CN113619803A - Full-automatic oiling and dosing agricultural unmanned aerial vehicle and take-off and landing platform thereof - Google Patents

Full-automatic oiling and dosing agricultural unmanned aerial vehicle and take-off and landing platform thereof Download PDF

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Publication number
CN113619803A
CN113619803A CN202111004719.9A CN202111004719A CN113619803A CN 113619803 A CN113619803 A CN 113619803A CN 202111004719 A CN202111004719 A CN 202111004719A CN 113619803 A CN113619803 A CN 113619803A
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CN
China
Prior art keywords
unmanned aerial
aerial vehicle
hangar
vehicle body
sliding
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Granted
Application number
CN202111004719.9A
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Chinese (zh)
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CN113619803B (en
Inventor
李才圣
梁景堂
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Shenzhen Eagle Brother Uav Innovation Co ltd
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Shenzhen Eagle Brother Uav Innovation Co ltd
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Priority to CN202111004719.9A priority Critical patent/CN113619803B/en
Publication of CN113619803A publication Critical patent/CN113619803A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/007—Helicopter portable landing pads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D37/00—Arrangements in connection with fuel supply for power plant
    • B64D37/02—Tanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/28—Liquid-handling installations specially adapted for fuelling stationary aircraft
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Catching Or Destruction (AREA)

Abstract

The invention provides a full-automatic oiling and dosing agricultural unmanned aerial vehicle and a take-off and landing platform thereof, wherein the agricultural unmanned aerial vehicle comprises an unmanned aerial vehicle body and a take-off and landing platform, a hangar is arranged in the take-off and landing platform, an oiling device and a dosing device are arranged in the hangar, the unmanned aerial vehicle body is arranged in the hangar, an oil tank and a pesticide box are arranged on the unmanned aerial vehicle body, the oiling device can be used for adding fuel oil into the oil tank, the dosing device can be used for adding pesticide into the pesticide box, and an automatic landing system, an energy storage power supply and a network communication system are further arranged in the unmanned aerial vehicle body. According to the automatic filling device, the refueling device and the dosing device are arranged in the hangar, so that the fuel oil and the pesticide of the unmanned aerial vehicle body can be automatically filled, the automation degree is improved, the labor intensity of workers is reduced, and the unmanned aerial vehicle body can accurately land in the hangar due to the arrangement of the automatic landing system, so that the automatic filling of the fuel oil and the pesticide of the unmanned aerial vehicle body is facilitated.

Description

Full-automatic oiling and dosing agricultural unmanned aerial vehicle and take-off and landing platform thereof
Technical Field
The invention relates to the technical field of agricultural unmanned aerial vehicles, in particular to a full-automatic oiling and dosing agricultural unmanned aerial vehicle and a take-off and landing platform thereof.
Background
Agricultural unmanned aerial vehicle is the unmanned aircraft who is used for agriculture and forestry plant protection operation, comprises flight platform (fixed wing, single rotor, many rotors), flight control system, spraying mechanism triplex, through ground remote control or programming control, realizes spraying medicament, seed, powder etc.. The manual knapsack sprayer is mainly used in rural areas to prevent and treat plant diseases and insect pests. Agricultural unmanned aerial vehicle cooperation high accuracy location technique and programming control technique can accomplish automatic operation almost, and is an advanced mode of operation with traditional manual work mode or traditional aircraft seeding and spraying mode comparison.
Agricultural unmanned aerial vehicle uses with the cooperation of platform of taking off and land, agricultural unmanned aerial vehicle can fly back to the platform of taking off and land automatically after finishing using, agricultural unmanned aerial vehicle generally is provided with oil tank and medical kit, store the fuel in the oil tank, deposit the pesticide in the medical kit, but current agricultural unmanned aerial vehicle need the manual work to add after fuel or pesticide consume, degree of automation is low, staff's intensity of labour has been increased, simultaneously because outdoor environment's influence, the unsafe problem in landing position also can appear when agricultural unmanned aerial vehicle descends.
Disclosure of Invention
The invention provides a full-automatic oiling and dosing agricultural unmanned aerial vehicle and a take-off and landing platform thereof, which are used for solving the technical problems that the existing agricultural unmanned aerial vehicle needs manual addition after fuel oil or pesticide is consumed, the automation degree is low, the labor intensity of workers is increased, and meanwhile, due to the influence of outdoor environment, the landing position of the agricultural unmanned aerial vehicle is inaccurate when the agricultural unmanned aerial vehicle lands.
In order to solve the technical problem, the invention discloses a full-automatic oiling and dosing agricultural unmanned aerial vehicle and a take-off and landing platform thereof, wherein the take-off and landing platform comprises: unmanned aerial vehicle body and platform of taking off and land, the inside hangar that sets up of platform of taking off and land, set up filling device and charge device in the hangar, the unmanned aerial vehicle body sets up in the hangar, set up oil tank and medical kit on the unmanned aerial vehicle body, filling device can to add the fuel in the oil tank, charge device can to add the pesticide in the medical kit, this internal automatic descending system, energy storage power and the network communication system that still sets up of unmanned aerial vehicle.
Preferably, the oil tank lateral wall sets up the oil filler hole, the medical kit lateral wall sets up the medicine filler hole, set up first level sensor in the oil tank, set up second level sensor in the medical kit set up first controller and first communication device in the hangar, first controller with first communication device electric connection, first communication device with unmanned aerial vehicle body wireless connection.
Preferably, the filling device includes second electric telescopic handle, adds oil pipe and first mounting panel, first mounting panel cover is established in adding oil pipe outside, first mounting panel lateral wall with the flexible end fixed connection of second electric telescopic handle, second electric telescopic handle stiff end with hangar left side wall fixed connection adds oil pipe and sets up to flexible pipe, the mouth of pipe that adds oil pipe corresponds the oil filler hole, add the scalable insertion of oil pipe in the oil filler hole, second electric telescopic handle with first controller electric connection.
Preferably, charge device includes third electric telescopic handle, adds pencil and second mounting panel, the second mounting panel cover is established and is added the pencil outside, second mounting panel lateral wall with the flexible end fixed connection of third electric telescopic handle, third electric telescopic handle stiff end with hangar right side wall fixed connection adds the pencil and sets up to flexible pipe, the mouth of pipe that adds the pencil corresponds add the medicine mouth, it is scalable to insert to add the pencil add in the medicine mouth, third electric telescopic handle with first controller electric connection.
Preferably, the platform of taking off and land still includes apron and fourth electric telescopic handle, the apron sets up to two, two the apron about hangar central line bilateral symmetry, the apron keep away from each other one end with the shell upper end of the platform of taking off and land is articulated to be connected, the apron can be followed articulated position and rotated, fourth electric telescopic handle sets up the apron with be close to between the hangar inner wall of apron, two the apron is in can seal under fourth electric telescopic handle's the effect the hangar.
Preferably, the automatic lowering system comprises: second communication device, second controller, positioner, shooting device, treater, third communication device, the second communication device reaches the second controller sets up inside the hangar, the second controller with second communication device electric connection, positioner the shooting device the treater third communication device sets up this is internal for unmanned aerial vehicle, positioner the shooting device third communication device respectively with treater electric connection, third communication device with second communication device wireless communication is connected, the treater with unmanned aerial vehicle body internal power electric connection.
