CN110789719B - Spraying drift prevention device of agricultural unmanned aerial vehicle and use method - Google Patents
Spraying drift prevention device of agricultural unmanned aerial vehicle and use method Download PDFInfo
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- CN110789719B CN110789719B CN201911161848.1A CN201911161848A CN110789719B CN 110789719 B CN110789719 B CN 110789719B CN 201911161848 A CN201911161848 A CN 201911161848A CN 110789719 B CN110789719 B CN 110789719B
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- 238000005507 spraying Methods 0.000 title claims abstract description 100
- 230000002265 prevention Effects 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 88
- 239000007921 spray Substances 0.000 claims abstract description 72
- 239000000575 pesticide Substances 0.000 claims abstract description 17
- 230000000712 assembly Effects 0.000 claims abstract description 4
- 238000000429 assembly Methods 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 13
- 239000003814 drug Substances 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 230000006978 adaptation Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000008021 deposition Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012800 visualization Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—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
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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
- A01M7/0053—Mounting of the spraybooms
- A01M7/0057—Mounting of the spraybooms with active regulation of the boom position
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- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
- Special Spraying Apparatus (AREA)
Abstract
The invention discloses a spray drift prevention device of an agricultural unmanned aerial vehicle and a use method thereof, wherein the drift prevention device comprises a base and two groups of spray adjusting mechanisms; each group of spray adjusting mechanisms comprises a horizontal supporting rod, a vertical adjusting rod, a rotation driving mechanism and a lifting driving mechanism; the horizontal support rod is provided with a plurality of spraying components for spraying pesticides, and the spraying components are all rotationally connected to the horizontal support rod; an adjusting connecting rod is arranged between the vertical adjusting rod and the spray assemblies respectively, one end of the adjusting connecting rod is rotationally connected with the vertical adjusting rod, and the other end of the adjusting connecting rod is connected with the corresponding spray assembly; the control module is used for controlling lifting of the vertical adjusting rod and unfolding or folding of the horizontal supporting rod. The invention can effectively overcome the influence of an external wind field and a turbulent wind field on fog drops, prevent the fog drops from drifting and realize accurate spraying.
Description
Technical Field
The invention relates to an anti-drifting device of an agricultural unmanned aerial vehicle, in particular to a spraying anti-drifting device of the agricultural unmanned aerial vehicle and a using method.
Background
Because the agricultural unmanned aerial vehicle has the advantages of low operation cost, strong assault capability, simple and safe operation, no restriction of crop growth vigor and the like, an aviation spraying operation mode serving as one of important signs of agricultural aviation is rapidly applied and developed.
However, with further expansion of the spraying operation range of the agricultural unmanned aerial vehicle, some modes of the agricultural unmanned aerial vehicle aerial spraying gradually expose defects and shortcomings, wherein the problem of liquid medicine drifting caused by external wind fields and rotor wing wind fields is particularly obvious. When the flight height of the unmanned aerial vehicle is high, the influence of external wind field factors on the deposition of the fog drops is large, so that the fog drops cannot be effectively deposited in a target area; when the flying height of the unmanned aerial vehicle is too low, the influence of rotor wind field factors on droplet deposition is large, the turbulent wind field enables crops to violently swing and cannot effectively be used for pesticide application, and when the flying height is too low, the unmanned aerial vehicle is unsafe for the agricultural unmanned aerial vehicle, and the unmanned aerial vehicle is easy to crash due to the fact that the crops are touched. In order to solve the problems, the patent of the invention with the grant bulletin number of CN105775136B discloses an agricultural unmanned aerial vehicle spraying anti-drifting device and a using method thereof, wherein the left support rod and the right support rod are driven to rotate through a driving device, so that the left support rod and the right support rod are unfolded and contracted, when pesticide is sprayed, the left support rod and the right support rod are unfolded, the height of a spray head is reduced, the distance between the spray head and a rotor wing of the unmanned aerial vehicle is increased, and the influence of a wind field on spraying is reduced; the following problems still remain:
1. Although the distance between the spray head and the rotor wing of the unmanned aerial vehicle is increased after the left support rod and the right support rod are unfolded, the sprayed pesticide is still influenced by turbulent wind fields generated by the rotor wing, the drifting randomness of pesticide fogdrops under the rotor wing is large, the deposition precision of the pesticide is low, and accurate spraying is difficult to realize.
