CN116674752A - Unmanned aerial vehicle for spreading materials and water feeding method thereof - Google Patents
Unmanned aerial vehicle for spreading materials and water feeding method thereof Download PDFInfo
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- CN116674752A CN116674752A CN202310970679.6A CN202310970679A CN116674752A CN 116674752 A CN116674752 A CN 116674752A CN 202310970679 A CN202310970679 A CN 202310970679A CN 116674752 A CN116674752 A CN 116674752A
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- unmanned aerial
- aerial vehicle
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- box body
- charging
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 91
- 239000000463 material Substances 0.000 title claims abstract description 79
- 230000007480 spreading Effects 0.000 title claims abstract description 76
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 92
- 238000009434 installation Methods 0.000 claims abstract description 48
- 239000013589 supplement Substances 0.000 claims abstract description 7
- 238000009331 sowing Methods 0.000 claims description 13
- 230000017525 heat dissipation Effects 0.000 claims description 9
- 238000013507 mapping Methods 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 description 5
- 230000000670 limiting effect Effects 0.000 description 4
- 210000000078 claw Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000047 product Substances 0.000 description 3
- 238000009360 aquaculture Methods 0.000 description 2
- 244000144974 aquaculture Species 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 239000006052 feed supplement Substances 0.000 description 2
- 238000009364 mariculture Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000003643 water by type Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000015872 dietary supplement Nutrition 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000013505 freshwater Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/50—Vessels or floating structures for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/20—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/84—Waterborne vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
-
- 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
- B64U2101/40—UAVs specially adapted for particular uses or applications for agriculture or forestry operations
-
- 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
- B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2814/00—Indexing codes relating to loading or unloading articles or bulk materials
- B65G2814/03—Loading or unloading means
- B65G2814/0398—Loading or unloading means for aircraft
-
- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a material spreading unmanned aerial vehicle, which comprises an unmanned aerial vehicle and an on-water feeding device matched with the unmanned aerial vehicle for use; the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a bracket and a material spreading mechanism; the bracket is used for forming an installation space below the unmanned aerial vehicle body; the material spreading mechanism is movably retracted in the installation space; the water feeding device is used for adding a broadcasting material into the broadcasting mechanism; the invention further provides a water feeding method of the unmanned aerial vehicle for spreading materials, the water feeding device can supplement materials for the unmanned aerial vehicle for spreading materials in wide water area operation, unnecessary voyages generated by the fact that the spreading mechanism needs to fly to the bank after spreading once are avoided, battery electric quantity of the unmanned aerial vehicle is saved, and efficiency of the unmanned aerial vehicle water spreading operation is improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a material scattering unmanned aerial vehicle and a water feeding method thereof.
Background
Aquaculture divide into freshwater aquaculture and mariculture, at the in-process of breeding, throw in the fodder to the plant and be indispensable breed link, along with unmanned aerial vehicle technical development, people scatter the fodder through unmanned aerial vehicle, compare in traditional manpower and scatter the material, scatter that the area is big, degree of automation is high, the efficiency of scattering is higher. Because unmanned aerial vehicle can contain the limited volume of fodder, and mariculture sea area is wide, often need fly back to the bank after once broadcasting and add the fodder, fly to the regional of not broadcasting again and broadcast, consequently can produce unnecessary course, lead to the duration of extravagant battery. The existing mode is that when scattering, the unmanned aerial vehicle is scratched by a worker and follows, after the scattering of the feed is completed, the unmanned aerial vehicle stops on a ship and is added with the feed manually, but some sea areas for marine culture are further provided with culture facilities such as culture rafts and culture cages, so that the ship moves slowly, and the unmanned aerial vehicle is very fast in scattering the feed, so that the unmanned aerial vehicle also needs to hover and wait for the ship to approach, and the time spent is caused. In addition, in the growth period of marine products, the period of sowing feeds and nutritional supplements is very frequent, and a great deal of manpower is wasted for feeding the unmanned aerial vehicle every time the feeds are sown, so that the cultivation application of the unmanned aerial vehicle on a water area is limited.