Preferably, still set up lifting unit in the hangar, lifting unit is located unmanned aerial vehicle body below, lifting unit includes first electric telescopic handle and elevating platform, first electric telescopic handle lower extreme with hangar diapire fixed connection, the elevating platform lower surface with first electric telescopic handle upper end fixed connection.
Preferably, the unmanned aerial vehicle body is further provided with a supporting device, the supporting device comprises four supporting columns, supporting plates and a rack assembly, the four supporting columns are arranged at four corners of the lower side of the unmanned aerial vehicle body, the four corners of the supporting plates are respectively fixedly connected with the inner side walls of the four supporting columns, the upper surface of the supporting plates is fixedly connected with the lower surface of the oil tank and the lower surface of the medicine tank, the lower ends of the supporting columns are provided with mounting holes, the four supporting columns are arranged in two groups, the rack assembly is arranged in two groups, the two groups of rack assembly are respectively corresponding to the two groups of supporting columns, the rack assembly comprises two sliding columns, two buffer springs and a base, the base is arranged between the two sliding columns, two ends of the base are respectively fixedly connected with the lower ends of the sliding columns at two sides, and the sliding columns are slidably arranged in the mounting holes, buffer spring one end with sliding column upper end fixed connection, the buffer spring other end with mounting hole upside inner wall fixed connection.
Preferably, a fixing device is arranged in the hangar, and the fixing device comprises:
the two guide blocks are symmetrically arranged on the lower surface of the lifting platform, the upper surfaces of the guide blocks are fixedly connected with the lower surface of the lifting platform, the guide blocks are in right-angled triangle shapes, and one sides of the guide blocks, far away from the first electric telescopic rods, are inclined planes;
the two first sliding rails are symmetrically arranged on the front side and the rear side of the first electric telescopic rod and fixedly connected with the inner wall of the right side of the hangar, a first sliding plate is arranged on the first sliding rails in a sliding mode and slides back and forth on the first sliding rails, a first roller is arranged at one end, close to the guide block, of the first sliding plate, and the outer wall of the first roller is attached to the inclined surface of the guide block;
the first rotating shaft is arranged on one side, away from the first electric telescopic rod, of the first sliding plate, two ends of the first rotating shaft are rotatably connected with the inner walls of the left side and the right side of the hangar, a swinging column is arranged on the first rotating shaft, the swinging column is fixedly connected with the first rotating shaft at a position close to the middle position, a first connecting rod is arranged between the swinging column and the first sliding plate, one end of the first connecting rod is hinged with the side wall of the first sliding plate, and the other end of the first connecting rod is hinged with the lower end of the swinging column;
the fixed column is arranged at the upper end of the swinging column, the lower end of the fixed column is fixedly connected with the upper end of the swinging column, and the upper end of the fixed column is provided with a second roller;
the second slide rail is arranged above the swing column and fixedly connected with the inner wall of the right side of the hangar, a second slide plate is arranged on the second slide rail in a sliding mode and slides back and forth on the second slide rail, one side, away from the lifting table, of the second slide plate is attached to the outer wall of the second roller, a first spring is further arranged on one side, away from the lifting table, of the second slide plate, one end of the first spring is fixedly connected with the side wall of the second slide plate, and the other end of the first spring is fixedly connected with the inner wall of the hangar, close to one side of the second slide plate;
the sleeve is arranged on one side of the side wall of the medicine box, the second sliding plate is close to one side of the side wall of the medicine box, the sliding rod is arranged in the sleeve in a sliding mode, one end of the sliding rod, close to the medicine box, is provided with an anti-skidding block, the anti-skidding block is attached to the side wall of the medicine box, the sliding rod is far away from one end of the anti-skidding block, a second spring is arranged at one end of the anti-skidding block, the second spring is located inside the sleeve, one end of the second spring is fixedly connected with the sliding rod, and the other end of the second spring is fixedly connected with the side wall of the second sliding plate.
Preferably, still set up guider in the hangar, guider includes two sets of guide assemblies and two first magnetic paths, and is two sets of guide assemblies and two base one-to-one, two first magnetic path symmetry sets up the hangar rear side inner wall is close to the upper end position, two first magnetic path about elevating platform central line bilateral symmetry, guide assembly includes:
the lower pressure column is arranged right below the base, a lower pressure plate is arranged at the upper end of the lower pressure column, the upper surface of the lower pressure plate is in contact with the lower surface of the base, the lower end of the lower pressure column penetrates through the lifting table and extends to the position below the lifting table, and the lower pressure column is in sliding connection with the through hole of the lifting table;
the connecting plate is arranged at the lower end of the lower pressing column and is perpendicular to the lower pressing column, a second magnetic block matched with the first magnetic block is arranged on the upper surface of the connecting plate, and the first magnetic block can be attracted with the second magnetic block;
the third spring is sleeved on the lower pressure column, one end of the third spring is fixedly connected with the lower surface of the lower pressure plate, and the other end of the third spring is fixedly connected with the upper surface of the lifting platform;
the two third slide rails are symmetrically arranged on the left side and the right side of the lower pressing column, the lower surfaces of the third slide rails are fixedly connected with the upper surface of the lifting platform, third slide plates are arranged on the third slide rails in a sliding manner, the third slide plates slide left and right along the third slide rails, the two third slide plates are positioned on the left side and the right side of the lower pressing plate, the front side walls of the two third slide plates are respectively provided with a second connecting rod, one end of each second connecting rod is hinged with the front side wall of each third slide plate, and the other end of each second connecting rod extends to the lower part of the lifting platform and is hinged with the lower end of the lower pressing column;
the limiting block is arranged on the upper surface of the third slide rail, the lower end of the limiting block is fixedly connected with the upper surface of the third slide rail, and the limiting block is positioned on one side, away from the lower compression column, of the third slide plate;
the guide plates are obliquely arranged at the upper end of the third sliding plate, the lower ends of the guide plates are fixedly connected with the upper end of the third sliding plate, the two guide plates are bilaterally symmetrical relative to the base, and the vertical distance between the upper ends of the two guide plates is greater than that between the lower ends of the two guide plates.
The technical scheme of the invention has the following advantages: the invention provides a full-automatic oiling and dosing agricultural unmanned aerial vehicle and a take-off and landing platform thereof, wherein the agricultural unmanned aerial vehicle comprises an unmanned aerial vehicle body and a take-off and landing platform, a hangar is arranged in the take-off and landing platform, an oiling device and a dosing device are arranged in the hangar, the unmanned aerial vehicle body is arranged in the hangar, an oil tank and a pesticide box are arranged on the unmanned aerial vehicle body, the oiling device can be used for adding fuel oil into the oil tank, the dosing device can be used for adding pesticide into the pesticide box, and an automatic landing system is further arranged in the unmanned aerial vehicle body. According to the automatic filling device, the refueling device and the dosing device are arranged in the hangar, so that the fuel oil and the pesticide of the unmanned aerial vehicle body can be automatically filled, the automation degree is improved, the labor intensity of workers is reduced, and the unmanned aerial vehicle body can accurately land in the hangar due to the arrangement of the automatic landing system, so that the automatic filling of the fuel oil and the pesticide of the unmanned aerial vehicle body is facilitated.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the apparatus particularly pointed out in the written description and drawings thereof.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of a full-automatic refueling and dosing agricultural unmanned aerial vehicle and a take-off and landing platform thereof;
FIG. 2 is a schematic view of an unmanned aerial vehicle body refueling device and a dosing device according to the present invention;
FIG. 3 is a left side view of the unmanned aerial vehicle body of the present invention;
FIG. 4 is a schematic view of a fixing device according to the present invention;
FIG. 5 is a schematic view of a guide device according to the present invention;
fig. 6 is a schematic view of another state of the guide device of the present invention.
