CN113060285A - Amplitude spraying device and operation method for plant protection unmanned aerial vehicle - Google Patents
Amplitude spraying device and operation method for plant protection unmanned aerial vehicle Download PDFInfo
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- CN113060285A CN113060285A CN202110278434.8A CN202110278434A CN113060285A CN 113060285 A CN113060285 A CN 113060285A CN 202110278434 A CN202110278434 A CN 202110278434A CN 113060285 A CN113060285 A CN 113060285A
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- 238000005507 spraying Methods 0.000 title claims abstract description 219
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 67
- 238000012544 monitoring process Methods 0.000 claims abstract description 65
- 239000007921 spray Substances 0.000 claims abstract description 31
- 239000000575 pesticide Substances 0.000 claims abstract description 20
- 239000003814 drug Substances 0.000 claims abstract description 19
- 230000008859 change Effects 0.000 claims description 18
- 230000000712 assembly Effects 0.000 claims description 13
- 238000000429 assembly Methods 0.000 claims description 13
- 238000009423 ventilation Methods 0.000 claims description 13
- 230000001681 protective effect Effects 0.000 claims description 12
- 235000013399 edible fruits Nutrition 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 7
- 230000007613 environmental effect Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 244000037666 field crops Species 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 239000003595 mist Substances 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 5
- 241000196324 Embryophyta Species 0.000 description 57
- 239000004744 fabric Substances 0.000 description 8
- 230000002349 favourable effect Effects 0.000 description 6
- 230000006978 adaptation Effects 0.000 description 3
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 2
- 235000017491 Bambusa tulda Nutrition 0.000 description 2
- 241001330002 Bambuseae Species 0.000 description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 2
- 239000011425 bamboo Substances 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 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
- 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
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- Pest Control & Pesticides (AREA)
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a variable-amplitude spraying device and an operation method of a plant protection unmanned aerial vehicle, wherein the spraying device comprises a connecting frame, a linking piece, a spraying component, a control system and a flight parameter monitoring system, wherein the linking piece is arranged on the connecting frame; the amplitude-variable driving module comprises a deflection driving mechanism for driving the spraying assembly to swing on the connecting piece and a rotation driving mechanism for driving the connecting piece to rotate along the horizontal direction; the spraying assembly comprises a spray head, and the spray head is connected with the medicine box through a medicine conveying pipe; the variable amplitude driving module, the spraying assembly and the environment monitoring system are all electrically connected with the control system. The invention realizes variable pesticide spraying amplitude to adapt to different operating environments and is beneficial to improving the spraying accuracy.
Description
Technical Field
The invention relates to aviation spraying equipment, in particular to a variable-amplitude spraying device and an operation method of a plant protection unmanned aerial vehicle.
Background
In recent years, because plant protection unmanned aerial vehicle has that the operation is fast, and it is nimble to remove, operation safety does not receive advantages such as topography environment factor influence and energy-concerving and environment-protective, impels plant protection unmanned aerial vehicle aviation spraying mode to obtain rapid application and development.
Along with plant protection unmanned aerial vehicle's range of application is bigger and bigger, some drawbacks that its operation mode exists also show gradually. Most of the spray heads carried by the plant protection unmanned aerial vehicle are in a fixed state, the spray operation is carried out by adopting a fixed spraying width and a fixed spraying angle, and the effective spraying width and the spraying angle cannot be adjusted in real time according to the operation condition; and plant protection unmanned aerial vehicle is at the in-process of giving medicine to poor free of charge because the influence of conditions such as operation parameter and external environment leads to spraying operation in-process to take place phenomenon such as heavy spray or leak to spout easily, and the precision of giving medicine to poor free of charge is difficult to reach better operation effect to reduce plant protection unmanned aerial vehicle's operation effect.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a variable-amplitude spraying device of a plant protection unmanned aerial vehicle, which can realize variable pesticide spraying amplitude to adapt to different operating environments and is beneficial to improving the spraying accuracy.
The second purpose of the invention is to provide a variable-amplitude spraying operation method of the plant protection unmanned aerial vehicle.
The purpose of the invention is realized by the following technical scheme:
the amplitude spraying device of the plant protection unmanned aerial vehicle is characterized by comprising a connecting frame, a linking piece arranged on the connecting frame, a spraying assembly, a control system and a flight parameter monitoring system, wherein the spraying assembly is rotatably connected to the linking piece, the connecting frame is arranged below the unmanned aerial vehicle and connected with a bottom shell of the unmanned aerial vehicle, and an amplitude driving module is arranged on the connecting frame; the amplitude-variable driving module comprises a deflection driving mechanism for driving the spraying assembly to swing on the connecting piece and a rotation driving mechanism for driving the connecting piece to rotate along the horizontal direction; the spraying assembly comprises a spray head, and the spray head is connected with the medicine box through a medicine conveying pipe; the variable amplitude driving module, the spraying assembly and the environment monitoring system are all electrically connected with the control system.
