CN111559504A - Armoracia chinensis adult release device and control method - Google Patents
Armoracia chinensis adult release device and control method Download PDFInfo
- Publication number
- CN111559504A CN111559504A CN202010357806.1A CN202010357806A CN111559504A CN 111559504 A CN111559504 A CN 111559504A CN 202010357806 A CN202010357806 A CN 202010357806A CN 111559504 A CN111559504 A CN 111559504A
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- release
- inner cavity
- bug
- aerial vehicle
- unmanned aerial
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- 238000000034 method Methods 0.000 title claims description 15
- 241000219196 Armoracia Species 0.000 title description 2
- 241001123248 Arma Species 0.000 claims abstract description 56
- 238000005192 partition Methods 0.000 claims description 23
- 244000126211 Hericium coralloides Species 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 4
- 230000009191 jumping Effects 0.000 claims description 3
- 238000009423 ventilation Methods 0.000 claims description 3
- 241000283618 Arma chinensis Species 0.000 abstract description 12
- 241001477931 Mythimna unipuncta Species 0.000 description 5
- 241000208125 Nicotiana Species 0.000 description 4
- 235000002637 Nicotiana tabacum Nutrition 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013601 eggs Nutrition 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000001617 migratory effect Effects 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 150000003839 salts Chemical class 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- B64D1/02—Dropping, ejecting, or releasing articles
-
- 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
- A01M99/00—Subject matter not provided for in other groups of this subclass
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses an adult arma chinensis release device, which comprises: an unmanned aerial vehicle; the arma bug release box is connected to the lower portion of the unmanned aerial vehicle and is electrically connected with the unmanned aerial vehicle controller. The problems of low releasing efficiency and poor releasing uniformity of the arma bug in the prior art are solved.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to an adult arma chinensis release device and a control method.
Background
Armyworm is a large pest in flue-cured tobacco planting, and a method for treating armyworm by using arma chinensis, a natural enemy of armyworm, is researched for related enterprises in recent years for treating armyworm, and the method for treating armyworm has the characteristics of no pollution and environmental friendliness.
In the prior art, arma bug is firstly hatched into larvae from worm eggs, and the arma bug is released into a tobacco field after growing into adults with the age of more than 3 years. In order to save time and labor, the arma bug is released to the tobacco field by mainly adopting a single-point concentrated release method, but in actual operation, after the single-point concentrated release is found, the arma bug can play a good treatment effect on the salt pan near the release point, but the treatment effect on the area far away from the release point is poor. Through research on related documents, the reason that arma bugs have poor migratory flight capacity is found to be that arma bugs are difficult to migrate to areas far away from release points, so that the problems of low arma bug release efficiency and poor release uniformity exist in the prior art. In summary, there is an urgent need for an adult arma bug release device with high efficiency and good release uniformity for releasing adult arma bugs.
Disclosure of Invention
In order to solve the defects and shortcomings of the prior art, the invention aims to provide a arma chinensis adult release device and a control method.
The technical scheme of the invention is as follows: an arma bug adult release device, comprising:
an unmanned aerial vehicle;
the arma bug release box is connected to the lower portion of the unmanned aerial vehicle and is electrically connected with the unmanned aerial vehicle controller.
Further, the arma bug release cartridge comprises:
the bin comprises a body, wherein the body is provided with an inner cavity, the inner cavity is in a cylindrical shape with an open bottom surface and a closed top surface, the bottom surface of the inner cavity faces downwards, a first partition wall is arranged in the inner cavity and comprises n partition walls, n is an integer larger than 2, the first partition wall passes through a central axis of the inner cavity, and the inner cavity is uniformly divided into n bin bodies by the first partition wall;
the cover body is in a disc shape matched with the inner cavity, the cover body is rotationally connected to the lower part of the body to seal the bottom surface of the inner cavity and isolate the bin bodies from each other, and the upper surface and the lower surface of the cover body are provided with release holes;
step motor, step motor fixed connection is on the axis in the inner chamber, and the lid passes through step motor and rotates to be connected in the body lower part, and step motor is connected with unmanned aerial vehicle controller electricity.
Further, the arma bug release cartridge further comprises:
the second partition wall is cylindrical, is coaxial with the inner cavity, has a radius smaller than that of the inner cavity, and is fixedly connected with the inner cavity to divide the bin body into 2 parts, namely an outer bin and an inner bin.
Further, the release hole includes:
an outer release hole matching the outer cartridge;
and the inner release hole is arranged on the other side opposite to the outer release hole and is matched with the inner bin.
Furthermore, the surface of the body and the cover body are fully provided with vent holes, and the diameter of each vent hole is smaller than the size of the arma bug adults.
