CN112550715A - Sowing system and sowing method for agricultural and forestry unmanned aerial vehicle - Google Patents
Sowing system and sowing method for agricultural and forestry unmanned aerial vehicle Download PDFInfo
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- CN112550715A CN112550715A CN202011452428.1A CN202011452428A CN112550715A CN 112550715 A CN112550715 A CN 112550715A CN 202011452428 A CN202011452428 A CN 202011452428A CN 112550715 A CN112550715 A CN 112550715A
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- 238000009331 sowing Methods 0.000 title claims abstract description 80
- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000012773 agricultural material Substances 0.000 claims abstract description 71
- 238000003860 storage Methods 0.000 claims abstract description 54
- 238000005507 spraying Methods 0.000 claims abstract description 53
- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 238000005485 electric heating Methods 0.000 claims description 22
- 239000007921 spray Substances 0.000 claims description 21
- 238000012544 monitoring process Methods 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 238000009826 distribution Methods 0.000 claims description 10
- 230000001681 protective effect Effects 0.000 claims description 7
- 238000007599 discharging Methods 0.000 claims description 6
- 238000003892 spreading Methods 0.000 claims description 6
- 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 description 3
- 210000001015 abdomen Anatomy 0.000 claims description 3
- 239000000446 fuel Substances 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 claims 1
- 239000012530 fluid Substances 0.000 abstract description 3
- 238000009417 prefabrication Methods 0.000 abstract 1
- 108010066278 cabin-4 Proteins 0.000 description 5
- 238000012271 agricultural production Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005253 cladding Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/007—Metering or regulating systems
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
- A01C23/047—Spraying of liquid fertilisers
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0071—Construction of the spray booms
-
- 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
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- 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
- B64D47/00—Equipment not otherwise provided for
-
- 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
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- 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
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
-
- 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
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Aviation & Aerospace Engineering (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Water Supply & Treatment (AREA)
- Soil Sciences (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a sowing system for an agricultural and forestry unmanned aerial vehicle, which comprises a bearing base, an electromagnetic positioning pin, a positioning electromagnet, a storage cabin, a spraying port and a telescopic mechanical arm, wherein the electromagnetic positioning pin is connected with the outer side surface of the upper end surface of the bearing base, the positioning electromagnet is embedded in the upper end surface of the bearing base, the storage cabin is embedded in the bearing base, the telescopic mechanical arm is hinged with the side surface of the bearing base through a turntable mechanism, and the spraying port is hinged with the lower end surface of the telescopic mechanical arm through the turntable mechanism. The sowing method comprises four steps of equipment assembly, equipment prefabrication, sowing operation, agricultural material supply and the like. On one hand, the invention can effectively meet the requirements of the sowing operation of various different types of fluid agricultural materials and can effectively meet the requirements of the matched operation of various structural types of unmanned aerial vehicles; on the other hand, the working efficiency and precision of the agricultural material sowing operation can be effectively improved, the agricultural material utilization rate is improved, the agricultural material loss is reduced, and the agricultural material cost of the sowing operation is reduced.
Description
Technical Field
The invention relates to a system and a method for sowing agricultural materials, in particular to a system, a method and a method for sowing agricultural and forestry unmanned aerial vehicles.
Background
Therefore, aiming at the problem, a brand-new agricultural material sowing system is urgently needed to be developed, so that the aims of solving the defects existing in the current agricultural production and improving the agricultural production efficiency and the economic value are fulfilled.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a sowing system and a sowing method for an agricultural and forestry unmanned aerial vehicle, so as to achieve the purpose of improving the agricultural production efficiency and the economic value.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a sowing system for an agricultural and forestry unmanned aerial vehicle comprises a bearing base, electromagnetic positioning pins, positioning electromagnets, a storage cabin, a spraying pump, a spraying port, telescopic mechanical arms, a flow guide pipe, a distance measuring device, a monitoring camera and a driving circuit, wherein the bearing base is of a frame structure with a rectangular cross section, at least four electromagnetic positioning pins are uniformly distributed around the bearing base and are connected with the outer side surface of the upper end surface of the bearing base, the lower end surface of each electromagnetic positioning pin is hinged with the bearing base through a turntable mechanism, the upper end surface of each electromagnetic positioning pin exceeds the upper end surface of the bearing base by 0-50 cm, the axial angles of the electromagnetic positioning pins and the upper end surface of the bearing base are 0-90 degrees, the positioning electromagnets are embedded in the upper end surface of the bearing base and are uniformly distributed around the axial line of the bearing base, at least one storage cabin is embedded in the bearing base and is connected with the inner, the two sides of the bearing base are symmetrically distributed and hinged with the side surface of the bearing base through a rotary table mechanism, the axis of the telescopic mechanical arm and the bearing base form an included angle of 0-180 degrees, a plurality of spray ports are uniformly distributed along the axis direction of the telescopic mechanical arm and hinged with the lower end surface of the telescopic mechanical arm through the rotary table mechanism, the spray ports are connected in parallel and are respectively communicated with a spray pump through a guide pipe, the spray pumps are embedded in the bearing base and are connected with the bottom of the bearing base and are communicated with the storage cabins through the guide pipes, each storage cabin is communicated with at least one spray pump to form a working group, the guide pipes are embedded in the telescopic mechanical arm and are connected with the telescopic mechanical arm in a sliding manner, a plurality of distance measuring devices and a plurality of monitoring cameras are arranged, one distance measuring device and one monitoring camera form a monitor, and the axes of the distance measuring devices and the monitoring cameras in the same, the monitor is respectively hinged with the lower end face of the bearing base and the front end face of the telescopic mechanical arm through the turntable mechanism, the axis of each monitor forms an included angle of 0-180 degrees with the horizontal plane, and the driving circuit is embedded in the bearing base and is respectively electrically connected with the electromagnetic positioning pin, the positioning electromagnet, the storage cabin, the spray pump, the telescopic mechanical arm, the distance measuring device and the monitoring camera.
