CN113060285B - Amplitude-variable spraying device of plant protection unmanned aerial vehicle and operation method - Google Patents
Amplitude-variable spraying device of plant protection unmanned aerial vehicle and operation method Download PDFInfo
- Publication number
- CN113060285B CN113060285B CN202110278434.8A CN202110278434A CN113060285B CN 113060285 B CN113060285 B CN 113060285B CN 202110278434 A CN202110278434 A CN 202110278434A CN 113060285 B CN113060285 B CN 113060285B
- Authority
- CN
- China
- Prior art keywords
- spraying
- aerial vehicle
- unmanned aerial
- driving mechanism
- plant protection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005507 spraying Methods 0.000 title claims abstract description 242
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 238000012544 monitoring process Methods 0.000 claims abstract description 66
- 239000007921 spray Substances 0.000 claims abstract description 32
- 239000000575 pesticide Substances 0.000 claims abstract description 19
- 239000003814 drug Substances 0.000 claims abstract description 16
- 230000008859 change Effects 0.000 claims description 14
- 230000001681 protective effect Effects 0.000 claims description 14
- 238000009423 ventilation Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 10
- 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
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 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
- 230000008602 contraction Effects 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 claims description 2
- 229940079593 drug Drugs 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 6
- 239000010914 pesticide waste Substances 0.000 description 4
- 238000000889 atomisation Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—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
- A01M7/005—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
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)
- Catching Or Destruction (AREA)
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 connecting piece arranged on the connecting frame, a spraying component, a control system and a flight parameter monitoring system, wherein the spraying component is rotationally connected to the connecting piece, the connecting frame is arranged below the unmanned aerial vehicle and is connected with a bottom shell of the unmanned aerial vehicle, and a variable amplitude driving module is arranged on the connecting frame; the amplitude variation 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 which is connected with the medicine box through a medicine conveying pipe; the amplitude-variable driving module, the spraying assembly and the environment monitoring system are electrically connected with the control system. The invention realizes the variable spraying amplitude of the pesticide so as to adapt to different working 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 of a plant protection unmanned aerial vehicle and an operation method.
Background
In recent years, as the plant protection unmanned aerial vehicle has the advantages of high operation speed, flexible movement, safe operation, no influence of terrain and environment factors, energy conservation, environmental protection and the like, the aerial spraying mode of the plant protection unmanned aerial vehicle is promoted to be rapidly applied and developed.
Along with the increasing application range of the plant protection unmanned aerial vehicle, some defects existing in the operation mode of the plant protection unmanned aerial vehicle are gradually revealed. Most of the spray heads carried by the plant protection unmanned aerial vehicle are in a fixed state, spraying operation is carried out by adopting fixed spraying width and spraying angle, and the effective spraying width and the spraying angle cannot be adjusted in real time according to the operation condition; in the pesticide application process, the plant protection unmanned aerial vehicle is easy to generate the phenomenon of heavy spraying or missing spraying in the spraying operation process due to the influences of the operation parameters, the external environment and other conditions, the pesticide application precision is poor, and a good operation effect is difficult to achieve, so that the operation effect of the plant protection unmanned aerial vehicle is reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the variable amplitude spraying device of the plant protection unmanned aerial vehicle, which can realize the variable amplitude of pesticide spraying so as to adapt to different working environments and be beneficial to improving the spraying accuracy.
The second aim of the invention is to provide a variable amplitude spraying operation method of a plant protection unmanned aerial vehicle.
The aim of the invention is achieved by the following technical scheme:
the amplitude-variable spraying device of the plant protection unmanned aerial vehicle is characterized by comprising 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 rotationally connected to the connecting piece, the connecting frame is arranged below the unmanned aerial vehicle and is connected with a bottom shell of the unmanned aerial vehicle, and an amplitude-variable driving module is arranged on the connecting frame; the amplitude variation 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 which is connected with the medicine box through a medicine conveying pipe; the amplitude-variable driving module, the spraying assembly and the environment monitoring system are electrically connected with the control system.
The working principle of the amplitude-variable 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 variation of the spraying assembly according to the detected parameters so as to adapt to the operation environment. Specifically, when the size of the working farmland changes, under the drive of the deflection driving mechanism, the spraying assembly performs deflection movement, so that the change of the angle of a spray head in the spraying assembly is realized, the amplitude of spraying is changed, pesticide aviation atomization spraying is performed more accurately, and the phenomena of pesticide waste or missing spraying and heavy spraying are avoided. In addition, the spraying assembly is driven to rotate under the driving of the rotary driving mechanism according to the real-time climate environment conditions, so that the spraying direction is changed, the influence of wind speed during spraying, air flow or rainwater during unmanned aerial vehicle flight and the like is adapted, the accuracy of aviation spraying is improved, and the drift of spraying is prevented.
