CN112340028A - Automatic spraying plant protection unmanned aerial vehicle capable of automatically adjusting and controlling flight trajectory - Google Patents
Automatic spraying plant protection unmanned aerial vehicle capable of automatically adjusting and controlling flight trajectory Download PDFInfo
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- CN112340028A CN112340028A CN202011367377.2A CN202011367377A CN112340028A CN 112340028 A CN112340028 A CN 112340028A CN 202011367377 A CN202011367377 A CN 202011367377A CN 112340028 A CN112340028 A CN 112340028A
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- 238000005507 spraying Methods 0.000 title claims abstract description 81
- 239000000575 pesticide Substances 0.000 claims abstract description 100
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 9
- 239000003814 drug Substances 0.000 claims description 187
- 239000002360 explosive Substances 0.000 claims description 66
- 230000000670 limiting effect Effects 0.000 claims description 29
- 239000007921 spray Substances 0.000 claims description 18
- 239000000725 suspension Substances 0.000 claims description 13
- 230000007613 environmental effect Effects 0.000 claims description 11
- 238000003780 insertion Methods 0.000 claims description 7
- 230000037431 insertion Effects 0.000 claims description 7
- 230000008676 import Effects 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 239000007788 liquid Substances 0.000 description 68
- 238000000034 method Methods 0.000 description 14
- 230000009471 action Effects 0.000 description 11
- 238000009434 installation Methods 0.000 description 11
- 230000006378 damage Effects 0.000 description 10
- 229940079593 drug Drugs 0.000 description 8
- 230000008859 change Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 238000007667 floating Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 6
- 238000005086 pumping Methods 0.000 description 6
- 239000011435 rock Substances 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 5
- 239000002917 insecticide Substances 0.000 description 5
- 238000003756 stirring Methods 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 238000011161 development Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 208000014674 injury Diseases 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 238000001556 precipitation Methods 0.000 description 2
- 238000006424 Flood reaction Methods 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000011049 filling Methods 0.000 description 1
- 238000011068 loading method Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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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
-
- 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
- A01M7/0025—Mechanical sprayers
-
- 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
-
- 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
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
- A01M7/0085—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
- 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
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention belongs to the technical field of unmanned aerial vehicle planting trajectory control, and particularly discloses an automatic spraying plant protection unmanned aerial vehicle capable of automatically adjusting and controlling a flight trajectory, which comprises a flight control system and a map importing module, wherein the map importing module is used for importing the map position of a farmland to be sprayed with pesticide, the model establishing module is used for establishing a three-dimensional coordinate system according to the farmland map imported by the map importing module, the data acquisition module is used for acquiring the environment data of the unmanned aerial vehicle for spraying pesticide, and the trajectory planning module is used for planning and determining the flight trajectory of the unmanned aerial vehicle according to the environment data acquired by the data acquisition module and the established model, and planning the track according to the actual spraying environment.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle trajectory control, in particular to an automatic spraying plant protection unmanned aerial vehicle capable of automatically adjusting and controlling a flight trajectory.
Background
Along with the continuous development of society and the continuous progress of science and technology, intelligent automation has walked into each industry gradually, development in the agricultural is especially outstanding, along with unmanned aerial vehicle's continuous development, utilize unmanned aerial vehicle to carry out the mainstream that sprays into current agricultural development of medicine to the crops in the farmland, utilize plant protection unmanned aerial vehicle to carry out spraying of medicine to farmland crops not only improved the efficiency that the medicine sprayed, and simultaneously, great saving the cost of labor, make the great reduction of per mu planting cost of crops, the income of crops is improved, but how to spray the orbit to unmanned aerial vehicle's flight to the data change according to the environment and confirm the problem that becomes people's volume and treat the solution, current plant protection unmanned aerial vehicle has following shortcoming when using:
1. when the existing plant protection unmanned aerial vehicle sprays the medicine, the unmanned aerial vehicle mostly needs to be manually controlled, the flying spraying track of the unmanned aerial vehicle cannot be determined, or the spraying track of the unmanned aerial vehicle is not clear, so that the medicine spraying concentration and the spraying efficiency are influenced;
2. when the unmanned aerial vehicle sprays the pesticide to crops in air flight, the pesticide in the pesticide barrel can shake due to the steering or flying of the unmanned aerial vehicle, and the unmanned aerial vehicle can fly difficultly under the action of the huge inertia of the pesticide shake, so that the normal work of the plant protection unmanned aerial vehicle is influenced;
3. the phenomenon of drug precipitation can occur in the spraying process after the drugs are mixed, which can cause the drug concentration at the bottom of the drug barrel to be higher, damage can be caused to crops, and the yield of the crops is influenced;
therefore, people urgently need an automatic spraying plant protection unmanned aerial vehicle capable of automatically adjusting and controlling flight trajectories to solve the problems.
Disclosure of Invention
The invention aims to provide an automatic spraying plant protection unmanned aerial vehicle capable of automatically adjusting and controlling flight trajectories, so as to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic spraying plant protection unmanned aerial vehicle capable of automatically adjusting and controlling flight trajectories comprises a main board, a control box, flight components and a landing gear, wherein the control box is fixedly installed on the upper surface of the main board, a flight control system is arranged in the control box, the control box is used for controlling the flight of the whole plant protection unmanned aerial vehicle, the control box is the prior art and is not described in detail herein, a storage battery is installed in the main board and is used for providing electric energy for the normal use of the whole plant protection unmanned aerial vehicle, a plurality of flight components are installed on the edge of the main board and are used for providing a power source for the flight of the plant protection unmanned aerial vehicle, the landing gear is installed on the lower surface of the main board and is used for supporting the plant protection unmanned aerial vehicle when the plant protection unmanned aerial vehicle lands on the ground, a pesticide spraying rod is installed on the outer side of the landing gear and is used for providing support and, mainboard lower surface mid-mounting has the explosive barrel that is used for holding the medicine, through hasp fixed connection between explosive barrel and the mainboard, the explosive barrel carries out the accurate installation of position through spacing subassembly.
According to the preferable technical scheme, a mounting seat is arranged at the position where the main board is mounted with the flying assembly, an inserting groove is formed in the mounting seat, the mounting seat and the inserting groove are used for fixedly mounting the flying assembly, a power plug is further arranged in the inserting groove, and the power plug is used for being connected with the flying assembly and providing electric energy for the flying assembly;
the flight assembly comprises a horn, a propeller, an insertion rod, a fixed sleeve, a first threaded hole, a second threaded hole, a first fixing screw and a second fixing screw; the mounting seat is internally provided with a horn through an insertion rod, one end of the horn is provided with a propeller, the outer side of the horn is sleeved with a fixed sleeve, the fixed sleeve is used for fixing the mounting seat and the horn, the mounting seat, the insertion rod, the horn and the fixed sleeve are transversely provided with first threaded holes, the mounting seat, the insertion rod, the horn and the fixed sleeve are longitudinally provided with second threaded holes, the fixed sleeve is sleeved at the joint of the horn and the mounting seat, the first threaded hole on the insertion rod is superposed with the first threaded holes at one end of the mounting seat and the fixed sleeve, the second threaded hole on the insertion rod is superposed with the second threaded holes at one end of the mounting seat and the fixed sleeve, the first threaded hole on the horn is superposed with the first threaded hole on the fixed sleeve, and the second threaded hole on the horn is superposed with the second threaded hole on the fixed sleeve, the first fixing screw is inserted into the first threaded hole, the second fixing screw is inserted into the second threaded hole, and the first fixing screw and the second fixing screw are used for fixing the horn and the mounting seat.