Further, bear terminal surface establish signal indicator, carrier post, locating plate under the base, inside establish auxiliary power supply, wherein the pilot lamp is at least three, encircles and bears the base axis equipartition, and signal indicator optical axis and bear the base under the terminal surface vertical distribution, carrier post symmetric distribution bears base axis both sides, its up end through revolving stage mechanism with bear the base under the terminal surface articulated and personally submit 0-135 contained angle with the level, the terminal surface passes through revolving stage mechanism and locating plate up end and passes through revolving stage mechanism articulated under the carrier post, just locating plate under the terminal surface and horizontal plane parallel distribution, auxiliary power supply, signal indicator and revolving stage mechanism all with drive circuit electrical connection.
Furthermore, the bearing column is an electric telescopic rod, the transverse section of the positioning plate is of a U-shaped structure or an inverted isosceles trapezoid groove-shaped structure, and the area of the lower end face of the positioning plate is at least 3 times that of the lower end face of the bearing column.
Further, the storage cabin with bear the base internal surface and pass through spout sliding connection, including bearing cavity, control valve, connector head, level sensor, temperature sensor, electric heating wire and lag, bearing the cavity and being airtight cavity structures, the charge door is established to its up end, and the bin outlet is established to lower terminal surface, and wherein the bin outlet passes through control valve and honeycomb duct intercommunication, and the charge door passes through control valve and connector head intercommunication, the connector head inlays in bearing the base up end to with bear the base up end vertical distribution, the lag height is for bearing 20% -80% of cavity height, the cladding is outside bearing the cavity and with bear the cavity coaxial distribution, and bears the temperature adjusting cavity that constitutes the width between cavity surface and lag and be 5-20 millimeters, electric heating wire inlays in temperature adjusting cavity to be the distribution of heliciform structure around bearing the cavity axis, level sensor, the feeder head passes through spout sliding connection, the material level sensor, temperature adjusting, Temperature sensor all inlays in bearing the weight of the intracavity to encircle and bear the weight of the chamber axis equipartition and bear the weight of the chamber top, control valve, level sensor, temperature sensor, electric heating wire all with drive circuit electrical connection.
Furthermore, the telescopic mechanical arm comprises bearing arms, driving guide rails, positioning buckles, a displacement sensor, an electric heating wire, a temperature sensor and a wiring terminal, wherein the bearing arms are of a framework structure with the cross section in the shape of an Jiong-shaped groove, the rear end face of one bearing arm is hinged with the bearing base through a turntable mechanism, the bearing arm far away from one side of the bearing base is embedded in the bearing arm close to one side of the bearing base between two adjacent bearing arms, the two bearing arms are connected in a sliding manner through at least two driving guide rails, an isolation gap not smaller than 5 mm is arranged between the two bearing arms in the sliding manner, a plurality of spraying ports are respectively hinged with the lower end face of each bearing arm through the turntable mechanism, the axis of each spraying port forms an included angle of 0-180 degrees with the horizontal plane, the spraying ports are connected in parallel, and are communicated with the spraying pump through the same flow guide pipe between the spraying ports connected with the same bearing arm, the honeycomb duct inlays in bearing the weight of the arm lateral wall to detain and bear the weight of the arm and be connected through the location, electric heating wire quantity is unanimous with honeycomb duct quantity, and every honeycomb duct surface all is connected with an electric heating wire, temperature sensor quantity with bear the weight of the arm quantity unanimous, every bears the weight of the arm up end and all establishes a temperature sensor, displacement sensor quantity with bear the weight of the arm quantity unanimously, and every bears the weight of the arm and is connected the face and establish a displacement sensor between, drive guide rail, displacement sensor, electric heating wire, temperature sensor all with binding post electrical connection, binding post inlays in bearing the arm and bears the operation face that the base is connected to through wire and drive circuit electrical connection.
