CN112623224B - Linear type many rotors plant protection aircraft structure - Google Patents
Linear type many rotors plant protection aircraft structure Download PDFInfo
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- CN112623224B CN112623224B CN202011624183.6A CN202011624183A CN112623224B CN 112623224 B CN112623224 B CN 112623224B CN 202011624183 A CN202011624183 A CN 202011624183A CN 112623224 B CN112623224 B CN 112623224B
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- 239000003814 drug Substances 0.000 claims abstract description 42
- 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 21
- 238000013016 damping Methods 0.000 claims abstract description 18
- 238000005507 spraying Methods 0.000 claims abstract description 12
- 239000007788 liquid Substances 0.000 claims description 22
- 239000007921 spray Substances 0.000 claims description 22
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 238000013461 design Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 238000005406 washing Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 229940079593 drug Drugs 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000003595 mist Substances 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- 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
- A01M7/0053—Mounting of the spraybooms
-
- 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
- A01M7/006—Mounting of the nozzles
-
- 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
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a linear multi-rotor plant protection aircraft structure, which comprises at least one main rod unit, wherein every two main rod units are connected through a damping connecting piece; a medicine box and a power supply module 13 are arranged in the middle of each main rod unit, the medicine box and the power supply module 13 are fixed on two sides of a support frame of the main rod unit, and main force rotary wings, auxiliary rotary wings and gesture adjusting rotary wings are symmetrically arranged on the main rods on two sides of the top of the support frame; the main force rotor wing is positioned at the outermost side of the main rod, the main force rotor wing is adjacent to the main force rotor wing and is a posture adjustment rotor wing, and an auxiliary rotor wing is arranged between the posture adjustment rotor wing and the top end of the support frame; in addition, the main rod unit further comprises a vision module 9, a GPS-RTK assembly, an IMU and a flight control module 12 which are arranged on the main rod. The design can be used as a basic unit, and can be used for multi-unit combination, so that wider spraying width and higher operation efficiency are realized.
Description
Technical Field
The invention relates to the technical field of agricultural machinery automation and flight control, in particular to a multi-rotor plant protection aircraft with linearly distributed propellers.
Background
The form of agricultural process is also from manual to mechanized or even unmanned, especially plant protection unmanned aerial vehicle's appearance has replaced traditional spraying machine on a large amount of field plant protection works, has not only improved the efficiency of spraying operation, can also obtain the effect that is superior to manual operation.
The plant protection unmanned plane is a plant protection machine which is emerging in recent years, is efficient in operation compared with a traditional ground plant protection sprayer, is not limited by crop growth vigor and operation field conditions, is suitable for various and dispersed crop planting terrains such as mountain hills and the like in China, and has strong market potential. However, the cruising ability and the drug loading rate are seriously insufficient, which is a key bottleneck for restricting the development of the plant protection unmanned aerial vehicle.
At present, the plant protection unmanned aerial vehicle in China mainly takes multiple rotors as main materials, but is limited by self-loading capacity, so that the unmanned aerial vehicle cannot load more liquid medicine, and the load is generally lifted by increasing the rotors (limited increase). Meanwhile, in order to improve the working efficiency, a circular distribution mode of the rotor wings is adopted, but the improvement of the spraying width is limited, the interference among the rotor wings is more serious, and the problem of the working efficiency can not be solved fundamentally.
The plant protection unmanned aerial vehicle with the circular rotor wing distribution has the following defects: (1) The operation efficiency is low, the load of the small unmanned aerial vehicle is small, the duration time is short, and the spraying amplitude is narrow; (2) The atomization effect is poor, the movement track of the fog drops mainly comprises spiral descending of fog drop groups, the inner fog drop groups of the lower washing area are interweaved, and the peripheral horizontal travel of the large fog drops at the outer side is larger and is further distributed at the periphery; (3) The inter-rotor interference is strong, and the mist drops are mainly distributed in the area with obvious inter-rotor interference, and the mist drops with large particle size which can move to the farthest position from the spray head are small.
Disclosure of Invention
The invention aims to: in order to overcome the defects of the prior art, the invention discloses a linear type multi-rotor plant protection aircraft which is wide in spraying range, high in operation efficiency and capable of being connected in multiple sections. The invention is suitable for sowing and fertilizing in the agricultural areas of similar crops, and has the characteristics of low cost, high efficiency and strong universality.
