CN111201849A

CN111201849A - Unmanned aerial vehicle

Info

Publication number: CN111201849A
Application number: CN202010178142.2A
Authority: CN
Inventors: 杨静
Original assignee: Hangzhou Hongjing Automation Technology Co Ltd
Current assignee: Zhejiang Xianglong Aviation Technology Co ltd
Priority date: 2020-03-14
Filing date: 2020-03-14
Publication date: 2020-05-29
Anticipated expiration: 2040-03-14
Also published as: CN111201849B

Abstract

The invention belongs to the field of unmanned aerial vehicles, and particularly relates to a planting unmanned aerial vehicle for punching a lawn, which comprises a rack, a first nail roller rotatably arranged at one end of the rack, two second nail rollers arranged at the other end of the rack side by side, two driving motors arranged on the rack, a driving battery fixed on the rack, and an excitation system arranged in the first nail roller. The driving motor drives the two second nail rollers to rotate according to the control instruction, so that the unmanned aerial vehicle is driven to advance and/or turn on the lawn to be operated, and punching operation is efficiently and unmanned completed.

Description

Unmanned aerial vehicle

Technical Field

The invention belongs to the field of unmanned aerial vehicles, and particularly relates to a planting industry unmanned aerial vehicle for punching a lawn.

Background

After the lawn is built, in addition to reasonable maintenance management such as fertilization, irrigation, trimming and the like, the lawn needs to be perforated timely to form a channel for water to enter soil and create conditions for oxygen to enter, so that the physical properties and other characteristics of the lawn are improved, and the growth and development of the overground and underground parts of the lawn are promoted.

The existing lawn punching equipment, no matter in a walking self-propelled type, a riding type or a tractor suspension traction type, has the problems that the existing lawn punching equipment is seriously dependent on operators, is subjected to manual punching operation on lawns, particularly large-area lawns (such as golf courses), and is high in strength, dull and low in manual efficiency.

Disclosure of Invention

The invention provides an unmanned aerial vehicle capable of carrying out lawn punching operation all weather, which can greatly improve the lawn punching operation efficiency, and comprises:

a frame;

the first nail roller is rotatably arranged at one end of the frame;

the two second nail rollers are arranged at the other end of the rack side by side;

the two driving motors are arranged between the first nail roller and the second nail roller on the rack and are respectively used for driving the two second nail rollers to rotate so as to drive the unmanned aerial vehicle to advance and/or turn;

and the driving battery is fixed on the rack and used for providing power for the driving motor.

And the vibration excitation system is arranged in the first nail roller and is used for exciting and vibrating the first nail roller so as to increase the pressure ground force.

A plurality of lawn punching nails are uniformly welded on the outer surfaces of the first nail roller and the second nail roller, the diameter of the second nail roller is smaller than that of the first nail roller, and the length of the second nail roller is smaller than half of that of the first nail roller.

The unmanned aerial vehicle also comprises a data unit and a controller, wherein the data unit is used for receiving an instruction from the server, and the controller controls the unmanned aerial vehicle to run and punch according to the instruction; the server stores a digitized virtual map of a lawn to be operated, plans an operation path of the unmanned aerial vehicle by taking the current position of the unmanned aerial vehicle as a starting point based on the virtual map, and then sends an instruction containing data of the operation path to the unmanned aerial vehicle.

The invention has the beneficial effects that: the lawn punching robot based on the intelligent technology can operate in all weather, is high in punching efficiency and greatly liberates manual labor.

Drawings

Figure 1 shows a block diagram of a drone according to the invention;

FIG. 2 shows a block diagram of the frame and the roll stand;

FIG. 3 shows a block diagram of a housing of another embodiment;

FIG. 4 shows a schematic view of the internal structure of the first spike roller;

FIG. 5 shows a schematic view of the excitation system inside the first staple roller.

Detailed Description

The structure and functions implemented by the present invention are described in detail below with reference to the accompanying drawings.

Example one

As shown in fig. 1, the unmanned aerial vehicle includes a frame 3, a first nail roller 1 as a main implementation part of the punching work, two second nail rollers 2 as a travel part and a punching work auxiliary implementation part, and a power part and a control box 7 mounted on the frame 3.

The first nail roller 1 is rotatably arranged on the roller frame 4 and is fixed at the front end of the frame 3 through the roller frame 4;

two second nail rollers 2 mounted side by side at the rear end of the frame 3;

the two driving motors 5 are arranged at the middle section of the frame and respectively drive the two second nail rollers 2 to rotate through transmission chains (including but not limited to chain transmission, belt transmission and the like), so that the unmanned aerial vehicle is driven to advance and/or turn;

and the driving battery 6 is fixed on the frame and used for supplying power to the driving motor 5.

A plurality of lawn punching nails are uniformly welded on the outer surfaces of the first nail roller 1 and the second nail roller 2, the diameter of the second nail roller is smaller than that of the first nail roller, and the length of the second nail roller is smaller than half of that of the first nail roller.

The core elements of the control box 7 installed on the rack are a data unit and a controller, the data unit is used for receiving instructions from a server, the server stores a digital virtual map of a lawn to be operated, the server plans an operation path of the unmanned aerial vehicle by taking the current position of the unmanned aerial vehicle as a starting point based on the virtual map, and then sends instructions containing data of the operation path to the unmanned aerial vehicle, and the controller controls the unmanned aerial vehicle to run and punch according to the instructions.