Furthermore, the number of the spraying pumps is consistent with that of the telescopic mechanical arms, each spraying port on each bearing arm is communicated with the same spraying pump through a flow guide pipe, the spraying pumps are connected with each other through multi-way valves and communicated with the storage cabin, and the multi-way valves are electrically connected with the driving circuit.
Furthermore, the turntable mechanism is any one of a two-dimensional turntable and a three-dimensional turntable driven by a stepping motor, and the turntable mechanism is provided with an angle sensor which is electrically connected with a driving circuit.
Furthermore, the driving control circuit is a circuit system based on any one of the FPG A, DSP chips, and the driving circuit is additionally provided with a charging and discharging control circuit and a multi-path stabilized voltage supply.
A sowing method of a sowing system for an agricultural and forestry unmanned aerial vehicle comprises the following steps;
s1, assembling equipment, namely selecting the number and the volume of storage cabins in a bearing base according to the types of agricultural goods to be sprayed and the spraying operation amount, then assembling the bearing base, an electromagnetic positioning pin, a positioning electromagnet, the storage cabins, a spraying pump, a spraying port, a telescopic mechanical arm, a flow guide pipe, a distance measuring device, a monitoring camera and a driving circuit which form the unmanned aerial vehicle equipment, and connecting and positioning the unmanned aerial vehicle equipment belly through the positioning electromagnet on one hand after the unmanned aerial vehicle equipment is assembled; on the other hand, the electromagnetic positioning pin is connected with the unmanned aerial vehicle, and the driving circuit of the invention is electrically connected with the flight control circuit of the unmanned aerial vehicle, thereby completing the assembly operation of the invention;
s2, prefabricating equipment, adding agricultural materials to be sown into the storage cabin through the connector head after the step S1 is completed, and driving the unmanned aerial vehicle to synchronously run along with the unmanned aerial vehicle after the agricultural material is added; after the unmanned aerial vehicle flies to the place above the spreading operation position along with the unmanned aerial vehicle, on one hand, the distance between the unmanned aerial vehicle and the ground surface is measured through a distance measuring device and a monitoring camera, and the distance between the unmanned aerial vehicle and the ground plane is adjusted according to the requirement of the spreading operation; on the other hand, the length of the telescopic mechanical arm, and the included angle and the distance between the telescopic mechanical arm and the horizontal plane are adjusted according to the requirement of spraying operation, so that the requirement of sowing operation is met;
s3, sowing operation, wherein after the setting of the step S2 is completed, the agricultural materials in the storage cabin are pressurized by each spray pump, and the pressurized agricultural materials are directly sprayed and sowed through each spray port, so that the requirement of sowing operation on crops is completed;
and S4, supplying agricultural materials, wherein when the agricultural materials are sowed in the storage bin, the agricultural materials are landed to the agricultural material supply position along with the unmanned aerial vehicle after being sowed, supplying the agricultural materials and sowing again after the supply is finished.
Further, in the step S3, during the sowing operation, on one hand, the agricultural materials are heated by the electric heating wires of the storage bin and the telescopic mechanical arm, so as to prevent equipment failure caused by low-temperature icing; on the other hand, when in sowing operation, the auxiliary power supply of the invention provides the sowing operation power for the power when the spraying pump runs.
Further, in the step S4, when the agricultural material supply work is performed, the supply is performed in any one of the following two ways:
firstly, after the unmanned aerial vehicle lands, external agricultural materials to be sown are directly filled into a storage cabin through a connector head of the storage cabin, and meanwhile, an auxiliary power supply is charged and the unmanned aerial vehicle is replenished with fuel, so that agricultural material replenishing operation is completed;
secondly, when the unmanned aerial vehicle carries out agricultural material sowing operation, a plurality of storage cabins which are in a standby state and are on the ground are synchronously filled with agricultural materials and charged for standby, a plurality of standby unmanned aerial vehicles are arranged for standby at the same time, when the unmanned aerial vehicle finishes agricultural material sowing in the current storage cabin, the sowing system for finishing sowing is rapidly dismantled through electromagnetic positioning pins and positioning electromagnets, and then the unmanned aerial vehicle and the sowing system are reassembled according to operation requirements, so that the agricultural material replenishing operation is finished;
on one hand, the unmanned aerial vehicle has high integration and modularization degree, high operation automation degree and high intelligent degree, can effectively meet the requirements of the sowing operation of various different types of fluid agricultural materials, can effectively meet the requirements of the matched operation of various structural types of unmanned aerial vehicles, and greatly improves the flexibility and the universality of the unmanned aerial vehicle; on the other hand, in the sowing operation, the invention can effectively improve the working efficiency and precision of the agricultural material sowing operation, improve the utilization rate of the agricultural material, reduce the consumption of the agricultural material, reduce the cost of the agricultural material in the sowing operation, simultaneously effectively improve the working efficiency of the agricultural material supply and replacement operation in the agricultural material sowing process, and reduce the labor intensity and the cost.