The working principle of the amplitude spraying device of the plant protection unmanned aerial vehicle is as follows:
in the spraying process, the environment monitoring system detects the operation environment and transmits related parameters to the control system, and the control system controls the amplitude of the spraying assembly according to the detected parameters so as to adapt to the operation environment. Specifically, when the size in operation farmland changes under the drive of beat actuating mechanism, the spraying subassembly carries out the beat motion, realizes the change of the shower nozzle angle in the spraying subassembly to range when realizing the spraying changes, carries out pesticide aviation atomizing spraying more accurately, avoids extravagant pesticide or appears leaking the phenomenon of spouting, respraying. In addition, still can be according to real-time weather environmental condition, under the drive that rotates actuating mechanism, it is rotatory to drive the spraying subassembly to change the spraying direction, thereby influence such as wind speed when the adaptation spraying, air current or rainwater when unmanned aerial vehicle flies are favorable to improving the precision of aviation spraying, prevent that the spraying from drifting.
According to a preferable scheme of the invention, the connecting frame comprises a fixed cross rod and a telescopic rod, the telescopic rod is connected to the fixed cross rod in a sliding manner, the fixed cross rod is connected with a bottom shell of the unmanned aerial vehicle, the amplitude-variable driving module further comprises a telescopic driving mechanism for driving the telescopic rod to slide, the telescopic driving mechanism is arranged on the fixed cross rod, the spraying assembly is arranged at the outer end of the telescopic rod, and the telescopic driving mechanism is electrically connected with the control system.
Preferably, the spraying subassembly is equipped with a plurality ofly, telescopic link on the fixed horizontal pole also corresponds and is equipped with a plurality ofly, a plurality of spraying subassemblies one-to-one set up on the outer end of a plurality of telescopic links.
In a preferred embodiment of the present invention, the spraying assembly further includes a cylindrical protective cylinder, and the spray head is disposed in the protective cylinder.
Preferably, the spraying assembly further comprises a fan disposed above the spray head.
Preferably, an inner cylinder is arranged in the protective cylinder, a ventilation gap is reserved between the inner cylinder and the inner wall of the protective cylinder, and the fan is arranged above the inner cylinder; when the fan is operated, the ends of the ventilation gap form an air curtain surrounding the mist droplets.
A variable-amplitude spraying operation method of a plant protection unmanned aerial vehicle is characterized in that the plant protection unmanned aerial vehicle flies forward at a speed v; the environment monitoring system detects the environment and the conditions of the operation farmland and sends related parameters to the control system; the control system controls the deflection driving mechanism and the rotation driving mechanism of the amplitude variation driving module according to the received parameters; wherein the swing driving mechanism drives the spraying component to rotate by v1The speed carry out the beat motion with adjustment inclination, it carries out the rotation of horizontal direction in order to adjust the spraying direction to rotate actuating mechanism and drive the spraying subassembly to the realization is adjusted the beat angle and the rotation angle of spraying subassembly, in order to adapt to current environment and appointed operation farmland, reaches accurate spraying.
Preferably, the number of the spraying assemblies is two, and the two spraying assemblies are piled up and distributed on two sides of the unmanned aerial vehicle body; in the spraying operation process, the included angle between the direction of the deflection motion of the spraying component and the horizontal direction is alpha, and the flying speed v of the unmanned aerial vehicle1The relationship to the yaw motion velocity v of the spray assembly is as follows: v-v1·sinα。
Preferably, the environment monitoring system comprises a flight parameter monitoring system, an obstacle monitoring system and a meteorological monitoring system; the flight parameter monitoring system is used for monitoring the flight speed and the flight height of the plant protection unmanned aerial vehicle during spraying operation; the obstacle monitoring system is used for monitoring the shape, size and distance of obstacles around the plant protection unmanned aerial vehicle during spraying operation, and the meteorological monitoring system is used for monitoring the wind speed and wind direction parameters of the external environment during spraying operation of the plant protection unmanned aerial vehicle; and the control system sends an adjusting instruction to the spraying assembly and the amplitude variation driving module according to the parameter information and the actual operation condition obtained by monitoring of the environment monitoring system.
