CN113353263A - Novel structure layout and control mode of plant protection unmanned aerial vehicle - Google Patents
Novel structure layout and control mode of plant protection unmanned aerial vehicle Download PDFInfo
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- CN113353263A CN113353263A CN202010152097.3A CN202010152097A CN113353263A CN 113353263 A CN113353263 A CN 113353263A CN 202010152097 A CN202010152097 A CN 202010152097A CN 113353263 A CN113353263 A CN 113353263A
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- unmanned aerial
- aerial vehicle
- rotor
- plant protection
- control mode
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- 239000007921 spray Substances 0.000 claims abstract description 14
- 238000005507 spraying Methods 0.000 claims abstract description 8
- 238000005265 energy consumption Methods 0.000 claims description 8
- 239000003814 drug Substances 0.000 abstract description 9
- 239000007788 liquid Substances 0.000 abstract description 9
- 230000000149 penetrating effect Effects 0.000 abstract description 2
- 241000196324 Embryophyta Species 0.000 description 14
- 238000000034 method Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 235000013399 edible fruits Nutrition 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000575 pesticide Substances 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 241000219146 Gossypium Species 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 240000008042 Zea mays Species 0.000 description 1
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 1
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 235000005822 corn Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007306 functionalization reaction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
-
- 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
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Remote Sensing (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a structural layout and a control mode of a novel plant protection unmanned aerial vehicle. The structural layout comprises: organism, front and back rotor motor, middle rotor, front and back horn, middle horn and shower nozzle. The shower nozzle is located the below of middle rotor motor. The control mode is around rotor participation unmanned aerial vehicle attitude control, and middle rotor adjusts the rotational speed according to particular case after unmanned aerial vehicle takes off to provide stable, the adjustable and strong wind field of penetrability. The structural layout and the control mode provided by the invention can improve the penetrability and the uniformity of a wind field where the spray head is located, can adjust the penetrability of the wind field according to the spraying requirement, effectively improve the penetrating effect of the liquid medicine when the plant protection unmanned aerial vehicle sprays, effectively reduce the drift phenomenon of the liquid medicine, and can be widely applied to the field of plant protection.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a plant protection unmanned aerial vehicle structure layout and a control mode.
Background
In recent years, the development process of agricultural intellectualization is gradually accelerated, the plant protection unmanned aerial vehicle plays a role in promoting the development of agriculture, and has substantial effects of saving time, saving labor force, reducing resource loss and the like, and the plant protection unmanned aerial vehicle is also improved step by step in order to realize the maximization of functionalization.
The existing unmanned aerial vehicle for plant protection is mostly applied to short crops such as rice, wheat, cotton and the like, and has poor application effect on higher crops such as corn and fruit trees with higher plants and luxuriant branches and leaves. The existing plant protection unmanned aerial vehicle has insufficient wind field penetrability, so that the penetrating power of spraying liquid medicine is insufficient, the liquid medicine is difficult to reach the middle lower parts of high-stem crops and fruit trees, and meanwhile, the liquid medicine is seriously drifted; and the penetrability of the wind field is greatly changed along with the change of the load and the adjustment of the flight attitude, so that the pesticide spraying is not uniform, and the pesticide application effect is influenced.
Disclosure of Invention
The invention mainly aims to provide a structural layout and a control mode of a novel plant protection unmanned aerial vehicle, and aims to improve the penetrability and uniformity of a wind field of the plant protection unmanned aerial vehicle and realize the adjustment of the penetrability of the wind field as required so as to improve the penetrability of liquid medicine and reduce the drift of the liquid medicine when the plant protection unmanned aerial vehicle sprays low crops, high-stem crops and fruit trees.
The plant protection unmanned aerial vehicle structure layout that the invention relates to includes: organism, front and back rotor motor, middle rotor, front and back horn, middle horn and shower nozzle. The method is characterized in that: the front and back rotor is installed on the front and back rotor motor, and the front and back rotor motor is installed on the front and back horn, and the front and back horn links to each other with the organism, and middle rotor is installed on middle rotor motor, and middle rotor motor is installed on middle horn, and middle horn links to each other with the organism, and the shower nozzle is installed in the below of middle rotor motor.