Utilize fixed sleeve to connect horn and mount pad, utilize first fixed screw and second fixed screw to fix it for when the horn is fixed stable, be convenient for dismantle and change the horn, make when the screw breaks down, can be timely and quick change horn and screw, make can not delay and miss the pesticide spray time to crops because of the maintenance to the screw.
As a preferred technical scheme, the connecting groove has been seted up under the second fixed screw middle part, the connecting groove is used for cup jointing whole second fixed screw in the first fixed screw outside for the effort of first fixed screw and second fixed screw is on a plane, makes more stable and firm to the fixed of horn and screw, avoids appearing not hard up phenomenon at the in-process of flight, the second fixed screw only has one end to be opened and chisels threaded for utilize the nut to fasten the second fixed screw.
As the preferred technical scheme, the limiting assembly comprises a limiting seat, a fastening spring, a fastening plate, a first air inlet hole and a second air inlet hole;
the middle part of the lower surface of the main board is fixedly provided with a limiting seat which is used for limiting the left and right positions of the medicine barrel during installation, so that the medicine barrel is prevented from shaking left and right during medicine spraying, the top end of the inner part of the limiting seat is provided with a plurality of fastening springs which are used for providing downward acting force for the medicine barrel, the medicine barrel is prevented from shaking up and down during medicine spraying, so that the whole medicine barrel is more stably fixed and installed, the lower ends of the fastening springs are positioned in the limiting seat and are provided with fastening plates, the fastening plates are used for extruding the fastening springs under the action of the medicine barrel, the middle part of each fastening plate is provided with a first air inlet, the edge part of the top end of the limiting seat is provided with a second air inlet, the first air inlet and the second air inlet are used for inputting air into the medicine barrel, so as to ensure the air pressure balance in, the medicine in the medicine barrel can be sprayed out;
the top end of the medicine barrel is provided with a medicine inlet, the medicine inlet is used for filling prepared medicines into the medicine barrel for spraying, handles are arranged on two sides of the medicine inlet and are used for being fixed with the hasps to hang the medicine barrel, and meanwhile, the medicine barrel is also used for carrying the medicine barrel; the hasp comprises an L-shaped support frame, a hinge groove and a suspension rod;
l type support frame is the splayed and installs at the mainboard lower surface, distance between the L type support frame bottom is greater than the width of handle, guarantees inside the handle can get into L type support frame, L type support frame runs through and has seted up the hinge groove, the hinge inslot portion is articulated to be installed and is hung the pole, hang the pole and keep the level under the action of gravity, hang pole one end and contact each other, avoid appearing the gap and lead to the handle to follow the inside roll-off of L type support frame.
Utilize spacing subassembly to advance the medicine mouth of explosive barrel spacing, and utilize before the installation into the medicine mouth to extrude the fastening spring in the spacing subassembly, make the handle get into in the L type support frame automatically, make the installation of explosive barrel convenient and fast more, the time of in-process to adding medicine again that utilizes plant protection unmanned aerial vehicle to carry out the medicine and spray has been practiced thrift, the efficiency that the medicine sprayed has been improved, and, when fastening spring provides decurrent effort, make the explosive barrel can not appear rocking from top to bottom under self action of gravity, even after the medicine has sprayed, the explosive barrel also can not appear the condition of rocking from top to bottom under fastening spring's effect, plant protection unmanned aerial vehicle's stable flight has been guaranteed.
As a preferred technical scheme, the upward hanging groove is formed in the middle of the handle and is used for being clamped inside the buckle, so that the medicine barrel can be hung more stably by the handle, meanwhile, the handle does not need to enter too much distance inside the buckle, the hanging rod on the buckle can automatically fall under the action of gravity to close the buckle, and similarly, the hanging rod does not need to be lifted by a larger angle when the medicine barrel is disassembled, so that the medicine barrel is convenient to fix and install, the medicine barrel is convenient to disassemble, and the medicine barrel is more stably installed.
As a preferred technical scheme, the handle below is located the explosive barrel upper surface and has seted up the sliding tray, the inside slidable mounting of sliding tray has the sliding block, fixed connection between sliding block and the handle, sliding tray and sliding block are used for adjusting the position of handle, the handle both ends are run through the handle and are installed fastening screw downwards for fix the position of the handle after adjusting.
Utilize sliding tray and sliding block to adjust the position of handle, utilize the fastening screw to fix the position of handle after adjusting for same explosive barrel can be installed on the plant protection unmanned aerial vehicle of equidimension not, has improved the application scope of explosive barrel.
As preferred technical scheme, a plurality of fixed slots have been seted up to the inside lateral wall of explosive barrel, the fixed slot has been seted up near the inside one side of explosive barrel and has been rotated the groove, the fixed slot is inside to be rotated and installs the dead lever, dead lever one side fixed mounting has the rotor plate, the barrier plate is installed to rotor plate one side, rotor plate and barrier plate are used for blockking the inside liquid medicine that rocks along the explosive barrel lateral wall of explosive barrel, alleviate the degree that the liquid medicine rocked inside the explosive barrel, run through on the rotor plate and seted up a plurality of drainage hole, the drainage hole is used for carrying out the drainage to being less than the liquid medicine, improves the degree of liquid medicine stirring for liquid medicine concentration.
Utilize the dead lever to drive the rotor plate in the rotation of fixed slot inside, when the medicine is equipped with to explosive barrel inside, the rotor plate can be in the horizontality under the effect of liquid medicine, when the inside liquid medicine of explosive barrel appears rocking, utilize rotor plate and barrier plate to block the liquid medicine, avoided the liquid medicine to rock along the explosive barrel lateral wall is continuous inside the explosive barrel, alleviate the degree that the liquid medicine rocked inside the explosive barrel, avoid appearing the unstable condition of whole plant protection unmanned aerial vehicle flight, and simultaneously, utilize the liquid medicine to rock slightly at the explosive barrel, it rotates at the rotation inslot portion to drive the rotor plate, can stir the inside liquid medicine of explosive barrel, avoided the liquid medicine to appear deposiing in the explosive barrel inside and lead to the liquid medicine concentration inconsistent, avoided liquid medicine concentration too big to cause the damage to crops.
As a preferred technical scheme, the cross section of the rotating groove is fan-shaped, the upper edge of the fan-shaped groove is parallel to the horizontal plane, and the included angle of the fan-shaped groove is minus degree, so that the rotating plate can be guaranteed to stop the liquid medicine and shake back and forth on the side wall of the medicine barrel under the action of the liquid medicine to stir the liquid medicine.
As preferred technical scheme, the medicine pump is installed to the inside bottom of explosive barrel, the medicine pump is used for taking out the inside liquid medicine of explosive barrel, it connects first medicine hose of taking out to take out the medicine pump, first medicine hose of taking out is used for carrying the liquid medicine, the floating ball has been cup jointed in the inside part outside slip of explosive barrel to first medicine hose of taking out, the floating ball is used for sliding from top to bottom in the first medicine hose outside of taking out, along with how much removal of the inside liquid medicine of explosive barrel, alleviates liquid medicine and rocks in the explosive barrel inside, has further guaranteed the stability of plant protection unmanned aerial vehicle at the in-process that the medicine was sprayed in flight.
As preferred technical scheme, fixed mounting has a plurality of solid fixed ring on the spray pole, gu install atomizer on the fixed ring, atomizer is used for spraying the liquid medicine on crops with the form of fog, draw the medicine hose connection through the second between the atomizer, the second is drawn medicine hose one end and is passed through sealing joint and the inside first medicine hose connection of drawing of explosive barrel, utilizes the pump of drawing medicine to carry the inside liquid medicine of explosive barrel to atomizer position department through first medicine hose and second medicine hose of drawing.