Preferably, when the plant protection unmanned aerial vehicle works on field crops, the control system controls the telescopic driving mechanism to drive the telescopic rod to extend towards two sides, and the swing angle of the deflection driving mechanism to the spraying assembly and the power of the fan are increased, so that the effective width of the spraying operation of the plant protection unmanned aerial vehicle is increased;
when the plant protection unmanned aerial vehicle works on fruit trees, the control system controls the telescopic driving mechanism to drive the telescopic rod to stretch towards two sides so as to adapt to the width of the fruit tree canopy, meanwhile, the swinging angle of the deflection driving mechanism to the spraying assembly is reduced, and the power of the fan is increased so as to ensure that the plant protection unmanned aerial vehicle can normally apply pesticide to the interior of the fruit tree canopy;
when the flight parameter monitoring system monitors that the operation speed or the operation height of the plant protection unmanned aerial vehicle is increased, the rotor wind field above the crop canopy is weakened, the power of the fan is increased at the moment, and the sprayed fog drops accurately reach the crop canopy under the action of the wind force of the fan, so that the operation effect of the plant protection unmanned aerial vehicle on crops is ensured, and the drift of the fog drops is reduced; meanwhile, the rotation speed of the spraying assembly in the flight direction of the unmanned aerial vehicle is adjusted, so that the phenomenon of re-spraying and missing spraying of the plant protection unmanned aerial vehicle is avoided;
when the obstacle monitoring system monitors obstacles in the operation environment of the plant protection unmanned aerial vehicle, the control system controls the telescopic rod to stretch and retract according to the shape and size of the obstacles acquired by the obstacle monitoring system, and controls the deflection driving mechanism and the rotation driving mechanism to adjust the spraying assembly based on the position and distance of the obstacles so as to change the spraying direction of the spraying assembly and adapt to the real-time environment condition; meanwhile, the power of the fan is controlled to adjust the range of the liquid medicine sprayed by the spray head so as to finish the high-efficiency spraying operation on crops around the obstacles in the operating environment;
when the meteorological monitoring system monitors that meteorological parameters in the working environment of the plant protection unmanned aerial vehicle change, the control system completes control and adjustment of the spraying assembly and the variable amplitude driving module according to the acquired wind speed and wind direction information; when the meteorological monitoring system monitors that external wind power is great in the plant protection unmanned aerial vehicle operation environment, control system increases fan power to this reduces droplet drift, increases unmanned aerial vehicle accuracy of giving medicine to poor free of charge.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention realizes variable pesticide spraying amplitude to adapt to different operating environments and is beneficial to improving the spraying accuracy.
2. When the size in operation farmland changes under the drive of beat actuating mechanism, the spraying subassembly carries out the beat motion, realizes the change of the shower nozzle angle in the spraying subassembly to range when realizing the spraying changes, carries out pesticide aviation atomizing spraying more accurately, avoids extravagant pesticide or the phenomenon that appears leaking and spouting, respraying. In addition, still can be according to real-time weather environmental condition, under the drive that rotates actuating mechanism, it is rotatory to drive the spraying subassembly to change the spraying direction, thereby influence such as wind speed when the adaptation spraying, air current or rainwater when unmanned aerial vehicle flies are favorable to improving the precision of aviation spraying, prevent that the spraying from drifting.
3. The invention changes the traditional operation mode of fixing the spray nozzle and the operation spray amplitude, adopts the amplitude-variable driving module to realize the action adjustment of the spraying assembly, and improves the effective operation width of the plant protection unmanned aerial vehicle, thereby greatly improving the aerial pesticide application operation efficiency of the plant protection unmanned aerial vehicle.
Drawings
Fig. 1-2 are schematic structural views of an embodiment of the unmanned aerial vehicle of the present invention, where fig. 1 is a front view and fig. 2 is a perspective view.
Fig. 3-5 are schematic structural views of the spraying assembly, wherein fig. 3 is a bottom view, fig. 4 is a perspective view, and fig. 5 is a perspective view when an air curtain is formed.
Fig. 6 is a schematic diagram of the movement of the spraying assembly.
Fig. 7 is a schematic diagram of the relationship between the spraying assembly and the flight speed of the unmanned aerial vehicle.
Detailed Description
The present invention will be further described with reference to the following examples and drawings, but the embodiments of the present invention are not limited thereto.
