CN113825700A - Agricultural plant protection unmanned aerial vehicle, sowing control method and storage medium - Google Patents
Agricultural plant protection unmanned aerial vehicle, sowing control method and storage medium Download PDFInfo
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- CN113825700A CN113825700A CN202080016421.7A CN202080016421A CN113825700A CN 113825700 A CN113825700 A CN 113825700A CN 202080016421 A CN202080016421 A CN 202080016421A CN 113825700 A CN113825700 A CN 113825700A
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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
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Abstract
The utility model provides an agricultural plant protection unmanned aerial vehicle, includes fuselage (10) and broadcasts equipment (20), broadcasts equipment (20) and installs on agricultural plant protection unmanned aerial vehicle's fuselage, broadcasts equipment (20) and includes: the sowing disc (21) comprises a feeding hole (211), a sowing opening (212) and a throwing disc (213), and in an installation state, an included angle between a rotating plane of the throwing disc (213) and a heading axis of the agricultural plant protection unmanned aerial vehicle is larger than or equal to 0 degree and smaller than 90 degrees; the seeding materials enter the throwing disc (213) through the feed inlet (211) and are thrown out through the seeding openings; the sowing port faces to the lower part or the oblique lower part of the agricultural plant protection unmanned aerial vehicle; and the driving device (30) is connected with the scattering disk (21) and is used for driving the throwing disk (213) to rotate, so that centrifugal force is generated for scattering objects in the throwing disk (213), and the scattering objects are thrown out of the scattering openings (212) under the action of the centrifugal force. Which can improve the directional sowing capability of the sowing equipment.
Description
Technical Field
The embodiment of the invention relates to the technical field of agricultural equipment design, in particular to an agricultural plant protection unmanned aerial vehicle, a sowing control method and a storage medium.
Background
In recent years, agricultural modernization and precision agriculture are continuously developed, and the development of agricultural machinery provides great convenience for agricultural modernization. The sowing system is carried on the unmanned aerial vehicle to realize the sowing of the particles and the powder material particles, such as rice sowing, fertilization and other scenes, and a high-efficiency and convenient operation method is provided for agricultural modernization.
In the related art, when an unmanned aerial vehicle is used for scattering objects, material particles are horizontally thrown out, the material particles fall to the ground in a flat throwing mode, and the downward movement of the material particles only depends on gravity, so that the directional scattering of the materials in a preset direction cannot be controlled.
Disclosure of Invention
In view of the above-mentioned defects in the prior art, embodiments of the present invention provide an agricultural plant protection unmanned aerial vehicle, a sowing control method, and a storage medium.
A first aspect of an embodiment of the present invention provides an agricultural plant protection unmanned aerial vehicle, including a body and a sowing device, where the sowing device is installed on the body of the agricultural plant protection unmanned aerial vehicle, and the sowing device includes:
the sowing plate comprises a feeding hole, a sowing hole and a throwing plate, and in the installation state, an included angle between a rotating plane of the throwing plate and a course axis of the agricultural plant protection unmanned aerial vehicle is more than or equal to 0 degree and less than 90 degrees; the seeding materials enter the throwing disc through the feeding hole and are thrown out through the seeding opening; the sowing port faces to the lower part or the oblique lower part of the agricultural plant protection unmanned aerial vehicle;
and the driving device is connected with the scattering disk and used for driving the throwing disk to rotate so as to generate centrifugal force to scatter the objects in the throwing disk, so that the objects are thrown out of the scattering openings under the action of the centrifugal force.
The second aspect of the embodiment of the invention provides a sowing control method for an agricultural plant protection unmanned aerial vehicle, which comprises the following steps:
the control driving device drives a throwing disc of a sowing disc to rotate, wherein an included angle between a rotating plane of the throwing disc and a heading axis of the agricultural plant protection unmanned aerial vehicle is larger than or equal to 0 degrees and smaller than 90 degrees, sowing objects enter the throwing disc through a feeding hole of the sowing disc and are thrown out through a sowing opening of the sowing disc, and the sowing opening faces to the lower part or the oblique lower part of the agricultural plant protection unmanned aerial vehicle;
and adjusting the driving parameters of the driving device to adjust the downward throwing inclination angle of the broadcast objects.
A third aspect of embodiments of the present invention provides a computer-readable storage medium having a computer program stored thereon, the computer program being executable by a processor to perform the method of:
the control driving device drives a throwing disc of a sowing disc to rotate, wherein an included angle between a rotating plane of the throwing disc and a heading axis of the agricultural plant protection unmanned aerial vehicle is larger than or equal to 0 degrees and smaller than 90 degrees, sowing objects enter the throwing disc through a feeding hole of the sowing disc and are thrown out through a sowing opening of the sowing disc, and the sowing opening faces to the lower part or the oblique lower part of the agricultural plant protection unmanned aerial vehicle;
and adjusting the driving parameters of the driving device to adjust the downward throwing inclination angle of the broadcast objects.