In the figure: 1. an unmanned aerial vehicle body; 2. a take-off and landing platform; 3. a hangar; 4. an oil tank; 5. a medicine chest; 6. an oil filler; 7. a medicine adding port; 8. a second electric telescopic rod; 9. an oil filler tube; 10. a first mounting plate; 11. a third electric telescopic rod; 12. a medicine feeding pipe; 13. a second mounting plate; 14. a cover plate; 15. a first electric telescopic rod; 16. a lifting platform; 17. a support pillar; 18. a support plate; 19. mounting holes; 20. a sliding post; 21. a buffer spring; 22. a base; 23. a guide block; 24. a first slide rail; 25. a first slide plate; 26. a first roller; 27. a first rotating shaft; 28. a swing post; 29. a first link; 30. fixing a column; 31. a second roller; 32. a second slide rail; 33. a second slide plate; 34. a first spring; 35. a sleeve; 36. a slide bar; 37. anti-skid blocks; 38. a second spring; 39. a first magnetic block; 40. pressing the column; 41. a lower pressing plate; 42. a connecting plate; 43. a second magnetic block; 44. a third spring; 45. a third slide rail; 46. a third slide plate; 47. a second link; 48. a limiting block; 49. a guide plate.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
In addition, the descriptions related to the first, the second, etc. in the present invention are only used for description purposes, do not particularly refer to an order or sequence, and do not limit the present invention, but only distinguish components or operations described in the same technical terms, and are not understood to indicate or imply relative importance or implicitly indicate the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions and technical features between various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present invention.
Example 1:
the embodiment of the invention provides a full-automatic oiling and dosing agricultural unmanned aerial vehicle and a take-off and landing platform thereof, as shown in figures 1-6, the full-automatic oiling and dosing agricultural unmanned aerial vehicle comprises: unmanned aerial vehicle body 1 and take off and land platform 2, take off and land platform 2 is inside to set up hangar 3, set up filling device and charge device in the hangar 3, unmanned aerial vehicle body 1 sets up in the hangar 3, set up oil tank 4 and medical kit 5 on the unmanned aerial vehicle body 1, filling device can to add the fuel in the oil tank 4, charge device can to add the pesticide in the medical kit 5, still set up automatic landing system, energy storage power supply and network communication system in the unmanned aerial vehicle body 1.
The working principle and the beneficial effects of the technical scheme are as follows: the invention comprises an unmanned aerial vehicle body 1 and a landing platform 2, wherein a hangar 3 is arranged in the landing platform 2, the unmanned aerial vehicle body 1 can stay in the hangar 3 when not in use, an oiling device and a dosing device are arranged in the hangar 3, when the fuel quantity in a fuel tank 4 is lower than a preset fuel quantity value, the oiling device can fill fuel into the fuel tank 4 of the unmanned aerial vehicle body 1, when the pesticide quantity in the fuel tank 5 is lower than a preset pesticide value, the dosing device can fill pesticide into a pesticide tank 5 of the unmanned aerial vehicle body 1, so that the automatic filling of pesticide and fuel is realized, when the unmanned aerial vehicle body 1 needs to work, the hangar 3 can be automatically opened, the unmanned aerial vehicle body 1 can fly away from the hangar 3, when the unmanned aerial vehicle body 1 is used, the unmanned aerial vehicle body 1 can automatically land through an automatic landing system and automatically return to the interior of the hangar 3, the inside energy storage power supply and the network communication system that still are provided with of hangar 3, the energy storage power supply can satisfy unmanned aerial vehicle body 1 and the basic control of platform 2 that takes off and land, and provide the electric energy for unmanned aerial vehicle body 1 and platform 2 that takes off and land, network communication system can satisfy long-range operation control to unmanned aerial vehicle local 1 and hangar 3, unmanned aerial vehicle body 1 and the remote control of platform 2 that takes off and land have been realized, in the invention, through set up oiling device and charge device in hangar 3 is inside, the automatic filling of unmanned aerial vehicle body 1 fuel and pesticide has been realized, the degree of automation has been improved, reduce staff intensity of labour, and owing to set up automatic descending system, make unmanned aerial vehicle body 1 can accurately descend to hangar 3 inside, help the automatic filling of unmanned aerial vehicle body 1 fuel and pesticide to fill the inside, the unmanned aerial vehicle body 1 fuel and pesticide is filled
Example 2
On the basis of the embodiment 1, as shown in fig. 1, a fuel filling port 6 is arranged on the side wall of the fuel tank 4, a fuel filling port 7 is arranged on the side wall of the fuel tank 5, a first liquid level sensor is arranged in the fuel tank 4, a second liquid level sensor is arranged in the fuel tank 5, a first controller and a first communication device are arranged in the hangar 3, the first controller is electrically connected with the first communication device, and the first communication device is in wireless communication connection with the unmanned aerial vehicle body 1;
the oil filling device comprises a second electric telescopic rod 8, an oil filling pipe 9 and a first mounting plate 10, the first mounting plate 10 is sleeved outside the oil filling pipe 9, the side wall of the first mounting plate 10 is fixedly connected with the telescopic end of the second electric telescopic rod 8, the fixed end of the second electric telescopic rod 8 is fixedly connected with the left side wall of the machine base 3, the oil filling pipe 9 is arranged to be a telescopic pipe, the pipe orifice of the oil filling pipe 9 corresponds to the oil filling opening 6, the oil filling pipe 9 is telescopically inserted into the oil filling opening 6, and the second electric telescopic rod 8 is electrically connected with the first controller;
the charge device includes third electric telescopic handle 11, adds pencil 12 and second mounting panel 13, second mounting panel 13 cover is established at the 12 outsides of pencil, second mounting panel 13 lateral wall with 11 flexible end fixed connections of third electric telescopic handle, 11 stiff ends of third electric telescopic handle with 3 right side wall fixed connection of hangar, but add pencil 12 and set up to flexible pipe, the mouth of pipe that adds pencil 12 corresponds add medicine mouth 7, but add 12 scalable insertions of pencil in adding medicine mouth 7, third electric telescopic handle 11 with first controller electric connection.