Referring to fig. 1 to 5, the variable-amplitude spraying device of the plant protection unmanned aerial vehicle of the embodiment includes a connecting frame, a connecting piece arranged on the connecting frame, a spraying assembly, a control system and a flight parameter monitoring system, wherein the spraying assembly is rotatably connected to the connecting piece, the connecting frame is arranged below the unmanned aerial vehicle and connected with a bottom shell of the unmanned aerial vehicle, and a variable-amplitude driving module is arranged on the connecting frame; the amplitude-variable driving module comprises a deflection driving mechanism 6 for driving the spraying assembly to swing on the connecting piece and a rotation driving mechanism 3 for driving the connecting piece to rotate along the horizontal direction; the spraying component comprises a spray head 8, and the spray head 8 is connected with the medicine box through a medicine conveying pipe; the variable amplitude driving module, the spraying assembly and the environment monitoring system are all electrically connected with the control system.
Referring to fig. 1-2, the connecting frame includes a fixed cross bar 5 and a telescopic rod 4, the telescopic rod 4 is slidably connected to the fixed cross bar 5, the fixed cross bar 5 is connected to a bottom shell of the unmanned aerial vehicle, the variable amplitude driving module further includes a telescopic driving mechanism for driving the telescopic rod 4 to slide, the telescopic driving mechanism is disposed on the fixed cross bar 5, the spraying assembly is disposed on an outer end of the telescopic rod 4, and the telescopic driving mechanism is electrically connected to the control system. Through setting up such link, the realization is adjusted the position of spraying subassembly to change the relative position that the spraying subassembly is located the unmanned aerial vehicle below, thereby reduce the produced air current of unmanned aerial vehicle according to actual conditions and to the influence of spraying, combine simultaneously to become width of cloth drive module, do further adjustment to the width of cloth that spouts of spraying subassembly, improve whole spraying device's flexibility.
Referring to fig. 1-2, the spraying assemblies are provided in plurality, the telescopic rods 4 on the fixed cross rod 5 are also provided in plurality correspondingly, and the spraying assemblies are arranged at the outer ends of the telescopic rods 4 in a one-to-one correspondence manner. Thus, a plurality of spraying assemblies are arranged, so that the flexibility of pesticide spraying is improved, and the precision and the efficiency are further improved; the telescopic link 4 corresponds and is equipped with a plurality ofly, can change the distance between a plurality of spraying subassemblies, when improving spraying efficiency, combines unmanned aerial vehicle's flight mode, effectively avoids the condition of the repeated spraying in farmland, saves the pesticide.
Referring to fig. 1-2, in the present embodiment, there are two spraying assemblies, and there are two telescopic rods 4 on the fixed cross bar 5, and the two spraying assemblies are respectively disposed on the outer ends of the two telescopic rods 4. Set up two spraying subassemblies to adjust spraying range, so that realize the accurate spraying in operation farmland. In this embodiment, the fixed cross bar 5 is hollow, the two telescopic rods 4 are arranged in the inner cavity of the fixed cross bar 5, and the telescopic driving mechanism is an electric push rod.
Referring to fig. 1 to 4, the spraying assembly further includes a cylindrical protective cylinder 7, and the spray head 8 is disposed in the protective cylinder 7. Through the setting of a protection section of thick bamboo 7, effectively protect shower nozzle 8 to at the spraying pesticide in-process, let atomizing spun pesticide under the protection of a protection section of thick bamboo 7, accurate stable spout downwards avoids just being influenced by external air current in the twinkling of an eye at the spun and leads to drifting, is favorable to improving the precision of pesticide spraying.
Referring to fig. 3-4, the spraying assembly further includes a fan 9, and the fan 9 is disposed above the spray head 8. Like this, at the spraying in-process, the pesticide blowout back can provide directional air current for spun droplet under the effect of fan 9, lets the droplet descend fast, reduces the influence of external wind-force to the droplet, avoids the droplet drift, lets the pesticide droplet can descend fast, accurately on appointed operation farmland.
Referring to fig. 3-4, an inner cylinder 10 is arranged in the protective cylinder 7, a ventilation gap 11 is left between the inner cylinder 10 and the inner wall of the protective cylinder 7, and the fan 9 is arranged above the inner cylinder 10; when the fan 9 is operated, the ends of the ventilation gap 11 form an air curtain surrounding the mist droplets. Through the arrangement of the inner barrel 10, in the spraying process, the wind blown out by the fan 9 forms a barrel-shaped air curtain under the action of the ventilation gap 11, and at the moment, the fog drops sprayed out by the spray head 8 are positioned in the air curtain; like this for spun droplet obtains the protection of air curtain after leaving protective tube 7, avoids external air current to influence, reduces the influence of drifting, under the protection of air curtain, is favorable to the droplet to fall fast and accurate ground to the operation farmland, improves aviation spraying precision. In this embodiment, the ventilation gap 11 between the inner cylinder 10 and the support of the protective cylinder 7 can be adjusted according to actual conditions, and the size of the ventilation gap 11 is changed by changing the position of the inner cylinder 10, so as to adjust the size of the formed air curtain.