Therefore, there is a need for an unmanned aerial vehicle material spreading mechanism capable of spreading materials in a wide water area and a water feeding device adapted to the unmanned aerial vehicle material spreading mechanism, so that the unmanned aerial vehicle can be moored on water after being spread, and the unmanned aerial vehicle material spreading mechanism automatically completes feeding by a preset feeding device and then flies to continue spreading.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a material spreading unmanned aerial vehicle and a water feeding method thereof.
The aim of the invention is achieved by the following technical scheme: a material spreading unmanned aerial vehicle comprises an unmanned aerial vehicle and an on-water feeding device matched with the unmanned aerial vehicle; the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a bracket and a material spreading mechanism; the bracket is used for forming an installation space below the unmanned aerial vehicle body; the material spreading mechanism is movably retracted in the installation space; the water feeding device is used for adding a broadcasting material into the broadcasting mechanism; the invention provides a material scattering unmanned aerial vehicle which can be used for scattering materials such as feed and the like in a wide water area; the bracket forms an installation space below the unmanned machine body, a spreading mechanism is arranged in the installation space and can spread feed through a spreading opening at the bottom of the unmanned machine body, the spreading mechanism is movably arranged in the installation space, and when the material needs to be spread on water in a supplementary manner, the material can be moved out of the installation space and then fed by a water feeding device; through the automatic feeding of the water feeding device, the unmanned aerial vehicle can be prevented from flying back to the shore to supplement feed and then fly to an un-sowed area, unnecessary voyages are avoided, a cruising battery is saved, manual driving is avoided to follow the unmanned aerial vehicle, and the efficiency of sowing feed on a water area is improved;
the lower end of the bracket is also provided with a balance frame; the balance frame is provided with a track; the material spreading mechanism is provided with a travelling mechanism; the travelling mechanism is used for driving the material spreading mechanism to move; the material spreading mechanism moves from the installation space to the water feeding device to complete feeding and then returns to the installation space; the feeding mechanism is driven by the travelling mechanism, so that the feeding mechanism can be moved out of the installation space along the track, and the feeding mechanism is moved out of the lower part of the unmanned aerial vehicle for a certain distance, so that the feeding mechanism is convenient for feeding feed; the balance frame is provided with a track convenient to install and provides balance force for the movement of the material spreading mechanism; the travelling mechanism reciprocates on the track, so that the stability during movement is improved;
the material spreading mechanism comprises a box body with an open upper end; a spreading port is arranged at the bottom of the box body; a spreading pipe is arranged on the spreading opening; a control valve is arranged on the sprinkling pipe; a first flowmeter is arranged on the spreading pipe; a feed scattering pipe is arranged on the scattering port to scatter feed, the feed scattering port is opened and closed through a control valve, and the amount of the feed to be scattered can be rapidly measured through a first flowmeter;
the box body is also provided with a positioning component; the bracket is provided with a locking mechanism corresponding to the positioning assembly; the locking mechanism is used for fixing the box body on the bracket; through the cooperation limiting function of the locking component and the positioning component, the box body is favorably fixed on the installation space, and the box body is prevented from falling off after shaking and separating from the track in the flying process;
the travelling mechanism comprises a motor, a travelling wheel box and travelling wheels; the motor is arranged in the box body; the walking wheel box is arranged on the outer side of the box body; the motor drives the travelling wheels to move on the track; the travelling wheel is clamped on the track to move, the motor drives the travelling wheel to move along the track through the travelling wheel box, so that the box body can reciprocate on the track, a proper distance can be conveniently moved out of the installation space, and the travelling wheel extends out and enters the lower part of the charging barrel, so that the charging barrel can conveniently discharge the supplementary feed into the box body;
the box body is internally provided with an installation chamber corresponding to the motor; the motor and the driving power supply thereof are arranged in the mounting chamber; the top of the mounting chamber is provided with a heat dissipation hole; the motor and the driving power supply thereof are arranged in the mounting chamber, so that the influence of feed addition and sowing is avoided; the top of the mounting chamber is provided with the heat dissipation holes, so that heat dissipation is facilitated, and meanwhile, the heat dissipation holes are prevented from blocking feed;