The working principle and the beneficial effects of the technical scheme are as follows: the side wall of the oil tank 4 is provided with an oil filling port 6, the side wall of the oil tank 5 is provided with a medicine adding port 7, the oil filling port 6 and the medicine adding port 7 are both internally provided with check valves to prevent liquid in the oil tank 4 or the medicine tank 5 from flowing out, a first liquid level sensor is arranged in the oil tank 4 and can detect the fuel quantity in the oil tank 4, a second liquid level sensor is arranged in the medicine tank 5 and can detect the pesticide quantity in the medicine tank 5, the unmanned aerial vehicle body 1 is in wireless communication connection with a first communication device and can transmit the detection values of the first liquid level sensor and the second liquid level sensor to a first controller through the first communication device, then the first controller controls the oil filling device and the medicine adding device to work according to the detection values, when the oil filling device works, the second electric telescopic rod 8 extends out and drives an oil filling gun of the oil filling pipe 9 to be inserted into the oil filling port 6 through the first mounting plate 10, therefore, fuel oil is filled into the oil tank 4, after filling is finished, the second electric telescopic rod 8 retracts automatically, when the dosing device works, the third electric telescopic rod 11 extends out and drives the dosing gun of the dosing pipe 12 to be inserted into the dosing port 7 through the second mounting plate 13, so that pesticide is filled into the pesticide box 5, automatic filling of the fuel oil and the pesticide is achieved, and labor intensity is reduced.
Example 3
On the basis of embodiment 1 or 2, as shown in fig. 1 and 2, the lifting platform 2 further includes two cover plates 14 and a fourth electric telescopic rod, the two cover plates 14 are arranged symmetrically about a center line of the hangar 3, one ends of the cover plates 14 away from each other are hinged to the upper end of the housing of the lifting platform 2, the cover plates 14 can rotate along the hinged positions, the fourth electric telescopic rod is arranged between the cover plates 14 and the inner wall of the hangar 3 close to the cover plates 14, and the two cover plates 14 can close the hangar 3 under the action of the fourth electric telescopic rod.
The working principle and the beneficial effects of the technical scheme are as follows: two cover plates 14 are arranged at the upper end of the lifting platform 2, the two cover plates 14 are of an opening and closing structure, when the two cover plates 14 are in contact, the hangar 3 can be sealed, the interior of the hangar 3 is separated from the exterior, when the two cover plates 14 are opened, the unmanned aerial vehicle body 1 can take off from the interior of the hangar 3 or fall from the exterior of the hangar 3 to the interior of the hangar 3, the two cover plates 14 have a dustproof effect, the cleanness of the interior of the hangar 3 is improved, when the unmanned aerial vehicle body 1 flies above the hangar 3, the fourth electric telescopic rod automatically extends out, the two cover plates 14 are opened simultaneously, the unmanned aerial vehicle body 1 can fall into the hangar 3, after the unmanned aerial vehicle body 1 stops, the fourth electric telescopic rod automatically retracts, the two cover plates 14 are closed again, when the unmanned aerial vehicle body 1 needs to take off, the two cover plates 14 are opened again, and the two cover plates 14 are closed again after the unmanned aerial vehicle body 1 flies off from the hangar 3, through the scheme, the automation degree of the take-off and landing platform 2 is improved, the cover plate 14 does not need to be manually controlled to be opened and closed, and the take-off and landing platform is more convenient and faster.
Example 4
On the basis of any one of embodiments 1 to 3, the automatic lowering system includes: second communication device, second controller, positioner, shooting device, treater, third communication device, the second communication device reaches the second controller sets up inside the hangar 3, the second controller with second communication device electric connection, positioner the shooting device the treater third communication device sets up in the unmanned aerial vehicle body 1, positioner the shooting device third communication device respectively with treater electric connection, third communication device with second communication device wireless communication is connected, the treater with 1 internal power electric connection of unmanned aerial vehicle body.
The working principle and the beneficial effects of the technical scheme are as follows: when the unmanned aerial vehicle body 1 needs to land, the automatic landing system starts to work, firstly, the unmanned aerial vehicle body 1 can accurately find the position of the landing platform 2 by using the positioning device, then the unmanned aerial vehicle body 1 flies right above the landing platform 2, the unmanned aerial vehicle body 1 descends to a preset height again, then, the camera is used for shooting the picture of the landing platform 2 so as to obtain an actual image, then, the processor can compare the actual image with the preset image prestored in the processor, calculate the plane angle difference between the actual image and the preset image, according to the plane angle difference, the processor controls the unmanned aerial vehicle body 1 to rotate and adjust, then, the camera is used again for shooting the picture until the plane angle difference is 0, the actual image is completely matched with the preset image, at the moment, the second controller controls the unmanned aerial vehicle body 1 to land inside the hangar 3 through wireless communication connection, automatic accurate descending of the unmanned aerial vehicle body 1 is realized.
Example 5
On embodiment 1's basis, as shown in fig. 1, still set up lifting unit in the hangar 3, lifting unit is located unmanned aerial vehicle body 1 below, lifting unit includes first electric telescopic handle 15 and elevating platform 16, first electric telescopic handle 15 lower extreme with hangar 3 diapire fixed connection, elevating platform 16 lower surface with first electric telescopic handle 15 upper end fixed connection.
The working principle and the beneficial effects of the technical scheme are as follows: be provided with lifting unit in hangar 3, second controller and first electric telescopic handle 15 can electric connection, unmanned aerial vehicle body 1 can descend on elevating platform 16, when unmanned aerial vehicle body 1 need take off, second controller control first electric telescopic handle 15 stretches out, elevating platform 16 can move to hangar 3 outsides, increase space, be convenient for take off of unmanned aerial vehicle body 1, it lands earlier at elevating platform 16 after unmanned aerial vehicle body 1 finishes using, then unmanned aerial vehicle body 1 rotor is closed, first electric telescopic handle 15 withdrawal, elevating platform 16 descends again to hangar 3 in, unmanned aerial vehicle body 1 also gets into hangar 3 inside along with elevating platform 16 this moment, realize automatic homing, homing after unmanned aerial vehicle body 1 rotor is closed, security when also having improved the homing, prevent to be hurt by the rotor.
Example 6
On the basis of embodiment 5, as shown in fig. 3, the unmanned aerial vehicle body 1 is further provided with a supporting device, the supporting device includes four supporting columns 17, supporting plates 18 and a frame assembly, the four supporting columns 17 are disposed at four corners of the lower side of the unmanned aerial vehicle body 1, the four corners of the supporting plates 18 are respectively fixedly connected with the inner side walls of the four supporting columns 17, the upper surface of the supporting plates 18 is fixedly connected with the lower surface of the oil tank 4 and the lower surface of the medicine box 5, the lower ends of the supporting columns 17 are provided with mounting holes 19, the four supporting columns 17 are disposed in two groups, the frame assembly is disposed in two groups, the two groups of frame assemblies respectively correspond to the two groups of supporting columns 17, the frame assembly includes two sliding columns 20, two buffer springs 21 and a base 22, the base 22 is disposed between the two sliding columns 20, and two ends of the base 22 are respectively fixedly connected with the lower ends of the sliding columns 20 at two sides, the sliding column 20 is arranged in the mounting hole 19 in a sliding mode, one end of the buffer spring 21 is fixedly connected with the upper end of the sliding column 20, and the other end of the buffer spring 21 is fixedly connected with the inner wall of the upper side of the mounting hole 19.