Referring to fig. 1-2, the connecting piece comprises a top connecting plate 2 and a side connecting plate 1, wherein the top connecting plate 2 and the side connecting plate 1 are arranged vertically to each other and are arranged in a 7 shape; the top connecting plate 2 is rotatably connected with the connecting frame (the outer end of the telescopic rod 4), and the cylindrical side wall of the spraying assembly is rotatably connected with the side connecting plate 1. In this embodiment, the rotation driving mechanism 3 is disposed on the outer end of the top connecting plate 2 so as to rotatably drive the joint; the deflection driving mechanism 6 is arranged on the side connecting plate 1 so as to drive the spraying assembly to deflect; the rotation driving mechanism 3 and the yaw driving mechanism 6 of the present embodiment are assembled by a hidden installation method. Through setting up such linking piece, simple structure, the installation of the spraying subassembly of being convenient for, and the spraying subassembly of being convenient for carries out the beat motion to realize the range change of spraying.
Referring to fig. 1-7, the working principle of the amplitude spraying device of the plant protection unmanned aerial vehicle of the embodiment is as follows:
in the spraying process, the environment monitoring system detects the operation environment and transmits related parameters to the control system, and the control system controls the amplitude of the spraying assembly according to the detected parameters so as to adapt to the operation environment. Specifically, when the size in operation farmland changes under the drive of beat actuating mechanism 6, the spraying subassembly carries out the beat motion, realizes the change of 8 angles of shower nozzle in the spraying subassembly to amplitude when realizing the spraying changes, carries out pesticide aviation atomizing spraying more accurately, avoids extravagant pesticide or appears leaking the phenomenon of spouting, respraying. In addition, still can be according to real-time weather environmental condition, under the drive that rotates actuating mechanism 3, it is rotatory to drive the spraying subassembly to change the spraying direction, thereby influence such as wind speed when the adaptation spraying, air current or rainwater when unmanned aerial vehicle flies are favorable to improving the precision of aviation spraying, prevent that the spraying from drifting.
The amplitude spraying device of the plant protection unmanned aerial vehicle of the embodiment has the following beneficial effects:
1. this embodiment has changed traditional 8 and the fixed operation modes of operation spray width of cloth of operation, adopts the action that becomes width of cloth drive module and realizes spraying actuating system to adjust, and the extension of accessible control telescopic link 4 and the turned angle of linking piece improve plant protection unmanned aerial vehicle's effective operation breadth to increase substantially the operating efficiency that plant protection unmanned aerial vehicle aviation was executed medicine.
2. This embodiment sets up fan 9 in 8 tops of plant protection unmanned aerial vehicle shower nozzle, and through the directional air current of fan 9, the air curtain that combines 11 formation in ventilation gap can effectively promote the deposit of spraying droplet, reduces the droplet and drifts, improves the operation effect that plant protection unmanned aerial vehicle aviation was executed medicine.
3. This embodiment passes through the change of environmental monitoring system monitoring plant protection unmanned aerial vehicle operation parameter and environmental parameter, becomes the action of width of cloth drive module and the power of fan 9 in real time, makes it guarantee that plant protection unmanned aerial vehicle still can carry out effective spraying operation when flight parameter or external wind speed wind direction change, and adaptability to environmental change is strong.
4. This embodiment is through the length of adjusting telescopic link 4, the power that becomes width of cloth drive module and fan 9, makes plant protection unmanned aerial vehicle can accomplish when the spraying operation and carry out effective spraying operation to the barrier annex region in the farmland, and phenomenon such as not only can not appear leaking spouting still can ensure plant protection unmanned aerial vehicle's operation safety.
5. The invention adopts a mechanical structure to combine with corresponding materials, and the air curtain formed by the fan 9 and the ventilation gap 11 greatly reduces the fog drop drift in the spraying process; and in combination with the adjustable ventilation gap 11, to accommodate different environments and spray targets.