Furthermore, the upper surface of the cover body is provided with a first annular comb tooth structure, and the lower surface of the first partition wall is provided with a second comb tooth structure matched with the first annular comb tooth structure.
Further, the groove gap of the first annular comb tooth structure is smaller than 2 mm.
Further, still include: and the GPS module is electrically connected with the unmanned aerial vehicle controller.
Further, still include:
the vibrating device is fixedly connected to the lower surface of the cover body and electrically connected with the unmanned aerial vehicle controller.
A method of controlling an arma bug adult release device, the method comprising the steps of:
s1, setting the initial position of the cover body, and respectively facing the inner release hole and the outer release hole to one of the inner bin and the outer bin;
s2, controlling the unmanned aerial vehicle to fly to a first set position in sequence;
s3, when the GPS module measurement coordinate matches with the set position, executing step S4;
s4, controlling the vibration device to open to make the cover vibrate;
s5, controlling the stepping motor to drive the cover body to rotate clockwise or anticlockwise for 360 degrees/n to enable the release hole to be positioned right below the inner release hole and the outer release hole which are adjacent to the initial position;
and S6, controlling the unmanned aerial vehicle to fly to the next set position in sequence, and jumping to the step S3.
The invention has the beneficial effects that: compared with the prior art, the method has the advantages that,
1) the arma bug release box is carried to the high altitude by the unmanned aerial vehicle, the arma bug release box releases arma bugs from the high altitude, and the arma bug adults can be dispersed in a large area on the upper part of the tobacco field by means of the flight capacity of the arma bug adults due to the high height of the release point, so that the purpose of efficiently and uniformly releasing the arma bug adults is achieved, and the arma bug adults have the advantages of high release efficiency and uniform release;
2) according to the invention, the unmanned aerial vehicle is remotely controlled in a wireless manner to control the stepping motor to rotate so as to drive the cover body to rotate, when the release holes in the cover body are positioned under the cabin body, the adult arma bugs fall out of the cabin body due to self gravity, and the positions of the release holes are continuously rotated to enable the release holes to be positioned under different cabin bodies, so that the adult arma bugs are released in batches, the aim of releasing the adult arma bugs at multiple points is fulfilled, and the release uniformity is better;
3) the inner cavity is further divided by the second partition wall, and the cabin body is divided into the inner cabin and the outer cabin, so that the adult arma chinensis is divided into more parts, the release points are more, and the release uniformity is better;
4) if the number of the release holes is only one and only one, the arma bugs can only be sequentially released when the cover body rotates, so that one side of the arma bugs release box is firstly released and the other side is full, the center of gravity of the unmanned aerial vehicle deviates, and the unmanned aerial vehicle is unstable or even a fryer;
5) the invention ventilates the inner cavity through the ventilation holes, supplies oxygen to the adult arma chinensis, and avoids the adult arma chinensis from being suffocated;
6) because the cover body and the lower surface of the first partition wall are more or less provided with gaps, when the cover body rotates relative to the first partition wall, the body of the adult arma bug may be brought into the gaps, so that the adult arma bug is clamped. According to the invention, the length of the gap is divided into a plurality of sections by matching the first annular comb tooth structure and the second annular comb tooth structure, so that the length of each section of gap is not enough to clamp the body of the adult arma bug, and the tooth-shaped structures among the gaps can block the body of the adult arma bug to avoid being brought into the gap, so that the adult arma bug cannot be clamped when the cover body rotates relative to the first partition wall, and the probability of clamping the adult arma bug is reduced;
7) the gap of the groove is less than 2mm, so that the length of the gap is far less than the body size of the adult arma chinensis, and the probability of the adult arma chinensis being clamped is further reduced;
8) according to the invention, the position of the unmanned aerial vehicle is positioned through the GPS module, so that the unmanned aerial vehicle can release adult arma chinensis according to different GPS coordinate positions, the release of adult arma chinensis is more automatic, and the release efficiency of adult arma chinensis is improved;
9) according to the invention, the vibrating device can be used to separate the feet of the adult arma bug from the cover body when in use, so that the feet of the adult arma bug are prevented from being tightly held on the cover body, and when the cover body rotates, the adult arma bug is rolled into a gap to hurt the arma bug, so that the probability of the adult arma bug being clamped is further reduced;
10) according to the invention, when the cover body is rotated, the position of the cabin body opening is judged through the measurement coordinate of the GPS device, the vibration device is used for vibrating the cover body while the cabin body is opened, so that the lugwort imagoes cannot be tightly connected with the cover body, the phenomenon that the lugwort imagoes are rolled into gaps to hurt the lugwort imagoes due to the rotation of the cover body is avoided, and the probability that the lugwort imagoes are clamped is further reduced.