Drawings
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a storage tank structure;
FIG. 3 is a schematic view of a telescopic robot arm structure;
FIG. 4 is a flow chart of the method of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in figures 1-3, a sowing system for an agricultural and forestry unmanned aerial vehicle comprises a bearing base 1, electromagnetic positioning pins 2, positioning electromagnets 3, a storage cabin 4, a spraying pump 12, a spraying port 5, a telescopic mechanical arm 6, a flow guide pipe 7, a distance measuring device 8, a monitoring camera 9 and a driving circuit 10, wherein the bearing base 1 is of a frame structure with a rectangular cross section, at least four electromagnetic positioning pins 2 are uniformly distributed around the bearing base 1 and are connected with the outer side surface of the upper end surface of the bearing base 1, the lower end surface of each electromagnetic positioning pin 2 is hinged with the bearing base 1 through a turntable mechanism 11, the upper end surface of each electromagnetic positioning pin exceeds the upper end surface of the bearing base 1 by 0-50 cm, the axial line of each electromagnetic positioning pin 2 forms an included angle of 0-90 degrees with the upper end surface of the bearing base 1, the positioning electromagnets 3 are embedded in the upper end surface of the bearing base 1 and are uniformly distributed around the axial line of the bearing base 1, at, the axes of the storage cabins 4 are vertically distributed with the horizontal plane, at least two telescopic mechanical arms 6 are symmetrically distributed on two sides of the bearing base 1 and are hinged with the side surface of the bearing base 1 through a turntable mechanism 11, the axes of the telescopic mechanical arms 6 and the bearing base 1 form an included angle of 0-180 degrees, a plurality of spray ports 5 are uniformly distributed along the axis direction of the telescopic mechanical arms 6 and are hinged with the lower end surface of the telescopic mechanical arms 6 through the turntable mechanism 11, the spray ports 5 are mutually connected in parallel and are respectively communicated with a spray pump 12 through a guide pipe 7, the spray pumps 12 are embedded in the bearing base 1 and are connected with the bottom of the bearing base 1 and are communicated with the storage cabins 4 through the guide pipe 7, each storage cabin 4 is communicated with at least one spray pump 12 to form a working group, the guide pipe 7 is embedded in the telescopic mechanical arms 6 and is connected with the telescopic mechanical arms 6 in a sliding way, a distance measuring device 8 and, and a distance measuring device 8 and surveillance camera 9 constitute a watch-dog, and distance measuring device 8 in the same watch-dog, surveillance camera 9 axis parallel distribution, the watch-dog is articulated through revolving stage mechanism 11 with bearing base 1 lower terminal surface and flexible arm 6 preceding terminal surface respectively, and each watch-dog axis is 0 ~ 180 contained angle with the level, drive circuit 10 inlays in bearing base 1 to respectively with electromagnetic positioning pin 2, location electro-magnet 3, storage cabin 4, spray pump 12, flexible arm 6, distance measuring device 8, surveillance camera 9 electrical connection.
In this embodiment, the lower end surface of the bearing base 1 is provided with at least three signal indicator lamps 13, bearing columns 14 and a positioning plate 15, the interior of the bearing base 1 is provided with an auxiliary power supply 16, wherein the signal indicator lamps 13 are uniformly distributed around the axis of the bearing base 1, the optical axes of the signal indicator lamps 13 are vertically distributed with the lower end surface of the bearing base 1, the bearing columns 14 are symmetrically distributed on two sides of the axis of the bearing base 1, the upper end surfaces of the bearing columns are hinged with the lower end surface of the bearing base 1 through a turntable mechanism 12 and form an included angle of 0-135 degrees with the horizontal plane, the lower end surface of the bearing column 14 is hinged with the upper end surface of the positioning plate 15 through the turntable mechanism 11, the lower end surface of the positioning plate 15 is parallel to the horizontal plane, and the auxiliary power supply 16, the signal.
Preferably, the support columns 14 are electric telescopic rods, the cross section of the positioning plate 15 is a U-shaped structure or an inverted isosceles trapezoid groove-shaped structure, and the area of the lower end surface of the positioning plate 15 is at least 3 times that of the lower end surface of the support columns 14.