2. The spraying direction of the spray head is fixed, the direction cannot be adjusted according to actual conditions, and fixed-point spraying is difficult to realize under the factors of external wind fields.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a spray drift prevention device of an agricultural unmanned aerial vehicle, which can effectively overcome the influence of an external wind field and a turbulent wind field on fog drops, prevent the fog drops from drifting and realize accurate spraying.
The invention further aims to provide a using method of the spraying anti-drifting device of the agricultural unmanned aerial vehicle.
The aim of the invention is achieved by the following technical scheme:
The spray drift prevention device of the agricultural unmanned aerial vehicle is characterized by comprising a base and two groups of spray adjusting mechanisms, wherein the base is arranged on the unmanned aerial vehicle; each group of spray adjusting mechanisms comprises a horizontal supporting rod, a vertical adjusting rod, a rotation driving mechanism for driving the horizontal supporting rod to rotate and a lifting driving mechanism for driving the vertical adjusting rod to vertically lift; the horizontal support rod is provided with a plurality of spraying components for spraying pesticides, and the spraying components are all rotationally connected to the horizontal support rod and are arranged along the extending direction of the horizontal support rod; an adjusting connecting rod is arranged between the vertical adjusting rod and the spray assemblies respectively, one end of the adjusting connecting rod is rotationally connected with the vertical adjusting rod, and the other end of the adjusting connecting rod is connected with the corresponding spray assembly; the control module is used for controlling the lifting of the vertical adjusting rod and the unfolding or folding of the horizontal supporting rod; under non-operating condition, two sets of spraying adjustment mechanism's horizontal bracing piece is all packed up, hugs closely the unmanned aerial vehicle fuselage, and during operating condition, two sets of spraying adjustment mechanism's horizontal bracing piece all expand under rotation actuating mechanism's effect, with unmanned aerial vehicle fuselage mutually perpendicular.
The working principle of the spraying anti-drifting device of the agricultural unmanned aerial vehicle is as follows:
In a non-working state, the horizontal support rods of the two groups of spray adjusting mechanisms are folded and clung to the unmanned aerial vehicle body, and are arranged in parallel with the length direction of the unmanned aerial vehicle body; the whole device can be reduced in size, and the device is tightly attached to the unmanned aerial vehicle body, so that the device can form a whole with the unmanned aerial vehicle when pesticide spraying is not needed, and is convenient for flying.
When the unmanned aerial vehicle is in operation, the control module controls the rotation driving mechanisms of the two groups of spray adjusting mechanisms to respectively drive the respective horizontal supporting rods to outwards rotate, and the two horizontal supporting rods are arranged in a straight shape and are mutually perpendicular to the unmanned aerial vehicle body; then, opening each spraying component on the horizontal support rod to start spraying pesticide; meanwhile, according to an external wind field and a turbulent wind field of the field environment, the two lifting driving mechanisms are controlled to respectively drive the respective vertical adjusting rods to do lifting movement, and the plurality of adjusting connecting rods are driven to move while the vertical adjusting rods do lifting movement, so that each spraying assembly is pushed in the movement process of adjusting connection, and further each spraying assembly is enabled to rotate on the axis of the horizontal supporting rod, and the adjustment of the spraying direction is achieved; according to the wind field influence of the field environment, the spraying direction and the area of the fog drops are changed through the adjustment of the spraying direction, so that the method is suitable for the field actual condition, the fog drops can be accurately deposited on the designated position, the pesticide utilization rate is effectively improved, and the drift influence of the wind field on spraying is reduced.
According to a preferred scheme of the invention, a connecting ring is arranged on the vertical adjusting rod, and the connecting ring and the vertical adjusting rod are coaxially arranged; and each adjusting connecting rod of the spray adjusting mechanism in the same group is connected with one end connected with the vertical adjusting rod, and is sleeved on the connecting ring through a sliding ring.
According to one preferred scheme, the spraying assembly comprises a spraying frame and a spraying head, wherein the spraying frame is rectangular, two sides of the spraying frame are rotatably connected with a horizontal supporting rod through rotating pins, the adjusting connecting rod is connected with the top of the spraying frame, the spraying head is arranged at the bottom of the spraying frame, and the spraying head is connected with a medicine box on the unmanned aerial vehicle through a hose.