The embodiment also discloses a variable-amplitude spraying operation method of the plant protection unmanned aerial vehicle, which comprises the following steps: the unmanned plane flies forward at a speed v; the environment monitoring system detects the environment and the conditions of the operation farmland and sends related parameters to the control system; the control system controls the deflection driving mechanism 6 and the rotation driving mechanism 3 of the amplitude variation driving module according to the received parameters; wherein the swing driving mechanism 6 drives the spraying component to rotate by v1The speed carry out the beat motion with adjustment inclination, it carries out the rotation of horizontal direction in order to adjust the spraying direction to rotate actuating mechanism 3 and drive the spraying subassembly to the realization is adjusted the beat angle and the rotation angle of spraying subassembly, in order to adapt to current environment and appointed operation farmland, reaches accurate spraying.
Referring to fig. 7, the number of the spraying assemblies is two, and the two spraying assemblies are stacked and distributed on two sides of the unmanned aerial vehicle body; in the spraying operation process, the direction of the deflection motion of the spraying component and the included angle of the horizontal direction are d, and the flying speed v of the unmanned aerial vehicle1The relationship to the yaw motion velocity v of the spray assembly is as follows: v-v1·sinα。
Like this, through prescribing a limit to unmanned aerial vehicle's airspeed and the beat speed of spraying subassembly, effectively guarantee that the spraying operation is regional not to leak to spout or the phenomenon takes place of spouting again, be favorable to improving the precision of spraying operation and avoid extravagant pesticide.
The environment monitoring system of the embodiment comprises a flight parameter monitoring system, an obstacle monitoring system and a meteorological monitoring system; the system comprises a flight parameter monitoring system, a barrier monitoring system, a meteorological monitoring system and a plant protection unmanned aerial vehicle, wherein the flight parameter monitoring system is used for monitoring the flight speed and the flight height of the plant protection unmanned aerial vehicle during spraying operation; the control system can send adjusting instructions to the spraying assembly and the variable amplitude driving module according to parameter information and actual operation conditions obtained by monitoring of the environment monitoring system.
Specifically, when the plant protection unmanned aerial vehicle works on field crops, the control system controls the telescopic driving mechanism to drive the telescopic rod 4 to extend towards two sides, and meanwhile, the swing angle of the deflection driving mechanism 6 to the spraying assembly and the power of the fan 9 are increased so as to increase the effective breadth of the spraying operation of the plant protection unmanned aerial vehicle; simultaneously, still can enlarge ventilation gap 11 for the air curtain that forms protects the fog drop, with the influence that reduces external wind field, thereby improves the operating efficiency of plant protection unmanned aerial vehicle to the field crop and reduces the drift of fog drop.
Specifically, when plant protection unmanned aerial vehicle was to the fruit tree operation, control system control flexible actuating mechanism drive telescopic link 4 is flexible in order to adapt to fruit tree canopy width to both sides, simultaneously, reduces the swing angle of beat actuating mechanism 6 to the spraying subassembly to increase fan 9's power, in order to guarantee that plant protection unmanned aerial vehicle normally dresses medicine to fruit tree canopy inside.
Specifically, when the flight parameter monitoring system monitors that the operation speed or the operation height of the plant protection unmanned aerial vehicle is increased, the rotor wind field above the crop canopy is weakened, and at the moment, the power of the fan 9 needs to be increased, so that the sprayed fog drops accurately reach the crop canopy under the action of the wind force of the fan 9, the operation effect of the plant protection unmanned aerial vehicle on crops is ensured, and the drifting of the fog drops is reduced; simultaneously, need to adjust the rotational speed of spraying subassembly on the unmanned aerial vehicle flight direction to avoid plant protection unmanned aerial vehicle to appear the phenomenon that the heavy spray leaks to spout.
Specifically, when the obstacle monitoring system monitors an obstacle in the working environment of the plant protection unmanned aerial vehicle, the control system controls the telescopic rod 4 to stretch and retract according to the shape and size of the obstacle acquired by the obstacle monitoring system, and controls the deflection driving mechanism 6 and the rotation driving mechanism 3 to adjust the spraying component based on the position and distance of the obstacle so as to change the spraying direction of the spraying component and adapt to the real-time environment condition; meanwhile, the power of the fan 9 is controlled to adjust the range of the liquid medicine sprayed by the spray head 8, so that the crops around the obstacles in the operation environment can be sprayed efficiently.
Specifically, when the meteorological monitoring system monitors that meteorological parameters in the working environment of the plant protection unmanned aerial vehicle change, the control system completes control and adjustment of the spraying assembly and the variable amplitude driving module according to the acquired wind speed and wind direction information; when the meteorological monitoring system monitors that external wind-force is great among the plant protection unmanned aerial vehicle operational environment, control system increases 9 powers of fan, improves air curtain intensity to this reduces droplet drift, increases unmanned aerial vehicle precision of giving medicine to poor free of charge.