It is important to explain that the storage cabin 4 is slidably connected with the inner surface of the bearing base 1 through a sliding chute 17, and comprises a bearing cavity 41, a control valve 42, a connector 43, a liquid level sensor 44, a temperature sensor 45, an electric heating wire 46 and a protective sleeve 47, wherein the bearing cavity 41 is of a closed cavity structure, the upper end surface of the bearing cavity 41 is provided with a charging opening 48, the lower end surface of the bearing cavity is provided with a discharging opening 49, the discharging opening 49 is communicated with the flow guide pipe 7 through a control valve 40, the charging opening 48 is communicated with the connector 43 through the control valve 42, the connector 43 is embedded in the upper end surface of the bearing base 1 and is vertically distributed with the upper end surface of the bearing base 1, the height of the protective sleeve 47 is 20% -80% of the height of the bearing cavity 41, the protective sleeve covers the bearing cavity 41 and is coaxially distributed with the bearing cavity 41, a temperature regulating cavity 401 with the width of 5-20 mm is formed between the outer, and is distributed around bearing cavity 41 axis and is the heliciform structure, level sensor 44, temperature sensor 45 all inlay in bearing cavity 41 to encircle bearing cavity 41 axis and equipartition at bearing cavity 41 top, control valve 40, level sensor 44, temperature sensor 45, electric heating wire 46 all with drive circuit 10 electrical connection.
Meanwhile, it is worth to particularly describe, the telescopic mechanical arm 6 includes bearing arms 61, driving guide rails 62, positioning buckles 63, displacement sensors 64, electric heating wires 65, temperature sensors 45 and connecting terminals 66, wherein the bearing arms 61 are frame structures whose cross sections are shaped like a Chinese character 'Jiong', the rear end face of one of the bearing arms 61 is hinged to the bearing base 1 through a turntable mechanism 11, the bearing arm 61 far away from one side of the bearing base 1 is embedded in the bearing arm 61 near one side of the bearing base 1 between two adjacent bearing arms 61, the two bearing arms 61 are connected in a sliding manner through at least two driving guide rails 62, an isolation gap not smaller than 5 mm is arranged between the two bearing arms 61 in the sliding manner, a plurality of spraying ports 5 are respectively hinged to the lower end faces of the bearing arms 61 through the turntable mechanism 11, and the axis of the spraying port 5 forms an included angle of 0-180 degrees with the horizontal plane, the spraying ports 5 are connected in parallel, and the spray ports 5 connected with the same bearing arm 61 are communicated with the spray pump 12 through the same guide pipe 7, the guide pipe 7 is embedded in the side wall of the bearing arm 61, and is connected with the bearing arm 61 through a positioning buckle 63, the number of the electric heating wires 65 is the same as that of the honeycomb ducts 7, the outer surface of each honeycomb duct 7 is connected with one electric heating wire 65, the number of the temperature sensors 45 is the same as that of the bearing arms 61, one temperature sensor 45 is arranged on the upper end surface of each bearing arm 61, the number of the displacement sensors 64 is the same as that of the bearing arms 61, and a displacement sensor 64 is arranged between the connecting surface of each bearing arm 61 and the driving guide rail 62, the displacement sensor 64, the electric heating wire 65 and the temperature sensor 45 are all electrically connected with a connecting terminal 66, the connecting terminal 66 is embedded in the working surface where the bearing arm 61 is connected with the bearing base 1, and is electrically connected with the driving circuit 10 through a conducting wire.
In addition, the number of the spraying pumps 12 is the same as that of the telescopic mechanical arms 6, each spraying port 5 on each bearing arm 61 is communicated with the same spraying pump 12 through a flow guide pipe 7, the spraying pumps 12 are mutually connected through a multi-way valve 18 and are communicated with the storage cabin 4, and the multi-way valve 18 is electrically connected with the driving circuit 10.
Preferably, the turntable mechanism 11 is any one of a two-dimensional turntable and a three-dimensional turntable driven by a stepping motor, and the turntable mechanism 11 is provided with an angle sensor 12, and the angle sensor 12 is electrically connected with the driving circuit 10.
In this embodiment, the driving control circuit 10 is a circuit system based on any one of FPGA and DSP chips, and the driving circuit is additionally provided with a charging and discharging control circuit and a multi-path voltage-stabilized power supply.