Further, the middle rotor can adopt double-blade paddles or multi-blade paddles, so that the middle rotor can generate a wind field with strong penetrability.
Further, the shower nozzle is installed in the below of middle rotor motor, can install one or more according to the demand.
The invention relates to a control method of a plant protection unmanned aerial vehicle, which comprises the following steps: the front and back rotor participates in unmanned aerial vehicle's attitude control, and the middle rotor participates in unmanned aerial vehicle attitude control or keeps certain rotational speed in order to provide stable, the adjustable and strong wind field of penetrability according to the demand condition in wind field.
Further, middle rotor selects to participate in unmanned aerial vehicle attitude control or does not participate in attitude control according to the minimum energy consumption state when the shower nozzle does not spray for unmanned aerial vehicle flies with minimum energy consumption under the condition that satisfies the flight requirement, with the reduction energy consumption. According to the wind field penetrability demand that sprays the crop, the middle rotor part is participated in unmanned aerial vehicle attitude control when spraying the operation (under the prerequisite that middle rotor guaranteed wind field penetrability promptly, keep the rotational speed to change in the certain limit) or is not participated in attitude control completely (middle rotor keeps fixed rotational speed promptly), make the wind field of middle rotor can not fluctuate by a wide margin along with the adjustment of load change and flight gesture, it is good to realize the stability in the wind field that the shower nozzle is located when spraying the operation, the penetrability is adjustable and the penetrability is strong.
The invention has the advantages that: the layout, the collocation and the control method of the rotor wing are used for changing the non-uniformity of a wind field caused by large load change and flight attitude adjustment of the plant protection unmanned aerial vehicle and improving the penetrability of the wind field where the spray head is located, so that the penetrability of the liquid medicine and the drift of the liquid medicine are improved when the plant protection unmanned aerial vehicle sprays the operation to low crops, high-pole crops and fruit trees.
Drawings
Fig. 1 shows a top view of the structure layout.
Fig. 2 shows a side view of the structural layout.
Figure 3 mid-rotor approach one.
Figure 4 mid-rotor approach two.
Fig. 5 is a block diagram of a control method.
In the figure: 1. front and back rotor motors 2, front and back rotors 3, a body 4, a middle rotor 5, a middle rotor motor 6, front and back booms 7, a middle boom 8 and a spray head.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, but the present invention is not limited thereto.
As shown in fig. 1, the structural layout of the present invention includes: the aircraft comprises an engine body 3, front and rear engine arms 6 arranged on the engine body 3, a middle engine arm 7 arranged on the engine body 3, front and rear rotor motors 1 arranged on the front and rear engine arms 6, front and rear rotors 2 arranged on the front and rear rotor motors 1, and a middle rotor motor 5 arranged on the middle engine arm 7.
As shown in fig. 2, the nozzle 8 is installed below the middle rotor motor 5, and a single nozzle may be installed, or a plurality of nozzles may be installed as required.
As shown in fig. 3 and 4, the intermediate rotor 4 may adopt three-blade and four-blade or more-blade paddles, so as to appropriately reduce the diameter of the intermediate rotor 4 on the premise of generating a wind field with strong penetrability, so that the structure of the unmanned aerial vehicle is more compact.