Referring to fig. 6, in addition, for the operation method of the present embodiment, the period of controlling the rotation motion of the spraying assembly by the yaw driving mechanism 6 and the rotation driving mechanism 3 is as follows: when the plant protection unmanned aerial vehicle starts to advance to spray with the flying speed v, the deflection driving mechanism 6 is arranged to control the spraying assembly to move with v1The speed of the spraying assembly is from the middle of the unmanned aerial vehicle body to the outside and the rear, when the spraying assembly moves to a set maximum angle (see a part a and a part b in fig. 6), the rotation driving mechanism 3 controls the spraying assembly to rotate by 2 alpha degrees along the anticlockwise direction in the horizontal direction, and after the rotation is finished (see a part b and a part c in fig. 6), the deflection driving mechanism 6 continuously controls the spraying assembly to rotate by v1When the spraying component moves to a set maximum angle (see part c and part d in fig. 6), the rotation driving mechanism 3 controls the spraying component to rotate by 2 alpha degrees in the horizontal direction along the clockwise direction, and at the moment, the spraying component returns to the position and the angle (see part d and part a in fig. 6) for starting spraying operation initially, namely the work cycle of a single spraying component.
This embodiment still discloses a plant protection unmanned aerial vehicle, and this plant protection unmanned aerial vehicle includes the width of cloth spraying device of this embodiment, and this width of cloth spraying device sets up in the drain pan below.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (10)
1. The amplitude spraying device of the plant protection unmanned aerial vehicle is characterized by comprising a connecting frame, a linking piece arranged on the connecting frame, a spraying assembly, a control system and a flight parameter monitoring system, wherein the spraying assembly is rotatably connected to the linking piece, the connecting frame is arranged below the unmanned aerial vehicle and connected with a bottom shell of the unmanned aerial vehicle, and an amplitude driving module is arranged on the connecting frame; the amplitude-variable driving module comprises a deflection driving mechanism for driving the spraying assembly to swing on the connecting piece and a rotation driving mechanism for driving the connecting piece to rotate along the horizontal direction; the spraying assembly comprises a spray head, and the spray head is connected with the medicine box through a medicine conveying pipe; the variable amplitude driving module, the spraying assembly and the environment monitoring system are all electrically connected with the control system.
2. The device of claim 1, wherein the link comprises a fixed cross bar and a telescopic rod, the telescopic rod is slidably connected to the fixed cross bar, the fixed cross bar is connected to a bottom casing of the unmanned aerial vehicle, the variable amplitude driving module further comprises a telescopic driving mechanism for driving the telescopic rod to slide, the telescopic driving mechanism is arranged on the fixed cross bar, the spraying assembly is arranged at an outer end of the telescopic rod, and the telescopic driving mechanism is electrically connected to the control system.
3. The variable-amplitude spraying device of the plant protection unmanned aerial vehicle as claimed in claim 2, wherein the spraying assemblies are provided in plurality, the telescopic rods on the fixed cross rods are correspondingly provided in plurality, and the spraying assemblies are correspondingly provided at the outer ends of the telescopic rods in a one-to-one manner.
4. The variable-amplitude spraying device of the plant protection unmanned aerial vehicle of claim 1, wherein the spraying assembly further comprises a cylindrical protective cylinder, and the spray head is arranged in the protective cylinder.
5. The variable-amplitude spraying device of a plant protection unmanned aerial vehicle of claim 4, wherein the spraying assembly further comprises a fan disposed above the spray head.
6. The amplitude spraying device of the plant protection unmanned aerial vehicle as claimed in claim 5, wherein an inner cylinder is arranged in the protection cylinder, a ventilation gap is reserved between the inner cylinder and the inner wall of the protection cylinder, and the fan is arranged above the inner cylinder; when the fan is operated, the ends of the ventilation gap form an air curtain surrounding the mist droplets.
7. An operation method of applying the amplitude spraying device of the plant protection unmanned aerial vehicle as claimed in any one of claims 1 to 6, wherein the plant protection unmanned aerial vehicle flies forward at a speed v; the environment monitoring system detects the environment and the conditions of the operation farmland and sends related parameters to the control system; the control system controls the deflection driving mechanism and the rotation driving mechanism of the amplitude variation driving module according to the received parameters; wherein the swing driving mechanism drives the spraying component to rotate by v1The speed carry out the beat motion with adjustment inclination, it carries out the rotation of horizontal direction in order to adjust the spraying direction to rotate actuating mechanism and drive the spraying subassembly to the realization is adjusted the beat angle and the rotation angle of spraying subassembly, in order to adapt to current environment and appointed operation farmland, reaches accurate spraying.