According to 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 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 components are provided with a plurality of telescopic rods on the fixed cross rod, the plurality of spraying components are correspondingly provided with a plurality of telescopic rods, and the plurality of spraying components are correspondingly arranged at the outer ends of the plurality of telescopic rods one by one.
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 end of the ventilation gap forms an air curtain surrounding the mist droplets.
Plant protectionThe amplitude-variable spraying operation method of the unmanned aerial vehicle is characterized in that the plant protection unmanned aerial vehicle flies forward at the speed v; the environment monitoring system detects the conditions of the environment and 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 deflection driving mechanism drives the spraying assembly to v 1 The spraying assembly is driven by the rotation driving mechanism to rotate in the horizontal direction to adjust the spraying direction, so that the deflection angle and the rotation angle of the spraying assembly are adjusted to adapt to the current environment and the appointed operation farmland, and accurate spraying is achieved.
Preferably, two spraying components are arranged and symmetrically distributed on two sides of the unmanned aerial vehicle body; in the spraying operation process, the included angle between the direction of the deflection movement of the spraying component and the horizontal direction is alpha, and the flying speed v of the unmanned aerial vehicle and the deflection movement speed v of the spraying component 1 The relationship of (2) is as follows: v= -v 1 ·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, the size and the distance of surrounding obstacles during spraying operation of the plant protection unmanned aerial vehicle, and the meteorological monitoring system is used for monitoring the wind speed and the 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 which are 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 rods 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 for fruit trees, the control system controls the telescopic driving mechanism to drive the telescopic rods to extend towards two sides so as to adapt to the width of the crowns of the fruit trees, meanwhile, the swing 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 normally applies medicines to the interiors of the crowns of the fruit trees;
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 wind field of a rotor wing above a crop canopy is weakened, and at the moment, the power of a fan is increased, so that sprayed fog drops accurately reach the crop canopy under the action of wind power of the fan, thereby ensuring the operation effect of the plant protection unmanned aerial vehicle on crops and reducing the drift of the fog drops; simultaneously, the rotation speed of the spraying assembly in the flight direction of the unmanned aerial vehicle is regulated, so that the phenomenon of heavy spraying and leakage spraying of the plant protection unmanned aerial vehicle is avoided;
when the obstacle monitoring system monitors an obstacle in the operation environment of the plant protection unmanned aerial vehicle, the control system controls the expansion and contraction of the telescopic rod according to the shape and the size of the obstacle obtained by the obstacle monitoring system, and controls the adjustment of the deflection driving mechanism and the rotation driving mechanism on the spraying assembly based on the position and the distance of the obstacle so as to change the spraying direction of the spraying assembly and adapt to the real-time environment condition; simultaneously controlling the power of the fan 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 obstacles in the operation 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 amplitude-variable driving module according to the acquired wind speed and direction information; when the weather monitoring system monitors that the external wind force is large in the working environment of the plant protection unmanned aerial vehicle, the control system increases the fan power, so that the fog drop drift is reduced, and the pesticide application accuracy of the unmanned aerial vehicle is improved.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention realizes the variable spraying amplitude of the pesticide so as to adapt to different working environments and is beneficial to improving the spraying accuracy.
2. When the size of the operation farmland changes, under the drive of the deflection driving mechanism, the spraying assembly performs deflection movement, so that the change of the angle of a spray head in the spraying assembly is realized, the amplitude during spraying is changed, pesticide aviation atomization spraying is performed more accurately, and the phenomena of pesticide waste or missing spraying and heavy spraying are avoided. In addition, the spraying assembly is driven to rotate under the driving of the rotary driving mechanism according to the real-time climate environment conditions, so that the spraying direction is changed, the influence of wind speed during spraying, air flow or rainwater during unmanned aerial vehicle flight and the like is adapted, the accuracy of aviation spraying is improved, and the drift of spraying is prevented.