According to the agricultural plant protection unmanned aerial vehicle, the sowing control method and the storage medium provided by the embodiment of the invention, the throwing disc of the sowing equipment is designed in a mode that the included angle between the rotating plane and the heading axis of the agricultural plant protection unmanned aerial vehicle is more than or equal to 0 degree and less than 90 degrees, and the sowing port on the throwing disc faces to the lower part or the oblique lower part of the agricultural plant protection unmanned aerial vehicle, so that material particles are directly thrown out through centrifugal force below or the oblique lower part of the agricultural plant protection unmanned aerial vehicle instead of being thrown out in a flat throwing mode, and the initial speed in the vertical direction is high, so that the directional sowing capacity of the sowing equipment is effectively improved, and the agricultural plant protection unmanned aerial vehicle has the advantages of high efficiency and convenience.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of an agricultural plant protection unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic view of a first sowing state of a sowing device of an agricultural plant protection unmanned aerial vehicle according to another embodiment of the present invention;
fig. 3 is a schematic view of a second sowing state of the sowing device of the agricultural plant protection unmanned aerial vehicle according to another embodiment of the present invention;
fig. 4 is a schematic view of a third sowing state of the sowing device of the agricultural plant protection unmanned aerial vehicle according to another embodiment of the present invention;
fig. 5 is a schematic view of a fourth sowing state of the sowing device of the agricultural plant protection unmanned aerial vehicle according to another embodiment of the present invention;
fig. 6 is a first electrical control schematic diagram of the agricultural plant protection unmanned aerial vehicle provided by the embodiment of the invention;
fig. 7 is a second electrical control schematic diagram of the agricultural plant protection unmanned aerial vehicle provided by the embodiment of the invention;
fig. 8 is a control flowchart of the agricultural plant protection unmanned aerial vehicle provided in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.
Furthermore, the term "coupled" is intended to include any direct or indirect coupling. Thus, if a first device couples to a second device, that connection may be through a direct connection, or through an indirect connection via other devices.
It should be understood that the term "and/or" is used herein only to describe an association relationship of associated objects, and means that there may be three relationships, for example, a1 and/or B1, which may mean: a1 exists alone, A1 and B1 exist simultaneously, and B1 exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. Various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The inventor has found through creative work that the following traditional sowing methods are generally adopted for sowing agricultural sowings in the prior art: 1. the wheel tractor carries a sowing machine, and the mode has low efficiency and is easy to crush crops. 2. The manual backpack type sowing machine has high manual operation intensity, the toxic materials damage the human body and the efficiency is low. 3. The manual throwing type machine has high manual operation intensity, damages the human body by toxic materials and has low efficiency.
For solving the drawback of above-mentioned tradition mode of scattering, the mode of having the material of scattering of using agricultural plant protection unmanned aerial vehicle in the correlation technique, but it utilizes high-speed air current with the seed, solid particle such as fertilizer spouts to ground, but because unmanned aerial vehicle is when flying, the screw rotates at a high speed, the air current is great, and the air current of scattering the system does not have the air current of unmanned aerial vehicle screw strong, the air current that can make the screw hinders to scatter the material and scatter according to predetermineeing the direction, make the particulate matter reverse clap back ground, can't reach the purpose that accurate orientation was scattered.
In order to solve the technical problems in the prior art, the invention provides an agricultural plant protection unmanned aerial vehicle and a control method of the agricultural plant protection unmanned aerial vehicle, which can improve the directional sowing capability and have the advantages of high efficiency and convenience.
Example one
Fig. 1 is a schematic structural diagram of an agricultural plant protection unmanned aerial vehicle according to an embodiment of the present invention; fig. 6 is a first electrical control schematic diagram of the agricultural plant protection unmanned aerial vehicle provided by the embodiment of the invention. Referring to fig. 1 and fig. 6, the agricultural plant protection unmanned aerial vehicle provided in this embodiment includes a main body 10 and a sowing device 20, the sowing device 20 is installed on the main body 10 of the agricultural plant protection unmanned aerial vehicle, and the sowing device 20 includes: a sowing disc 21 and a drive means 30. Specifically, equipment 20 of scattering can be fixedly mounted in agricultural plant protection unmanned aerial vehicle's below to guarantee that agricultural plant protection unmanned aerial vehicle's focus is steady. The seeding device 20 may be detached from the agricultural plant protection drone alone to facilitate maintenance or replacement of the seeding device 20.
Specifically, the seeding tray 21 includes a feeding port 211, a seeding port 212 and a throwing tray 213, and the seeding material enters the throwing tray 213 through the feeding port 211 and is thrown out through the seeding port 212; the sowing opening 212 faces the lower part or obliquely lower part of the agricultural plant protection unmanned aerial vehicle. A drive 30 is connected to the scattering disk 21 for driving the rotation of the throwing disk 213 to generate a centrifugal force on the scattered material in the throwing disk 213 so that the scattered material is thrown out of the scattering openings 212 by the centrifugal force.
Specifically, the broadcast described in this embodiment may include at least one of the following: powdered fertilizer, seed particles, pesticides, etc.
In this embodiment, the shape, size and material of the flail disc 213 are not limited, and those skilled in the art can select or design the flail disc according to actual needs. In a preferred embodiment, the overall shape of the flail 213 may be a disk, and the entire flail 213 may be made of a metal material, which has a good strength and a stable performance and is not easy to deform, and of course, in other embodiments, the flail 213 may also be made of a plastic material.
It should be noted that the scattering disk 21 at least comprises a rotatable throwing disk 213, and in other embodiments, the scattering disk 21 may comprise a non-rotatable fixing disk (not shown) in addition to the rotatable throwing disk 213, the fixing disk may comprise two fixing disks, the throwing disk 213 may be disposed between the two fixing disks, and the fixing disks may be used for blocking the scattered objects, preventing the scattered objects from splashing on both sides of the throwing disk 213, and further ensuring the scattered objects to be scattered in a predetermined direction. The fixed disk may have the same size and shape as the flail disk 213, and the fixed disk may be made of the same material as the flail disk 213, so as to facilitate molding and simplify the manufacturing process.
In this embodiment, the scattering openings 212 may be located at or near the edge of the scattering disk 21, and there may be only one scattering opening 212, and the scattering disk 213 will only throw the scattered objects when the scattering openings 212 rotate downward during the rotation. The feeding hole 211 can be disposed at the center of the throwing disc 213, so that the feeding hole 211 cannot rotate along with the rotation of the scattering disc 21, and the feeding of the feeding hole 211 is not affected.