As a preferred technical scheme, the flight control system comprises a flight control center, a map importing module, a model establishing module, a data acquisition module, a track planning module and a GPS positioning module;
the output end of the map importing module is electrically connected with the input end of the model establishing module, the output end of the model establishing module is electrically connected with the input end of the flight control center, the output end of the flight control center is electrically connected with the input end of the trajectory planning module, and the output ends of the data acquisition module and the GPS positioning module are electrically connected with the input end of the flight control center;
the flight control center is used for controlling and data processing the intelligent spraying of whole plant protection unmanned aerial vehicle, map import module is used for leading-in the map position of the farmland that will spray insecticide, model establishment module is used for establishing the three-dimensional coordinate system according to the leading-in farmland map of map import module for confirm plant protection unmanned aerial vehicle's coordinate position, the data acquisition module is used for gathering the environmental data that plant protection unmanned aerial vehicle sprayed insecticide, and as the planning foundation of plant protection unmanned aerial vehicle spraying insecticide orbit, the orbit planning module is used for carrying out optimal planning according to the environmental data that data acquisition module gathered and the model of establishing, the orbit of plant protection unmanned aerial vehicle flight to this reduces the waste of insecticide, simultaneously, avoids the strong wind to spray insecticide repeatedly and causes the injury to crops.
As a preferred technical scheme, the data acquisition module comprises a height acquisition unit, a wind speed acquisition unit and a wind direction acquisition unit;
the output ends of the height acquisition unit, the wind speed acquisition unit and the wind direction acquisition unit are electrically connected with the input end of the flight control center;
the height acquisition unit is used for acquiring the wind height of the plant protection unmanned aerial vehicle, the height acquisition unit is a distance sensor, the height data acquired by the height acquisition unit is represented by H, the wind speed acquisition unit is used for acquiring the wind speed of the flight environment of the plant protection unmanned aerial vehicle, the wind speed acquisition unit is a wind speed monitor, the wind speed data acquired by the wind speed acquisition unit is represented by P, the wind direction acquisition unit is used for acquiring the wind direction of the flight environment of the plant protection unmanned aerial vehicle, the wind direction acquisition unit is a wind direction monitor, the environmental wind direction acquired by the wind direction acquisition unit is Q, wherein Q is east wind, south wind, west wind, north wind, south-east wind, north-east wind, south-west wind, west-west wind and no wind, and the height, the wind speed and the wind direction data of the working environment of the plant protection unmanned aerial vehicle are acquired, so that the flying height and the flying track of the plant protection unmanned aerial vehicle can be adjusted, the influence of flying height, environmental wind speed and environmental wind direction factors on the attachment of the sprayed pesticide is avoided, so that the pesticide is sprayed more accurately;
the track planning module comprises a height planning unit and a direction planning unit;
the output end of the flight control center is electrically connected with the input ends of the height planning unit and the direction planning unit;
the height planning unit is used for planning the flying height of the plant protection unmanned aerial vehicle according to the actual wind speed of the working environment, avoids the condition that the wind speed is fast, the flying is high, the pesticide can not be attached to the surface of crops, the direction planning unit is used for planning the flying direction and the track of the plant protection unmanned aerial vehicle according to the actual wind direction and the wind speed of the working environment, and the damage to the crops caused by repeated spraying of the pesticide in the process is avoided.
As preferred technical scheme, the wind speed that the wind speed collection unit gathered is P, when the flying height of the plant protection unmanned aerial vehicle that height collection unit gathered was H, the contained angle when pesticide and crops contacted was theta, this moment:
wherein L is the horizontal distance between the plant protection unmanned aerial vehicle and the pesticide placement point;
the included angle theta between the pesticide and the crops is related to the wind speed P when the pesticide is sprayed, and under the condition that the pesticide is sprayed in a certain amount, the larger the wind speed P is, the smaller the included angle theta is;
setting the initial falling speed of the pesticide to V1m/s, the wind speed P = V2m/s, then:
to obtain:
；
to obtain:
；
at this moment, the distance that plant protection unmanned aerial vehicle need deviate the original orbit of spraying is L, the same direction of the wind direction that plant protection unmanned aerial vehicle deviates original flight path is gathered according to the wind direction acquisition unit, plant protection unmanned aerial vehicle's flying height H is confirmed by following:
when the wind speed P =0, the flying height H is less than or equal to H1Wherein A is the highest flying height of the plant protection unmanned aerial vehicle for spraying pesticides;
when the wind speed P is less than or equal to B, the flying height H is less than or equal to H2Wherein, B is a set threshold value of the wind speed;
when the wind speed B is more than P and less than or equal to C, the flying height H is less than or equal to H3Wherein C is a set threshold value of the wind speed;
when P is more than C, pesticide spraying is prohibited, and the pesticide cannot be attached to the surfaces of crops.
Compared with the prior art, the invention has the beneficial effects that:
1. be provided with flight control system, utilize to gather each item data of guarantor unmanned aerial vehicle operational environment, utilize location and data analysis, can plan and confirm unmanned aerial vehicle's flight orbit according to actual conditions, spray the environment according to the reality and carry out the planning of orbit, on the one hand, can avoid repeatedly spraying effectively and cause the injury to crops, on the other hand, avoided leaking to spray and lead to can't playing fine crops and carry out the prevention and cure of pest and disease.
2. The explosive barrel inner wall is provided with the fixed slot, rotate the groove, the dead lever, rotor plate and barrier plate, on the one hand, utilize rotor plate and barrier plate, can play certain effect of blockking when the inside liquid medicine of explosive barrel rocks, avoid the inside liquid medicine of explosive barrel because inertia leads to rocking the continuous increase of degree, influence plant protection unmanned aerial vehicle's normal flight, on the other hand, when the inside liquid medicine of explosive barrel floods the rotor plate, rocking of liquid medicine can drive the rotor plate and rotate at the rotation inslot portion, and then realize the stirring to the inside liquid medicine of explosive barrel, make the liquid medicine more even at the inside mixture of explosive barrel, avoid appearing the liquid medicine and deposit and lead to the concentration inconsistent, cause the injury to crops, and simultaneously, the rotatable design of rotor plate, make when blockking the liquid medicine, can play certain cushioning effect.
3. Through the setting of flight subassembly, utilize the fixed sleeving to carry out preliminary fixed to mainboard and horn, utilize first fixed screw and second fixed screw to fasten, when making horn and screw fixed stable, be convenient for dismantle and change it, make when horn or screw damage, can change in time, avoided overhauing the extravagant more time of horn or screw, influence the normal spraying of liquid medicine, make can not lead to hindering the liquid medicine spraying time of crops because of overhauing horn or screw.
4. Be provided with spacing subassembly, handle and hasp, it is inside to advance medicine mouth card to go into spacing subassembly, extrude fastening spring, and simultaneously, the handle carries out the jacking to hanging the pole, make inside the handle gets into the hasp smoothly, at this moment, fastening spring extrudees the mounting plate, the mounting plate extrudees into the medicine mouth, can effectually avoid the explosive barrel to rock at the in-process self that sprays and lead to the unstability, and simultaneously, be convenient for dismantle and change the explosive barrel, make and need not spray after finishing at the liquid medicine, can be quick change the explosive barrel, avoided appearing splashing at the in-process that adds the liquid medicine and lead to causing the damage to the unmanned aerial vehicle surface.