Preferably, the adjusting connecting rod is rotatably connected with the spraying frame through a connecting ring sleeve.
According to one preferable scheme of the invention, the horizontal supporting rod is a hollow rod, and a hose connected with a medicine box on the unmanned aerial vehicle is arranged in an inner cavity of the horizontal supporting rod; the horizontal support rod is provided with a through hole at the position corresponding to the spraying component, and the spray head is communicated with the hose through the through hole.
In a preferred embodiment of the present invention, the base includes an upper base and a lower base; the upper base is in a n shape and surrounds the outside of the unmanned aerial vehicle body, the lower base is arranged below the unmanned aerial vehicle body, the vertical adjusting rod is arranged on the upper base and the lower base in a penetrating mode, the lifting driving mechanism is arranged on the upper base, and the rotation driving mechanism is arranged on the lower base.
According to a preferred scheme of the invention, the lifting driving mechanism is composed of a first motor and a gear rack transmission mechanism, wherein the first motor is arranged on the upper base, the gear rack transmission mechanism comprises a first driving gear and a driven rack, the first driving gear is connected with a power output shaft of the first motor, and the driven rack is arranged on the vertical adjusting rod and is matched with the first driving gear.
In a preferred scheme of the invention, the rotation driving mechanism is composed of a second motor and a gear transmission mechanism, wherein the second motor is arranged on the lower base, the gear transmission mechanism comprises a second driving gear and a driven gear, the second driving gear is connected with a power output shaft of the second motor, and the driven gear is rotatably connected on the vertical adjusting rod and is matched with the second driving gear; the end part of the horizontal supporting rod is fixedly connected with the driven gear through a connecting sleeve.
According to a preferred scheme of the invention, the control module comprises a transmitter and a receiver, the transmitter is composed of a remote controller for controlling unmanned aerial vehicle operation, the receiver and the transmitter transmit control signals in a wireless mode, and the receiver is respectively and electrically connected with the rotation driving mechanism and the lifting driving mechanism. The control mode is convenient to operate, high in visualization degree and flexible.
The application method of the spraying anti-drifting device of the agricultural unmanned aerial vehicle is characterized by comprising the following steps of:
(1) When the unmanned aerial vehicle is in a non-working state, the horizontal support rods of the two groups of spray adjusting mechanisms are folded and tightly folded below the unmanned aerial vehicle body, and the height of the horizontal support rods is higher than that of the unmanned aerial vehicle frame; after the agricultural unmanned aerial vehicle takes off and goes up in the operation land area, the control module starts to send an unfolding instruction and controls the rotation driving mechanism to work, so that the horizontal support rods of the two groups of spray adjusting mechanisms are unfolded to be in a straight shape;
(2) Opening the spraying device, and controlling the unmanned aerial vehicle to perform spraying operation;
(3) The control module sends an adjusting instruction to control the lifting driving mechanism to work, so that the vertical adjusting rod moves up and down; through the action of the adjusting connecting rod, the lifting or descending movement of the vertical supporting rod drives the spray head assembly to rotate, so that the spraying direction of the spray head assembly is changed, the spray is sprayed to the center or the periphery of the unmanned aerial vehicle, the range is further controllable, and the adaptation to the actual wind field environment is realized;
(4) After the spraying operation is finished, the control module sends a stowing instruction, the lifting driving mechanism drives the vertical adjusting rod to return to the initial position, the rotation driving mechanism works and drives the horizontal supporting rod to rotate, and the horizontal supporting rod is reset to a non-working state;
(5) The control module controls the unmanned aerial vehicle to land and completes spraying operation.
Compared with the prior art, the invention has the following beneficial effects:
1. According to the invention, the spraying direction and the area of the fog drops can be changed by changing the angle of the spraying component according to the influence of the external wind field of the field environment and the rotor wing of the unmanned aerial vehicle, so that the adjustment of the spraying direction is realized, the method is suitable for the actual field situation, the fog drops can be accurately deposited on a target operation area under the influence of the wind field, the pesticide utilization rate is effectively improved, the drift influence of the wind field on spraying is reduced, and the accurate spraying is realized.