Further, in this embodiment, it is preferred that the radial edge of the throwing disk 213 has an opening forming the spreading opening 212, and that within the throwing disk 213 there are spreading channels (not shown) communicating with the spreading opening 212, which channels are also communicating with the feed inlet 211.
Of course, in other embodiments, the scattering channels may be formed between the slinger disks 213 and the fixed disks, and the scattering openings 213 may be formed at the ends of the scattering channels.
In the installation state, the included angle between the rotation plane of the flail disc 213 and the heading axis of the agricultural plant protection unmanned aerial vehicle is greater than or equal to 0 degree and smaller than 90 degrees. That is, the rotation plane of the throwing disk 213 is not horizontally arranged, the throwing disk 213 can rotate at a high speed driven by the driving device 30 such as a motor to generate a large centrifugal force to throw the scattering objects of the scattering disk 21 out through the scattering openings 212, specifically, the scattering objects can be thrown out at the scattering openings 212 in a direction tangential to the outline of the throwing disk 213, and the throwing disk 213 is not horizontally arranged, so that the scattering objects have a vertical initial speed when being thrown out, so that the directional scattering capability of the scattering objects can be improved.
It should be noted that when the rotation speed of the throwing disk 213 is high, the seeding opening 212 may throw the seeding objects along the oblique tangent line when the seeding objects do not completely reach right below, and when the rotation speed of the throwing disk 213 is low, the seeding opening 212 may throw the seeding objects close to or right below, so that the seeding distance of the seeding objects may be controlled by controlling the rotation speed of the throwing disk 213. Also, it is understood that when the direction of rotation of the throwing disk 213 is different, the direction of the objects thrown is different, for example, as shown in fig. 1, the throwing disk 213 rotates counterclockwise, the objects are thrown along the lower right (as shown by the dotted line in fig. 1, the object throwing track), and when the throwing disk 213 rotates clockwise, the objects are thrown along the lower left. So that the rotation speed and/or rotation direction of the throwing disk 213 can be controlled by the driving device to achieve the purpose of directional sowing.
Preferably, in this embodiment, in the installation state, an included angle between a rotation plane of the flail disk 213 and a heading axis of the agricultural plant protection unmanned aerial vehicle is less than or equal to 45 degrees. The included angle between the rotating plane of the throwing disc 213 and the heading axis of the agricultural plant protection unmanned aerial vehicle is small, so that when the centrifugal force generated by the throwing disc 213 rotates at a high speed throws the scattered objects out, the throwing direction of the scattered objects is downward as much as possible, the vertical initial speed is as large as possible, and the horizontal initial speed is as small as possible. It can be understood that, on the premise that the throwing disc 213 rotates at the same rotating speed, the smaller the included angle between the rotating plane of the throwing disc 213 and the heading axis of the agricultural plant protection unmanned aerial vehicle is, the larger the vertical initial speed of the scattering objects when the scattering objects are thrown out is, and the stronger the directional scattering capacity is.
According to the agricultural plant protection unmanned aerial vehicle provided by the embodiment of the invention, the throwing disc of the sowing equipment is designed in a mode that the included angle between the rotating plane and the heading axis of the agricultural plant protection unmanned aerial vehicle is more than or equal to 0 degree and less than 90 degrees, and the sowing port on the throwing disc faces to the lower part or the oblique lower part of the agricultural plant protection unmanned aerial vehicle, so that material particles are directly thrown out under or obliquely under the agricultural plant protection unmanned aerial vehicle through centrifugal force instead of being thrown out in a flat throwing mode, the initial speed in the vertical direction is high, and the movement track of the material particles is close to a straight line, so that the directional sowing capacity of the sowing equipment is improved, and the agricultural plant protection unmanned aerial vehicle has the advantages of high efficiency and convenience.
More preferably, in the installed state, the rotation plane of the flail disc 213 may be substantially parallel to the heading axis of the agricultural plant protection drone. The term substantially parallel means that the angle between the two may be in the range of-5 ° to +5 ° within the allowable range of installation or manufacturing tolerances. At this time, the rotation plane of the throwing disk 213 is approximately parallel to the course axis of the agricultural plant protection unmanned aerial vehicle, and the throwing disk 213 is basically vertically arranged, so that the sowed objects can be basically thrown out of the throwing disk 213 according to the preset landing direction, the sowing range is the most controllable, and the directional sowing capacity is the strongest.
Fig. 2 is a schematic view of a first sowing state of a sowing device of an agricultural plant protection unmanned aerial vehicle according to another embodiment of the present invention; fig. 3 is a schematic view of a second sowing state of the sowing device of the agricultural plant protection unmanned aerial vehicle according to another embodiment of the present invention; fig. 4 is a schematic view of a third sowing state of the sowing device of the agricultural plant protection unmanned aerial vehicle according to another embodiment of the present invention; fig. 5 is a schematic diagram of a fourth sowing state of the sowing device of the agricultural plant protection unmanned aerial vehicle according to another embodiment of the present invention. Referring to fig. 2-5, the present embodiment provides at least two sowing plates 21 (two sowing plates 21 are shown in fig. 2-5), and in the installed state, the at least two sowing plates 21 are arranged in parallel or in a staggered manner in the rolling direction of the agricultural plant protection drone. In some embodiments, in the installed state, at least two seeding disks 21 are juxtaposed or staggered in the direction of the pitch axis of the agricultural plant protection drone.
It should be noted that the staggered arrangement means that at least two scattering disks 21 are respectively arranged obliquely with respect to the heading axis, so that the rotation planes of the at least two scattering disks 21 have an intersection line.
When at least two scattering disks 21 are arranged in parallel or in a staggered mode in the direction of the transverse rolling shaft and the two scattering disks 21 are different in turning direction, scattering objects can be scattered in the front-back direction of the body 10 of the agricultural plant protection unmanned aerial vehicle. When at least two scattering disks 21 are arranged in parallel or in a staggered mode in the direction of the pitching axis and the two scattering disks 21 are different in rotation direction, scattering objects can be scattered in the left and right directions of the body 10 of the agricultural plant protection unmanned aerial vehicle. By providing at least two scattering disks 21, the scattering efficiency can be effectively improved.