the bottom of the balancing stand is also provided with a floating mechanism; the floating mechanism adopts any one of a floating plate and an air bag; the floating mechanism provides buoyancy for the unmanned aerial vehicle, so that the unmanned aerial vehicle can float on the water surface, and the unmanned aerial vehicle is prevented from accidentally sinking into water during operation on the water;
the water feeding device comprises a floating platform, a charging barrel and a control box; the charging barrel is arranged on the floating platform through a support; a feeding pipe is arranged at the bottom of the charging barrel; the feeding pipe is provided with a feeding valve and a second flowmeter; a feeding table is arranged below the feeding pipe; the control box is arranged on the side wall of the charging barrel; a camera and a positioner are arranged on the side wall of the charging barrel; the floating platform is convenient to stably install on water, the charging pipe is arranged at the bottom of the charging barrel, the charging valve is opened, feed pre-stored in the charging barrel can fall into the box body through the charging pipe, and the second flowmeter arranged at the charging pipe is beneficial to measuring the feeding quantity; a certain amount of feed can be stored in the feed cylinder at one time, and each time of feeding is proper; the camera and the positioner on the charging barrel are beneficial to an operator to observe the working condition on the floating platform on the shore, and meanwhile, the positioner can position whether the floating platform is far away from a preset position or not, so that the working with the unmanned aerial vehicle according to a preset route is facilitated; the charging table is beneficial to supporting the front part of the box body and preventing the box body from tilting after moving out from the end part of the track;
an electric propeller is arranged at one end of the floating platform; the floating platform is also provided with a steering engine; the electric propeller is controlled by remote control, so that the floating platform can be driven to adjust the position appropriately, and the unmanned aerial vehicle can fall conveniently; the steering engine can drive the floating platform to steer and adjust the direction, so that the floating platform can adjust the position conveniently;
the invention also provides a water feeding method of the unmanned aerial vehicle, which comprises the unmanned aerial vehicle for scattering materials; the method comprises the following steps of,
step 1), exploring and mapping the shape and area of a water area, modeling and calculating the preset position of a feeding device;
step 2), arranging a plurality of water feeding devices on the water surface at intervals according to the calculation result of the step 1); after all the water feeding devices are distributed, a camera and a positioner on the water feeding devices are turned on, and picture information and position information are transmitted back to a remote controller through a processor;
step 3), after the first charging of the unmanned aerial vehicle on the bank, the unmanned aerial vehicle flies on the water surface along a planned path, and a control valve on a material scattering pipe is opened to start to scatter feed; when the fodder in the box body of the spreading mechanism is spread, the unmanned aerial vehicle is positioned near the first water feeding device on the route;
step 4), the remote controller controls the electric propeller and the steering engine to move and steer, and the angle of the floating platform is adjusted; landing the unmanned aerial vehicle on a floating platform of a first water feeding device;
step 5), closing a control valve on the material spreading pipe, starting the travelling mechanism, moving the box body out from the lower part of the unmanned aerial vehicle body, entering a charging table below the charging barrel, and stopping the travelling mechanism;
step 6), opening a charging valve and a second flowmeter on a charging pipe at the bottom of the charging barrel to supplement feed into the box body;
step 7), after the charging is completed, closing a charging valve and a second flowmeter;
step 8), starting the travelling mechanism, returning the box body from the lower part of the charging barrel to the installation space below the unmanned aerial vehicle body, and locking the box body by matching the locking mechanism with the positioning assembly to finish the first charging;
step 9), starting the unmanned aerial vehicle to take off from the first water feeding device, continuing to fly on the water area along the planned route, opening a control valve on a material scattering pipe at the bottom of the box body, continuing to scatter materials until the feed in the box body is scattered again, positioning the unmanned aerial vehicle on the route near the second water feeding device, feeding according to the steps 4) to 8), and repeating the step 9) until the sowing of the feed in all the water areas is completed.