2. The invention adopts a two-stage variable structure; firstly, under the effect of rotation drive, realize first level change through expansion or the packing up of horizontal bracing piece, secondly, under the effect of lift actuating mechanism, through the lift of vertical regulation pole and the linkage of adjusting the connecting rod change spray assembly's angle, realize second level change, the angle and the scope of controllably carrying out aviation spraying droplet, design benefit, controllable degree is high.
Drawings
Fig. 1 to 3 are schematic structural views of an agricultural unmanned aerial vehicle to which the spray drift prevention device of the present invention is applied, wherein fig. 1 is a front view (horizontal support bar is in a deployed state), fig. 2 is a top view (horizontal support bar is in a stowed state) and fig. 3 is a perspective view (horizontal support bar is in a deployed state).
Fig. 4 to 8 are schematic structural views (the horizontal support rod is in an unfolded state) of one embodiment of the spray drift prevention device for an agricultural unmanned aerial vehicle according to the present invention, wherein fig. 4 is a front view, fig. 5 is an enlarged view of a in fig. 4, fig. 6 is a perspective view, fig. 7 is an enlarged view of B in fig. 6, and fig. 8 is an enlarged view of C in fig. 6.
Detailed Description
The invention is further described below with reference to examples and figures, but embodiments of the invention are not limited thereto.
Referring to fig. 1-8, the spray drift prevention device of the agricultural unmanned aerial vehicle of the embodiment comprises a base arranged on the unmanned aerial vehicle and two groups of spray adjusting mechanisms, wherein the two groups of spray adjusting mechanisms are arranged on the base and are respectively positioned at two sides of the unmanned aerial vehicle; each group of spray adjusting mechanisms comprises a horizontal supporting rod 2, a vertical adjusting rod 3, a rotation driving mechanism for driving the horizontal supporting rod 2 to rotate and a lifting driving mechanism for driving the vertical adjusting rod 3 to vertically lift; the horizontal support rod 2 is provided with a plurality of spraying components for spraying pesticides, and the spraying components are all rotationally connected to the horizontal support rod 2 and are arranged along the extending direction of the horizontal support rod 2; an adjusting connecting rod 1 is respectively arranged between the vertical adjusting rod 3 and the spray assemblies, one end of the adjusting connecting rod 1 is rotationally connected with the vertical adjusting rod 3, and the other end of the adjusting connecting rod is connected with the corresponding spray assembly; the device also comprises a control module, wherein the control module is used for controlling the lifting of the vertical adjusting rod 3 and the unfolding or folding of the horizontal supporting rod 2; under the non-operating condition, horizontal bracing piece 2 of two sets of spraying adjustment mechanism all packs up backward, hugs closely the unmanned aerial vehicle fuselage, and during the operating condition, horizontal bracing piece 2 of two sets of spraying adjustment mechanism all expand under rotation actuating mechanism's effect, with unmanned aerial vehicle fuselage mutually perpendicular. In this embodiment, two spraying components are disposed on each horizontal support rod 2, and two adjusting links 1 are disposed.
Referring to fig. 4-5, the vertical adjusting rod 3 is provided with a connecting circular ring 6, and the connecting circular ring 6 and the vertical adjusting rod 3 are coaxially arranged; one end of each adjusting connecting rod 1 of the same group of spray adjusting mechanisms, which is connected with the vertical adjusting rod 3, is connected together, and is arranged on the connecting circular ring 6 through a sliding ring sleeve 8. All adjusting connecting rods 1 of the same group of spray adjusting mechanisms are connected to realize unified adjustment of all spray components, so that the air field influence of the field environment is favorably adapted; meanwhile, the sliding ring sleeve 8 is connected with the connecting ring 6, so that the adjusting connecting rod 1 can be folded and unfolded along with the horizontal supporting rod 2, and the adjusting connecting rod 1 can be lifted along with the vertical adjusting rod 3; simple structure and ingenious design.
Referring to fig. 8, the spray assembly comprises a spray frame 15 and a spray head 17, the spray frame 15 is rectangular, two sides of the spray frame 15 are rotatably connected with the horizontal support rod 2 through rotating pins 16, the adjusting connecting rod 1 is connected with the top of the spray frame 15, the spray head 17 is arranged at the bottom of the spray frame 15, and the spray head 17 is connected with a medicine chest on the unmanned aerial vehicle through a hose. By providing such a spray assembly, a connection with the horizontal support bar 2 and an adjusting connection is facilitated.