When the quantity of scattering dish 21 includes at least two, correspond, the quantity of getting rid of dish 213 includes at least two, and under the installation status, at least two scatter dishes 21 arrange the setting on agricultural plant protection unmanned aerial vehicle's roll axis direction, and the contained angle size between the rotation plane of at least two getting rid of dish 213 and the course axle of agricultural plant protection unmanned aerial vehicle is the same basically, and the inclined direction of the rotation plane of at least two getting rid of dish 213 is opposite. At least two disks 21 of scattering arrange the setting on agricultural plant protection unmanned aerial vehicle's roll axis direction to, at least two are got rid of the planar inclination of rotation of dish 213 opposite, and inclination is equal basically, make at least two the thing of scattering of getting rid of dish 213 throw away at the fore-and-aft direction of fuselage 10 symmetry as far as possible, improve agricultural plant protection unmanned aerial vehicle's the homogeneity of scattering.
Optionally, the number of the scattering disks 21 includes at least two, and correspondingly, the number of the throwing disks 213 includes at least two, in an installation state, the at least two scattering disks 21 are arranged in the pitch axis direction of the agricultural plant protection unmanned aerial vehicle, the at least two scattering disks 21 are respectively inclined towards the roll axis direction, and the inclination directions of the rotation planes of the at least two throwing disks 213 are opposite. Similarly, the inclination directions of the rotation planes of the at least two throwing disks 213 are opposite, and the inclination angles are basically the same, so that the objects to be sown on the at least two throwing disks 213 are respectively and symmetrically thrown out on the airframe 10 about the transverse rolling shaft and the pitching shaft as much as possible, and the sowing uniformity of the agricultural plant protection unmanned aerial vehicle is improved.
Further, drive arrangement 30 can scatter the dish 21 through driving at least two and rotate with different rotational speeds and turn to, can realize that agricultural plant protection unmanned aerial vehicle throws away the thing of scattering with the mode of scattering of difference, improves agricultural plant protection unmanned aerial vehicle's operation flexibility.
With specific reference to fig. 2 to 5, different sowing modes of the agricultural plant protection unmanned aerial vehicle are illustrated.
As shown in fig. 2, the two spreading discs 21 are arranged along the roll axis direction, and the rotation planes of the throwing discs 213 of the two spreading discs 21 are parallel to the heading axis. The left side of the sowing tray 21 is rotated counterclockwise, the sowing is thrown out from the sowing openings 212 of the left side of the sowing tray 21 in the lower right direction, the sowing is thrown out from the sowing openings 212 of the right side of the sowing tray 21 in the lower left direction by rotating the right side of the sowing tray 21 clockwise, so that the sowing under both the sowing trays 21 is intensively sown close to each other toward the center.
As shown in fig. 3, the two spreading discs 21 are arranged along the roll axis direction, and the rotation planes of the throwing discs 213 of the two spreading discs 21 are parallel to the heading axis. The left side of the sowing tray 21 rotates clockwise, the sowing is thrown out from the sowing openings 212 of the left side of the sowing tray 21 along the lower left side, the right side of the sowing tray 21 rotates counterclockwise, the sowing is thrown out from the sowing openings 212 of the left side of the sowing tray 21 along the lower right side, and the sowing is thrown out from the lower sides of the two sowing trays 21 away from each other towards the two sides below the body 10.
As shown in fig. 4, the two spreading discs 21 are arranged along the roll axis direction, and the rotation planes of the throwing discs 213 of the two spreading discs 21 are parallel to the heading axis. The left side of the sowing tray 21 rotates anticlockwise, the sowing materials are thrown out from the sowing openings 212 of the left side of the sowing tray 21 along the lower right direction, the right side of the sowing tray 21 rotates anticlockwise, the sowing materials are thrown out from the sowing openings 212 of the right side of the sowing tray 21 along the lower right direction, and the sowing materials below the two sowing trays 21 are thrown out in the same direction, so that the right side fixed-point sowing is realized.
As shown in fig. 5, the two spreading discs 21 are arranged along the roll axis direction, and the rotation planes of the throwing discs 213 of the two spreading discs 21 are parallel to the heading axis. The left side of the sowing tray 21 rotates clockwise, the sowing materials are thrown out from the sowing openings 212 of the left side of the sowing tray 21 along the lower left direction, the right side of the sowing tray 21 rotates clockwise, the sowing materials are thrown out from the sowing openings 212 of the right side of the sowing tray 21 along the lower left direction, and the sowing materials below the two sowing trays 21 are thrown out in the same direction, so that the left side fixed-point sowing is realized.
In addition, it can be understood that the rotation speeds of the throwing disks 213 are different, the distances thrown by the broadcast objects are also different, the faster the rotation speed is, the farther the distance thrown by the broadcast objects is, and the slower the rotation speed is, the closer the distance thrown by the broadcast objects is, so that the rotation direction and the rotation speed of the throwing disk 213 of each of the broadcast disks 21 can be controlled according to different broadcast requirements to realize fixed-point broadcast of the broadcast objects.
It should be noted that, when the agricultural plant protection unmanned aerial vehicle has only one scattering disk 21, due to the rotation of the scattering disk 213, the scattered objects can only be scattered at any position within 180 ° downward from the scattering disk 213, but not be scattered right below, and then the problem of inconsistent sparse degree of left and right blanking occurs, for example, as shown in fig. 1, the blanking is inclined to the right, which makes the blanking on the right side denser and the blanking on the left side sparser. When the two scattering disks 21 rotate in different rotating directions in the graph 2 or the graph 3, blanking on the left side and the right side of the machine body are symmetrical and complementary, blanking on the left side and the right side are sparse, and scattering uniformity is improved.
Of course, it can be understood that the number of the sowing disks 21 of the agricultural plant protection unmanned aerial vehicle in this embodiment is not limited to two, for example, three, four, etc., when the number of the sowing disks 21 of the agricultural plant protection unmanned aerial vehicle is three, the three sowing disks 21 may be arranged along the direction of the transverse axis, the rotation planes of the throwing disks 213 of the sowing disks 21 at the front and rear ends of the body 10 may be respectively inclined forward and backward, the inclination angles are equal, and the rotation plane of the throwing disk 213 of the sowing disk 21 at the middle position is vertically downward. When agricultural plant protection unmanned aerial vehicle's the dish of scattering 21 is four, can arrange two dishes of scattering 21 along the roll axis direction, can arrange two dishes of scattering 21 along the pitch axis direction, the line of four dishes of scattering 21 can constitute the square, and the dish 213 of scattering 21 of arranging in the pitch axis direction can the symmetry set up, and the dish 213 of scattering 21 of arranging in the roll axis direction can the symmetry set up. Therefore, the sowing width and the sowing range are improved, and the sowing uniformity is ensured.
The sowing apparatus of this embodiment further comprises an external storage container in which the sowing articles can be accommodated separately from the sowing plate 21 and flow through the discharge opening of the external storage container into the sowing plate 21 to be thrown out of the sowing plate 21, in which way the feed opening 211 of the sowing plate 21 can communicate with the discharge opening of the external storage container. Specifically, the external storage container may be a charging box 22, the charging box 22 is disposed above the scattering plate 21, the charging box 22 is used for accommodating the scattered objects, the charging box 22 may have a discharge port 221, the discharge port 221 is communicated with the feed port 211 through a feed channel, and the feed channel is used for guiding the scattered objects from the charging box 22 to enter the scattering channel of the throwing plate 213. Through setting up charging box 22, guarantee that agricultural plant protection unmanned aerial vehicle can have great broadcast thing memory space, and need not frequently to add and broadcast the thing, reduce the work degree.
The charging box 22 comprises at least two spreading disks 21, the number of the discharge holes 221 on the charging box 22 is equal to that of the throwing disks 213, each spreading disk 21 is provided with a feed hole 211, and the discharge holes 221 on the charging box 22 are respectively communicated with the feed hole 211 of one spreading disk 21. Alternatively, the number of the charging boxes 22 is equal to that of the spreading disks 21, and the discharge ports 221 of the charging boxes 22 are respectively communicated with the feed ports of one spreading disk 21. At least two of the spreading trays 21 share one loading bin 22 so that the spread is accommodated in one space, and the problem that the amount of spread received in a plurality of storage containers is different so that the amount of spread entering each spreading tray 21 is greatly different is avoided, and the difference in the amount of spread entering each spreading tray 21 is effectively reduced so that the amount of spread thrown from each spreading tray 21 is substantially the same, so that the spread can be spread more uniformly. Of course, in other embodiments, the number of charging boxes 22 may be equal to the number of flappers 213, and one charging box 22 may correspond to one flapper 213.
In addition, in other embodiments, the seeding tray 21 may have a storage compartment for storing and containing the seeding material therein, and the seeding material may be contained entirely in the storage compartment inside the seeding tray 21. in this manner, the feed port 211 of the seeding tray 21 may be in communication with the discharge port of the inner storage compartment of the seeding tray 21, and the seeding material from the storage compartment inside the seeding tray 21 flows out of the discharge port to the feed port of the seeding tray 21 and is thrown out through the seeding port 212 of the seeding tray 21 when the throwing disk 213 rotates.
As shown in fig. 6, on the basis of the above embodiment, further, the sowing apparatus may further include: an adjustment device 40. The adjusting device 40 is used for adjusting the feeding amount of the feeding port 211. From this can spill the demand according to the difference and adjust the feed quantity of feed inlet 211, improve agricultural plant protection unmanned aerial vehicle's the flexibility of scattering.
Specifically, the adjusting device 40 may be disposed in the feeding channel, and the adjusting device 40 may include an adjusting valve, which may specifically adjust the opening degree of the feeding port 211, so as to adjust the feeding amount of the feeding port 211. The adjusting device 40 may be disposed at any position of the feeding channel, for example, at the feeding hole 211, or at the middle of the feeding channel.
Fig. 7 is a second electrical control schematic diagram of the agricultural plant protection unmanned aerial vehicle according to the embodiment of the present invention, and as shown in fig. 7, the agricultural plant protection unmanned aerial vehicle according to the embodiment of the present invention further includes a first collecting device 50, the first collecting device 50 is configured to collect the particle information of the broadcast material, the adjusting device 40 is connected to the first collecting device 50, and the adjusting device 40 is configured to adjust the feeding amount of the feeding port 211 according to the particle information of the broadcast material collected by the first collecting device 50.
Specifically, the grain information of the broadcast comprises at least one of the following: particle mass, particle size, particle density. It should be noted that the particles referred to in this embodiment are not necessarily solid particles, such as seed particles, powder particles; liquid particles, such as particles after liquefaction of the pesticide, may also be included.
In this embodiment, the agricultural plant protection unmanned aerial vehicle may further have an input device (not shown in the figure) in communication connection, and the input device may be a mobile terminal located at the ground end, or the input device is located on the main body 10, for example, the input device is a touch screen located on the main body 10, or a display screen with an operating keyboard. Input device can be connected with first collection system 50, and first collection system 50 can gather the granule information that input device input, before utilizing this plant protection unmanned aerial vehicle to broadcast, or at the in-process that utilizes this plant protection unmanned aerial vehicle to broadcast, and the user can initiatively input granule information. In some alternative embodiments, the first collection device 50 may include a high concentration particle counter, a weight sensor, a particle detector, etc. to detect and collect particle information. The first collecting device 50 sends the particle information to the adjusting device 40, so that the adjusting device 40 adjusts the feeding amount of the feeding port 211.
Different weight, different density particles are thrown out of the same disc 213 at different trajectories. In the rotating process of the throwing disc 213, the scattering openings rotate along with the rotating, the feeding amount of the feeding opening 211 is adjusted according to the difference of the particle number and the particle weight, namely the flow of the feeding opening 211 is controlled, so that the scattered objects can be thrown out only when the scattering openings 212 rotate to the lower part during the rotation of the throwing disc 213, and the situation that the scattered objects are thrown out from the upper part of the throwing disc 213 is avoided.
Further, the adjusting device 40 is further connected to the driving device 30, and the adjusting device 40 is further configured to adjust the opening of the feeding channel according to the information of the particles of the broadcast material and the driving parameters of the driving device 30 to adjust the feeding amount of the feeding port 211. Since the driving device 30 is used for driving the flail disk 213 to rotate, and the difference of the rotation speed, the rotation direction and the rotation frequency of the flail disk 213 also has an effect on the throwing track of the spread objects, the adjusting device 40 of the embodiment adjusts the feeding amount of the feeding port 211 according to the driving parameters of the driving device and the particle information of the spread objects, wherein the driving parameters include at least one of the following: motor speed, motor steering, motor frequency. Thus, the object that the seeding opening 212 rotates downward is achieved. The specific way to adjust the feeding amount of the feeding port 211 according to the driving parameters of the driving device and the particle information of the broadcast objects can be specifically designed according to the actual situation, or obtained through multiple test simulation or tests, and this embodiment is not particularly limited.
Further, the agricultural plant protection unmanned aerial vehicle that this embodiment provided still includes: the processing device 70, the processing device 70 is connected with the driving device 30 and is used for determining the driving parameters of the driving device 30; the control device 60 is connected to the processing device 70 and the driving device 30, and is configured to adjust the driving parameters of the driving device 30 according to the target driving parameters determined by the processing device 70, so that the driving device 30 drives the flail disk 213 to rotate according to the determined target driving parameters.
It should be noted that, in this embodiment, the driving device 30 may be a motor, and the control device 60 may be a control chip in the motor, or may be a control device independent from the motor, and this embodiment is not limited in particular as long as the control device 60 has an electrical connection relationship with the driving module in the driving device 30, and can provide a control signal to the driving module to drive the driving module.
Further, the agricultural plant protection unmanned aerial vehicle of this embodiment still includes: a second acquisition device 80. The second acquisition means 80 may be used to acquire user input drive parameters; the processing device 70 is connected to the second collecting device 80, and the processing device 70 may be specifically configured to determine the target driving parameter of the driving device 30 according to the driving parameter input by the user. In addition to the particle information of the particles, the user may input the driving parameters of the desired driving device through the input device, for example, the user may directly input the rotation speed, the rotation direction, and the like of the thrower plate 213 through the input device, and it should be noted that "+" may be predefined as the forward rotation (clockwise rotation) "-" as the reverse rotation (counterclockwise rotation) ", and the user may directly input" + "or" - "to select the rotation direction of the thrower plate 213. The processing device 70 may determine the driving parameter input by the user as the driving parameter of the driving device 30, and the control device 60 controls the driving device 30 to drive the flail disc 213 to rotate according to the determined target driving parameter.
The input device in this embodiment may be an input device corresponding to the input of the particle information, or may be another input device separately provided, and this embodiment is not limited thereto.
Further, the processing device 70 is also connected with the flight control system 90 of the agricultural plant protection unmanned aerial vehicle and the shooting device 100 of the agricultural plant protection unmanned aerial vehicle; the processing device 70 is specifically configured to determine a driving parameter of the driving device according to at least one of trajectory information of the agricultural plant protection unmanned aerial vehicle, attitude information of the agricultural plant protection unmanned aerial vehicle, and image information captured by the capturing device.
Because when agricultural plant protection unmanned aerial vehicle flies with different gestures, the landing point of the broadcast thing that equipment of scattering thrown away also can be different, and when agricultural plant protection unmanned aerial vehicle was in different positions (also be exactly the flight orbit of unmanned aerial vehicle), the landing point of the broadcast thing that throws away on the equipment of scattering also can be different, the image information that shooting equipment was shot can accurately reflect agricultural plant protection unmanned aerial vehicle below ground image, consequently can accurately learn and wait to broadcast the region, and drive arrangement's drive parameter decides the rotational speed and the turning to of throwing the dish, from this the throw-out orbit of deciding the broadcast thing and final broadcast the point. Consequently, through at least one of track information, agricultural plant protection unmanned aerial vehicle's attitude information, the image information that shooting equipment shot of agricultural plant protection unmanned aerial vehicle confirm drive arrangement's drive parameter, can make to scatter the equipment and scatter according to the demand of actual scattering, realize accurate, the purpose of directional scattering.
Example two
Fig. 7 is a control flowchart of the agricultural plant protection unmanned aerial vehicle provided in the embodiment of the present invention. As shown in fig. 7, the present embodiment provides a sowing control method for an agricultural plant protection unmanned aerial vehicle, including:
and S101, controlling a driving device to drive a throwing disc of the sowing disc to rotate, wherein an included angle between a rotating plane of the throwing disc and a course axis of the agricultural plant protection unmanned aerial vehicle is larger than or equal to 0 degree and smaller than 90 degrees, sowing objects enter the throwing disc through a feeding hole of the sowing disc and are thrown out through a sowing opening of the sowing disc, and the sowing opening faces the lower part or the oblique lower part of the agricultural plant protection unmanned aerial vehicle.
S102, adjusting the driving parameters of the driving device to adjust the downward throwing inclination angle of the broadcast.
The control method of the agricultural plant protection unmanned aerial vehicle provided by the embodiment of the invention can be realized by the control device of the agricultural plant protection unmanned aerial vehicle provided by the embodiment of the invention.
Further, the driving device in this embodiment includes a motor, and the driving parameter includes at least one of: motor speed, motor steering, motor frequency.
Wherein the adjusting the driving parameters of the driving device in S102 includes:
determining a driving parameter input by a user as a target driving parameter of a driving device;
and adjusting the driving parameters of the driving device according to the determined target driving parameters.
Optionally, the adjusting the driving parameters of the driving device in S102 includes:
determining target driving parameters of a driving device according to at least one of track information of the agricultural plant protection unmanned aerial vehicle, attitude information of the agricultural plant protection unmanned aerial vehicle and image information shot by shooting equipment;
and adjusting the driving parameters of the driving device according to the determined target driving parameters. The control method of the agricultural plant protection unmanned aerial vehicle provided by the embodiment of the invention is the same as the implementation process of the agricultural plant protection unmanned aerial vehicle embodiment of the first embodiment, and the detailed description can be given by referring to the records of the agricultural plant protection unmanned aerial vehicle embodiment, and is not repeated herein.
According to the control method of the agricultural plant protection unmanned aerial vehicle provided by the embodiment of the invention, the rotating speed and the steering direction of the throwing disc influence the downward throwing inclination angle of the broadcast objects, and the throwing disc is controlled to rotate by the driving device, so that the downward throwing inclination angle of the broadcast objects can be effectively adjusted by adjusting the driving parameters of the driving device, the switching and the adjustment of the broadcast mode are realized, and the flexibility of the broadcast operation is improved.
EXAMPLE III
The present embodiment provides a computer-readable storage medium having a computer program stored thereon, the computer program being executable by a processor to perform the method of:
the control driving device drives the throwing disc of the scattering disc to rotate, wherein an included angle between a rotating plane of the throwing disc and a heading axis of the agricultural plant protection unmanned aerial vehicle is an acute angle, scattered objects enter the throwing disc through a feeding hole of the scattering disc and are thrown out through a scattering port of the scattering disc, and the scattering port faces to the lower part or the oblique lower part of the agricultural plant protection unmanned aerial vehicle;
adjusting the driving parameters of the driving device to adjust the downward throwing inclination angle of the seeding objects.
The method executed by the processor in this embodiment is the control method described in embodiment two, and specific reference may be made to the description of embodiment two, which is not described in detail in this embodiment.
In the embodiments of the present invention, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (23)
1. The utility model provides an agricultural plant protection unmanned aerial vehicle, includes the fuselage and scatters equipment, scatter equipment install in on the fuselage of agricultural plant protection unmanned aerial vehicle, its characterized in that, it includes to scatter equipment:
the sowing plate comprises a feeding hole, a sowing hole and a throwing plate, and in the installation state, an included angle between a rotating plane of the throwing plate and a course axis of the agricultural plant protection unmanned aerial vehicle is more than or equal to 0 degree and less than 90 degrees; the seeding materials enter the throwing disc through the feeding hole and are thrown out through the seeding opening; the sowing port faces to the lower part or the oblique lower part of the agricultural plant protection unmanned aerial vehicle;
and the driving device is connected with the scattering disk and used for driving the throwing disk to rotate so as to generate centrifugal force to scatter the objects in the throwing disk, so that the objects are thrown out of the scattering openings under the action of the centrifugal force.
2. The agricultural plant protection drone of claim 1,
in the installation state, the rotation plane of the throwing disk is basically parallel to the course axis of the agricultural plant protection unmanned aerial vehicle.
3. The agricultural plant protection drone of claim 2,
the sowing plates comprise at least two sowing plates, and in the installation state, the at least two sowing plates are arranged in parallel or in a staggered mode in the direction of the transverse rolling shaft of the agricultural plant protection unmanned aerial vehicle;
or the sowing disks comprise at least two sowing disks, and in the installation state, the at least two sowing disks are arranged in parallel or in a staggered mode in the pitching axis direction of the agricultural plant protection unmanned aerial vehicle.
4. The agricultural plant protection unmanned aerial vehicle of claim 1, wherein in the installed state, an included angle between a rotation plane of the flail disk and a heading axis of the agricultural plant protection unmanned aerial vehicle is less than or equal to 45 degrees.
5. The agricultural plant protection unmanned aerial vehicle of claim 4, wherein the number of the scattering disks is at least two, in the installation state, the at least two scattering disks are arranged in the rolling direction of the agricultural plant protection unmanned aerial vehicle, the included angles between the rotation planes of the at least two throwing disks and the heading axis of the agricultural plant protection unmanned aerial vehicle are substantially equal, and the inclination directions of the rotation planes of the at least two throwing disks are opposite.
6. The agricultural plant protection unmanned aerial vehicle of claim 4, wherein the number of the spreading disks is at least two, and in the installation state, the at least two spreading disks are arranged in a pitch axis direction of the agricultural plant protection unmanned aerial vehicle, and the at least two spreading disks are respectively inclined towards a roll axis direction, and the inclination directions of the rotation planes of the at least two throwing disks are opposite.
7. The agricultural plant protection drone of claim 1, wherein a radial edge of the flinger plate has an opening that forms the spreading opening, and wherein a spreading channel is in the flinger plate in communication with the spreading opening.
8. The agricultural plant protection drone of claim 7, wherein the broadcast apparatus further comprises:
the loading box is used for containing the scattered objects, a discharge port is formed in the loading box, the discharge port is communicated with the feed port through a feed channel, and the feed channel is used for guiding the scattered objects to enter the scattering channel of the throwing disc from the loading box.
9. The agricultural unmanned aerial vehicle for plant protection as claimed in claim 8, wherein the charging box comprises one, the number of the seeding disks comprises at least two, the number of the discharging ports on the charging box is equal to the number of the seeding disks, each seeding disk is provided with a feeding port, and each discharging port on the charging box is correspondingly communicated with the feeding port of one seeding disk;
or the number of the charging boxes is equal to that of the scattering disks, and the discharge port of each charging box is correspondingly communicated with the feed port of one scattering disk.
10. The agricultural plant protection drone of claim 8, wherein the broadcast apparatus further comprises: and the adjusting device is used for adjusting the feeding amount of the feeding hole.
11. The agricultural plant protection unmanned aerial vehicle of claim 10, wherein the adjusting device is disposed on the feeding channel, and the adjusting device comprises an adjusting valve for adjusting the opening of the feeding channel to adjust the feeding amount of the feeding hole.
12. The agricultural plant protection unmanned aerial vehicle of claim 10, further comprising a first collection device, the first collection device being configured to collect particle information of the broadcast, the adjustment device being connected to the first collection device, the adjustment device being configured to adjust the feed rate of the feed inlet according to the particle information of the broadcast collected by the first collection device.
13. The agricultural plant protection drone of claim 12, wherein the particulate information of the broadcast includes at least one of: particle mass, particle size, particle density.
14. The agricultural plant protection unmanned aerial vehicle of claim 12, wherein the adjusting device is further connected to the driving device, and the adjusting device is further configured to adjust an opening degree of the feeding channel according to the granule information of the broadcast and a driving parameter of the driving device to adjust a feeding amount of the feeding port.
15. The agricultural plant protection drone of claim 1, further comprising:
processing means for determining a target drive parameter for the drive means;
and the control device is connected with the processing device and the driving device and is used for adjusting the driving parameters of the driving device according to the target driving parameters determined by the processing device so as to enable the driving device to drive the flail disc to rotate according to the determined target driving parameters.
16. The agricultural plant protection drone of claim 14 or 15, wherein the drive device includes a motor, the drive parameters including at least one of: motor speed, motor steering, motor frequency.
17. The agricultural plant protection drone of claim 15, further comprising:
the second acquisition device is used for acquiring the driving parameters input by the user;
the processing device is further connected with the second acquisition device, and the processing device is specifically used for determining the driving parameters input by the user as the target driving parameters of the driving device.
18. The agricultural plant protection unmanned aerial vehicle of claim 15, wherein the processing device is further connected with a flight control system of the agricultural plant protection unmanned aerial vehicle and a shooting device of the agricultural plant protection unmanned aerial vehicle;
the processing device is specifically configured to determine a target driving parameter of the driving device according to at least one of trajectory information of the agricultural plant protection unmanned aerial vehicle, attitude information of the agricultural plant protection unmanned aerial vehicle, and image information shot by the shooting device.
19. A sowing control method of an agricultural plant protection unmanned aerial vehicle is characterized by comprising the following steps:
the control driving device drives a throwing disc of a sowing disc to rotate, wherein an included angle between a rotating plane of the throwing disc and a heading axis of the agricultural plant protection unmanned aerial vehicle is larger than or equal to 0 degrees and smaller than 90 degrees, sowing objects enter the throwing disc through a feeding hole of the sowing disc and are thrown out through a sowing opening of the sowing disc, and the sowing opening faces to the lower part or the oblique lower part of the agricultural plant protection unmanned aerial vehicle;
and adjusting the driving parameters of the driving device to adjust the downward throwing inclination angle of the broadcast objects.
20. The method of claim 19, wherein the driving device comprises a motor, and the driving parameters comprise at least one of: motor speed, motor steering, motor frequency.
21. The method for controlling spreading of an agricultural plant protection unmanned aerial vehicle of claim 19, wherein the adjusting the driving parameters of the driving device comprises:
determining a driving parameter input by a user as a target driving parameter of a driving device;
and adjusting the driving parameters of the driving device according to the determined target area parameters.
22. The method for controlling spreading of an agricultural plant protection unmanned aerial vehicle of claim 19, wherein the adjusting the driving parameters of the driving device comprises:
determining target driving parameters of the driving device according to at least one of track information of the agricultural plant protection unmanned aerial vehicle, attitude information of the agricultural plant protection unmanned aerial vehicle and image information shot by the shooting equipment;
and adjusting the driving parameters of the driving device according to the determined target driving parameters.
23. A computer-readable storage medium, on which a computer program is stored, the computer program being executable by a processor to perform the method of:
the control driving device drives a throwing disc of a sowing disc to rotate, wherein an included angle between a rotating plane of the throwing disc and a heading axis of the agricultural plant protection unmanned aerial vehicle is larger than or equal to 0 degrees and smaller than 90 degrees, sowing objects enter the throwing disc through a feeding hole of the sowing disc and are thrown out through a sowing opening of the sowing disc, and the sowing opening faces to the lower part or the oblique lower part of the agricultural plant protection unmanned aerial vehicle;
and adjusting the driving parameters of the driving device to adjust the downward throwing inclination angle of the broadcast objects.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2020/117906 WO2022061771A1 (en) | 2020-09-25 | 2020-09-25 | Agricultural plant protection unmanned aerial vehicle, sowing control method and storage medium |
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| CN113825700A true CN113825700A (en) | 2021-12-21 |
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| CN202080016421.7A Pending CN113825700A (en) | 2020-09-25 | 2020-09-25 | Agricultural plant protection unmanned aerial vehicle, sowing control method and storage medium |
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| WO (1) | WO2022061771A1 (en) |
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| CN117426189A (en) * | 2023-12-06 | 2024-01-23 | 华南农业大学 | Centrifugal disc sowing uniformity improvement method and device |
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