The working principle and the beneficial effects of the technical scheme are as follows: the four corners of the lower surface of the unmanned aerial vehicle body 1 are respectively provided with support columns 17, support plates 18 are arranged among the four support columns 17, the support plates 18 can play a role of supporting the oil tank 4 and the medicine tank 5, the four support columns 17 are divided into two groups, two support columns 17 positioned on the left side of the medicine tank 5 form one group, two support columns 17 positioned on the right side of the oil tank 4 form the other group, a frame assembly is arranged in each group of support columns 17 in a sliding manner, the frame assembly can slide up and down through sliding columns 20, so that buffering is carried out by using buffer springs 21, when the unmanned aerial vehicle body 1 rises and falls, a good buffering and damping effect can be achieved, so that the medicine tank 5 and the oil tank 4 are prevented from vibrating greatly, a base 22 is arranged between the two support columns 17 of the same group, when the unmanned aerial vehicle body 1 falls to the lifting platform 16, the base 22 is in surface contact with the lifting platform 16, and the base 22 can increase the contact area of the unmanned aerial vehicle body 1, thereby improve the stability of rate of interest unmanned aerial vehicle body 1 in hangar 3.
Example 7
On the basis of embodiment 5 or 6, as shown in fig. 4, a fixing device is provided in the hangar 3, and the fixing device includes:
the two guide blocks 23 are symmetrically arranged on the lower surface of the lifting table 16, the upper surface of each guide block 23 is fixedly connected with the lower surface of the lifting table 16, each guide block 23 is in a right-angled triangle shape, and one side, far away from the first electric telescopic rod 15, of each guide block 23 is provided with an inclined surface;
the two first slide rails 24 are symmetrically arranged on the front side and the rear side of the first electric telescopic rod 15, the first slide rails 24 are fixedly connected with the inner wall of the right side of the hangar 3, the first slide rails 24 are provided with first slide plates 25 in a sliding manner, the first slide plates 25 slide back and forth on the first slide rails 24, one ends of the first slide plates 25, which are close to the guide blocks 23, are provided with first rollers 26, and the outer walls of the first rollers 26 are attached to the inclined surfaces of the guide blocks 23;
the first rotating shaft 27 is arranged on one side of the first sliding plate 25 far away from the first electric telescopic rod 15, two ends of the first rotating shaft 27 are rotatably connected with the inner walls of the left side and the right side of the hangar 3, a swing column 28 is arranged on the first rotating shaft 27, the swing column 28 is fixedly connected with the first rotating shaft 27 near the middle position, a first connecting rod 29 is arranged between the swing column 28 and the first sliding plate 25, one end of the first connecting rod 29 is hinged with the side wall of the first sliding plate 25, and the other end of the first connecting rod 29 is hinged with the lower end of the swing column 28;
the fixed column 30 is arranged at the upper end of the swinging column 28, the lower end of the fixed column 30 is fixedly connected with the upper end of the swinging column 28, and the upper end of the fixed column 30 is provided with a second roller 31;
the second slide rail 32 is arranged above the swing column 28, the second slide rail 32 is fixedly connected with the inner wall of the right side of the hangar 3, a second slide plate 33 is arranged on the second slide rail 32 in a sliding manner, the second slide plate 33 slides back and forth on the second slide rail 32, one side, away from the lifting table 16, of the second slide plate 33 is attached to the outer wall of the second roller 31, one side, away from the lifting table 16, of the second slide plate 33 is also provided with a first spring 34, one end of the first spring 34 is fixedly connected with the side wall of the second slide plate 33, and the other end of the first spring 34 is fixedly connected with the inner wall of the hangar 3, close to one side of the second slide plate 33;
the sleeve 35, the sleeve 35 is disposed on the second sliding plate 33 near the sidewall of the medicine box 5, a sliding rod 36 is slidably disposed in the sleeve 35, the sliding rod 36 is near the anti-skid block 37 disposed at one end of the medicine box 5, the anti-skid block 37 is attached to the sidewall of the medicine box 5, a second spring 38 is disposed at one end of the sliding rod 36 far away from the anti-skid block 37, the second spring 38 is disposed inside the sleeve 35, one end of the second spring 38 is fixedly connected to the sliding rod 36, and the other end of the second spring 38 is fixedly connected to the sidewall of the second sliding plate 33.
The working principle and the beneficial effects of the technical scheme are as follows: after the main body 1 of the unmanned aerial vehicle descends to the lifting platform 16, the first electric telescopic rod 15 retracts into the machine storehouse 3, the lifting platform 16 moves from top to bottom in the machine storehouse 3, after the guide block 23 on the lower surface of the lifting platform 16 contacts with the first roller 26, the first roller 26 can move along the inclined surface of the guide block 23, the first roller 26 drives the first sliding plate 25 to slide along the first sliding rail 24 in the direction far away from the first electric telescopic rod 15, the first sliding plate 25 drives the lower end of the swinging column 28 to rotate in the direction far away from the first electric telescopic rod 15 through the first connecting rod 29, the upper end of the swinging column 28 rotates in the direction close to the first electric telescopic rod 15, then the swinging column 28 drives the fixed column 30 to move in the direction close to the first electric telescopic rod 15, the fixed column 30 drives the second sliding plate 33 to slide in the direction close to the main body 1 of the unmanned aerial vehicle through the second roller 31, the first spring 34 is stretched, the second sliding plate 33 drives the sleeve 35 and the sliding rod 36 inside the sleeve 35 to move in the direction close to the medicine chest 5, until the anti-skid blocks 37 contact with the side walls of the medicine boxes 5, then the second springs 38 start to compress, when the lifting platform 16 descends to the lowest position, the unmanned aerial vehicle body 1 completely enters the interior of the hangar 3, the medicine boxes 5 of the unmanned aerial vehicle body 1 are clamped between the two anti-skid blocks 37 under the action of the second springs 38 and cannot rock, when the unmanned aerial vehicle body 1 needs to take off, the first electric telescopic rod 15 extends out, the guide blocks 23 gradually keep away from the first rollers 26, under the action of the first springs 34, the anti-skid blocks 37 gradually move towards the direction away from the medicine boxes 5, after the lifting platform 16 moves to the exterior of the hangar 3, the unmanned aerial vehicle body 1 can directly move from the lifting platform 16, through the arrangement of the fixing device, the medicine boxes 5 can be fixed by the two anti-skid blocks 37 while the unmanned aerial vehicle body 1 moves to the interior of the hangar 3, so that the unmanned aerial vehicle body 1 is fixed inside the hangar 3 as long as the first electric telescopic rod 15 is not started, just, unmanned aerial vehicle body 1 is unable to move, has improved unmanned aerial vehicle body 1 at the inside stability of hangar 3, and in the transportation, unmanned aerial vehicle body 1 can not rock in hangar 3, and the problem of colliding with is difficult for taking place in hangar 3 inside, the effectual unmanned aerial vehicle body 1 that has protected.