Drawings
FIG. 1 is a schematic perspective view of example 1 of the present invention;
FIG. 2 is an exploded view from the upper perspective of example 1 of the present invention;
FIG. 3 is a partial schematic view of FIG. 2 at B;
FIG. 4 is an exploded view from the lower perspective of example 1 of the present invention;
FIG. 5 is a partial schematic view at C of FIG. 4;
FIG. 6 is a circuit connection block diagram of embodiment 1 of the present invention;
fig. 7 is a flowchart of a control method according to embodiment 1 of the present invention.
Detailed Description
The invention will be further described with reference to the following drawings and specific embodiments:
example 1: referring to fig. 1 to 7, an arma bug adult release device comprises: an unmanned aerial vehicle 1; arma bug release box 2, arma bug release box 2 is connected in unmanned aerial vehicle 1 lower part, arma bug release box 2 and unmanned aerial vehicle controller 5 wire connection.
Further, the arma bug release cartridge 2 comprises: the bin body 201 is provided with an inner cavity, the inner cavity is in a cylindrical shape with an open bottom surface and a closed top surface, the bottom surface of the inner cavity faces downwards, a first partition wall 204 is arranged in the inner cavity, the first partition wall 204 comprises n pieces, n is an integer larger than 2, the first partition wall 204 passes through a central axis of the inner cavity, and the inner cavity is uniformly divided into n bin bodies 206 by the first partition wall 204; the cover body 202 is in a disc shape matched with the inner cavity, the cover body 202 is rotationally connected to the lower part of the body 201 to seal the bottom surface of the inner cavity and isolate the bin bodies 206 from each other, and release holes are formed in the upper surface and the lower surface of the cover body 202; step motor 203, step motor 203 adhesive bonding or bolted connection are on the inner chamber axis, and lid 202 rotates through step motor 203 and connects in the body 201 lower part, and step motor 203 is connected with 5 wire connections of unmanned aerial vehicle controller.
Further, the arma bug release box 2 further comprises: and the second partition wall 205 is cylindrical, the second partition wall 205 is coaxial with the inner cavity, the radius of the second partition wall 205 is smaller than that of the inner cavity, and the second partition wall 205 is bonded or integrally formed in the inner cavity to divide the bin body 206 into the outer bin 2061 and the inner bin 20622.
Further, the release hole includes: an outer release hole 2021, said outer release hole 2021 matching with the outer chamber 2061; an inner release hole 2022, the inner release hole 2022 is arranged at the other side opposite to the outer release hole 2021, and the inner release hole 2022 is matched with the inner chamber 2062.
Furthermore, the surface of the body 201 and the cover 202 are distributed with vent holes 208, and the diameter of the vent holes 208 is smaller than the size of adult arma bug.
Further, a first annular comb tooth structure 2023 is disposed on the upper surface of the cover 202, and a second comb tooth structure 2041 matched with the first annular comb tooth structure 2023 is disposed on the lower surface of the first separating wall 204.
Further, the groove gap of the first annular comb tooth structure 2023 is less than 2 mm.
Further, still include: GPS module 3, GPS module 3 is connected in 5 wire connections of unmanned aerial vehicle controller.
Further, still include:
vibrating device 4, vibrating device 4 bolted connection is at lid 202 lower surface, and vibrating device 4 and 5 wire connections of unmanned aerial vehicle controller. The vibration device 4 may be an eccentric motor or a piezoelectric ceramic plate.
A method of controlling an arma bug adult release device, the method comprising the steps of:
s1, setting the initial position of the cover body 202, and respectively enabling the inner release hole 2022 and the outer release hole 2021 to be opposite to one of the inner bin 2062 and the outer bin 2061;
s2, controlling the unmanned aerial vehicle 1 to fly to a first set position in sequence;
s3, when the GPS module 3 measured coordinates match with the set position, executing the step S4;
s4, controlling the opening of the vibrating device 4 to vibrate the cover 202;
s5, controlling the stepping motor 203 to drive the cover 202 to rotate 360 DEG/n clockwise or counterclockwise to make the release hole located under the inner release hole 2022 and the outer release hole 2021 adjacent to the initial position;
and S6, controlling the unmanned aerial vehicle 1 to fly to the next set position in sequence, and jumping to the step S3.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. An arma bug adult release device, comprising:
an unmanned aerial vehicle (1);
the arma bug release box (2) is connected to the lower portion of the unmanned aerial vehicle (1), and the arma bug release box (2) is electrically connected with the unmanned aerial vehicle controller (5).