3. According to the invention, the traditional operation mode of fixing the spray head and the operation spray width is changed, the action adjustment of the spraying assembly is realized by adopting the amplitude-variable driving module, and the effective operation width of the plant protection unmanned aerial vehicle is improved, so that the aviation pesticide application operation efficiency of the plant protection unmanned aerial vehicle is greatly improved.
Drawings
Fig. 1-2 are schematic structural views of one embodiment of the unmanned aerial vehicle according to the present invention, wherein 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 of the spraying assembly when forming an air curtain.
Fig. 6 is a schematic diagram of the movement process of the spraying assembly.
Fig. 7 is a schematic diagram of the relationship between the spraying assembly and the flying speed of the unmanned aerial vehicle.
Detailed Description
The invention is further described below with reference to examples and figures, but embodiments of the invention are not limited thereto.
Referring to fig. 1-5, the amplitude variation spraying device of the plant protection unmanned aerial vehicle of the embodiment comprises a connecting frame, a connecting piece arranged on the connecting frame, a spraying component, a control system and a flight parameter monitoring system, wherein the spraying component is rotationally connected to the connecting piece, the connecting frame is arranged below the unmanned aerial vehicle and is connected with a bottom shell of the unmanned aerial vehicle, and an amplitude variation driving module is arranged on the connecting frame; the amplitude variation 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 assembly comprises a spray head 8, and the spray head 8 is connected with the medicine box through a medicine conveying pipe; the amplitude-variable driving module, the spraying assembly and the environment monitoring system are electrically connected with the control system.
Referring to fig. 1-2, the connecting frame comprises a fixed cross rod 5 and a telescopic rod 4, the telescopic rod 4 is slidably connected to the fixed cross rod 5, the fixed cross rod 5 is connected with a bottom shell of the unmanned aerial vehicle, the amplitude driving module further comprises a telescopic driving mechanism for driving the telescopic rod 4 to slide, the telescopic driving mechanism is arranged on the fixed cross rod 5, the spraying assembly is arranged on the outer end of the telescopic rod 4, and the telescopic driving mechanism is electrically connected with the control system. Through setting up such link, realize adjusting the position of spraying subassembly to change the relative position that spraying subassembly is located the unmanned aerial vehicle below, thereby reduce the influence of the produced air current of unmanned aerial vehicle to spraying according to actual conditions, combine amplitude of amplitude drive module simultaneously, make further adjustment to the spraying width of cloth of spraying subassembly, improve whole spraying device's flexibility.
Referring to fig. 1-2, the spraying components are provided in plurality, the telescopic rods 4 on the fixed cross rod 5 are correspondingly provided in plurality, and the spraying components are correspondingly arranged at the outer ends of the telescopic rods 4 one by one. Therefore, the plurality of spraying components are arranged to increase the flexibility of pesticide spraying, and the precision and efficiency are further improved; the telescopic links 4 are correspondingly provided with a plurality of spraying components, so that the distance between the spraying components can be changed, the spraying efficiency is improved, meanwhile, the unmanned aerial vehicle flight mode is combined, the repeated spraying condition of farmlands is effectively avoided, and pesticides are saved.
Referring to fig. 1-2, in this embodiment, two spraying assemblies are provided, two telescopic rods 4 on the fixed cross rod 5 are also provided, and two spraying assemblies are respectively provided on the outer ends of the two telescopic rods 4. Two spraying components are arranged so as to adjust the spraying amplitude, and therefore accurate spraying of an operation farmland is realized. In this embodiment, the fixed cross rod 5 is hollow, the two telescopic rods 4 are disposed in the inner cavity of the fixed cross rod 5, and the telescopic driving mechanism is an electric push rod.
Referring to fig. 1-4, the spraying assembly further comprises a cylindrical protective cylinder 7, and the spray head 8 is arranged in the protective cylinder 7. Through the setting of protective barrel 7, effective protection shower nozzle 8 to in the spraying pesticide in-process, let atomized spun pesticide down spout under the protection of protective barrel 7, accurate stability, avoid just being influenced by external air current at the spun twinkling of an eye and lead to drifting, be favorable to improving the precision that pesticide was sprayed.
Referring to fig. 3-4, the spray assembly further comprises a fan 9, which fan 9 is arranged above the spray head 8. Like this, in the spraying in-process, after pesticide blowout, can provide directional air current for spun fog droplet under the effect of fan 9, let the fog droplet descend fast, reduce external wind-force to the influence of fog droplet, avoid the fog droplet drift, let pesticide fog droplet can drop on appointed operation farmland fast, accurately.