Referring to fig. 8, the adjusting link 1 is rotatably connected to the spray frame 15 through a connection collar 14. This increases the flexibility between the adjusting link 1 and the spray assembly, making it more compliant when the spray assembly is angularly adjusted.
The horizontal support rod 2 of the embodiment is a hollow rod, and a hose connected with a medicine box on the unmanned aerial vehicle is arranged in an inner cavity of the horizontal support rod 2; the horizontal support rod 2 is provided with a through hole at the position corresponding to the spraying component, and the spray head is communicated with the hose through the through hole. The hose is arranged in the inner cavity of the horizontal supporting rod 2, so that the fixing of the hose is omitted, the space can be fully and reasonably utilized, and the effective load of the unmanned aerial vehicle is reduced.
Referring to fig. 1-8, the base includes an upper base 4 and a lower base 5; the upper base 4 is in a n shape and surrounds the outside of the unmanned aerial vehicle body, the lower base 5 is arranged below the unmanned aerial vehicle body, the vertical adjusting rod 3 is connected to the upper base 4 and the lower base 5 in a penetrating manner, the lifting driving mechanism is arranged on the upper base 4, and the rotation driving mechanism is arranged on the lower base 5. The rear half part of the upper base is narrower than the front half part, and the purpose of the arrangement is to avoid the horizontal support rod in the folding state.
Referring to fig. 5, the lifting driving mechanism is composed of a first motor 7 and a rack and pinion transmission mechanism, wherein the first motor 7 is arranged on the upper base 4, the rack and pinion transmission mechanism comprises a first driving gear 11 and a driven rack 11, the first driving gear 11 is connected with a power output shaft of the first motor 7, and the driven rack 11 is arranged on the vertical adjusting rod 3 and is matched with the first driving gear 11.
Referring to fig. 7, the rotation driving mechanism is composed of a second motor 12 and a gear transmission mechanism, wherein the second motor 12 is arranged on the lower base 5, the gear transmission mechanism comprises a second driving gear 13 and a driven gear 10, the second driving gear 13 is connected with a power output shaft of the second motor 12, and the driven gear 10 is rotatably connected on the vertical adjusting rod 3 and is matched with the second driving gear 13; the end part of the horizontal support rod 2 is fixedly connected with the driven gear 10 through a connecting sleeve 9.
The control module of this implementation includes transmitter and receiver, the transmitter comprises the remote controller of control unmanned aerial vehicle operation, receiver and transmitter pass through wireless transmission control signal, the receiver is connected with rotation actuating mechanism and lift actuating mechanism electricity respectively. The control mode is convenient to operate, high in visualization degree and flexible.
Referring to fig. 1 to 8, the working principle of the spray drift prevention device of the agricultural unmanned aerial vehicle of the embodiment is as follows:
In a non-working state, the horizontal support rods 2 of the two groups of spray adjusting mechanisms are retracted backwards and cling to the unmanned aerial vehicle body, and are arranged in parallel with the length direction of the unmanned aerial vehicle body; the whole device can be reduced in size, and the device is tightly attached to the unmanned aerial vehicle body, so that the device can form a whole with the unmanned aerial vehicle when pesticide spraying is not needed, and is convenient for flying.
When the device works, a transmitter transmits an unfolding instruction to a receiver, and the receiver transmits the unfolding instruction to a rotation driving mechanism after receiving the instruction; at the moment, the rotation driving mechanisms respectively drive the respective horizontal support rods 2 to outwards rotate, and the two horizontal support rods 2 are arranged in a straight shape and are mutually perpendicular to the unmanned aerial vehicle body; then, the transmitter sends a pesticide spraying instruction to the receiver, so that each spraying component on the horizontal support rod 2 is opened, and pesticide spraying is started; meanwhile, according to an external wind field and a turbulent wind field of the field environment, an ascending or descending instruction is sent to a receiver through a transmitter, so that the two lifting driving mechanisms are controlled to drive the respective vertical adjusting rods 3 to do lifting movement respectively, and the plurality of adjusting connecting rods 1 are driven to move while the vertical adjusting rods 3 do lifting movement, so that each spraying assembly is pushed in the movement process of adjusting connection, and then each spraying assembly rotates on the axis of the horizontal supporting rod 2, and the adjustment of the spraying direction is realized; according to the wind field influence of the field environment, the spraying direction and the area of the fog drops are changed through the adjustment of the spraying direction, so that the method is suitable for the field actual condition, the fog drops can be accurately deposited on the designated position, the pesticide utilization rate is effectively improved, and the drift influence of the wind field on spraying is reduced.