As shown in fig. 5, the control method is: middle rotor 4 selects to participate in unmanned aerial vehicle attitude control or does not participate in attitude control according to minimum energy consumption state when shower nozzle 8 does not spray for unmanned aerial vehicle flies with minimum energy consumption under the condition that satisfies the flight requirement, with the reduction energy consumption. According to the wind field penetrability demand of spraying the crop, middle rotor 4 partially participates in unmanned aerial vehicle attitude control when wind field penetrability demand is not high (middle rotor 4 is under the prerequisite of guaranteeing wind field penetrability promptly, keeps the rotational speed to change in certain extent), does not participate in attitude control completely when wind field penetrability demand is high (middle rotor 4 keeps fixed rotational speed promptly) to the penetrability and the stability of the wind field of 8 places of shower nozzle when guaranteeing to spray the operation.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (4)
1. The utility model provides a novel plant protection unmanned aerial vehicle's structural layout and control mode, structural layout and control mode include organism, front and back rotor motor, middle rotor, front and back horn, middle horn and shower nozzle, characterized by: front and back rotor is installed on rotor motor around, rotor motor installs on the horn around, the horn links to each other with the organism around, middle rotor is installed on middle rotor motor, middle rotor motor is installed on middle horn, middle horn links to each other with the organism, the shower nozzle is installed in the below of middle rotor motor, front and back rotor participates in unmanned aerial vehicle's attitude control, middle rotor participates in unmanned aerial vehicle attitude control or does not participate in attitude control according to wind field penetrability demand and energy consumption condition.
2. The structural layout and control mode of the novel plant protection unmanned aerial vehicle according to claim 1 are characterized in that: when the wind field penetrability demand that sprays the crop is high, middle rotor does not participate in attitude control completely when spraying the operation, and when the wind field penetrability demand that sprays the crop is not high, middle rotor partially participates in unmanned aerial vehicle attitude control when spraying the operation.
3. The structural layout and control mode of the novel plant protection unmanned aerial vehicle according to claim 1 are characterized in that: the middle rotor wing selects to participate in the attitude control of the unmanned aerial vehicle or not to participate in the attitude control according to the lowest energy consumption state when the spray head does not spray.
4. The structural layout and control mode of the novel plant protection unmanned aerial vehicle according to claim 1 are characterized in that: the intermediate rotor may be a three-blade paddle or a four-blade or more-blade paddle other than the two-blade paddle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010152097.3A CN113353263A (en) | 2020-03-06 | 2020-03-06 | Novel structure layout and control mode of plant protection unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010152097.3A CN113353263A (en) | 2020-03-06 | 2020-03-06 | Novel structure layout and control mode of plant protection unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113353263A true CN113353263A (en) | 2021-09-07 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010152097.3A Pending CN113353263A (en) | 2020-03-06 | 2020-03-06 | Novel structure layout and control mode of plant protection unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113353263A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206634217U (en) * | 2017-04-19 | 2017-11-14 | 西安航空学院 | Foldable more rotor plant protection unmanned planes |
| CN108990945A (en) * | 2017-07-03 | 2018-12-14 | 北京国信聚惠科技有限公司 | A kind of more rotor plant protection drones of ultra-wide spraying swath |
| CN109774934A (en) * | 2017-11-15 | 2019-05-21 | 陈从平 | Multi-rotor unmanned aerial vehicle control system |
| WO2019101557A1 (en) * | 2017-11-21 | 2019-05-31 | Basf Se | Unmanned aerial vehicle |
| CN109976367A (en) * | 2019-03-27 | 2019-07-05 | 天津大学 | For the attitude system control method of three rotor wing unmanned aerial vehicle of tilting type |
-
2020
- 2020-03-06 CN CN202010152097.3A patent/CN113353263A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206634217U (en) * | 2017-04-19 | 2017-11-14 | 西安航空学院 | Foldable more rotor plant protection unmanned planes |
| CN108990945A (en) * | 2017-07-03 | 2018-12-14 | 北京国信聚惠科技有限公司 | A kind of more rotor plant protection drones of ultra-wide spraying swath |
| CN109774934A (en) * | 2017-11-15 | 2019-05-21 | 陈从平 | Multi-rotor unmanned aerial vehicle control system |
| WO2019101557A1 (en) * | 2017-11-21 | 2019-05-31 | Basf Se | Unmanned aerial vehicle |
| CN109976367A (en) * | 2019-03-27 | 2019-07-05 | 天津大学 | For the attitude system control method of three rotor wing unmanned aerial vehicle of tilting type |
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