5. Be provided with sliding tray, sliding block and fastening screw for can adjust the position of handle, make the distance between the handle on explosive barrel top can adjust, make the explosive barrel can be applicable to the plant protection unmanned aerial vehicle of different diameters size, improved the application scope of explosive barrel.
6. Be provided with first medicine hose and the floating ball of drawing for floating the ball and can keeping always floating in the inside liquid medicine of explosive barrel, can alleviate the liquid medicine and in the inside rocking of explosive barrel rocking certain effect that stops that plays, make plant protection unmanned aerial vehicle's flight stability more.
Drawings
Fig. 1 is a schematic structural diagram of an automatic spraying plant protection unmanned aerial vehicle capable of automatically adjusting and controlling flight trajectory according to the present invention;
FIG. 2 is a schematic view of an installation structure of a limiting component and a hasp of an automatic spraying plant protection unmanned aerial vehicle capable of automatically adjusting and controlling a flight trajectory according to the present invention;
FIG. 3 is a schematic view of an installation structure of an automatic spraying plant protection unmanned aerial vehicle flight assembly capable of automatically adjusting and controlling a flight trajectory according to the present invention;
FIG. 4 is a schematic structural view of the area A in FIG. 3 of an automatic spraying plant protection unmanned aerial vehicle capable of automatically adjusting and controlling flight trajectory according to the present invention;
FIG. 5 is a schematic structural view of an automatic spraying plant protection unmanned aerial vehicle pesticide barrel capable of automatically adjusting and controlling flight trajectory according to the present invention;
fig. 6 is a schematic view of the structure of the fixed groove and the rotating groove of the automatic spraying plant protection unmanned aerial vehicle capable of automatically adjusting and controlling the flight trajectory;
fig. 7 is a schematic structural diagram of the inside of an automatic spraying plant protection unmanned aerial vehicle pesticide barrel capable of automatically adjusting and controlling flight trajectories according to the invention;
FIG. 8 is a schematic structural view of the area B in FIG. 6 of an automatic spraying plant protection unmanned aerial vehicle with self-adjustable and self-controlled flight trajectory according to the present invention;
fig. 9 is a schematic structural diagram of an automatic spraying plant protection unmanned aerial vehicle limiting assembly capable of automatically adjusting and controlling a flight trajectory according to the present invention;
FIG. 10 is a schematic structural view of an automatic spraying plant protection unmanned aerial vehicle hasp capable of self-adjusting and controlling flight trajectory according to the present invention;
FIG. 11 is a schematic view of an installation structure of an automatic spraying plant protection unmanned aerial vehicle atomizer capable of automatically adjusting and controlling flight trajectory according to the present invention;
fig. 12 is a schematic diagram of module connection of an automatic spraying plant protection unmanned aerial vehicle flight control system capable of automatically adjusting and controlling flight trajectory according to the present invention.
Fig. 13 is a schematic view of the relationship between pesticide spraying and flying height of the automatic spraying plant protection unmanned aerial vehicle capable of automatically adjusting and controlling the flying track according to the invention in the flying process.
Reference numbers in the figures: 1. a main board; 2. a control box; 3. a flight assembly; 301. a horn; 302. a propeller; 303. a plug rod; 304. fixing the sleeve; 305. a first threaded hole; 306. a second threaded hole; 307. a first fixing screw; 308. a second fixing screw; 309. connecting grooves; 4. a landing gear; 5. spraying a medicine rod; 6. a medicine barrel; 601. a medicine inlet; 602. a handle; 6021. a suspension groove; 603. a sliding groove; 604. a slider; 605. fastening a screw rod; 606. fixing grooves; 607. a rotating groove; 608. fixing the rod; 609. a rotating plate; 6010. a blocking plate; 6011. a drainage hole; 7. a hasp; 701. an L-shaped support frame; 702. a hinge slot; 703. a suspension rod; 8. a limiting component; 801. a limiting seat; 802. a fastening spring; 803. a fastening plate; 804. a first air intake hole; 805. a second air intake hole; 9. a mounting seat; 10. inserting grooves; 11. a drug pump; 12. a first drug-pumping hose; 13. floating the ball; 14. a fixing ring; 15. an atomizing spray head; 16. a second medicine pumping hose; 17. and (6) sealing the joint.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows: as shown in fig. 1-11, an automatic spraying plant protection unmanned aerial vehicle capable of self-adjusting and controlling flight trajectory comprises a main board 1, a control box 2, flight components 3 and an undercarriage 4, the control box 2 is fixedly mounted on the upper surface of the main board 1, a flight control system is arranged in the control box 2, a storage battery is mounted in the main board 1 and used for providing electric energy for normal use of the whole plant protection unmanned aerial vehicle, a plurality of flight components 3 are mounted on the edge of the main board 1, the flight components 3 are used for providing power source for flight of the plant protection unmanned aerial vehicle, the undercarriage 4 is mounted on the lower surface of the main board 1, the undercarriage 4 is used for supporting the plant protection unmanned aerial vehicle when the plant protection unmanned aerial vehicle lands on the ground, a pesticide spraying rod 5 is mounted on the outer side of the undercarriage 4, the pesticide spraying rod 5 is used for providing support and diffusion in area for spraying pesticide, a pesticide barrel 6, through hasp 7 fixed connection between explosive barrel 6 and the mainboard 1, explosive barrel 6 carries out the accurate installation of position through spacing subassembly 8.
A mounting seat 9 is arranged at the position where the flying component 3 is mounted on the main board 1, an inserting groove 10 is formed in the mounting seat 9, the mounting seat 9 and the inserting groove 10 are used for fixedly mounting the flying component 3, and a power plug is further arranged in the inserting groove 10 and used for being connected with the flying component 3 and providing electric energy for the flying component 3;
the flying assembly 3 comprises a horn 301, a propeller 302, a plug rod 303, a fixing sleeve 304, a first threaded hole 305, a second threaded hole 306, a first fixing screw 307 and a second fixing screw 308; the inner part of the mounting seat 9 is provided with a machine arm 301 through an inserting rod 303, one end of the machine arm 301 is provided with a propeller 302, the outer side of the machine arm 301 is sleeved with a fixed sleeve 304, the fixed sleeve 304 is used for fixing the mounting seat 9 and the machine arm 301, the mounting seat 9, the inserting rod 303, the machine arm 301 and the fixed sleeve 304 are transversely provided with a first threaded hole 305, the mounting seat 9, the inserting rod 303, the machine arm 301 and the fixed sleeve 304 are longitudinally provided with a second threaded hole 306, the fixed sleeve 304 is sleeved at the joint of the machine arm 301 and the mounting seat 9, the first threaded hole 305 on the inserting rod 303 is overlapped with the first threaded hole 305 at one end of the mounting seat 9 and the fixed sleeve 304, the second threaded hole 306 on the inserting rod 303 is overlapped with the second threaded hole 306 at one end of the mounting seat 9 and the fixed sleeve 304, the first threaded hole 305 on the machine arm 301 is overlapped with the first threaded hole 305 on the fixed sleeve 304, the second threaded hole 306 on the machine arm 301 is overlapped, a first fixing screw 307 is inserted into the first screw hole 305, a second fixing screw 308 is inserted into the second screw hole 306, and the first fixing screw 307 and the second fixing screw 308 are used for fixing the horn 301 and the mount 9.