Referring to fig. 3-4, an inner cylinder 10 is arranged in the protective cylinder 7, a ventilation gap 11 is reserved 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 end of the ventilation gap 11 forms an air curtain surrounding the mist droplets. Through the arrangement of the inner cylinder 10, the air blown out by the fan 9 forms a cylinder type air curtain under the action of the ventilation gap 11 in the spraying process, 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 cylinder 7, avoids external air current influence, reduces the drift influence, under the protection of air curtain, is favorable to the droplet to drop fast and accurately on 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 may be adjusted according to practical situations, and by changing the position of the inner cylinder 10, the size of the ventilation gap 11 is changed, so as to further adjust the size of the formed air curtain.
Referring to fig. 1-2, the connector 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 mutually perpendicular 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 rotationally drive the engagement member; the deflection driving mechanism 6 is arranged on the side connecting plate 1 so as to perform deflection driving on the spraying assembly; the rotation driving mechanism 3 and the yaw driving mechanism 6 of this embodiment are assembled by a hidden mounting method. Through setting up such linking piece, simple structure is convenient for spray the installation of subassembly, and is convenient for spray the subassembly and carry out the beat motion to realize the range change of spraying.
Referring to fig. 1 to 7, the working principle of the amplitude variation 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 variation of the spraying assembly according to the detected parameters so as to adapt to the operation environment. Specifically, when the size of the working farmland changes, under the drive of the deflection driving mechanism 6, the spraying assembly performs deflection movement, so that the angle of the spray head 8 in the spraying assembly is changed, the amplitude of spraying is changed, pesticide aviation atomization spraying is performed more accurately, and the phenomena of pesticide waste or missing spraying and heavy spraying are avoided. In addition, the spraying assembly can be driven to rotate under the driving of the rotary driving mechanism 3 according to real-time climate environment conditions so as to change the spraying direction, thereby being suitable for the influences of wind speed during spraying, air flow or rainwater during unmanned aerial vehicle flight and the like, being beneficial to improving the accuracy of aviation spraying and preventing spray drift.
The amplitude variation spraying device of the plant protection unmanned aerial vehicle has the following beneficial effects:
1. this embodiment has changed traditional shower nozzle 8 and operation and has spouted the fixed operation mode of width of cloth, adopts the drive module that becomes amplitude to realize the action of spraying actuating system and adjusts, and the effective operation width of plant protection unmanned aerial vehicle is improved to the rotation angle of the extension of accessible control telescopic link 4 and linking piece to improve the operating efficiency of plant protection unmanned aerial vehicle aviation medicine application by a wide margin.
2. This embodiment sets up fan 9 in plant protection unmanned aerial vehicle shower nozzle 8 top, through the directional air current of fan 9, combines the air curtain that ventilation gap 11 formed, can effectively promote the deposit of spraying droplet, reduces the droplet drift, improves the operation effect that plant protection unmanned aerial vehicle aviation was executed medicine.
3. According to the embodiment, the environment monitoring system is used for monitoring the operation parameters of the plant protection unmanned aerial vehicle and the change of the environment parameters, and the action of the amplitude-variable driving module and the power of the fan 9 are performed in real time, so that the plant protection unmanned aerial vehicle can still perform effective spraying operation when the flight parameters or the external wind speed and the external wind direction change, and the adaptability to the environment change is high.
4. According to the embodiment, the length of the telescopic rod 4, the amplitude-variable driving module and the power of the fan 9 are adjusted, so that the plant protection unmanned aerial vehicle can finish effective spraying operation on the obstacle accessory area in the farmland during spraying operation, the phenomena of missing spraying and the like are avoided, and the operation safety of the plant protection unmanned aerial vehicle can be ensured.
5. The invention greatly reduces the fog drop drift in the spraying process through the air curtain formed by the fan 9 and the ventilation gap 11; and in combination with the adjustable ventilation gap 11, adapts to different environments and spray objects.
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 advances to fly at a speed v; the environment monitoring system detects the conditions of the environment and 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 deflection driving mechanism 6 drives the spraying assembly to v 1 The rotation driving mechanism 3 drives the spraying assembly to rotate in the horizontal direction to adjust the spraying direction, so that the deflection angle and the rotation angle of the spraying assembly are adjusted to adapt to the current environment and the appointed operation farmland, and accurate spraying is achieved.