Example 8
On the basis of embodiment 6 or 7, as shown in fig. 5 and 6, a guiding device is further disposed in the machine base 3, the guiding device includes two sets of guiding assemblies and two first magnetic blocks 39, the two sets of guiding assemblies correspond to the two bases 22 one by one, the two first magnetic blocks 39 are symmetrically disposed on the inner wall of the rear side of the machine base 3 near the upper end, the two first magnetic blocks 39 are symmetrical left and right with respect to the center line of the lifting table 16, and the guiding device includes:
the lower pressure column 40 is arranged right below the base 22, a lower pressure plate 41 is arranged at the upper end of the lower pressure column 40, the upper surface of the lower pressure plate 41 is in contact with the lower surface of the base 22, the lower end of the lower pressure column 40 penetrates through the lifting platform 16 and extends to the position below the lifting platform 16, and the lower pressure column 40 is in sliding connection with a through hole of the lifting platform 16;
the connecting plate 42 is arranged at the lower end of the lower pressing column 40, the connecting plate 42 is perpendicular to the lower pressing column 40, the upper surface of the connecting plate 42 is provided with a second magnetic block 43 matched with the first magnetic block 39, and the first magnetic block 39 can be attracted with the second magnetic block 43;
the third spring 44 is sleeved on the lower pressure column 40, one end of the third spring 44 is fixedly connected with the lower surface of the lower pressure plate 41, and the other end of the third spring 44 is fixedly connected with the upper surface of the lifting table 16;
two third slide rails 45, the two third slide rails 45 are symmetrically arranged on the left and right sides of the lower compression leg 40, the lower surface of the third slide rail 45 is fixedly connected with the upper surface of the lifting platform 16, a third slide plate 46 is slidably arranged on the third slide rail 45, the third slide plate 46 slides left and right along the third slide rail 45, the two third slide plates 46 are arranged on the left and right sides of the lower compression leg 41, the front side walls of the two third slide plates 46 are both provided with a second connecting rod 47, one end of the second connecting rod 47 is hinged with the front side wall of the third slide plate 46, and the other end of the second connecting rod 47 extends below the lifting platform 16 and is hinged with the lower end of the lower compression leg 40;
the limiting block 48 is arranged on the upper surface of the third slide rail 45, the lower end of the limiting block 48 is fixedly connected with the upper surface of the third slide rail 45, and the limiting block 48 is positioned on one side of the third slide plate 46 far away from the lower compression column 40;
the guide plates 49 are obliquely arranged at the upper ends of the third sliding plates 46, the lower ends of the guide plates 49 are fixedly connected with the upper ends of the third sliding plates 46, the two guide plates 49 are bilaterally symmetrical relative to the base 22, and the vertical distance between the upper ends of the two guide plates 49 is greater than that between the lower ends of the two guide plates 49.
The working principle and the beneficial effects of the technical scheme are as follows: the guide device is also arranged in the hangar 3 and comprises a guide assembly and two first magnetic blocks 39, the two first magnetic blocks 39 are symmetrically arranged at an opening of the hangar 3, the guide assembly is arranged on the lifting platform 16, when the unmanned aerial vehicle body 1 descends, the lifting platform 16 is at the highest position, the first magnetic blocks 39 are attracted with the second magnetic blocks 43, the base 22 of the unmanned aerial vehicle body 1 moves to a position between the two guide plates 49, because the two guide plates 49 are obliquely arranged and the distance between the upper ends of the two guide plates 49 is greater than that between the lower ends of the two guide plates 49, the base 22 can smoothly move to a position between the two third sliding plates 46 along the guide plates 49 in the descending process of the base 22, the inner side walls of the guide plates 49 can be provided with a plurality of balls, the downward sliding of the base 22 is facilitated by the arrangement of the balls, then the base 22 is contacted with the upper surface of the lower pressing plate 41, under the magnetic force action of the attraction of the first magnetic blocks 39 and the second magnetic blocks 43, the connecting plate 42 is kept stationary, the lower pressing post 40 cannot slide downwards, the lower pressing plate 41 is kept stationary, then the first electric telescopic rod 15 retracts, because the third slide rail 45 is provided with the limiting block 48, the third slide plate 46 cannot slide towards the direction far away from the lower pressing post 40, therefore, the first magnetic block 39 is separated from the second magnetic block 43, at this time, under the action of gravity, the unmanned aerial vehicle body 1 drives the lower pressing plate 41 to move downwards, the third spring 44 is compressed to play a role in damping and buffering the unmanned aerial vehicle body 1, meanwhile, the lower pressing plate 41 moves to drive the lower pressing post 40 to slide downwards in the through hole of the lifting platform 16, the lower pressing post 40 drives the second connecting rod 47 to move downwards, the second connecting rod 47 drives the third slide plate 46 to slide towards the base 22 until the two third slide plates 46 clamp the base 22 in the space formed by the two third slide plates 46, and the fixation of the unmanned aerial vehicle body 1 is realized by the fixation of the base 22 (as shown in fig. 6), when the unmanned aerial vehicle body 1 needs to be started, the lifting platform 16 moves to the outside of the hangar 3, the two third sliding plates 46 can clamp the base 22 in the movement process of the lifting platform 16, so that the unmanned aerial vehicle body 1 cannot shake in the lifting process, when the lifting platform 16 moves to the highest position, the first magnetic block 39 and the second magnetic block 43 are attracted again, the connecting plate 42 can drive the lower pressing column 40 to move upwards, the lower pressing column 40 drives the two third sliding plates 46 to slide towards the direction far away from the lower pressing column 40 through the second connecting rod 47, the third sliding plates 46 are gradually separated from the base 22, at the moment, the unmanned aerial vehicle body 1 can slide from the guide assembly (as shown in fig. 5), through the arrangement of the guide device, the unmanned aerial vehicle body 1 can smoothly slide on the lower pressing plate 41 between the two third sliding plates 46 along the guide plate 49, and the lower pressing plate 41 supports the unmanned aerial vehicle body 1, so as to facilitate the automatic landing and accurate homing of the unmanned aerial vehicle body 1, simultaneously at the 3 in-processes of 1 business turn over hangars of unmanned aerial vehicle body, guider presss from both sides base 22 tightly through third slide 46, can avoid unmanned aerial vehicle body 1 and 3 inner walls of hangars to take place to collide with, has played the guard action to unmanned aerial vehicle body 1, has prolonged unmanned aerial vehicle body 1's life.
Example 9
On the basis of embodiment 4, the shooting device can acquire a second actual image of the take-off and landing platform, the processor can compare the second actual image of the take-off and landing platform with a second preset image in the processor, and judge the actual goodness of fit of the second actual image and the second preset image, when the actual goodness of fit is equal to 1, the unmanned aerial vehicle body 1 can land on the take-off and landing platform 2, and the actual fit calculation method includes the following steps:
step 1: dividing the image area of the second actual image and the second preset image into N parts, and then calculating the actual goodness of fit of the second actual image and the second preset image according to the following formula:
Figure BDA0003236797100000171
wherein Q is0Is the actual goodness of fit, S, of the second actual image and the second preset image0Is the total area of the image region of the second actual image, S1Is the area of the 1 st image region in the second actual image, S2Is the area of the 2 nd image region in the second actual image, SNIs the area of the Nth image area in the second actual image, N is the total number of the divided areas, I (a) is the pixel value of the gray scale image in the 1 st image area in the second actual image, A is the number of the pixel points in the 1 st image area in the second actual image,
Figure BDA0003236797100000172
is the average value of all pixel values in the 1 st image area in the second actual image, I (B) is the pixel value of the gray image in the 2 nd image area in the second actual image, B is the number of pixel points in the 1 st image area in the second actual image,
Figure BDA0003236797100000173
is the average value of all pixel values of the 2 nd image area in the second practical image, I (N) is the pixel value of the gray image in the Nth image area in the second practical image, M is the number of pixel points in the Nth image area in the second practical image,
Figure BDA0003236797100000174
is the average value of all pixel values in the Nth image area in the second actual image, theta0Is the total area of the image region of the second preset image, theta1Is the area of the 1 st image region in the second predetermined image, θ2Is the area of the 2 nd image region in the second preset image, thetaNIs the area of the Nth image region in the second preset image, delta (a)1) Is the pixel value of the gray image in the 1 st image area in the second preset image, A1The number of the pixel points in the 1 st image area in the second preset image,
Figure BDA0003236797100000175
is the average value of all pixel values of the 1 st image area in the second preset image, delta (b)1) For the pixel values of the gray image in the 2 nd image area in the second predetermined image, B1The number of the pixel points in the 1 st image area in the second preset image,
Figure BDA0003236797100000176
is the average value of all pixel values of the 2 nd image area in the second preset image, delta (m)1) Is the pixel value, M, of the gray scale image in the Nth image area in the second preset image1The number of pixel points in the nth image area in the second preset image,
Figure BDA0003236797100000181
the average value of all pixel values of the Nth image area in the second preset image is obtained;
step 2: when the second actual image with the second predetermines the actual goodness of fit of image and equals 1, unmanned aerial vehicle body 1 automatic landing is to take off and land on platform 2.
