle spraying device |
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