The limiting assembly 8 comprises a limiting seat 801, a fastening spring 802, a fastening plate 803, a first air inlet hole 804 and a second air inlet hole 805; the middle part of the lower surface of the main board 1 is fixedly provided with a limiting seat 801, the limiting seat 801 is used for limiting the left and right installation positions of the medicine barrel 6, so that the medicine barrel 6 is prevented from shaking left and right during the medicine spraying process, the top end inside the limiting seat 801 is provided with a plurality of fastening springs 802, the fastening springs 802 are used for providing downward acting force for the medicine barrel 6, the medicine barrel 6 is prevented from shaking up and down during the medicine spraying process, so that the whole medicine barrel 6 is more stably fixed and installed, the lower ends of the fastening springs 802 are positioned inside the limiting seat 801 and are provided with fastening plates 803, the fastening plates 803 are used for extruding the fastening springs 802 under the action of the medicine barrel 6, the middle part of the fastening plates 803 is provided with a first air inlet hole 804, the top end part of the limiting seat 801 is provided with a second air inlet hole 805, the first air inlet hole 804 and the second air inlet hole 805 are used for inputting air into, the medicine in the medicine barrel 6 can be sprayed out;
a medicine inlet 601 is formed in the top end of the medicine barrel 6, the medicine inlet 601 is used for loading prepared medicines into the medicine barrel 6 for spraying, handles 602 are arranged on two sides of the medicine inlet 601, the handles 602 are used for being fixed with the hasps 7 to hang the medicine barrel 6, and meanwhile, the medicine barrel 6 is also used for carrying; the hasp 7 comprises an L-shaped support frame 701, a hinge groove 702 and a suspension rod 703;
l type support frame 701 is the splayed and installs at mainboard 1 lower surface, distance between L type support frame 701 bottom is greater than the width of handle 602, guarantee that handle 602 can get into inside L type support frame 701, L type support frame 701 runs through and has seted up hinge slot 702, the inside articulated suspension rod 703 that installs of hinge slot 702, suspension rod 703 keeps the level under the action of gravity, suspension rod 703 one end contactless avoids appearing the gap and leads to handle 602 from the inside roll-off of L type support frame 701.
Ascending groove 6021 that hangs is seted up at handle 602 middle part, hang groove 6021 and be used for the block inside hasp 7, make utilize handle 602 to hang more stable when explosive barrel 6, and simultaneously, make handle 602 need not get into inside too much distance of hasp 7, hang pole 703 on the hasp 7 and can be closed to hasp 7 automatic whereabouts under the action of gravity, and the like, also need not to lift up great angle with hanging pole 703 when dismantling explosive barrel 6, when having made things convenient for the fixed mounting to explosive barrel 6, the dismantlement to explosive barrel 6 has been made things convenient for, still make explosive barrel 6's installation more stable.
A sliding groove 603 is formed in the upper surface of the medicine barrel 6 below the handle 602, a sliding block 604 is slidably mounted in the sliding groove 603, the sliding block 604 is fixedly connected with the handle 602, the sliding groove 603 and the sliding block 604 are used for adjusting the position of the handle 602, and fastening screws 605 are mounted at two ends of the handle 602 downwards through the handle 602 and are used for fixing the position of the adjusted handle 602.
A plurality of fixed slots 606 have been seted up to 6 inside lateral walls of explosive barrel, fixed slot 606 has been seted up near 6 inside one side of explosive barrel and has been rotated groove 607, fixed slot 606 is inside to be rotated and installs dead lever 608, dead lever 608 one side fixed mounting has rotor plate 609, rotor plate 609 one side is installed and is blockked plate 6010, rotor plate 609 and blockking plate 6010 are used for blockking the liquid medicine that 6 inside edges explosive barrel lateral walls of explosive barrel rocked, alleviate the degree that the liquid medicine rocked 6 inside at the explosive barrel, run through on the rotor plate 609 and seted up a plurality of drainage hole 6011, drainage hole 6011 is used for carrying out the drainage to being less than the liquid medicine, improve the degree of liquid medicine stirring, make.
The cross section of the rotating groove 607 is fan-shaped, the upper edge of the fan-shaped is parallel to the horizontal plane, and the included angle of the fan-shaped is 0-45 degrees, so that when the rotating plate 609 can block the liquid medicine, the side wall of the medicine barrel 6 can shake back and forth under the action of the liquid medicine, and the liquid medicine is stirred.
Spout solid fixed ring 14 of a plurality of on the medicine pole 5, gu install atomizer 15 on fixed ring 14, atomizer 15 is used for spraying the liquid medicine on crops with the form of fog, draw medicine hose 16 through the second between atomizer 15 and connect, 16 one end is drawn medicine hose through sealing joint 17 and 6 inside first medicine hose 12 connections of drawing of explosive barrel to the second, utilize the medicine pump 11 to draw the inside liquid medicine of explosive barrel 6 to carry to atomizer 15 positions department through first medicine hose 12 and second medicine hose 16.
As shown in fig. 12, the flight control system includes a flight control center, a map importing module, a model building module, a data collecting module, a trajectory planning module, and a GPS positioning module;
the output end of the map importing module is electrically connected with the input end of the model establishing module, the output end of the model establishing module is electrically connected with the input end of the flight control center, the output end of the flight control center is electrically connected with the input end of the trajectory planning module, and the output ends of the data acquisition module and the GPS positioning module are electrically connected with the input end of the flight control center;
flight control center is used for spraying to whole plant protection unmanned aerial vehicle's intellectuality and controls and data processing, map import module is used for leading-in the map position of the farmland that will spray the pesticide, the model building module is used for establishing the three-dimensional coordinate system according to the leading-in farmland map of map import module, a coordinate position for to plant protection unmanned aerial vehicle confirms, the environmental data that the data acquisition module is used for spraying the pesticide to plant protection unmanned aerial vehicle gathers, the planning foundation of the orbit of spraying the pesticide as plant protection unmanned aerial vehicle, the orbit planning module is used for the model according to the environmental data that the data acquisition module gathered and establishment, the orbit of flying to plant protection unmanned aerial vehicle carries out optimal planning, with this waste that reduces the pesticide, and simultaneously, avoid the strong wind to spray the pesticide repeatedly and cause the injury to crops.
The data acquisition module comprises a height acquisition unit, a wind speed acquisition unit and a wind direction acquisition unit;
the output ends of the height acquisition unit, the wind speed acquisition unit and the wind direction acquisition unit are electrically connected with the input end of the flight control center;
the height acquisition unit is used for acquiring the wind height of the plant protection unmanned aerial vehicle, the height acquisition unit is a distance sensor, the height data acquired by the height acquisition unit is represented by H, the wind speed acquisition unit is used for acquiring the wind speed of the flight environment of the plant protection unmanned aerial vehicle, the wind speed acquisition unit is a wind speed monitor, the wind speed data acquired by the wind speed acquisition unit is represented by P, the wind direction acquisition unit is used for acquiring the wind direction of the flight environment of the plant protection unmanned aerial vehicle, the wind direction acquisition unit is a wind direction monitor, and the environmental wind direction acquired by the wind direction acquisition unit is Q, wherein Q is east wind, south wind, west wind, north wind, south-east wind, north wind, west-south wind, west wind and no wind, and the height, the wind speed and the wind direction data of the working environment of the plant protection unmanned aerial vehicle are acquired, so that the flying height and the flying track, the influence of flying height, environmental wind speed and environmental wind direction factors on the attachment of the sprayed pesticide is avoided, so that the pesticide is sprayed more accurately;
the track planning module comprises a height planning unit and a direction planning unit;
the output end of the flight control center is electrically connected with the input ends of the height planning unit and the direction planning unit;
the height planning unit is used for planning the flying height of the plant protection unmanned aerial vehicle according to the actual wind speed of the working environment, avoids the condition that the wind speed is fast, the flying is high, the pesticide can not be attached to the surface of crops, the direction planning unit is used for planning the flying direction and the track of the plant protection unmanned aerial vehicle according to the actual wind direction and the wind speed of the working environment, and the damage to the crops caused by repeated spraying of the pesticide in the process is avoided.