Referring to fig. 1 to 8, the application method of the spray drift prevention device of the agricultural unmanned aerial vehicle of the embodiment includes the following steps:
(1) When the unmanned aerial vehicle is not in a working state, the horizontal support rods 2 of the two groups of spray adjusting mechanisms are folded and tightly folded below the unmanned aerial vehicle body, and the height of the horizontal support rods is higher than that of the unmanned aerial vehicle frame; after the agricultural unmanned aerial vehicle takes off and goes up in the operation land area, the control module starts to send an unfolding instruction and controls the rotation driving mechanism to work, so that the horizontal support rods 2 of the two groups of spray adjusting mechanisms are unfolded to be in a straight shape;
(2) Opening the spraying device, and controlling the unmanned aerial vehicle to perform spraying operation;
(3) The control module sends an adjusting instruction to control the lifting driving mechanism to work, so that the vertical adjusting rod 3 moves up and down; through the action of the adjusting connecting rod 1, the lifting or descending movement of the vertical supporting rod drives the spray head assembly to rotate, so that the spraying direction of the spray head assembly is changed, the spray is sprayed to the center or the periphery of the unmanned aerial vehicle, the range is further controllable, and the adaptation to the actual wind field environment is realized;
(4) After the spraying operation is finished, the control module sends a stowing instruction, the lifting driving mechanism drives the vertical adjusting rod 3 to return to the initial position, the rotation driving mechanism works and drives the horizontal supporting rod 2 to rotate back, and the lifting driving mechanism resets to a non-working state;
(5) The control module controls the unmanned aerial vehicle to land and completes spraying operation.
The foregoing is illustrative of the present invention, and is not to be construed as limiting thereof, but rather as various changes, modifications, substitutions, combinations, and simplifications which may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (5)
1. The spray drift prevention device of the agricultural unmanned aerial vehicle is characterized by comprising a base and two groups of spray adjusting mechanisms, wherein the base is arranged on the unmanned aerial vehicle; each group of spray adjusting mechanisms comprises a horizontal supporting rod, a vertical adjusting rod, a rotation driving mechanism for driving the horizontal supporting rod to rotate and a lifting driving mechanism for driving the vertical adjusting rod to vertically lift; the horizontal support rod is provided with a plurality of spraying components for spraying pesticides, and the spraying components are all rotationally connected to the horizontal support rod and are arranged along the extending direction of the horizontal support rod; an adjusting connecting rod is arranged between the vertical adjusting rod and the spray assemblies respectively, one end of the adjusting connecting rod is rotationally connected with the vertical adjusting rod, and the other end of the adjusting connecting rod is connected with the corresponding spray assembly; the control module is used for controlling the lifting of the vertical adjusting rod and the unfolding or folding of the horizontal supporting rod; in a non-working state, the horizontal support rods of the two groups of spray adjusting mechanisms are folded and cling to the unmanned aerial vehicle body, and in a working state, the horizontal support rods of the two groups of spray adjusting mechanisms are unfolded under the action of the rotation driving mechanism and are mutually perpendicular to the unmanned aerial vehicle body; the vertical adjusting rod is provided with a connecting ring which is coaxially arranged with the vertical adjusting rod; each adjusting connecting rod of the spraying adjusting mechanism of the same group is connected with one end of the vertical adjusting rod, and is sleeved on the connecting ring through a sliding ring; the spraying assembly comprises a spraying frame and a spraying head, wherein the spraying frame is rectangular, two sides of the spraying frame are rotatably connected with the horizontal supporting rods through rotating pins, the adjusting connecting rods are connected with the top of the spraying frame, the spraying head is arranged at the bottom of the spraying frame, and the spraying head is connected with a medicine chest on the unmanned aerial vehicle through a hose; the base comprises an upper base and a lower base; the upper base is in a n shape and surrounds the outside of the unmanned aerial vehicle body, the lower base is arranged below the unmanned aerial vehicle body, the vertical adjusting rod is connected to the upper base and the lower base in a penetrating manner, the lifting driving mechanism is arranged on the upper base, and the rotation driving mechanism is arranged on the lower base; the lifting driving mechanism is composed of a first motor and a gear rack transmission mechanism, wherein the first motor is arranged on the upper base, the gear rack transmission mechanism comprises a first driving gear and a driven rack, the first driving gear is connected with a power output shaft of the first motor, and the driven rack is arranged on the vertical adjusting rod and is matched with the first driving gear; the rotary driving mechanism is composed of a second motor and a gear transmission mechanism, wherein the second motor is arranged on the lower base, the gear transmission mechanism comprises a second driving gear and a driven gear, the second driving gear is connected with a power output shaft of the second motor, and the driven gear is rotatably connected to the vertical adjusting rod and is matched with the second driving gear; the end part of the horizontal supporting rod is fixedly connected with the driven gear through a connecting sleeve.