The technical scheme of the invention comprises the following steps: a linear multi-rotor plant protection aircraft structure comprises at least one main rod unit, wherein more than two main rod units are connected in series through damping connectors; a medicine box and a power supply module 13 are arranged in the middle of each main rod unit, the medicine box and the power supply module 13 are fixed on a support frame of the main rod unit, and main force rotary wings, auxiliary rotary wings and gesture adjusting rotary wings are symmetrically arranged on main rods on two sides of the support frame; the main force rotor wing and the auxiliary rotor wing are responsible for providing most of the lift force of the linear multi-rotor wing plant protection aircraft, and the posture adjustment rotor wing is responsible for providing the force of the multidirectional movement of the aircraft; the main force rotor wing is positioned at the outermost side of the main rod, the main force rotor wing is adjacent to the main force rotor wing and is a posture adjustment rotor wing, and an auxiliary rotor wing is arranged between the posture adjustment rotor wing and the top end of the support frame; in addition, the main rod unit also comprises a sensing and flight control assembly arranged on the main rod.
Further, the sensing and flight control assembly comprises a vision module 9, a millimeter wave and laser radar 16, a GPS-RTK assembly, an IMU and a flight control module 12, wherein the IMU and flight control module 12 are respectively and electrically connected with the vision module 9, the millimeter wave and laser radar 16 and the GPS-RTK assembly, and the modules provide power through a medicine chest and a power supply module in a power supply module 13.
Further, the vision module 9, the millimeter wave and the laser radar 16 are respectively positioned at two sides of the top end of the support frame and symmetrically arranged on the main rod between the gesture adjusting rotor wing and the auxiliary rotor wing; the number of the GPS-RTK assemblies is two, the GPS-RTK assemblies are symmetrically arranged at the tops of two ends of the supporting rod, and the IMU and the flight control module 12 are arranged on the main rod between the two GPS-RTK assemblies.
Further, the main force rotor wing and the auxiliary rotor wing are single rotor wings or are arranged in a pair of paddles; when the main rotor and the auxiliary rotor are single rotors, each rotor comprises a rotor 1, a motor 2, a connecting flange 3, a liquid medicine pipeline 4 and a spray head 5; the lower end of the rotor wing 1 is connected with the shaft end of the motor 2, the shaft end of the motor 2 is fixed on the connecting flange 3, and the lower end of the connecting flange 3 is sequentially connected with a liquid medicine pipeline 4 and a spray head 5; when the main force rotor wing and the auxiliary rotor wing are arranged to the propeller, the main force rotor wing and the auxiliary rotor wing are respectively provided with an upper motor, a lower motor and two rotor wings which are symmetrically arranged.
Further, mobile jib, support frame are hollow spray lance structure, and the liquid medicine in the medical kit of medical kit and power module 13 communicates to mobile jib, flange 3, liquid medicine pipeline 4 and shower nozzle 5 in proper order through the hollow pipeline of support frame.
Further, in the posture adjustment rotor wing, the posture adjustment rotor wing positioned at one side of the top end of the support frame is arranged on a vertical posture adjustment rod, the vertical posture adjustment rod (fixed on the main rod) is positioned above or below the main rod unit, the rotor wings of the posture adjustment rotor wing are more than two, and the two rotor wings are sequentially connected with corresponding motors and connecting flanges, so that the rotor wings arranged in the front-back opposite directions are required to be ensured; or the attitude adjusting rotor wing positioned at one side of the top end of the support frame is arranged on the main rod, the rotor wings are more than two, the corresponding motors and the connecting flanges are sequentially connected, and the rotor wings which are arranged in the front-back opposite directions are required to be ensured.
Further, the intelligent control system further comprises a motor driving module and an electromagnetic valve driving module, the IMU and the flight control module 12 are respectively connected with the motor driving module and the electromagnetic valve driving module, the motor driving module is connected with motors on all the rotary wings, the electromagnetic valve driving module is connected with all the spray heads on the multi-rotary-wing plant protection aircraft, and the IMU and the flight control module 12 control the running of the motors on the rotary wings and the spraying flow of the spray heads.
Further, a load damping connector is further arranged on the supporting frame above the medicine chest and the power supply module 13.
Further, the damping connection is a damping hinge.
Meanwhile, the downward washing air flow generated by the main lifting motor rotor wing can accelerate the attachment of the liquid medicine on the surface of crops, so that the loss of the liquid medicine is reduced; the lower parts of the rotor 1, the rotor 10, the rotor 15 and the rotor 20 are respectively connected with the spray heads 5, and the liquid medicine is output through the liquid medicine pipeline 4; the downward washing air flow can not only enable the fog drops to move vertically downwards, but also enable the fog drops at the boundary of the winding air flow to reach the farthest in the horizontal direction, so that the spraying range can be enlarged.