The working principle and the beneficial effects of the technical scheme are as follows: for example, the image area of the second actual image and the second preset image is divided into 1, S1＝S0The number A of the pixel points in the 1 st image area in the second actual image is assumed as one pixel pointI (a) take 15000, theta0＝θ1The number A of the pixel points in the 1 st image area in the second preset image1Assume a pixel point, δ (a)1) Also take 15000, therefore, Q0The calculation can be 1, then the actual goodness of fit of the second actual image and the second preset image at this moment equals 1, unmanned aerial vehicle body 1 can descend automatically to the take-off and landing platform 2, the actual goodness of fit of the second actual image and the second preset image does not equal 1, it is explained that unmanned aerial vehicle body 1 is not just to the take-off and landing platform 2, unmanned aerial vehicle body 1 needs to adjust the position at this moment, can descend to the take-off and landing platform 2 when the actual goodness of fit of the second actual image and the second preset image equals 1, can accurately calculate the position of unmanned aerial vehicle body 1 through the above scheme, and compare with the second preset image of the take-off and landing platform 2, the actual goodness of fit of the second actual image and the second preset image equals 1, help accurate landing of unmanned aerial vehicle body 1 to be above the take-off and landing platform 2, and the accuracy of landing is improved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. The utility model provides a full-automatic oiling adds agricultural unmanned aerial vehicle of medicine and take off and land platform thereof, its characterized in that includes: unmanned aerial vehicle body (1) and take off and land platform (2), take off and land platform (2) inside set up hangar (3), set up filling device and charge device in hangar (3), unmanned aerial vehicle body (1) sets up in hangar (3), set up oil tank (4) and medical kit (5) on unmanned aerial vehicle body (1), still set up automatic descending system, energy storage power and network communication system in unmanned aerial vehicle body (1).
2. The agricultural unmanned aerial vehicle with automatic oiling and feeding functions and the take-off and landing platform thereof as claimed in claim 1, wherein the sidewall of the oil tank (4) is provided with an oil filling port (6), the sidewall of the medicine tank (5) is provided with a medicine filling port (7), the oil tank (4) is internally provided with a first liquid level sensor, the medicine tank (5) is internally provided with a second liquid level sensor, the hangar (3) is internally provided with a first controller and a first communication device, the first controller is electrically connected with the first communication device, and the first communication device is wirelessly connected with the unmanned aerial vehicle body (1).
3. The full-automatic oiling adds medicine agricultural unmanned aerial vehicle and platform that takes off and land thereof of claim 2, characterized in that, oiling device includes second electric telescopic handle (8), adds oil pipe (9) and first mounting panel (10), first mounting panel (10) cover is established in adding oil pipe (9) outside, first mounting panel (10) lateral wall with the flexible end fixed connection of second electric telescopic handle (8), second electric telescopic handle (8) stiff end with machine storehouse (3) left side wall fixed connection, add oil pipe (9) and set up to flexible pipe, the mouth of pipe of adding oil pipe (9) corresponds oil filler hole (6), it is scalable to insert to add oil pipe (9) in oil filler hole (6), second electric telescopic handle (8) with first controller electric connection.
4. The full-automatic oiling and feeding agricultural unmanned aerial vehicle and the lifting platform thereof according to claim 2, wherein the feeding device comprises a third electric telescopic rod (11), a feeding pipe (12) and a second mounting plate (13), the second mounting plate (13) is sleeved outside the feeding pipe (12), the side wall of the second mounting plate (13) is fixedly connected with the telescopic end of the third electric telescopic rod (11), the fixed end of the third electric telescopic rod (11) is fixedly connected with the right side wall of the hangar (3), the feeding pipe (12) is arranged to be a telescopic pipe, the pipe orifice of the feeding pipe (12) corresponds to the feeding port (7), the feeding pipe (12) is telescopically inserted into the feeding port (7), and the third electric telescopic rod (11) is electrically connected with the first controller.
5. The agricultural unmanned aerial vehicle with the functions of full-automatic oiling and dosing as well as the lifting platform of the agricultural unmanned aerial vehicle as claimed in claim 1, wherein the lifting platform (2) further comprises two cover plates (14) and a fourth electric telescopic rod, the two cover plates (14) are bilaterally symmetrical about the center line of the hangar (3), one ends of the two cover plates (14) far away from each other are hinged to the upper end of the shell of the lifting platform (2), the cover plates (14) can rotate along the hinged positions, the fourth electric telescopic rod is arranged between the cover plates (14) and the inner wall of the hangar (3) close to the cover plates (14), and the two cover plates (14) can seal the hangar (3) under the action of the fourth electric telescopic rod.
6. The agricultural unmanned aerial vehicle with automatic oiling and feeding functions and the take-off and landing platform thereof as claimed in claim 1, wherein the automatic landing system comprises: second communication device, second controller, positioner, shooting device, treater, third communication device, the second communication device reaches the second controller sets up inside hangar (3), the second controller with second communication device electric connection, positioner the shooting device the treater third communication device sets up in unmanned aerial vehicle body (1), positioner the shooting device third communication device respectively with treater electric connection, third communication device with second communication device wireless communication is connected, the treater with unmanned aerial vehicle body (1) internal power source electric connection.
7. The agricultural unmanned aerial vehicle with automatic oiling and dosing functions and the lifting platform thereof as claimed in claim 1, wherein a lifting assembly is further arranged in the hangar (3), the lifting assembly is located below the unmanned aerial vehicle body (1), the lifting assembly comprises a first electric telescopic rod (15) and a lifting platform (16), the lower end of the first electric telescopic rod (15) is fixedly connected with the bottom wall of the hangar (3), and the lower surface of the lifting platform (16) is fixedly connected with the upper end of the first electric telescopic rod (15).