As shown in fig. 13, the wind speed that the wind speed collection unit gathered is P, and when the plant protection unmanned aerial vehicle's that height collection unit gathered flying height was H, the contained angle when pesticide and crops contacted was theta, this moment:
wherein L is the horizontal distance between the plant protection unmanned aerial vehicle and the pesticide placement point;
the included angle theta between the pesticide and the crops is related to the wind speed P when the pesticide is sprayed, and under the condition that the pesticide is sprayed in a certain amount, the larger the wind speed P is, the smaller the included angle theta is;
setting the initial falling speed of the pesticide to V1m/s, wind speed P = V2m/s, then:
to obtain:
；
to obtain:
；
at this moment, the distance that plant protection unmanned aerial vehicle need deviate the original orbit of spraying is L, and the same direction of the wind direction that plant protection unmanned aerial vehicle deviates original flight path is gathered according to the wind direction acquisition unit, and plant protection unmanned aerial vehicle's flying height H is confirmed by down:
when the wind speed P =0, the flying height H is less than or equal to H1Wherein A is the highest flying height of the plant protection unmanned aerial vehicle for spraying pesticides;
when the wind speed P is less than or equal to B, the flying height H is less than or equal to H2Wherein, B is a set threshold value of the wind speed;
when the wind speed B is more than P and less than or equal to C, the flying height H is less than or equal to H3Wherein C is a set threshold value of the wind speed;
when P is more than C, pesticide spraying is prohibited, and the pesticide cannot be attached to the surfaces of crops.
Example two: wind speed that wind speed collection unit gathered is P =3m/s, and when height collection unit gathered plant protection unmanned aerial vehicle's flying height was H =5m, the contained angle when pesticide and crops contacted was theta, this moment:
wherein L is the horizontal distance between the plant protection unmanned aerial vehicle and the pesticide placement point;
the included angle theta between the pesticide and the crops is related to the wind speed P when the pesticide is sprayed, and under the condition that the pesticide is sprayed in a certain amount, the larger the wind speed P is, the smaller the included angle theta is;
setting the initial falling speed of the pesticide to V1Wind speed P = V =5m/s2=3m/s, then:
to obtain:
；
to obtain:
；
at this moment, the distance that plant protection unmanned aerial vehicle need deviate the original orbit of spraying is L =3m, and the same direction of the wind direction that plant protection unmanned aerial vehicle deviates original flight path is gathered according to the wind direction acquisition unit, and plant protection unmanned aerial vehicle's flying height H is confirmed by following:
wind speed P is less than or equal to B =4m/s, flying height H is less than or equal to H2=10m, where B =4m/s is one set threshold value for the wind speed.
Example three: wind speed that wind speed collection unit gathered is P =8m/s, and when height collection unit gathered plant protection unmanned aerial vehicle's flying height was H =4m, the contained angle when pesticide and crops contacted was theta, this moment:
wherein L is the horizontal distance between the plant protection unmanned aerial vehicle and the pesticide placement point;
the included angle theta between the pesticide and the crops is related to the wind speed P when the pesticide is sprayed, and under the condition that the pesticide is sprayed in a certain amount, the larger the wind speed P is, the smaller the included angle theta is;
setting the initial falling speed of the pesticide to V1Wind speed P = V =5m/s2=8m/s, then:
to obtain:
；
to obtain:
；
at this moment, the distance that plant protection unmanned aerial vehicle need deviate the original orbit of spraying is L =8m, and the same direction of the wind direction that plant protection unmanned aerial vehicle deviates original flight path is gathered according to the wind direction acquisition unit, and plant protection unmanned aerial vehicle's flying height H is confirmed by following:
when the wind speed is more than 4 and P is less than or equal to 8, the flying height H is less than or equal to H3=5m, where C =8m/s is one set threshold value for the wind speed.
Example four: wind speed that wind speed collection unit gathered is P =10m/s, and when height collection unit gathered plant protection unmanned aerial vehicle's flying height was H =3m, the contained angle when pesticide and crops contacted was theta, this moment:
wherein L is the horizontal distance between the plant protection unmanned aerial vehicle and the pesticide placement point;
the included angle theta between the pesticide and the crops is related to the wind speed P when the pesticide is sprayed, and under the condition that the pesticide is sprayed in a certain amount, the larger the wind speed P is, the smaller the included angle theta is;
setting the initial falling speed of the pesticide to V1Wind speed P = V =5m/s2=10m/s, then:
to obtain:
；
to obtain:
；
at this moment, the distance that plant protection unmanned aerial vehicle need deviate the original orbit of spraying is L =6m, and the same direction of the wind direction that plant protection unmanned aerial vehicle deviates original flight path is gathered according to the wind direction acquisition unit, and plant protection unmanned aerial vehicle's flying height H is confirmed by following:
when P is more than C =8m/s, the plant protection unmanned aerial vehicle should prohibit pesticide spraying, which may result in pesticide not being attached to the surface of crops.