The invention has the following advantages:
1. the invention provides a material scattering unmanned aerial vehicle which can be used for scattering materials such as feed and the like in a wide water area; the bracket forms an installation space below the unmanned machine body, a spreading mechanism is arranged in the installation space and can spread feed through a spreading opening at the bottom of the unmanned machine body, the spreading mechanism is movably arranged in the installation space, and when the material needs to be spread on water in a supplementary manner, the material can be moved out of the installation space and then fed by a water feeding device; through the automatic feeding of the water feeding device, the unmanned aerial vehicle can be prevented from flying back to the shore to supplement feed and then fly to an un-sowed area, unnecessary voyages are avoided, a cruising battery is saved, manual driving is avoided to follow the unmanned aerial vehicle, and the efficiency of sowing feed on a water area is improved;
2. the invention also provides a water feeding method of the unmanned aerial vehicle, when the material spreading mechanism on the unmanned aerial vehicle is spread, the unmanned aerial vehicle stops flying on the water feeding device, the material spreading mechanism is extracted from the installation space through the travelling mechanism, the material spreading mechanism can enter below a feeding hole of the charging barrel, the charging barrel is fed into the box body to complete feed supplement, then the material is returned to the installation space through the travelling mechanism, and the unmanned aerial vehicle takes off again to perform broadcasting; according to the method, before broadcasting, a charging device is arranged at a proper position in advance through exploration and mapping, so that unnecessary voyages are avoided; through feeding device on water, can avoid unmanned aerial vehicle to fly back the bank limit and supply the fodder and fly to not scattering the region again, practice thrift the battery of endurance, avoid artifical driving to follow unmanned aerial vehicle, improve the efficiency of scattering the fodder on the waters.
Drawings
Fig. 1 is a schematic view of a spreading unmanned aerial vehicle in a use state.
Fig. 2 is a schematic view of the unmanned aerial vehicle in another use state.
Fig. 3 is an installation schematic diagram of the spreading unmanned aerial vehicle.
Fig. 4 is a schematic structural view of the case.
Fig. 5 is a schematic view of the internal structure of the case.
FIG. 6 is a schematic diagram of the operation of the above-water feeding device.
FIG. 7 is a schematic structural view of the water feeding device.
Fig. 8 is a schematic block diagram of the circuit of the charging device.
In the figure, 1. A bracket; 2. a balancing stand; 3. a spreading mechanism; 4. a track; 5. a sowing port; 6. a case; 7. a material spreading pipe; 8. a first flowmeter; 9. a positioning assembly; 10. a locking mechanism; 11. a motor; 12. a walking wheel box; 13. a walking wheel; 14. a mounting chamber; 15. a heat radiation hole; 17, unmanned aerial vehicle body; 18. a floating platform; 19. a charging barrel; 20. a control box; 21. a feeding tube; 22. a second flowmeter; 23. an electric propeller; 24. a charging table; 25. a camera; 26. a positioner.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without collision.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, or are directions or positional relationships conventionally understood by those skilled in the art, are merely for convenience of describing the present invention and for simplifying the description, and are not to indicate or imply that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1: as shown in fig. 1-8, a material spreading unmanned aerial vehicle comprises an unmanned aerial vehicle and an on-water feeding device matched with the unmanned aerial vehicle for use; the unmanned aerial vehicle comprises an unmanned aerial vehicle body 17, a bracket 1 and a material spreading mechanism 3; the bracket 1 is used for forming an installation space below the unmanned aerial vehicle body; the material spreading mechanism 3 is movably retracted in the installation space; the water feeding device is used for adding a broadcasting material into the broadcasting mechanism 3; the invention provides a material scattering unmanned aerial vehicle which can be used for scattering materials such as feed and the like in a wide water area; the bracket 1 forms an installation space below the unmanned organism, the feed scattering mechanism 3 is installed in the unmanned organism and can be used for scattering feed through the scattering port 5 at the bottom of the unmanned organism, the feed scattering mechanism 3 is movably arranged in the installation space, and when the material scattering needs to be supplemented on water, the unmanned organism can be moved out of the installation space and then is fed by the water feeding device; through the automatic feeding of feeding device on water, can avoid unmanned aerial vehicle to fly back the bank limit and supply the fodder and fly to not broadcasting the region again, avoid causing unnecessary course, practice thrift the battery of endurance, avoid artifical driving to follow unmanned aerial vehicle, improve the efficiency of broadcasting the fodder on the waters.