Compared with the traditional plant protection unmanned plane such as a fixed wing unmanned plane and an X-shaped multi-rotor aircraft, the method provided by the invention has the characteristics that:
(1) The posture adjustment motor is vertically arranged, so that a downwash wind field is optimized, and the medicine rate of medicine liquid is improved.
(2) The connection part of the main lift rotor wing and the spray rod can adopt a connector with damping, so that when the multi-rotor wing spray rod works, even if the multi-rotor wing spray rod is affected by gusts occasionally, the gesture change can be weakened by the connector with damping, and the stability of equipment is improved.
(3) The design can be used as a basic unit, and can be used for multi-unit combination, so that wider spraying width and higher operation efficiency are realized.
(4) The main lift motor of this design can adopt the upper and lower to oar scheme, and the aircraft size is unchangeable, improves drug loading and duration, adapts to different operation demands.
(5) The main rod of the design adopts carbon fiber and aviation aluminum piece combination, and has small self weight.
Drawings
FIG. 1 is a schematic view of the basic structure of the present invention;
FIG. 2 is a schematic view of the connection of the main lift rotor to the boom of the present invention;
FIG. 3 is a schematic diagram of a multi-unit combination;
FIG. 4 is a diagram of a multi-unit composite link;
FIG. 5 is a main lift motor pitch schematic;
FIG. 6 is a schematic view of a downward configuration of the attitude adjustment lever;
FIG. 7 is a schematic illustration of a main lift motor pitch with attitude adjustment lever down;
FIG. 8 is a schematic view of a load damping connection with a posture adjustment bar horizontally disposed.
In fig. 1, 1-rotor; 2-an electric motor; 3-connecting flanges; 4-a liquid medicine pipeline; 5-spray head; 6-a first attitude adjustment rotor a; 7-a first attitude adjustment lever; 8-a first attitude adjustment rotor b; 9-a vision module; 10-a first auxiliary rotor; 11-a first GPS;12-IMU and flight control module; 13-a medicine chest and a power supply module; 14-a second GPS; 15-a second auxiliary rotor; 16-millimeter wave and laser radar; 17-a second attitude adjustment rotor a; 18-a second attitude adjustment lever; 19-a second attitude adjustment rotor b; 20-main force rotor; 21-a damping connection;
Detailed Description
The invention will now be further described with reference to the accompanying drawings and examples.
The basic structure schematic diagram of a main rod unit of the linear multi-rotor plant protection aircraft shown in fig. 1 mainly comprises the following parts: 1-a rotor; 2-an electric motor; 3-connecting flanges; 4-a liquid medicine pipeline; 5-spray head; 6-a first attitude adjustment rotor a; 7-a first attitude adjustment lever; 8-a first attitude adjustment rotor b; 9-a vision module; 10-a first auxiliary rotor; 11-a first GPS;12-IMU and flight control module; 13-a medicine chest and a power supply module; 14-a second GPS; 15-a second auxiliary rotor; 16-millimeter wave and laser radar; 17-a second attitude adjustment rotor a; 18-a second attitude adjustment lever; 19-second attitude adjusting rotors b, 20-main force rotors; 21-a damping connection; in the whole structure, a plurality of rotary wings (1, 6, 8, 10, 15, 17, 19, 20) are distributed on the main rod and the posture adjusting rod, the installation angles of the rotary wings can be correspondingly changed according to actual operation demands, and in the figure, the installation angles of four pairs of rotary wings such as 1, 20, 6, 17, 8, 19, 10, 15 are slightly different.
In fig. 1, the main force rotor (rotor 1, rotor 20 are formed), the auxiliary rotor (first auxiliary rotor 10, second auxiliary rotor 15 are formed), the attitude adjustment rotor (first attitude adjustment rotor a 6 and first attitude adjustment rotor b 8, second attitude adjustment rotor a 17 and second attitude adjustment rotor b 19 are formed), as a specific embodiment of the present invention, the main pole and the support frame are hollow boom structures, the first GPS11 and the second GPS are GPS-RTK components, symmetrically arranged at the top of two ends of the support bar, and the IMU and the flight control module 12 are arranged on the main pole between the two GPS-RTK components.