The working principle is as follows: when the automatic spraying plant protection unmanned aerial vehicle capable of automatically adjusting and controlling the flight trajectory is used, firstly, the liquid medicine needs to be proportioned, then the proportioned liquid medicine is filled into the pesticide barrel 6, the plant protection unmanned aerial vehicle is moved to the position right above the pesticide barrel 6, at the moment, the pesticide barrel 6 is lifted upwards, the pesticide inlet 601 enters the limiting seat 801, the fastening spring 802 is extruded through the extrusion on the fastening plate 803, when the fastening spring 802 is extruded, the handle 602 lifts the suspension rod 703, one end of the suspension rod 703 rotates inside the hinge groove 702, when the handle 602 completely enters the L-shaped support frame 701, the suspension rod 703 falls under the action of self gravity and is in contact with the suspension groove 6021 of the handle 602, then the sealing joint 17 is connected with the first pesticide suction hose 12 on two sides of the pesticide barrel 6, the fixing and the installation of the whole pesticide barrel 6 are completed, and then the plant protection unmanned aerial vehicle is controlled to take off, controlling a pesticide pumping pump 11 to work, pumping pesticide liquid in a pesticide barrel 6 to an atomizing nozzle 15 through a first pesticide pumping hose 12 and a second pesticide pumping hose 16, and spraying the pesticide liquid on the surfaces of crops in a mist state by using the atomizing nozzle 15;
when the plant protection unmanned aerial vehicle turns or turns around to spray the medicine, the medicine liquid in the medicine barrel 6 can sway in the medicine barrel 6 due to inertia effect, so that the stability of the plant protection unmanned aerial vehicle in the flying process is influenced, at the moment, the swaying medicine liquid can upwards or downwards rotate on the driving rotating plate 609, when the rotating plate 609 upwards rotates, when the rotating plate 609 rotates to the horizontal state, the rotating plate 609 cannot continuously rotate due to the limiting effect of the rotating groove 607, at the moment, the rotating plate 609 and the blocking plate 6010 can play a certain blocking effect on the swaying medicine liquid, the further swaying of the medicine liquid in the medicine barrel 6 is avoided, the swaying of the medicine liquid in the medicine barrel 6 is reduced, the flying of the plant protection unmanned aerial vehicle is more stable, meanwhile, when the medicine liquid in the medicine barrel 6 sways, the rotating plate 609 sways up and down continuously due to the upward and downward swaying of the rotating plate 609, so that the medicine liquid can be stirred by utilizing the swaying of the, concentration inconsistency caused by liquid medicine precipitation is avoided, and meanwhile, the liquid medicine can be stirred by draining the liquid medicine through the drainage holes 6011;
when one propeller 302 of the plant protection unmanned aerial vehicle has a problem in flying, the flying of the plant protection unmanned aerial vehicle is affected and cannot keep balance, at the moment, the propeller 302 needs to be overhauled, but the overhaul of the propeller 302 causes more time waste and affects the normal spraying period of the crop liquid medicine, at the moment, the first fixing screw 307 and the second fixing screw 308 are disassembled, the machine arm 301 and the propeller 302 are disassembled, then the new machine arm 301 and the new propeller 302 are replaced, at the moment, the inserting rod 303 of the machine arm 301 which is replaced again is inserted into the inserting groove 10, the power supply is connected before the inserting rod 303 is connected, then the fixing sleeve 304 is fixed on the outer sides of the machine arm 301 and the mounting seat 9, at the moment, the first fixing screw 307 rotates to enter the mounting seat 9, the machine arm 301 and the fixing sleeve 304 to be primarily fixed, then the second fixing screw 308 is inserted into the second threaded hole 306, the first fixing screw 307 and the second fixing screw 308 are connected in a cross manner by using a nut, so that the connection is more stable;
after the liquid medicine in the pesticide barrel 6 of the plant protection unmanned aerial vehicle is completely sprayed, the plant protection unmanned aerial vehicle is recalled, the pesticide barrel 6 is lifted upwards, the hanging rod 703 is manually rotated upwards, the hanging rod 703 is retracted into the hinge groove 702, then the pesticide barrel 6 is taken down from the plant protection unmanned aerial vehicle, and the pesticide barrel 6 filled with the liquid medicine is replaced again;
when plant protection unmanned aerial vehicle's size is great, at this moment, utilize the inside slip of sliding block 604 in sliding tray 603, adjust the position of handle 602 for distance grow between the handle 602, then utilize fastening screw 605 to fix the position of handle 602, then with on the great plant protection unmanned aerial vehicle of size is installed to explosive barrel 6 can.
Claims (9)
1. The utility model provides a can adjust by oneself and control the automation of flight trajectory and spray plant protection unmanned aerial vehicle which characterized in that: the plant protection unmanned aerial vehicle comprises a main board (1), a control box (2), a flight assembly (3) and an undercarriage (4), wherein the control box (2) is fixedly arranged on the upper surface of the main board (1), and a flight control system is arranged in the control box (2);
the flight control system comprises a flight control center, a map importing module, a model establishing module, a data acquisition module, a track planning module and a GPS positioning module;
the output end of the map importing module is electrically connected with the input end of the model establishing module, the output end of the model establishing module is electrically connected with the input end of the flight control center, the output end of the flight control center is electrically connected with the input end of the trajectory planning module, and the output ends of the data acquisition module and the GPS positioning module are electrically connected with the input end of the flight control center;
the flight control center is used for controlling and processing data of intelligent spraying of the whole plant protection unmanned aerial vehicle, the map import module is used for importing the map position of a farmland to be sprayed with pesticides, the model establishment module is used for establishing a three-dimensional coordinate system according to a farmland map imported by the map import module and determining the coordinate position of the plant protection unmanned aerial vehicle, the data acquisition module is used for acquiring environment data of pesticide spraying of the plant protection unmanned aerial vehicle and is used as a planning basis of a pesticide spraying track of the plant protection unmanned aerial vehicle, and the track planning module is used for optimally planning the flight track of the plant protection unmanned aerial vehicle according to the environment data acquired by the data acquisition module and the established model;
the storage battery is arranged in the main board (1), a plurality of flight assemblies (3) are arranged on the edge of the main board (1), and each flight assembly (3) comprises a machine arm (301), a propeller (302), an insertion rod (303), a fixing sleeve (304), a first threaded hole (305), a second threaded hole (306), a first fixing screw (307) and a second fixing screw (308);
the mounting seat (9) is internally provided with a machine arm (301) through an inserting rod (303), one end of the machine arm (301) is provided with a propeller (302), the outer side of the machine arm (301) is sleeved with a fixed sleeve (304), the mounting seat (9), the inserting rod (303), the machine arm (301) and the fixed sleeve (304) are transversely provided with a first threaded hole (305), the mounting seat (9), the inserting rod (303), the machine arm (301) and the fixed sleeve (304) are longitudinally provided with a second threaded hole (306), the fixed sleeve (304) is sleeved at the joint of the machine arm (301) and the mounting seat (9), the first threaded hole (305) on the inserting rod (303) is overlapped with the first threaded hole (305) at one end of the mounting seat (9) and the fixed sleeve (304), the second threaded hole (306) on the inserting rod (303) is overlapped with the second threaded hole (306) at one end of the mounting seat (9) and the fixed sleeve (304), a first threaded hole (305) in the machine arm (301) is overlapped with a first threaded hole (305) in a fixing sleeve (304), a second threaded hole (306) in the machine arm (301) is overlapped with a second threaded hole (306) in the fixing sleeve (304), a first fixing screw (307) is inserted into the first threaded hole (305), and a second fixing screw (308) is inserted into the second threaded hole (306);
a connecting groove (309) is formed in the lower middle part of the second fixing screw (308), and only one end of the second fixing screw (308) is provided with a thread;
the lower surface of the main board (1) is provided with an undercarriage (4), the outer side of the undercarriage (4) is provided with a pesticide spraying rod (5), the middle part of the lower surface of the main board (1) is provided with a pesticide barrel (6) for containing pesticide, the pesticide barrel (6) is fixedly connected with the main board (1) through a hasp (7), and the pesticide barrel (6) is accurately installed in position through a limiting assembly (8);
the aircraft is characterized in that a mounting seat (9) is arranged at the position where the main board (1) is provided with the flight assembly (3), an inserting groove (10) is formed in the mounting seat (9), and a power plug is further arranged in the inserting groove (10).
2. The automatic spraying plant protection unmanned aerial vehicle of claim 1, which can adjust and control flight trajectory by itself, is characterized in that: the data acquisition module comprises a height acquisition unit, a wind speed acquisition unit and a wind direction acquisition unit;
the output ends of the height acquisition unit, the wind speed acquisition unit and the wind direction acquisition unit are electrically connected with the input end of the flight control center;
the height acquisition unit is used for acquiring the wind height of the plant protection unmanned aerial vehicle, the height acquisition unit is a distance sensor, the height data acquired by the height acquisition unit is represented by H, the wind speed acquisition unit is used for acquiring the wind speed of the flight environment where the plant protection unmanned aerial vehicle is located, the wind speed acquisition unit is a wind speed monitor, the wind speed data acquired by the wind speed acquisition unit is represented by P, the wind direction acquisition unit is used for acquiring the wind direction of the flight environment where the plant protection unmanned aerial vehicle is located, the wind direction acquisition unit is a wind direction monitor, the environmental wind direction acquired by the wind direction acquisition unit is Q, and Q is east wind, south wind, west wind, north wind, south-east wind, north-east wind, west-south wind, west-north wind and no wind;
the track planning module comprises a height planning unit and a direction planning unit;
the output end of the flight control center is electrically connected with the input ends of the height planning unit and the direction planning unit;
the height planning unit is used for planning the flight height of the plant protection unmanned aerial vehicle according to the actual wind speed of the working environment, and the direction planning unit is used for planning the flight direction and the track of the plant protection unmanned aerial vehicle according to the actual wind direction and the wind speed of the working environment.