As shown in fig. 4, a sowing method of a sowing system for an agricultural and forestry unmanned aerial vehicle comprises the following steps;
s1, assembling equipment, namely selecting the number and the volume of storage cabins in a bearing base according to the types of agricultural goods to be sprayed and the spraying operation amount, then assembling the bearing base, an electromagnetic positioning pin, a positioning electromagnet, the storage cabins, a spraying pump, a spraying port, a telescopic mechanical arm, a flow guide pipe, a distance measuring device, a monitoring camera and a driving circuit which form the unmanned aerial vehicle equipment, and connecting and positioning the unmanned aerial vehicle equipment belly through the positioning electromagnet on one hand after the unmanned aerial vehicle equipment is assembled; on the other hand, the electromagnetic positioning pin is connected with the unmanned aerial vehicle, and the driving circuit of the invention is electrically connected with the flight control circuit of the unmanned aerial vehicle, thereby completing the assembly operation of the invention;
s2, prefabricating equipment, adding agricultural materials to be sown into the storage cabin through the connector head after the step S1 is completed, and driving the unmanned aerial vehicle to synchronously run along with the unmanned aerial vehicle after the agricultural material is added; after the unmanned aerial vehicle flies to the place above the spreading operation position along with the unmanned aerial vehicle, on one hand, the distance between the unmanned aerial vehicle and the ground surface is measured through a distance measuring device and a monitoring camera, and the distance between the unmanned aerial vehicle and the ground plane is adjusted according to the requirement of the spreading operation; on the other hand, the length of the telescopic mechanical arm, and the included angle and the distance between the telescopic mechanical arm and the horizontal plane are adjusted according to the requirement of spraying operation, so that the requirement of sowing operation is met;
s3, sowing operation, wherein after the setting of the step S2 is completed, the agricultural materials in the storage cabin are pressurized by each spray pump, and the pressurized agricultural materials are directly sprayed and sowed through each spray port, so that the requirement of sowing operation on crops is completed;
and S4, supplying agricultural materials, wherein when the agricultural materials are sowed in the storage bin, the agricultural materials are landed to the agricultural material supply position along with the unmanned aerial vehicle after being sowed, supplying the agricultural materials and sowing again after the supply is finished.
In the step S3, during sowing, on one hand, agricultural materials are heated by the electric heating wires of the storage bin and the telescopic mechanical arm, so as to prevent equipment failure caused by low-temperature icing; on the other hand, when in sowing operation, the auxiliary power supply of the invention provides the sowing operation power for the power when the spraying pump runs.
In this embodiment, in the step S4, when the agricultural material replenishing operation is performed, the agricultural material is replenished in one of the following two ways:
firstly, after the unmanned aerial vehicle lands, external agricultural materials to be sown are directly filled into a storage cabin through a connector head of the storage cabin, and meanwhile, an auxiliary power supply is charged and the unmanned aerial vehicle is replenished with fuel, so that agricultural material replenishing operation is completed;
secondly, when the unmanned aerial vehicle carries out agricultural material sowing operation, a plurality of storage cabins which are in a standby state on the ground are synchronously filled with agricultural materials and charged for standby, a plurality of standby unmanned aerial vehicles are arranged for standby at the same time, when the unmanned aerial vehicle finishes agricultural material sowing in the current storage cabin, the sowing system for finishing sowing is rapidly disassembled through electromagnetic positioning pins and positioning electromagnets, and then the unmanned aerial vehicle and the sowing system are assembled again according to operation requirements, so that the agricultural material replenishing operation is finished.
On one hand, the unmanned aerial vehicle has high integration and modularization degree, high operation automation degree and high intelligent degree, can effectively meet the requirements of the sowing operation of various different types of fluid agricultural materials, can effectively meet the requirements of the matched operation of various structural types of unmanned aerial vehicles, and greatly improves the flexibility and the universality of the unmanned aerial vehicle; on the other hand, the invention can effectively improve the working efficiency and the land of the agricultural material sowing operation in the sowing operation, and simultaneously can effectively improve the working efficiency of the agricultural material supply and replacement operation in the agricultural material sowing process, and reduce the labor intensity and the cost.
It will be appreciated by persons skilled in the art that the present invention is not limited by the embodiments described above. The foregoing embodiments and description have been presented only to illustrate the principles of the invention. Various changes and modifications can be made without departing from the spirit and scope of the invention. Such variations and modifications are intended to be within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an agriculture and forestry unmanned aerial vehicle is with broadcasting system which characterized in that: the rail type field management maintenance robot system comprises a bearing base, electromagnetic positioning pins, positioning electromagnets, a storage cabin, a spraying pump, a spraying port, a telescopic mechanical arm, a flow guide pipe, a distance measuring device, a monitoring camera and a driving circuit, wherein the bearing base is of a frame structure with a rectangular cross section, at least four electromagnetic positioning pins are uniformly distributed around the bearing base and are connected with the outer side surface of the upper end surface of the bearing base, the lower end surface of each electromagnetic positioning pin is hinged with the bearing base through a turntable mechanism, the upper end surface of each electromagnetic positioning pin exceeds the upper end surface of the bearing base by 0-50 cm, the axial line of each electromagnetic positioning pin and the upper end surface of the bearing base form an included angle of 0-90 degrees, the positioning electromagnets are embedded in the upper end surface of the bearing base and are uniformly distributed around the axial line of the bearing base, at least one storage cabin is embedded in the bearing base and is connected with, the telescopic mechanical arm comprises at least two telescopic mechanical arms, wherein the two sides of the bearing base are symmetrically distributed and hinged to the side surface of the bearing base through a rotary table mechanism, the axis of each telescopic mechanical arm and the bearing base form an included angle of 0-180 degrees, a plurality of spraying ports are uniformly distributed along the axis direction of the telescopic mechanical arm and hinged to the lower end face of the telescopic mechanical arm through the rotary table mechanism, the spraying ports are connected in parallel and communicated with spraying pumps through guide pipes respectively, the spraying pumps are embedded in the bearing base and connected with the bottom of the bearing base and communicated with storage cabins through guide pipes, each storage cabin is communicated with at least one spraying pump to form a working group, the guide pipes are embedded in the telescopic mechanical arm and are connected with the telescopic mechanical arm in a sliding mode, the distance measuring devices and the monitoring cameras are all multiple, one distance measuring device and one monitoring camera form a monitor, and the distance measuring devices in the same monitor are arranged in the telescopic, The monitoring cameras are distributed in parallel, the monitors are hinged to the lower end face of the bearing base and the front end face of the telescopic mechanical arm through the rotary table mechanism, the axes of the monitors and the horizontal plane form included angles of 0-180 degrees, and the driving circuit is embedded in the bearing base and is electrically connected with the electromagnetic positioning pin, the positioning electromagnet, the storage cabin, the spray pump, the telescopic mechanical arm, the distance measuring device and the monitoring cameras.