The lower end of the bracket 1 is also provided with a balance frame 2; the balance frame 2 is provided with a track 4; the material spreading mechanism 3 is provided with a travelling mechanism; the travelling mechanism is used for driving the material spreading mechanism 3 to move; the material spreading mechanism 3 moves from the installation space to the water feeding device to complete feeding and then retreats into the installation space; the feeding mechanism 3 can be moved out of the installation space along the track 4 by driving the travelling mechanism, and the feeding mechanism 3 is moved out of the lower part of the unmanned aerial vehicle body for a certain distance so as to be convenient for feed supplement; the balance frame 2 is convenient for installing the track 4 and providing balance for the movement of the material spreading mechanism 3; the running mechanism moves on the track 4, so that the stability during movement is improved.
The spreading mechanism 3 comprises a box body 6 with an open upper end; a sowing port 5 is arranged at the bottom of the box body 6; a spreading pipe 7 is arranged on the spreading opening 5; a control valve is arranged on the sprinkling pipe 7; the first flowmeter 8 is arranged on the sprinkling pipe 7; the feed scattering pipe 7 is arranged on the scattering port 5 to scatter feed, the feed scattering port is opened and closed through the control valve, and the amount of the feed scattering can be rapidly measured through the first flowmeter 8.
The box body 6 is also provided with a positioning component 9; a locking mechanism 10 is arranged on the bracket 1 corresponding to the positioning assembly 9; the locking mechanism 10 is used for fixing the box body 6 on the bracket 1; through the matching limiting function of the locking component and the positioning component 9, the box body 6 is favorably fixed on the installation space, and the box body 6 is prevented from falling off after shaking and separating from the track 4 in the flying process; in this embodiment, the positioning assembly 9 includes positioning columns respectively disposed on two sidewalls of the case 6; the end part of the positioning column is provided with wedge-shaped clamping claws; the locking mechanism 10 comprises a chute matched with the positioning column, and a clamping groove is formed in the chute corresponding to the wedge-shaped claw, so that the wedge-shaped claw can be conveniently clamped in; through the cooperation limiting effect of locking component and locating component 9, be favorable to fixing box 6 on the installation space, avoid the in-process box 6 to break away from track 4.
The travelling mechanism comprises a motor 11, a travelling wheel box 12 and travelling wheels 13; the motor 11 is arranged in the box body 6; the travelling wheel box 12 is arranged outside the box body 6; the motor 11 drives the travelling wheels 13 to move on the track 4; the travelling wheel 13 is clamped on the track 4 to move, the motor 11 drives the travelling wheel 13 to move along the track 4 through the travelling wheel box 12, so that the box body 6 can move back and forth on the track 4, a proper distance can be conveniently moved from the installation space, and the travelling wheel extends out and then enters the lower part of the charging barrel 19, so that the charging barrel 19 can conveniently discharge into the box body 6 to supplement feed; in this embodiment, the motor 11, the travelling wheel box 12 and the travelling wheel 13 are conventional commercially available products, and any reasonable model structure and appropriate connection and installation mode can be selected according to the needs.