Referring to FIG. 7, the spraying groupThe two spraying components are symmetrically distributed on two sides of the unmanned aerial vehicle body; in the spraying operation process, the included angle between the direction of the deflection movement of the spraying component and the horizontal direction is alpha, and the flying speed v of the unmanned aerial vehicle and the deflection movement speed v of the spraying component 1 The relationship of (2) is as follows: v= -v 1 ·sinα。
Therefore, the flying speed of the unmanned aerial vehicle and the deflection speed of the spraying assembly are limited, so that the phenomenon of missing spraying or heavy spraying in a spraying operation area is effectively guaranteed, the precision of spraying operation is improved, and pesticide waste is avoided.
The environment monitoring system of the embodiment 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, the size, the distance and the like of surrounding obstacles during spraying operation of the plant protection unmanned aerial vehicle, and the weather monitoring system is used for monitoring the parameters such as the wind speed, the wind direction and the like of the external environment during spraying operation of the plant protection unmanned aerial vehicle; the control system can send adjusting instructions to the spraying assembly and the amplitude-variable driving module according to the parameter information and the actual operation condition 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 that the effective width of the plant protection unmanned aerial vehicle spraying work is increased; simultaneously, can also enlarge ventilation clearance 11 for the air curtain that forms protects the droplet, in order to reduce the influence of external wind field, thereby improves the efficiency of operation of plant protection unmanned aerial vehicle to field crop and reduces the drift of droplet.
Specifically, when plant protection unmanned aerial vehicle is to fruit tree operation, control system control flexible actuating mechanism drive telescopic link 4 is flexible to both sides in order to adapt to fruit tree canopy width, simultaneously, reduces the swing angle of beat actuating mechanism 6 to the spraying subassembly to increase the power of fan 9, in order to guarantee the normal medicine of plant protection unmanned aerial vehicle to the inside fruit tree canopy.
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 wind field of a rotor wing above the crop canopy is weakened, at the moment, the power of the fan 9 is required to be increased, so that sprayed fog drops accurately reach the crop canopy under the action of the wind force of the fan 9, thereby ensuring the operation effect of the plant protection unmanned aerial vehicle on crops and reducing the drift of the fog drops; meanwhile, the rotation speed of the spraying assembly in the flight direction of the unmanned aerial vehicle needs to be adjusted, so that the phenomenon that the plant protection unmanned aerial vehicle is subjected to heavy spraying and leakage spraying is avoided.
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 according to the shape and the size of the obstacle obtained by the obstacle monitoring system, and controls the deflection driving mechanism 6 and the rotation driving mechanism 3 to adjust the spraying assembly based on the position and the distance of the obstacle 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 9 is controlled to adjust the range of the liquid medicine sprayed by the spray head 8 so as to finish the efficient spraying operation on crops around obstacles in the operation environment.
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 amplitude-variable driving module according to the acquired wind speed and direction information; when the weather monitoring system monitors that the external wind force is large in the working environment of the plant protection unmanned aerial vehicle, the control system increases the power of the fan 9, improves the strength of the air curtain, reduces the drift of fog drops, and increases the pesticide application accuracy of the unmanned aerial vehicle.
Referring to fig. 6, in addition, for the working method of the present embodiment, the period of the rotational movement of the spraying assembly controlled by the yaw driving mechanism 6 and the rotation driving mechanism 3 is: when the plant protection unmanned plane starts to advance spraying operation at the flying speed v, the deflection driving mechanism 6 is arranged to control the spraying assembly to v 1 Is rotated from the middle of the unmanned plane body to the outside and backward, and when the spray assembly is moved to a set maximum angle (see parts a and b in fig. 6), the rotation driving mechanism 3 controlsThe spraying assembly rotates by 2α in the counterclockwise direction in the horizontal direction, and after the rotation is completed (see the b part and the c part in fig. 6), the yaw drive mechanism 6 continues to control the spraying assembly to v 1 When the spraying assembly moves to the set maximum angle (see the part c and the part d in fig. 6), the rotation driving mechanism 3 controls the spraying assembly to rotate by 2 alpha degrees in the clockwise direction in the horizontal direction, and at the moment, the spraying assembly returns to the position and the angle (see the part d and the part a in fig. 6) where the spraying operation is started initially, namely the working period of the single spraying assembly.
The embodiment also discloses a plant protection unmanned aerial vehicle, and this plant protection unmanned aerial vehicle includes the amplitude variation degree spraying device of this embodiment, and this amplitude variation degree spraying device sets up in the drain pan below.