Fig. 1-2 are schematic diagrams of connection parts of a main lifting rotor and a spray boom, wherein the rotor 1, a motor 2, a connecting flange 3, a liquid medicine pipeline 4 and a spray nozzle 5 are sequentially connected, a wind field generated by the main lifting motor 2 can enable liquid medicine of the spray nozzle 5 to be fully sprayed, and the liquid medicine in a medicine box and a power supply module 13 is sequentially communicated to the main rod, the connecting flange 3, the liquid medicine pipeline 4 and the spray nozzle 5 through a supporting frame.
Fig. 3 and fig. 4 are schematic views of interconnection and connectors of multi-section main rod units of a linear multi-rotor aircraft. The main rods are connected through the flexible connecting piece with damping (damping hinge is adopted in the embodiment), so that the cooperation operation of a plurality of aircrafts is guaranteed, the plant protection operation area is enlarged, and the operation efficiency is improved.
Fig. 5-7 are various modified structural diagrams of the present invention. The main lift motor pair pitch structure of the main rotor, auxiliary rotor in fig. 5 reduces the aircraft length and lifts the payload; FIG. 6 is a view of the attitude adjustment lever adjusted downward, the overall system center of gravity is moved upward, the aircraft frame size is reduced, and the attitude adjustment lever is adapted to the woodland operation; FIG. 7 illustrates a main lift motor pair of a main rotor and an auxiliary rotor with attitude adjustment bars facing downward to reduce the length of the aircraft and to increase the payload; FIG. 8 is a schematic diagram of a load damping connection, using a damping connection to increase load platform stability and improve plant protection quality.
As a specific embodiment of the present invention, if a nozzle is disposed below the attitude adjustment rotor, the attitude adjustment lever may have a hollow structure.
The medicine chest and the power supply module 13 comprise a medicine chest (medicine chest is provided with spraying liquid medicine), a battery and/or a generator, wherein the output power can be supplied by the battery, and the power can also be supplied by oil-electricity mixing.
Specific examples of the present invention include various structures: the main lift motors in the main force rotor wing and the auxiliary rotor wing and the gesture motors in the gesture adjustment rotor wing are even or odd in number; the main lifting motor is installed positively and negatively, keeps the thrust upwards, and adapts to different crop growth characteristics; the motor is symmetrically installed or asymmetrically installed, namely, the requirement on installation precision is low, and the production and the maintenance are convenient; the tilting angle is fixed during installation or adjusted in real time by the joint motor, so that the response speed of the aircraft is improved.
In the IMU and the flight control module 12, an onboard processor reads a triaxial accelerometer, a triaxial gyroscope, a triaxial magnetometer and a barometer integrated in the IMU and the flight control module 12, and a vision module 9, millimeter waves and a laser radar 16 in real time, and fusion is carried out through graph optimization or kalman filtering, so that the attitude (roll angle, pitch angle, yaw angle), the speed (X, Y, Z, triaxial speed), the position (X, Y, Z, triaxial coordinates) and the surrounding environment of the aircraft are estimated in real time; and forming disturbance rejection controller feedback by using the estimated angular acceleration, angular speed, gesture, acceleration, speed and position information, and controlling the motor to realize the expected gesture, speed and position.
In summary, the invention discloses a linear type multi-rotor plant protection aircraft which has wide spraying range and high operation efficiency and can be connected in a multistage manner. The linear type aircraft structure realizes a sufficient downwash wind field and improves the utilization rate of liquid medicine. The multi-sensor fusion realizes the state estimation of the aircraft, and then the stable flight of the aircraft is realized through a control algorithm. The laser radar, the vision module and the millimeter wave radar are utilized to realize the construction of surrounding environment, the onboard processor completes local planning and global planning, and the linear multi-rotor plant protection aircraft is safe, reliable and efficient to complete plant protection operation.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (7)
1. The utility model provides a many rotor plant protection aircraft structure of linear type which characterized in that includes at least one mobile jib unit, and the mobile jib unit of more than two is connected in series through damping connecting piece; a medicine box and a power supply module (13) are arranged in the middle of each main rod unit, the medicine box and the power supply module (13) are fixed on a support frame of the main rod unit, and main force rotary wings, auxiliary rotary wings and gesture adjusting rotary wings are symmetrically arranged on main rods on two sides of the support frame; the main force rotor wing and the auxiliary rotor wing are responsible for providing most of the lift force of the linear multi-rotor wing plant protection aircraft, and the posture adjustment rotor wing is responsible for providing the force of the multidirectional movement of the aircraft; the main force rotor wing is positioned at the outermost side of the main rod, the main force rotor wing is adjacent to the main force rotor wing and is a posture adjustment rotor wing, and an auxiliary rotor wing is arranged between the posture adjustment rotor wing and the top end of the support frame; in addition, the main rod unit also comprises a sensing and flight control assembly arranged on the main rod;
The sensing and flight control assembly comprises a vision module (9), a millimeter wave and laser radar (16), a GPS-RTK assembly, an IMU and a flight control module (12), wherein the IMU and the flight control module (12) are respectively and electrically connected with the vision module (9), the millimeter wave and laser radar (16) and the GPS-RTK assembly, and the modules provide power through a medicine box and a power supply module in a power supply module (13);
In the attitude adjustment rotor wing, the rotor,
The posture adjusting rotor wing positioned at one side of the top end of the support frame is arranged on the vertical posture adjusting rod, the vertical posture adjusting rod is positioned above or below the main rod unit, the rotor wings of the posture adjusting rotor wing are more than two, and the rotor wings are sequentially connected with corresponding motors and connecting flanges, so that the rotor wings which are arranged in the front-back opposite directions are required to be ensured;
Or the attitude adjusting rotor wing positioned at one side of the top end of the support frame is arranged on the main rod, the rotor wings are more than two, the corresponding motors and the connecting flanges are sequentially connected, and the rotor wings which are arranged in the front-back opposite directions are required to be ensured.