8. The working method according to claim 7, wherein the spraying assemblies are two, and the two spraying assemblies are piled up and distributed on two sides of the unmanned aerial vehicle body; in the spraying operation process, the direction of the deflection motion of the spraying component and the included angle of the horizontal direction are d, and the flying speed v of the unmanned aerial vehicle1The relationship to the yaw motion velocity v of the spray assembly is as follows: v-v1·sin α。
9. The method of operation of claim 7, wherein the environmental monitoring system comprises a flight parameter monitoring system, an obstacle monitoring system, and a weather monitoring system; the flight parameter monitoring system is used for monitoring the flight speed and the flight height of the plant protection unmanned aerial vehicle during spraying operation; the obstacle monitoring system is used for monitoring the shape, size and distance of obstacles around the plant protection unmanned aerial vehicle during spraying operation, and the meteorological monitoring system is used for monitoring the wind speed and wind direction parameters of the external environment during spraying operation of the plant protection unmanned aerial vehicle; and the control system sends an adjusting instruction to the spraying assembly and the amplitude variation driving module according to the parameter information and the actual operation condition obtained by monitoring of the environment monitoring system.
10. The working method according to claim 9, wherein the connecting frame of the variable-amplitude spraying device comprises a fixed cross rod and a telescopic rod, the telescopic rod is slidably connected to the fixed cross rod, the fixed cross rod is connected with a bottom shell of the unmanned aerial vehicle, the variable-amplitude driving module further comprises a telescopic driving mechanism for driving the telescopic rod to slide, the telescopic driving mechanism is arranged on the fixed cross rod, the spraying assembly is arranged at the outer end of the telescopic rod, and the telescopic driving mechanism is electrically connected with the control system; the spraying assembly also comprises a fan, and the fan is arranged above the spray head;
when the plant protection unmanned aerial vehicle works on field crops, the control system controls the telescopic driving mechanism to drive the telescopic rod to extend towards two sides, and the swinging angle of the deflection driving mechanism to the spraying assembly and the power of the fan are increased so as to increase the effective width of the spraying operation of the plant protection unmanned aerial vehicle;
when the plant protection unmanned aerial vehicle works on fruit trees, the control system controls the telescopic driving mechanism to drive the telescopic rod to stretch towards two sides so as to adapt to the width of the fruit tree canopy, meanwhile, the swinging angle of the deflection driving mechanism to the spraying assembly is reduced, and the power of the fan is increased so as to ensure that the plant protection unmanned aerial vehicle can normally apply pesticide to the interior of the fruit tree canopy;
when the flight parameter monitoring system monitors that the operation speed or the operation height of the plant protection unmanned aerial vehicle is increased, the rotor wind field above the crop canopy is weakened, the power of the fan is increased at the moment, and the sprayed fog drops accurately reach the crop canopy under the action of the wind force of the fan, so that the operation effect of the plant protection unmanned aerial vehicle on crops is ensured, and the drift of the fog drops is reduced; meanwhile, the rotation speed of the spraying assembly in the flight direction of the unmanned aerial vehicle is adjusted, so that the phenomenon of re-spraying and missing spraying of the plant protection unmanned aerial vehicle is avoided;
when the obstacle monitoring system monitors obstacles in the operation environment of the plant protection unmanned aerial vehicle, the control system controls the telescopic rod to stretch and retract according to the shape and size of the obstacles acquired by the obstacle monitoring system, and controls the deflection driving mechanism and the rotation driving mechanism to adjust the spraying assembly based on the position and distance of the obstacles so as to change the spraying direction of the spraying assembly and adapt to the real-time environment condition; meanwhile, the power of the fan is controlled to adjust the range of the liquid medicine sprayed by the spray head so as to finish the high-efficiency spraying operation on crops around the obstacles in the operating environment;
when the meteorological monitoring system monitors that meteorological parameters in the working environment of the plant protection unmanned aerial vehicle change, the control system completes control and adjustment of the spraying assembly and the variable amplitude driving module according to the acquired wind speed and wind direction information; when the meteorological monitoring system monitors that external wind power is great in the plant protection unmanned aerial vehicle operation environment, control system increases fan power to this reduces droplet drift, increases unmanned aerial vehicle accuracy of giving medicine to poor free of charge.
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