2. The spray drift prevention device of an agricultural unmanned aerial vehicle of claim 1, wherein the adjusting link is rotatably coupled to the spray frame via a coupling collar.
3. The spray drift prevention device of an agricultural unmanned aerial vehicle according to claim 1, wherein the horizontal support rod is a hollow rod, and a hose connected with a medical kit on the unmanned aerial vehicle is arranged in an inner cavity of the horizontal support rod; the horizontal support rod is provided with a through hole at the position corresponding to the spraying component, and the spraying head is communicated with the hose through the through hole.
4. The spray drift prevention device of an agricultural unmanned aerial vehicle according to claim 1, wherein the control module comprises a transmitter and a receiver, the transmitter is formed by a remote controller for controlling the operation of the unmanned aerial vehicle, the receiver and the transmitter transmit control signals in a wireless manner, and the receiver is electrically connected with the rotation driving mechanism and the lifting driving mechanism respectively.
5. A method of using a spray drift prevention device based on an agricultural unmanned aerial vehicle according to any one of claims 1 to 4, comprising the steps of: (1) When the unmanned aerial vehicle is in a non-working state, the horizontal support rods of the two groups of spray adjusting mechanisms are folded and tightly folded below the unmanned aerial vehicle body, and the height of the horizontal support rods is higher than that of the unmanned aerial vehicle frame; after the agricultural unmanned aerial vehicle takes off and goes up in the operation land area, the control module starts to send an unfolding instruction and controls the rotation driving mechanism to work, so that the horizontal support rods of the two groups of spray adjusting mechanisms are unfolded to be in a straight shape; (2) Opening the spraying device, and controlling the unmanned aerial vehicle to perform spraying operation; (3) The control module sends an adjusting instruction to control the lifting driving mechanism to work, so that the vertical adjusting rod moves up and down; through the action of the adjusting connecting rod, the lifting or descending movement of the vertical supporting rod drives the spraying component to rotate, so that the spraying direction of the spraying component is changed, the spraying is performed to the center or the periphery of the unmanned aerial vehicle, the range is further controllable, and the adaptation to the actual wind field environment is realized; (4) After the spraying operation is finished, the control module sends a stowing instruction, the lifting driving mechanism drives the vertical adjusting rod to return to the initial position, the rotation driving mechanism works and drives the horizontal supporting rod to rotate, and the horizontal supporting rod is reset to a non-working state; (5) The control module controls the unmanned aerial vehicle to land and completes spraying operation.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911161848.1A CN110789719B (en) | 2019-11-21 | 2019-11-21 | Spraying drift prevention device of agricultural unmanned aerial vehicle and use method |
| PCT/CN2020/089898 WO2021098162A1 (en) | 2019-11-21 | 2020-05-13 | Spray anti-drifting device for agricultural unmanned aerial vehicle and use method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911161848.1A CN110789719B (en) | 2019-11-21 | 2019-11-21 | Spraying drift prevention device of agricultural unmanned aerial vehicle and use method |
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| Publication Number | Publication Date |
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| CN110789719A CN110789719A (en) | 2020-02-14 |
| CN110789719B true CN110789719B (en) | 2024-05-10 |
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| CN201911161848.1A Active CN110789719B (en) | 2019-11-21 | 2019-11-21 | Spraying drift prevention device of agricultural unmanned aerial vehicle and use method |
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| WO (1) | WO2021098162A1 (en) |
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| CN110789719A (en) | 2020-02-14 |
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