2. The linear multi-rotor plant protection aircraft structure according to claim 1, wherein the vision module (9), the millimeter wave and the laser radar (16) are respectively positioned at two sides of the top end of the support frame, and are symmetrically arranged on the main rod between the gesture adjusting rotor and the auxiliary rotor; the GPS-RTK assemblies are two, the two GPS-RTK assemblies are symmetrically arranged at the tops of two ends of the supporting rod, and the IMU and the flight control module (12) are arranged on the main rod between the two GPS-RTK assemblies.
3. The linear multi-rotor plant protection aircraft structure of claim 1, wherein the main rotor and the auxiliary rotor are single rotors or arranged in pairs;
When the main rotor and the auxiliary rotor are single rotors, each rotor comprises a rotor (1), a motor (2), a connecting flange (3), a liquid medicine pipeline (4) and a spray head (5); the lower end of the rotor wing (1) is connected with the shaft end of the motor (2), the shaft end of the motor (2) is fixed on the connecting flange (3), and the lower end of the connecting flange (3) is sequentially connected with a liquid medicine pipeline (4) and a spray head (5);
when the main force rotor wing and the auxiliary rotor wing are arranged to the propeller, the main force rotor wing and the auxiliary rotor wing are respectively provided with an upper motor, a lower motor and two rotor wings which are symmetrically arranged.
4. The linear type multi-rotor plant protection aircraft structure according to claim 3, wherein the main rod and the support frame are of hollow spray rod structures, and liquid medicine in the medicine box and the power supply module (13) is sequentially communicated to the main rod, the connecting flange (3), the liquid medicine pipeline (4) and the spray head (5) through hollow pipelines of the support frame.
5. The linear type multi-rotor plant protection aircraft structure according to claim 1, further comprising a motor driving module and an electromagnetic valve driving module, wherein the IMU and the flight control module (12) are respectively connected with the motor driving module and the electromagnetic valve driving module, the motor driving module is connected with motors on all rotors, the electromagnetic valve driving module is connected with all spray heads on the multi-rotor plant protection aircraft, and the IMU and the flight control module (12) control the operation of the motors on the rotors and the spraying flow of the spray heads.
6. The linear multi-rotor plant protection aircraft structure according to claim 1, wherein load damping connectors are further arranged on the support frame above the medicine boxes and the power supply modules (13).
7. The linear multi-rotor plant protection aircraft structure of claim 1 or 6, wherein the damping connection is a damping hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011624183.6A CN112623224B (en) | 2020-12-30 | 2020-12-30 | Linear type many rotors plant protection aircraft structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011624183.6A CN112623224B (en) | 2020-12-30 | 2020-12-30 | Linear type many rotors plant protection aircraft structure |
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| Publication Number | Publication Date |
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| CN112623224A CN112623224A (en) | 2021-04-09 |
| CN112623224B true CN112623224B (en) | 2024-06-11 |
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| CN202011624183.6A Active CN112623224B (en) | 2020-12-30 | 2020-12-30 | Linear type many rotors plant protection aircraft structure |
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| CN113955114B (en) * | 2021-11-23 | 2024-06-11 | 江苏大学 | Linear type unmanned aerial vehicle structure based on focus self-adaptation adjusting device |
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