3. The automatic spraying plant protection unmanned aerial vehicle of claim 2 that can adjust and control flight trajectory by oneself, its characterized in that: the wind speed that the wind speed collection unit gathered is P, when height collection unit gathered plant protection unmanned aerial vehicle's flying height was H, contained angle when pesticide and crops contact was theta, this moment:
wherein L is the horizontal distance between the plant protection unmanned aerial vehicle and the pesticide placement point;
the included angle theta between the pesticide and the crops is related to the wind speed P when the pesticide is sprayed, and under the condition that the pesticide is sprayed in a certain amount, the larger the wind speed P is, the smaller the included angle theta is;
setting the initial falling speed of the pesticide to V1m/s, the wind speed P = V2m/s, then:
to obtain:
to obtain:
at this moment, the distance that plant protection unmanned aerial vehicle need deviate the original orbit of spraying is L, the same direction of the wind direction that plant protection unmanned aerial vehicle deviates original flight path is gathered according to the wind direction acquisition unit, plant protection unmanned aerial vehicle's flying height H is confirmed by following:
when the wind speed P =0, the flying height H is less than or equal toh1Wherein A is the highest flying height of the plant protection unmanned aerial vehicle for spraying pesticides;
when the wind speed P is less than or equal to B, the flying height H is less than or equal to H2Wherein, B is a set threshold value of the wind speed;
when the wind speed B is more than P and less than or equal to C, the flying height H is less than or equal to H3Wherein C is a set threshold value of the wind speed;
when P is more than C, pesticide spraying is prohibited, and the pesticide cannot be attached to the surfaces of crops.
4. The automatic spraying plant protection unmanned aerial vehicle of claim 1, which can adjust and control flight trajectory by itself, is characterized in that: the limiting assembly (8) comprises a limiting seat (801), a fastening spring (802), a fastening plate (803), a first air inlet hole (804) and a second air inlet hole (805);
a limiting seat (801) is fixedly installed in the middle of the lower surface of the main board (1), a plurality of fastening springs (802) are installed at the top end inside the limiting seat (801), the lower ends of the fastening springs (802) are located inside the limiting seat (801), fastening plates (803) are installed inside the limiting seat (801), a first air inlet hole (804) is formed in the middle of each fastening plate (803), and a second air inlet hole (805) is formed in the edge portion of the top end of the limiting seat (801);
a medicine inlet (601) is formed in the top end of the medicine barrel (6), and handles (602) are arranged on two sides of the medicine inlet (601);
the hasp (7) comprises an L-shaped support frame (701), a hinge groove (702) and a suspension rod (703);
the L-shaped support frames (701) are arranged on the lower surface of the main board (1) in a splayed mode, the distance between the bottom ends of the L-shaped support frames (701) is larger than the width of the handle (602), hinge grooves (702) penetrate through the L-shaped support frames (701), and suspension rods (703) are hinged and arranged in the hinge grooves (702);
an upward hanging groove (6021) is arranged in the middle of the handle (602).
5. The automatic spraying plant protection unmanned aerial vehicle of claim 4, characterized in that can adjust and control flight path by oneself: a sliding groove (603) is formed in the upper surface of the medicine barrel (6) below the handle (602), a sliding block (604) is arranged in the sliding groove (603) in a sliding mode, the sliding block (604) is fixedly connected with the handle (602), and fastening screws (605) are arranged at two ends of the handle (602) in a downward mode through the handle (602).
6. The automatic spraying plant protection unmanned aerial vehicle of claim 5, which can adjust and control flight path by itself, is characterized in that: a plurality of fixed slots (606) have been seted up to explosive barrel (6) inside lateral wall, fixed slot (606) are close to explosive barrel (6) inside one side and have been seted up and have been rotated groove (607), fixed link (608) are installed in fixed slot (606) inside rotation, fixed link (608) one side fixed mounting has rotor plate (609), baffle plate (6010) are installed to rotor plate (609) one side, run through on rotor plate (609) and seted up a plurality of drainage hole (6011).
7. The automatic spraying plant protection unmanned aerial vehicle of claim 6, characterized in that can adjust and control flight path by oneself: the cross section of the rotating groove (607) is in a sector shape, the upper side of the sector shape is parallel to the horizontal plane, and the included angle of the sector shape is 0-45 degrees.
8. The automatic spraying plant protection unmanned aerial vehicle of claim 7, which can adjust and control flight trajectory by itself, is characterized in that: medicine pump (11) are installed to medicine bucket (6) inside bottom, first medicine hose (12) of drawing is connected in medicine pump (11), the part outside that first medicine hose (12) of drawing is located medicine bucket (6) inside slides and has cup jointed and float ball (13).
9. The automatic spraying plant protection unmanned aerial vehicle of claim 8, which can adjust and control flight trajectory by itself, is characterized in that: spout fixed mounting and have solid fixed ring (14) of a plurality of on medicine pole (5), install atomizer (15) on solid fixed ring (14), draw medicine hose (16) through the second between atomizer (15) and connect, the second is drawn medicine hose (16) one end and is passed through sealing joint (17) and be connected with medicine bucket (6) inside first medicine hose (12) of drawing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011367377.2A CN112340028A (en) | 2020-11-30 | 2020-11-30 | Automatic spraying plant protection unmanned aerial vehicle capable of automatically adjusting and controlling flight trajectory |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011367377.2A CN112340028A (en) | 2020-11-30 | 2020-11-30 | Automatic spraying plant protection unmanned aerial vehicle capable of automatically adjusting and controlling flight trajectory |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112340028A true CN112340028A (en) | 2021-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011367377.2A Withdrawn CN112340028A (en) | 2020-11-30 | 2020-11-30 | Automatic spraying plant protection unmanned aerial vehicle capable of automatically adjusting and controlling flight trajectory |
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| Country | Link |
|---|---|
| CN (1) | CN112340028A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113232865A (en) * | 2021-06-18 | 2021-08-10 | 仲恺农业工程学院 | Agricultural unmanned aerial vehicle pesticide spraying system and method based on machine vision |
| CN114229005A (en) * | 2021-12-20 | 2022-03-25 | 华南农业大学 | Airborne spraying wind shielding downward moving device and flight target following operation method |
| WO2024089123A1 (en) * | 2022-10-25 | 2024-05-02 | Basf Agro Trademarks Gmbh | Method for providing control data for a drone |
-
2020
- 2020-11-30 CN CN202011367377.2A patent/CN112340028A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113232865A (en) * | 2021-06-18 | 2021-08-10 | 仲恺农业工程学院 | Agricultural unmanned aerial vehicle pesticide spraying system and method based on machine vision |
| CN113232865B (en) * | 2021-06-18 | 2022-05-24 | 仲恺农业工程学院 | Agricultural unmanned aerial vehicle pesticide spraying system and method based on machine vision |
| CN114229005A (en) * | 2021-12-20 | 2022-03-25 | 华南农业大学 | Airborne spraying wind shielding downward moving device and flight target following operation method |
| CN114229005B (en) * | 2021-12-20 | 2023-08-29 | 华南农业大学 | Airborne spraying wind shield downshifting device and flight target following operation method |
| WO2024089123A1 (en) * | 2022-10-25 | 2024-05-02 | Basf Agro Trademarks Gmbh | Method for providing control data for a drone |
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Application publication date: 20210209 |