The foregoing is illustrative of the present invention, and is not to be construed as limiting thereof, but rather as various changes, modifications, substitutions, combinations, and simplifications which may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (8)
1. The amplitude-variable spraying device of the plant protection unmanned aerial vehicle is characterized by comprising 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 rotationally connected to the connecting piece, the connecting frame is arranged below the unmanned aerial vehicle and is connected with a bottom shell of the unmanned aerial vehicle, and an amplitude-variable driving module is arranged on the connecting frame; the amplitude variation 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 which is connected with the medicine box through a medicine conveying pipe; the amplitude-variable driving module, the spraying assembly and the environment monitoring system are electrically connected with the control system;
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 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 components are provided with a plurality of telescopic rods on the fixed cross rod, the plurality of spraying components are correspondingly arranged on the outer ends of the telescopic rods one by one;
the period of the rotary motion of the spraying assembly controlled by the deflection driving mechanism and the rotation driving mechanism is as follows: when the plant protection unmanned plane starts to advance spraying operation at the flying speed v, the deflection driving mechanism is arranged to control the spraying assembly to v 1 When the spraying assembly moves to a set maximum angle, the rotation driving mechanism controls the spraying assembly to rotate by 2 alpha degrees along the anticlockwise direction in the horizontal direction, and after the rotation is finished, the deflection driving mechanism continuously controls the spraying assembly to rotate by v 1 The spraying assembly is rotated by 2 alpha degrees in the clockwise direction in the horizontal direction when the spraying assembly moves to the set maximum angle, and at the moment, the spraying assembly returns to the position and the angle at which the spraying operation is started initially.
2. The plant protection drone amplitude variation spray apparatus of claim 1, wherein the spray assembly further comprises a protective barrel having a cylindrical shape, the spray head being disposed within the protective barrel.
3. The plant protection drone amplitude variation spray apparatus of claim 2, wherein the spray assembly further comprises a fan disposed above the spray head.
4. The amplitude variation spraying device of the plant protection unmanned aerial vehicle according to claim 3, 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 end of the ventilation gap forms an air curtain surrounding the mist droplets.
5. A method of operation using the amplitude variation spraying device of the plant protection drone of any one of claims 1-4, wherein the plant protection drone is flying forward at speed v; the environment monitoring system detects the conditions of the environment and 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 deflection driving mechanism drives the spraying assembly to v 1 The spraying assembly is driven by the rotation driving mechanism to rotate in the horizontal direction to adjust the spraying direction, so that the deflection angle and the rotation angle of the spraying assembly are adjusted to adapt to the current environment and the appointed operation farmland, and accurate spraying is achieved.
6. The operation method according to claim 5, wherein two spraying assemblies are provided, and the two spraying assemblies are symmetrically distributed on two sides of the unmanned aerial vehicle body; in the spraying operation process, the included angle between the direction of the deflection movement of the spraying component and the horizontal direction is alpha, and the flying speed v of the unmanned aerial vehicle and the deflection movement speed v of the spraying component 1 The relationship of (2) is as follows: v= -v 1 ·sinα。
7. The method of claim 5, 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, the size and the distance of surrounding obstacles during spraying operation of the plant protection unmanned aerial vehicle, and the meteorological monitoring system is used for monitoring the wind speed and the 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 which are obtained by monitoring of the environment monitoring system.