2. The agricultural and forestry unmanned aerial vehicle sowing system according to claim 1, wherein: bear terminal surface establish signal indicator, bearing post, locating plate under the base, inside establishes auxiliary power supply, wherein the pilot lamp is at least three, encircles and bears the base axis equipartition, and signal indicator optical axis and bear the base terminal surface vertical distribution under the base, bearing post symmetric distribution is in bearing base axis both sides, and its up end is articulated and personally submit 0-135 contained angle with the level through revolving stage mechanism and the base under the bearing, bearing post down terminal surface passes through revolving stage mechanism and locating plate up end and passes through revolving stage mechanism and articulate, just terminal surface and horizontal plane parallel distribution under the locating plate, auxiliary power supply, signal indicator and revolving stage mechanism all with drive circuit electrical connection.
3. The agricultural and forestry unmanned aerial vehicle sowing system according to claim 2, wherein: the bearing column is an electric telescopic rod, the cross section of the positioning plate is in a U-shaped or inverted isosceles trapezoid groove-shaped structure, and the area of the lower end face of the positioning plate is at least 3 times that of the lower end face of the bearing column.
4. The agricultural and forestry unmanned aerial vehicle sowing system according to claim 1, wherein: the storage cabin is connected with the inner surface of the bearing base in a sliding way through a sliding groove and comprises a bearing cavity, a control valve, a connecting pipe head, a liquid level sensor, a temperature sensor, an electric heating wire and a protective sleeve, wherein the bearing cavity is of an airtight cavity structure, the upper end surface of the bearing cavity is provided with a charging opening, the lower end surface of the bearing cavity is provided with a discharging opening, the discharging opening is communicated with a flow guide pipe through the control valve, the charging opening is communicated with the connecting pipe head through the control valve, the connecting pipe head is embedded in the upper end surface of the bearing base and is vertically distributed with the upper end surface of the bearing base, the height of the protective sleeve is 20% -80% of the height of the bearing cavity, the protective sleeve is coated outside the bearing cavity and is coaxially distributed with the bearing cavity, a temperature regulating cavity with the width of 5-20 mm is formed between the outer surface of the bearing cavity and the protective, and the control valve, the liquid level sensor, the temperature sensor and the electric heating wire are all electrically connected with the driving circuit.
5. The agricultural and forestry unmanned aerial vehicle sowing system according to claim 1, wherein: the telescopic mechanical arm comprises bearing arms, driving guide rails, positioning buckles, a displacement sensor, an electric heating wire, a temperature sensor and a wiring terminal, wherein the bearing arms are of a frame structure with the cross section in the shape of an Jiong groove, the rear end face of one bearing arm is hinged with a bearing base through a turntable mechanism, the bearing arm far away from one side of the bearing base is embedded in the bearing arm close to one side of the bearing base between two adjacent bearing arms, the two bearing arms are connected in a sliding manner through at least two driving guide rails, an isolation gap not smaller than 5 mm is arranged between the two bearing arms in the sliding manner, a plurality of spraying ports are respectively hinged with the lower end face of each bearing arm through the turntable mechanism, the axis of each spraying port forms an included angle of 0-180 degrees with the horizontal plane, the spraying ports are connected in parallel, and the spraying ports connected with the same bearing arm are communicated with a spraying pump through the same guide pipe, the honeycomb duct inlays in bearing the weight of the arm lateral wall to detain and bear the weight of the arm and be connected through the location, electric heating wire quantity is unanimous with honeycomb duct quantity, and every honeycomb duct surface all is connected with an electric heating wire, temperature sensor quantity with bear the weight of the arm quantity unanimous, every bears the weight of the arm up end and all establishes a temperature sensor, displacement sensor quantity with bear the weight of the arm quantity unanimously, and every bears the weight of the arm and is connected the face and establish a displacement sensor between, drive guide rail, displacement sensor, electric heating wire, temperature sensor all with binding post electrical connection, binding post inlays in bearing the arm and bears the operation face that the base is connected to through wire and drive circuit electrical connection.