2. Arma bug adult release device according to claim 1, characterized in that the arma bug release cartridge (2) comprises:
the bin body comprises a body (201), wherein the body (201) is provided with an inner cavity, the inner cavity is in a cylindrical shape with an open bottom surface and a closed top surface, the bottom surface of the inner cavity faces downwards, a first partition wall (204) is arranged in the inner cavity, the first partition wall (204) comprises n, n is an integer larger than 2, the first partition wall (204) passes through a central axis of the inner cavity, and the inner cavity is uniformly divided into n bin bodies (206) by the first partition wall (204);
the cover body (202) is in a disc shape matched with the inner cavity, the cover body (202) is rotationally connected to the lower part of the body (201) to seal the bottom surface of the inner cavity and isolate the bin body (206) from each other, and release holes are formed in the upper surface and the lower surface of the cover body (202);
step motor (203), step motor (203) fixed connection is on the inner chamber axis, and lid (202) rotate through step motor (203) and connect in body (201) lower part, and step motor (203) are connected with unmanned aerial vehicle controller (5) electricity.
3. Arma bug adult release device according to claim 2, characterized in that the arma bug release cartridge (2) further comprises:
the second separating wall (205) is cylindrical, the second separating wall (205) is coaxial with the inner cavity, the radius of the second separating wall (205) is smaller than that of the inner cavity, and the second separating wall (205) is fixedly connected in the inner cavity to divide the bin body (206) into 2 parts, namely an outer bin (2061) and an inner bin (2062).
4. The armadil bug adult release of claim 3, wherein the release hole comprises:
an external release hole (2021), the external release hole (2021) matching with the external bin (2061);
an inner release hole (2022), the inner release hole (2022) is arranged at the other side opposite to the outer release hole (2021), and the inner release hole (2022) is matched with the inner bin (2062).
5. Armadillus bug adult release device according to any one of claims 2 to 4, wherein the surface of the body (201) and the cover (202) are full of ventilation holes (208), and the diameter of the ventilation holes (208) is smaller than the size of the armadillus bug adult.
6. The adult arma bug release device as claimed in claim 5, wherein the cover (202) is provided with a first annular comb structure (2023) on the upper surface, and the first partition wall (204) is provided with a second comb structure (2041) on the lower surface matching the first annular comb structure (2023).
7. Armadil adult release of claim 6, wherein the groove gap of the first annular comb tooth structure (2023) is less than 2 mm.
8. The armadil bug adult release device of claim 5, further comprising:
GPS module (3), GPS module (3) are connected in unmanned aerial vehicle controller (5) electricity.
9. The armadil bug adult release device of claim 8, further comprising:
vibrating device (4), vibrating device (4) fixed connection is at lid (202) lower surface, and vibrating device (4) are connected with unmanned aerial vehicle controller (5) electricity.
10. The method of controlling an armadil bug adult release device of claim 9, wherein the method comprises the steps of:
s1, setting the initial position of the cover body (202), and respectively enabling the inner release hole (2022) and the outer release hole (2021) to be opposite to one of the inner bin (2062) and the outer bin (2061);
s2, controlling the unmanned aerial vehicle (1) to fly to a first set position in sequence;
s3, when the GPS module (3) measuring coordinate is matched with the set position, executing the step S4;
s4, controlling the opening of the vibrating device (4) to make the cover body (202) vibrate;
s5, controlling the stepping motor (203) to drive the cover body (202) to rotate clockwise or anticlockwise for 360 DEG/n to enable the release hole to be positioned right below the inner release hole (2022) and the outer release hole (2021) adjacent to the initial position;
and S6, controlling the unmanned aerial vehicle (1) to fly to the next set position in sequence, and jumping to the step S3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010357806.1A CN111559504A (en) | 2020-04-29 | 2020-04-29 | Armoracia chinensis adult release device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010357806.1A CN111559504A (en) | 2020-04-29 | 2020-04-29 | Armoracia chinensis adult release device and control method |
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| Publication Number | Publication Date |
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| CN111559504A true CN111559504A (en) | 2020-08-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010357806.1A Pending CN111559504A (en) | 2020-04-29 | 2020-04-29 | Armoracia chinensis adult release device and control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112106576A (en) * | 2020-08-31 | 2020-12-22 | 贵州大学 | Unmanned aerial vehicle device of release natural enemy pyemotes |
-
2020
- 2020-04-29 CN CN202010357806.1A patent/CN111559504A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112106576A (en) * | 2020-08-31 | 2020-12-22 | 贵州大学 | Unmanned aerial vehicle device of release natural enemy pyemotes |
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