8. The method of claim 7, wherein the connecting frame in 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 on the outer end of the telescopic rod, and the telescopic driving mechanism is electrically connected with the control system; the spraying assembly further 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 rods 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 plant protection unmanned aerial vehicle spraying operation is increased;
when the plant protection unmanned aerial vehicle works for fruit trees, the control system controls the telescopic driving mechanism to drive the telescopic rods to extend towards two sides so as to adapt to the width of the crowns of the fruit trees, meanwhile, the swing 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 normally applies medicines to the interiors of the crowns of the fruit trees;
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 wind field of a rotor wing above a crop canopy is weakened, and at the moment, the power of a fan is increased, so that sprayed fog drops accurately reach the crop canopy under the action of wind power of the fan, thereby ensuring the operation effect of the plant protection unmanned aerial vehicle on crops and reducing the drift of the fog drops; simultaneously, the rotation speed of the spraying assembly in the flight direction of the unmanned aerial vehicle is regulated, so that the phenomenon of heavy spraying and leakage spraying of the plant protection unmanned aerial vehicle is avoided;
when the obstacle monitoring system monitors an obstacle in the operation environment of the plant protection unmanned aerial vehicle, the control system controls the expansion and contraction of the telescopic rod according to the shape and the size of the obstacle obtained by the obstacle monitoring system, and controls the adjustment of the deflection driving mechanism and the rotation driving mechanism on the spraying assembly based on the position and the distance of the obstacle so as to change the spraying direction of the spraying assembly and adapt to the real-time environment condition; simultaneously controlling the power of the fan 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 obstacles in the operation 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 amplitude-variable driving module according to the acquired wind speed and direction information; when the weather monitoring system monitors that the external wind force is large in the working environment of the plant protection unmanned aerial vehicle, the control system increases the fan power, so that the fog drop drift is reduced, and the pesticide application accuracy of the unmanned aerial vehicle is improved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110278434.8A CN113060285B (en) | 2021-03-16 | 2021-03-16 | Amplitude-variable spraying device of plant protection unmanned aerial vehicle and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110278434.8A CN113060285B (en) | 2021-03-16 | 2021-03-16 | Amplitude-variable spraying device of plant protection unmanned aerial vehicle and operation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113060285A CN113060285A (en) | 2021-07-02 |
| CN113060285B true CN113060285B (en) | 2023-10-20 |
Family
ID=76560986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110278434.8A Active CN113060285B (en) | 2021-03-16 | 2021-03-16 | Amplitude-variable spraying device of plant protection unmanned aerial vehicle and operation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113060285B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114946808B (en) * | 2022-05-31 | 2023-04-07 | 苏州农业职业技术学院 | Device for reducing fog drop drift and plant protection unmanned aerial vehicle |
| CN114904703B (en) * | 2022-06-21 | 2023-06-13 | 塔里木大学 | Machine carries to target device of applying medicine suitable for high density cultivation machine adopts cotton defoliation usefulness |
| CN114993886B (en) * | 2022-08-08 | 2022-11-29 | 北京市农林科学院智能装备技术研究中心 | Aerial pesticide application drift measuring device, system and method |
| CN115735885B (en) * | 2022-11-29 | 2024-01-30 | 东北农业大学 | Plant protection unmanned aerial vehicle-based flexible spraying device with adjustable spray pipe inclination angle and length |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661946A (en) * | 2013-12-13 | 2014-03-26 | 江苏大学 | Flow diversion anti-drifting devices for rotary-wing unmanned plane mist spraying |
| CN207670668U (en) * | 2017-08-29 | 2018-07-31 | 天津航天中为数据系统科技有限公司 | A kind of airborne nozzle orientation rapid adjustable mechanism of plant protection drone |
| CN108750120A (en) * | 2018-07-13 | 2018-11-06 | 农业部南京农业机械化研究所 | A kind of plant protection unmanned aerial vehicle nozzle active balancing device and adjusting method |
| CN208624436U (en) * | 2018-06-14 | 2019-03-22 | 华南农业大学 | A kind of agricultural plant protection unmanned plane sprinkling system compensated automatically with droplet drift detection |
| CN109526913A (en) * | 2017-09-22 | 2019-03-29 | 江苏华夏知识产权服务有限公司 | A kind of sprinkling for agricultural production accurately intelligent plant protection drone |