6. The agricultural and forestry unmanned aerial vehicle sowing system according to claim 1, wherein: the number of the spraying pumps is consistent with that of the telescopic mechanical arms, each spraying port on each bearing arm is communicated with the same spraying pump through a flow guide pipe, the spraying pumps are mutually connected through multi-way valves and communicated with the storage cabin, and the multi-way valves are electrically connected with the driving circuit.
7. The agricultural and forestry unmanned aerial vehicle sowing system according to claim 1, wherein: the turntable mechanism is any one of a two-dimensional turntable and a three-dimensional turntable which are driven by a stepping motor, and the turntable mechanisms are respectively provided with an angle sensor which is electrically connected with a driving circuit; the drive control circuit is a circuit system based on any one of FPGA and DSP chips, and is additionally provided with a charge-discharge control circuit and a multi-path stabilized voltage supply.
8. A sowing method based on the agricultural and forestry unmanned aerial vehicle sowing system of claim 1, characterized in that: the sowing method of the sowing system for the agricultural and forestry unmanned aerial vehicle comprises the following steps;
s1, assembling equipment, namely selecting the number and the volume of storage cabins in a bearing base according to the types of agricultural goods to be sprayed and the spraying operation amount, then assembling the bearing base, an electromagnetic positioning pin, a positioning electromagnet, the storage cabins, a spraying pump, a spraying port, a telescopic mechanical arm, a flow guide pipe, a distance measuring device, a monitoring camera and a driving circuit which form the unmanned aerial vehicle equipment, and connecting and positioning the unmanned aerial vehicle equipment belly through the positioning electromagnet on one hand after the unmanned aerial vehicle equipment is assembled; on the other hand, the electromagnetic positioning pin is connected with the unmanned aerial vehicle, and the driving circuit of the invention is electrically connected with the flight control circuit of the unmanned aerial vehicle, thereby completing the assembly operation of the invention;
s2, prefabricating equipment, adding agricultural materials to be sown into the storage cabin through the connector head after the step S1 is completed, and driving the unmanned aerial vehicle to synchronously run along with the unmanned aerial vehicle after the agricultural material is added; after the unmanned aerial vehicle flies to the place above the spreading operation position along with the unmanned aerial vehicle, on one hand, the distance between the unmanned aerial vehicle and the ground surface is measured through a distance measuring device and a monitoring camera, and the distance between the unmanned aerial vehicle and the ground plane is adjusted according to the requirement of the spreading operation; on the other hand, the length of the telescopic mechanical arm, and the included angle and the distance between the telescopic mechanical arm and the horizontal plane are adjusted according to the requirement of spraying operation, so that the requirement of sowing operation is met;
s3, sowing operation, wherein after the setting of the step S2 is completed, the agricultural materials in the storage cabin are pressurized by each spray pump, and the pressurized agricultural materials are directly sprayed and sowed through each spray port, so that the requirement of sowing operation on crops is completed;
and S4, supplying agricultural materials, wherein when the agricultural materials are sowed in the storage bin, the agricultural materials are landed to the agricultural material supply position along with the unmanned aerial vehicle after being sowed, supplying the agricultural materials and sowing again after the supply is finished.
9. The use method of the agricultural and forestry unmanned aerial vehicle sowing system according to claim 8, wherein the sowing system comprises: in the step S3, during sowing, on one hand, agricultural materials are heated through the storage cabin and the electric heating wires of the telescopic mechanical arm, so that equipment failure caused by low-temperature icing is prevented; on the other hand, when in sowing operation, the auxiliary power supply of the invention provides the sowing operation power for the power when the spraying pump runs.
10. The use method of the agricultural and forestry unmanned aerial vehicle sowing system according to claim 8, wherein the sowing system comprises: in the step S4, when the agricultural material supply work is performed, the supply is performed in any one of the following two ways:
firstly, after the unmanned aerial vehicle lands, external agricultural materials to be sown are directly filled into a storage cabin through a connector head of the storage cabin, and meanwhile, an auxiliary power supply is charged and the unmanned aerial vehicle is replenished with fuel, so that agricultural material replenishing operation is completed;
secondly, when the unmanned aerial vehicle carries out agricultural material sowing operation, a plurality of storage cabins which are in a standby state on the ground are synchronously filled with agricultural materials and charged for standby, a plurality of standby unmanned aerial vehicles are arranged for standby at the same time, when the unmanned aerial vehicle finishes agricultural material sowing in the current storage cabin, the sowing system for finishing sowing is rapidly disassembled through electromagnetic positioning pins and positioning electromagnets, and then the unmanned aerial vehicle and the sowing system are assembled again according to operation requirements, so that the agricultural material replenishing operation is finished.
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