Follow above-mentioned unmanned aerial vehicle's course of work and know, confirm unmanned aerial vehicle's current position's components and parts, GPS positioner for example also is indispensable partly in control box 7, in addition, the obstacle avoidance system that this field is commonly used, sensor such as infrared sensor, ultrasonic sensor also can add in control box 7 and perfect unmanned aerial vehicle's function.

As shown in fig. 2, the first spike roller 1 has a symmetrically arranged fixing plate 11 (only one is shown in the figure for showing the internal structure), an eccentric wheel shaft 12 penetrating the inside of the first spike roller 1 is mounted at the center of the fixing plate through a bearing, a pair of eccentric wheels 13 are fixed on the eccentric wheel shaft, and the ends of the eccentric wheel shaft 12 are respectively mounted on the roller frame 4.

In the present embodiment, an excitation system is disposed inside the first nail roller 1, specifically, as shown in fig. 5, an excitation motor 8 is fixed on the fixing plate 11, the fixing plate 11 is made of an insulating material, two annular conductive rings 111 are disposed on the fixing plate 11, and two poles of the excitation motor 8 are electrically connected to the two conductive rings 111 respectively; an output shaft of the excitation motor 8 is in transmission connection with the eccentric wheel shaft 12;

the eccentric wheel 13 is formed by packaging a plurality of batteries, and the eccentric wheel 13 is provided with 2 convex positive and negative electrode contacts 131 which are respectively contacted with the conductive rings 111 on the fixed plate 11; therefore, no matter the angle to which the eccentric wheel 13 rotates, the eccentric wheel can be electrically contacted with the excitation motor 8;

the exciting motor 8 is controlled by a battery pack forming an eccentric wheel to supply power, so that the eccentric wheel 13 is driven to rotate, the first nail roller 1 is excited and vibrated, the ground pressure is increased, and the punching effect is improved.

Obviously, the control of the operation of the excitation motor 8 and/or the control of the supply of the power to the battery pack is managed by a control chip which can be connected in communication with the control box 7 and will not be described in detail here.

In particular, the control chip controls the operation of the excitation motor 8 only in the non-steered segment of the path.

Example two

Compared with the first embodiment, in the present embodiment, the core of the control component installed on the rack is a data unit and a controller, the data unit locally stores a digitized virtual plane map of the lawn to be worked, and the controller plans a path on the virtual plane map with the current position of the unmanned aerial vehicle as a starting point and controls the driving motor to operate according to the path.

EXAMPLE III

Compared with the previous embodiment, in the present embodiment, the data unit locally stores a digitized virtual three-dimensional map of the lawn to be worked, the controller plans a path on the virtual three-dimensional map with the current position of the unmanned aerial vehicle as a starting point, controls the driving motor to drive in a back-driving manner in an uphill section of the path, and controls the driving motor to drive in a front-driving manner in a downhill section of the path.

Example four

Compared with the previous embodiment, in the present embodiment, as shown in fig. 3, the frame 3 and the roller frame are an integrated structure, and the front section of the frame 3 is a roller frame for mounting the first spike roller 1; two side edges of the middle section of the frame 3 are respectively provided with a side wing, one side wing is provided with a concave part and a convex part, and the other side wing is correspondingly provided with a convex part and a concave part; the two ends of the tail section of the frame are respectively provided with an upper concave part and a lower concave part. This frame can conveniently carry out the concatenation modularly, in order to constitute the large-scale unmanned aerial vehicle of wideer size, when the concatenation, convex part on the right side wing of a frame is pegged graft mutually with the concave part on the left side wing of another frame, concave part on the right side wing of a frame is pegged graft mutually with the convex part on the left side wing of another frame, and simultaneously, the last depressed part of the back end of a frame cooperatees with the lower depressed part on the back end of another frame, and the through-hole of upper and lower depressed part is worn to locate by a reuse fixed pin can be accomplished and is assembled.

It will be appreciated by persons skilled in the art that numerous variations and/or modifications may be made to the invention as shown in the specific embodiments without departing from the spirit or scope of the invention as broadly described. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive. Likewise, the invention encompasses any combination of features, in particular of features in the patent claims, even if this feature or this combination of features is not explicitly specified in the patent claims or in the individual embodiments herein.

Claims

1. An unmanned aerial vehicle, comprising:

a frame;

the first nail roller is rotatably arranged at one end of the frame;

the two driving motors are arranged on the rack and are respectively used for driving the two second nail rollers to rotate so as to drive the unmanned aerial vehicle to advance and/or turn;

the driving battery is fixed on the frame and used for providing power for the driving motor;

2. The unmanned aerial vehicle of claim 1, wherein the outer surfaces of the first and second spike rollers have a plurality of lawn perforating spikes welded uniformly thereon, and the second spike roller has a diameter less than the first spike roller and a length less than half of the first spike roller.

3. The drone of claims 1-2, further comprising a data unit to receive instructions from a server, and a controller to control the driving and punching operations of the drone according to the instructions.

4. A drone according to claims 1 to 3, further comprising a data unit that locally stores a digitized virtual plan map of the lawn to be worked, and a controller that plans a path on the virtual plan map starting from the current position of the drone and controls the driving motor to run along the path.

5. A drone according to claims 1 to 4, further comprising a data unit that locally stores a digitized virtual three-dimensional map of the lawn to be worked, and a controller that plans a path on the virtual three-dimensional map starting from the current position of the drone and controls the drive motors to travel in a back-drive manner on an uphill section of the path and in a front-drive manner on a downhill section of the path.

6. A drone according to claims 1-5, characterised in that the excitation system operates only in the non-steered sections of the path.