8. The agricultural unmanned aerial vehicle capable of automatically refueling and adding chemicals and the lifting platform thereof according to claim 7, wherein the unmanned aerial vehicle body (1) is further provided with a supporting device, the supporting device comprises four supporting columns (17), a supporting plate (18) and frame components, the four supporting columns (17) are arranged at four corners of the lower side of the unmanned aerial vehicle body (1), the four corners of the supporting plate (18) are respectively fixedly connected with the inner side walls of the four supporting columns (17), the upper surface of the supporting plate (18) is fixedly connected with the lower surface of the oil tank (4) and the lower surface of the medicine tank (5), the lower ends of the supporting columns (17) are provided with mounting holes (19), the four supporting columns (17) are arranged in two groups, the frame components are arranged in two groups, and the frame components in two groups respectively correspond to the two groups of supporting columns (17), the frame subassembly includes two slip posts (20), two buffer spring (21) and base (22), base (22) set up two between slip post (20), base (22) both ends respectively with both sides slip post (20) lower extreme fixed connection, slip post (20) slide and set up in mounting hole (19), buffer spring (21) one end with slip post (20) upper end fixed connection, buffer spring (21) other end with mounting hole (19) upside inner wall fixed connection.
9. The agricultural unmanned aerial vehicle with automatic oiling and feeding functions and the take-off and landing platform thereof as claimed in claim 7, wherein a fixing device is arranged in the hangar (3), and the fixing device comprises:
the two guide blocks (23) are symmetrically arranged on the lower surface of the lifting platform (16), the upper surface of each guide block (23) is fixedly connected with the lower surface of the lifting platform (16), each guide block (23) is in a right-angle triangle shape, and one side, far away from the first electric telescopic rod (15), of each guide block (23) is provided with an inclined surface;
the two first sliding rails (24) are symmetrically arranged on the front side and the rear side of the first electric telescopic rod (15), the first sliding rails (24) are fixedly connected with the inner wall of the right side of the hangar (3), a first sliding plate (25) is arranged on the first sliding rails (24) in a sliding manner, the first sliding plate (25) slides back and forth on the first sliding rails (24), a first roller (26) is arranged at one end, close to the guide block (23), of the first sliding plate (25), and the outer wall of the first roller (26) is attached to the inclined surface of the guide block (23);
the first rotating shaft (27) is arranged on one side, away from the first electric telescopic rod (15), of the first sliding plate (25), two ends of the first rotating shaft (27) are rotatably connected with the inner walls of the left side and the right side of the hangar (3), a swinging column (28) is arranged on the first rotating shaft (27), the swinging column (28) is close to the middle position and is fixedly connected with the first rotating shaft (27), a first connecting rod (29) is arranged between the swinging column (28) and the first sliding plate (25), one end of the first connecting rod (29) is hinged to the side wall of the first sliding plate (25), and the other end of the first connecting rod (29) is hinged to the lower end of the swinging column (28);
the fixed column (30) is arranged at the upper end of the swinging column (28), the lower end of the fixed column (30) is fixedly connected with the upper end of the swinging column (28), and the upper end of the fixed column (30) is provided with a second roller (31);
the second sliding rail (32) is arranged above the swing column (28), the second sliding rail (32) is fixedly connected with the inner wall of the right side of the garage (3), a second sliding plate (33) is arranged on the second sliding rail (32) in a sliding manner, the second sliding plate (33) slides back and forth on the second sliding rail (32), one side, far away from the lifting table (16), of the second sliding plate (33) is attached to the outer wall of the second roller (31), one side, far away from the lifting table (16), of the second sliding plate (33) is also provided with a first spring (34), one end of the first spring (34) is fixedly connected with the side wall of the second sliding plate (33), and the other end of the first spring (34) is fixedly connected with the inner wall of the garage (3) close to one side of the second sliding plate (33);
sleeve (35), sleeve (35) set up second slide (33) are close to medical kit (5) lateral wall one side, slide in sleeve (35) and set up slide bar (36), slide bar (36) are close to medical kit (5) one end sets up non slipping spur (37), non slipping spur (37) with medical kit (5) lateral wall laminating, slide bar (36) are kept away from non slipping spur (37) one end sets up second spring (38), second spring (38) are located inside sleeve (35), second spring (38) one end with slide bar (36) fixed connection, second spring (38) other end with second slide (33) lateral wall fixed connection.
10. The agricultural unmanned aerial vehicle capable of automatically oiling and feeding pesticide and the take-off and landing platform thereof as claimed in claim 8, wherein a guiding device is further arranged in the hangar (3), the guiding device comprises two sets of guiding assemblies and two first magnetic blocks (39), the two sets of guiding assemblies correspond to the two bases (22) one by one, the two first magnetic blocks (39) are symmetrically arranged on the inner wall of the rear side of the hangar (3) close to the upper end position, the two first magnetic blocks (39) are bilaterally symmetrical with respect to the center line of the lifting platform (16), and the guiding assembly comprises:
the lower pressing column (40) is arranged right below the base (22), a lower pressing plate (41) is arranged at the upper end of the lower pressing column (40), the upper surface of the lower pressing plate (41) is in contact with the lower surface of the base (22), the lower end of the lower pressing column (40) penetrates through the lifting platform (16) and extends to the position below the lifting platform (16), and the lower pressing column (40) is in sliding connection with a through hole of the lifting platform (16);
the connecting plate (42) is arranged at the lower end of the lower pressing column (40), the connecting plate (42) is perpendicular to the lower pressing column (40), a second magnetic block (43) matched with the first magnetic block (39) is arranged on the upper surface of the connecting plate (42), and the first magnetic block (39) can be attracted with the second magnetic block (43);
the third spring (44) is sleeved on the lower pressure column (40), one end of the third spring (44) is fixedly connected with the lower surface of the lower pressure plate (41), and the other end of the third spring (44) is fixedly connected with the upper surface of the lifting table (16);
the two third sliding rails (45) are symmetrically arranged on the left side and the right side of the lower pressing column (40), the lower surface of each third sliding rail (45) is fixedly connected with the upper surface of the lifting platform (16), each third sliding rail (45) is provided with a third sliding plate (46) in a sliding manner, each third sliding plate (46) slides left and right along the corresponding third sliding rail (45), the two third sliding plates (46) are positioned on the left side and the right side of the lower pressing plate (41), the front side walls of the two third sliding plates (46) are provided with second connecting rods (47), one ends of the second connecting rods (47) are hinged to the front side walls of the third sliding plates (46), and the other ends of the second connecting rods (47) extend to the lower part of the lifting platform (16) and are hinged to the lower end of the lower pressing column (40);
the limiting block (48) is arranged on the upper surface of the third sliding rail (45), the lower end of the limiting block (48) is fixedly connected with the upper surface of the third sliding rail (45), and the limiting block (48) is positioned on one side, far away from the lower pressing column (40), of the third sliding plate (46);
the guide plates (49) are obliquely arranged at the upper end of the third sliding plate (46), the lower ends of the guide plates (49) are fixedly connected with the upper end of the third sliding plate (46), the two guide plates (49) are bilaterally symmetrical relative to the base (22), and the vertical distance between the upper ends of the two guide plates (49) is greater than that between the lower ends of the two guide plates (49).
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CN117799889A (en) * 2024-02-29 2024-04-02 苏州物图科技有限公司 Charging equipment for unmanned aerial vehicle and charging method thereof
CN117799889B (en) * 2024-02-29 2024-05-17 苏州物图科技有限公司 Charging equipment for unmanned aerial vehicle and charging method thereof

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