| CN109703749A (en) * | 2019-01-21 | 2019-05-03 | 东北农业大学 | A kind of plant protection drone |
| CN109927902A (en) * | 2019-03-12 | 2019-06-25 | 华南农业大学 | A kind of regulating device and method of plant protection drone rotor wind field and mist field consistency |
| CN110217395A (en) * | 2019-06-19 | 2019-09-10 | 华南农业大学 | A kind of nozzle position regulating device and method based on plant protection drone heading |
| CN210022535U (en) * | 2019-06-02 | 2020-02-07 | 黑龙江八一农垦大学 | Conical wind field type anti-drift spray nozzle |
| CN211391696U (en) * | 2019-12-03 | 2020-09-01 | 华南农业大学 | Plant protection unmanned aerial vehicle's air curtain formula spraying prevents drift device |
| CN112450185A (en) * | 2020-10-28 | 2021-03-09 | 广东省农业科学院植物保护研究所 | Efficient spraying device based on unmanned aerial vehicle technology and operation method |
-
2021
- 2021-03-16 CN CN202110278434.8A patent/CN113060285B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661946A (en) * | 2013-12-13 | 2014-03-26 | 江苏大学 | Flow diversion anti-drifting devices for rotary-wing unmanned plane mist spraying |
| CN207670668U (en) * | 2017-08-29 | 2018-07-31 | 天津航天中为数据系统科技有限公司 | A kind of airborne nozzle orientation rapid adjustable mechanism of plant protection drone |
| CN109526913A (en) * | 2017-09-22 | 2019-03-29 | 江苏华夏知识产权服务有限公司 | A kind of sprinkling for agricultural production accurately intelligent plant protection drone |
| CN208624436U (en) * | 2018-06-14 | 2019-03-22 | 华南农业大学 | A kind of agricultural plant protection unmanned plane sprinkling system compensated automatically with droplet drift detection |
| CN108750120A (en) * | 2018-07-13 | 2018-11-06 | 农业部南京农业机械化研究所 | A kind of plant protection unmanned aerial vehicle nozzle active balancing device and adjusting method |
| CN109703749A (en) * | 2019-01-21 | 2019-05-03 | 东北农业大学 | A kind of plant protection drone |
| CN109927902A (en) * | 2019-03-12 | 2019-06-25 | 华南农业大学 | A kind of regulating device and method of plant protection drone rotor wind field and mist field consistency |
| CN210022535U (en) * | 2019-06-02 | 2020-02-07 | 黑龙江八一农垦大学 | Conical wind field type anti-drift spray nozzle |
| CN110217395A (en) * | 2019-06-19 | 2019-09-10 | 华南农业大学 | A kind of nozzle position regulating device and method based on plant protection drone heading |
| CN211391696U (en) * | 2019-12-03 | 2020-09-01 | 华南农业大学 | Plant protection unmanned aerial vehicle's air curtain formula spraying prevents drift device |
| CN112450185A (en) * | 2020-10-28 | 2021-03-09 | 广东省农业科学院植物保护研究所 | Efficient spraying device based on unmanned aerial vehicle technology and operation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113060285A (en) | 2021-07-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113060285B (en) | Amplitude-variable spraying device of plant protection unmanned aerial vehicle and operation method | |
| JP3218196U (en) | New spraying device for plant protection drone | |
| WO2017080406A1 (en) | Mooring unmanned rotorcraft cluster platform system and liquid continuous spraying system | |
| CN109927498A (en) | The changeable amphibious quadrotor robot of body | |
| CN203528819U (en) | Agricultural unmanned aircraft | |
| CN109927902B (en) | Device and method for adjusting consistency of rotor wind field and fog field of plant protection unmanned aerial vehicle | |
| CN109526913A (en) | A kind of sprinkling for agricultural production accurately intelligent plant protection drone | |
| CN110217395A (en) | A kind of nozzle position regulating device and method based on plant protection drone heading | |
| CN110171572B (en) | Deformable air-land plant protection unmanned aerial vehicle | |
| WO2020206819A1 (en) | Rotor suspension-type wide range spray bar sprayer and control method therefor | |
| CN208429237U (en) | A kind of unmanned plane plant protection culvert type sprinkling system | |
| WO2021098162A1 (en) | Spray anti-drifting device for agricultural unmanned aerial vehicle and use method | |
| CN109263989A (en) | A kind of plant protection drone | |
| CN210479035U (en) | Deformable air-land plant protection unmanned aerial vehicle | |
| CN110382353B (en) | Unmanned aerial vehicle frame and unmanned aerial vehicle | |
| CN211139675U (en) | Shower nozzle position control device based on plant protection unmanned aerial vehicle flight direction | |
| CN210555592U (en) | Helicopter externally hung pesticide high-efficiency spraying device | |
| CN112776986B (en) | Air-assisted spraying device based on unmanned aerial vehicle | |
| CN112224414A (en) | Multi-rotor unmanned aerial vehicle for fruit tree pesticide spraying and pesticide applying method thereof | |
| CN208165266U (en) | A kind of novel more rotor plant protection drones | |
| CN212766756U (en) | Agricultural is with unmanned aerial vehicle that spreads pesticides | |
| CN114174171A (en) | Method for spraying fields with unmanned aerial vehicles | |
| CN213862683U (en) | Take vector control's collapsible plant protection unmanned aerial vehicle | |
| CN214451859U (en) | A many rotor unmanned aerial vehicle for fruit tree laxative | |
| CN214241239U (en) | Sprinkler and plant protection unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |