CN113955119A - Mist spraying device and spraying method based on plant protection unmanned aerial vehicle - Google Patents
Mist spraying device and spraying method based on plant protection unmanned aerial vehicle Download PDFInfo
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- CN113955119A CN113955119A CN202111353170.4A CN202111353170A CN113955119A CN 113955119 A CN113955119 A CN 113955119A CN 202111353170 A CN202111353170 A CN 202111353170A CN 113955119 A CN113955119 A CN 113955119A
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- 238000005507 spraying Methods 0.000 title claims abstract description 83
- 239000003595 mist Substances 0.000 title claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 239000007921 spray Substances 0.000 claims abstract description 16
- 238000004891 communication Methods 0.000 claims description 23
- 239000002360 explosive Substances 0.000 claims description 12
- 239000000443 aerosol Substances 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 8
- 239000003814 drug Substances 0.000 claims description 7
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 7
- 239000002699 waste material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
- 239000002917 insecticide Substances 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- 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
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Catching Or Destruction (AREA)
- Special Spraying Apparatus (AREA)
Abstract
The invention discloses a plant protection unmanned aerial vehicle-based mist spraying device and a spraying method, wherein the device comprises an unmanned aerial vehicle, a mist spraying mechanism and a detection mechanism, wherein the detection mechanism is used for detecting weather parameters and crop parameters and communicating with the unmanned aerial vehicle; the atomizing mechanism is connected with the unmanned aerial vehicle through a rotating motor. The spraying method disclosed by the invention sprays by rotating and adjusting the angle according to the actual height and area of crops, and the atomizing spraying device and the spraying method based on the plant protection unmanned aerial vehicle are simpler and more energy-saving in operation, good in spraying effect, free of manual spraying and time-saving and labor-saving.
Description
Technical Field
The invention relates to the technical field of agricultural spraying, in particular to a plant protection unmanned aerial vehicle-based mist spraying device and a spraying method.
Background
Along with the development and the progress of science and technology, unmanned aerial vehicle is applied to the agricultural field of spraying, and the mist sprayer obtains people's extensive approval owing to spray effectual and high efficiency simultaneously, but the mist sprayer of current mostly is for bearing handheld spraying type mist sprayer, needs artifical handheld spraying insecticide to crops, and very waste time and the efficiency of spraying insecticide are lower, wastes time and energy. The existing atomizing sprayer also adopts the unmanned aerial vehicle to carry on the atomizing sprayer to spray pesticide, but the unmanned aerial vehicle is also required to be provided with a gasoline tank for igniting the atomizing sprayer and a liquid medicine barrel for spraying the atomizing sprayer, so that the load of the unmanned aerial vehicle is greatly increased, the range of the unmanned aerial vehicle is shortened, and the work efficiency is greatly reduced. And the spraying effect is poor because the spraying can not be adjusted according to the actual conditions of crops and adopts a direct spraying mode to spray.
Disclosure of Invention
The invention aims to provide a plant protection unmanned aerial vehicle-based mist spraying device and a spraying method, which are simpler and more energy-saving in operation, good in spraying effect, free of manual spraying and time-saving and labor-saving.
In order to achieve the purpose, the invention provides a plant protection unmanned aerial vehicle-based mist spraying device, which comprises an unmanned aerial vehicle, a mist spraying mechanism and a detection mechanism, wherein the detection mechanism is used for detecting the mist spraying mechanism;
the detection mechanism comprises a support, a communication host, a height detector and an air speed sensor, the air speed sensor is fixed at the top of the height detector, the air speed sensor and the height detector are both electrically connected with the communication host, the communication host and the height detector are both fixed on the support, and the communication host is communicated with the unmanned aerial vehicle;
atomizing mechanism with the unmanned aerial vehicle electricity is connected and is included mount, aerosol bucket, explosive barrel, angle adjusting unit and atomizing machine, the side of atomizing machine is provided with the slider, the slider set up in the arc slide of explosive barrel case side, angle adjusting unit with the atomizing machine is connected, angle adjusting unit, aerosol bucket and explosive barrel all are fixed in on the mount, the mount with unmanned aerial vehicle's rotating electrical machines fixed connection.
Preferably, the angle adjusting unit comprises an angle adjusting motor and a driving gear, the driving gear is fixedly connected with an output shaft of the angle adjusting motor, a fixed gear is fixed at the tail of the atomizing sprayer and meshed with the driving gear, and the angle adjusting motor is electrically connected with the unmanned aerial vehicle.
Preferably, the aerosol barrel with all be provided with level sensor in the explosive barrel, two level sensor all is connected with the unmanned aerial vehicle electricity.
Preferably, the communication host is provided with a display screen and a microphone.
A spraying method of a mist spraying device based on a plant protection unmanned aerial vehicle,
step S1: detecting crop height and wind speed parameters through a detection mechanism, determining whether spraying is carried out, and transmitting crop height and real-time wind speed data to the unmanned aerial vehicle;
step S2: the unmanned aerial vehicle calculates an optimal path through the spraying area and the spraying length, determines a spraying adjusting angle through the crop height, starts flying to a stop point for rotary spraying, and simultaneously performs reciprocating motion in a pitching angle;
step S3: when the electric quantity is not enough or the medicine is not enough or the wind speed is too big, the unmanned aerial vehicle returns a journey, and the reason of returning a journey is played through the communication host computer simultaneously.
Further, in step S1, when the wind speed is less than the set wind speed value, the communication host generates a driving signal and an altitude signal to the drone.
Furthermore, stop points are arranged in the crops according to the range of the atomizing sprayer, a plurality of stop points are distributed in a matrix manner, and the distance between two adjacent stop points is
Wherein R is the range of the atomizing sprayer.
Further, the spray adjustment angle is determined by the following formula,
tanθ1＝(H-h)/r，tanθ2＝h/r，
wherein, theta 1 is for spraying the angle of elevation, and theta 2 is for spraying the angle of depression, and H is the unmanned aerial vehicle height, and H is the unmanned aerial vehicle height, and r is the distance of stop point to the crop.
Therefore, the plant protection unmanned aerial vehicle-based mist spraying device and method have the following beneficial effects:
(1) the wind speed detection device is provided with a real-time detection mechanism, and when the wind speed exceeds a set value too much, spraying is stopped in time, so that spraying waste is avoided.
(2) The detection mechanism has the function of detecting the height of crops and is used for determining the spraying angle, ensuring that the spraying is more comprehensive and ensuring the spraying effect.
(3) When the unmanned aerial vehicle needs to go back to the navigation, the staff is informed in time to prepare the work, and the work efficiency is improved.
(4) The operation that adopts the fixed point rotation to spray for unmanned aerial vehicle sprays the operation when shutting down, when guaranteeing to spray efficiency, greatly reduced unmanned aerial vehicle's energy consumption.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
Fig. 1 is a schematic structural view of a plant protection unmanned aerial vehicle-based mist spraying device of the present invention;
FIG. 2 is a schematic structural diagram of an angle adjustment unit according to the present invention;
FIG. 3 is a side view of the cartridge;
FIG. 4 is a schematic diagram of distance calculation for adjacent stops;
fig. 5 is a schematic diagram of pitch angle calculation. .
Reference numerals
1. An unmanned aerial vehicle; 11. a rotating electric machine; 2. a mist mechanism; 21. a fixed mount; 22. an aerosol barrel; 23. a medicine barrel; 24. an angle adjustment motor; 25. a mist sprayer; 26. a drive gear; 27. fixing a gear; 28. a slider; 29. an arc-shaped slideway; 3. a detection mechanism; 31. a support; 32. a communication host; 33. a height detector; 34. and a wind speed sensor.
Detailed Description
Examples
Fig. 1 is a schematic structural view of a mist spraying device based on a plant protection unmanned aerial vehicle, fig. 2 is a schematic structural view of an angle adjusting unit of the invention, fig. 3 is a side view of a pesticide barrel, and as shown in the figure, the mist spraying device based on the plant protection unmanned aerial vehicle 1 comprises the unmanned aerial vehicle 1, a mist mechanism 2 and a detection mechanism 3.
Atomizing mechanism 2 is connected and includes mount 21 with unmanned aerial vehicle 1 electricity, aerosol bucket 22, explosive barrel 23, angle adjusting unit and atomizing machine 25, atomizing machine 25's side is provided with slider 28, slider 28 sets up in the arc slide 29 of explosive barrel 23 side of the case, angle adjusting unit is connected with atomizing machine 25, angle adjusting unit includes angle accommodate motor 24 and drive gear 26, drive gear 26 and angle accommodate motor 24's output shaft fixed connection, atomizing machine 25's afterbody is fixed with fixed gear 27, fixed gear 27 meshes with drive gear 26 mutually, angle accommodate motor 24 is connected with unmanned aerial vehicle 1 electricity. On angle adjusting unit, aerosol bucket 22 and explosive barrel 23 all were fixed in mount 21, all be provided with level sensor in aerosol bucket 22 and the explosive barrel 23, two level sensor all are connected with unmanned aerial vehicle 1 electricity. The fixed mount 21 is fixedly connected with the rotating motor 11 of the unmanned aerial vehicle 1.
A spraying method of a mist spraying device based on a plant protection unmanned aerial vehicle 1,
step S1: the crop height and the wind speed parameters are detected by the detection mechanism 3, and when the wind speed is more than 0.3m/s, the spraying work is not suitable. When the wind speed is less than the set wind speed value, the communication host 32 generates a driving signal and a height signal to the unmanned aerial vehicle 1. And when the wind speed is greater than the set value, stopping spraying. Wind speed detection is carried out in real time, and the phenomenon that the spraying effect is influenced due to overlarge wind speed and energy waste is caused is avoided.
Step S2: the unmanned aerial vehicle 1 calculates an optimal path through the spraying area and the spraying length, and stops at corresponding stop points and the mist sprayer according to the path in sequenceThe 25-range is generally 20-50m, and the stop points are arranged in the crops according to the 25-range of the mist sprayer, a plurality of stop points are distributed in a matrix manner, and the distance between two adjacent stop points is
Wherein R is the range of 25 mist sprayer. The spraying adjusting angle is determined by the height of the crops, the formula for determining the spraying adjusting angle is as follows,
tanθ1＝(H-h)/r，tanθ2＝h/r，
wherein, theta 1 is for spraying the angle of elevation, and theta 2 is for spraying the angle of depression, and H is unmanned aerial vehicle 1 height, and H is unmanned aerial vehicle 1 height, and r is the distance of stop point to the crop, and relatively directly spouts, and rotatory every single move sprays, ensures to spray more comprehensively, guarantees to spray the effect.
After the unmanned aerial vehicle 1 stops, the unmanned aerial vehicle rotates to spray, and meanwhile, the unmanned aerial vehicle reciprocates in a pitching angle. Adopt the rotatory operation of spraying of fixed point for unmanned aerial vehicle 1 sprays the operation when shutting down, when guaranteeing to spray efficiency, greatly reduced unmanned aerial vehicle 1's energy consumption, improved unmanned aerial vehicle 1's duration.
Step S3: when the electric quantity is insufficient or the medicine is insufficient or the wind speed is too large, the unmanned aerial vehicle 1 makes a return journey, and the reason for the return journey is played through the communication host 32. When the electric quantity is not enough, the staff in time prepares the battery to change, when the medicine is not enough, in time mends the medicine, when the wind speed is too big, stops spraying.
Therefore, the plant protection unmanned aerial vehicle 1-based atomizing spraying device and the spraying method are simple and energy-saving in operation, good in spraying effect, time-saving and labor-saving, and manual spraying is not needed.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the invention without departing from the spirit and scope of the invention.
Claims (8)
1. The utility model provides a mist sprinkler based on plant protection unmanned aerial vehicle, includes unmanned aerial vehicle, its characterized in that: the device also comprises a mist mechanism and a detection mechanism;
the detection mechanism comprises a support, a communication host, a height detector and an air speed sensor, the air speed sensor is fixed at the top of the height detector, the air speed sensor and the height detector are both electrically connected with the communication host, the communication host and the height detector are both fixed on the support, and the communication host is communicated with the unmanned aerial vehicle;
atomizing mechanism with the unmanned aerial vehicle electricity is connected and is included mount, aerosol bucket, explosive barrel, angle adjusting unit and atomizing machine, the side of atomizing machine is provided with the slider, the slider set up in the arc slide of explosive barrel case side, angle adjusting unit with the atomizing machine is connected, angle adjusting unit, aerosol bucket and explosive barrel all are fixed in on the mount, the mount with unmanned aerial vehicle's rotating electrical machines fixed connection.
2. The plant protection unmanned aerial vehicle-based mist spraying device of claim 1, characterized in that: the angle adjusting unit comprises an angle adjusting motor and a driving gear, the driving gear is fixedly connected with an output shaft of the angle adjusting motor, a fixed gear is fixed at the tail of the atomizing sprayer and meshed with the driving gear, and the angle adjusting motor is electrically connected with the unmanned aerial vehicle.
3. The plant protection unmanned aerial vehicle-based mist spraying device of claim 1, characterized in that: the aerosol barrel with all be provided with level sensor in the explosive barrel, two level sensor all is connected with the unmanned aerial vehicle electricity.
4. The plant protection unmanned aerial vehicle-based mist spraying device of claim 1, characterized in that: the communication host is provided with a display screen and a microphone.
5. A spraying method of the plant protection unmanned aerial vehicle-based mist spraying device based on any one of the claims 1-4 is characterized in that:
step S1: detecting crop height and wind speed parameters through a detection mechanism, determining whether spraying is carried out, and transmitting crop height and real-time wind speed data to the unmanned aerial vehicle;
step S2: the unmanned aerial vehicle calculates an optimal path through the spraying area and the spraying length, determines a spraying adjusting angle through the crop height, starts flying to a stop point for rotary spraying, and simultaneously performs reciprocating motion in a pitching angle;
step S3: when the electric quantity is not enough or the medicine is not enough or the wind speed is too big, the unmanned aerial vehicle returns a journey, and the reason of returning a journey is played through the communication host computer simultaneously.
6. The spraying method of the plant protection unmanned aerial vehicle-based mist spraying device according to claim 5, characterized in that: in step S1, when the wind speed is less than the set wind speed, the communication host generates a driving signal and an altitude signal to the drone.
7. The spraying method of the plant protection unmanned aerial vehicle-based mist spraying device according to claim 5, characterized in that: setting stop points in crops according to the range of the mist sprayer, wherein a plurality of stop points are distributed in a matrix manner, and the distance between two adjacent stop points is
Wherein R is the range of the atomizing sprayer.
8. The spraying method of the plant protection unmanned aerial vehicle-based mist spraying device according to claim 5, characterized in that: the spray adjustment angle determination formula is as follows,
tanθ1＝(H-h)/r，tanθ2＝h/r，
wherein, theta 1 is for spraying the angle of elevation, and theta 2 is for spraying the angle of depression, and H is the unmanned aerial vehicle height, and H is the unmanned aerial vehicle height, and r is the distance of stop point to the crop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111353170.4A CN113955119A (en) | 2021-11-16 | 2021-11-16 | Mist spraying device and spraying method based on plant protection unmanned aerial vehicle |
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| CN202111353170.4A CN113955119A (en) | 2021-11-16 | 2021-11-16 | Mist spraying device and spraying method based on plant protection unmanned aerial vehicle |
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-
2021
- 2021-11-16 CN CN202111353170.4A patent/CN113955119A/en active Pending
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| CN104982407A (en) * | 2015-06-04 | 2015-10-21 | 江苏大学 | Orchard automatic profiling mist pesticide spray machine and pesticide spraying control method |
| CN105253303A (en) * | 2015-10-23 | 2016-01-20 | 杨珊珊 | Device and method for regulating unmanned aerial vehicle spray range |
| CN106882380A (en) * | 2017-03-03 | 2017-06-23 | 杭州杉林科技有限公司 | Vacant lot one agricultural plant protection system and device and application method |
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