An installation chamber 14 is arranged in the box body 6 corresponding to the motor 11; the motor 11 and a driving power supply thereof are arranged in the installation chamber 14; a heat dissipation hole 15 is formed in the top of the mounting chamber 14; the motor 11 and the driving power supply thereof are arranged in the installation room 14, so that the influence of feed addition and sowing is avoided; the top of the mounting chamber 14 is provided with the heat dissipation holes 15, so that heat dissipation is facilitated, and meanwhile, the heat dissipation holes 15 are prevented from blocking feed; in this embodiment, the installation chamber 14 is disposed at the top angle of the box 6 corresponding to the motor 11, and the height of the installation chamber 14 is not lower than the height of the box 6, and the motor 11 and its driving power supply are disposed in the installation chamber 14, so as to avoid the influence of feed addition and sowing.
A floating mechanism is further arranged at the bottom of the balance frame 2; the floating mechanism adopts any one of a floating plate and an air bag; buoyancy is provided for the unmanned aerial vehicle through the floating mechanism, so that the unmanned aerial vehicle can float on the water surface, and the unmanned aerial vehicle is prevented from accidentally sinking into water during water operation.
The water feeding device comprises a floating platform 18, a charging barrel 19 and a control box 20; the charging barrel 19 is arranged on the floating platform 18 through a support; a feeding pipe 21 is arranged at the bottom of the charging barrel 19; the charging pipe 21 is provided with a charging valve and a second flowmeter 22; a feeding table 24 is also arranged below the feeding pipe 21; the control box 20 is arranged on the side wall of the charging barrel 19; a camera 25 and a positioner 26 are arranged on the side wall of the charging barrel 19; the floating platform 18 is convenient for stable installation on water, the bottom of the charging barrel 19 is provided with a charging pipe 21, a charging valve is opened, feed pre-stored in the charging barrel 19 can fall into the box body 6 through the charging pipe 21, and the charging pipe 21 is provided with a second flowmeter 22, so that the feeding quantity is conveniently measured; a certain amount of feed can be stored in the feed cylinder 19 at one time, and each time of feeding is proper; in the embodiment, the charging barrel 19 is arranged on the floating platform 18 by a support at a certain height, so that a proper space is reserved between the floating platform 18 and the bottom of the charging barrel 19 for the box 6 to enter; a conventional commercially available weight sensor may also be provided at the bottom of the cartridge 19; the weight sensor is capable of sensing the amount of feed remaining in the cartridge 19. The camera 25 and the positioner 26 on the charging barrel 19 are beneficial to an operator to observe the working condition on the floating platform 18 on the shore, and meanwhile, the positioner 26 can position whether the floating platform 18 is far away from a preset position or not, so that the unmanned aerial vehicle can work together according to a preset route; the loading platform 24 is beneficial to supporting the front part of the box body 6 and avoiding the inclination of the box body 6 after moving out from the end part of the track 4.
An electric propeller 23 is arranged at one end of the floating platform 18; the floating platform 18 is also provided with a steering engine; the electric propeller 23 is controlled by remote control, and can drive the floating platform 18 to adjust the position appropriately, so that the unmanned aerial vehicle can fall down conveniently; the steering engine can drive the floating platform 18 to steer and adjust the direction, so that the floating platform 18 can adjust the position conveniently; in this embodiment, a positioning anchor may be further disposed at the bottom of the floating platform 18, so that the moving position of the floating platform 18 is fixed within a certain range, and is not affected by sea tides.
Example 2: the water feeding method of the unmanned aerial vehicle adopts the unmanned aerial vehicle for spreading the materials in the embodiment 1, and comprises the following steps:
step 1), exploring and mapping the shape and area of a water area, modeling and calculating the preset position of a feeding device;
step 2), arranging a plurality of water feeding devices on the water surface at intervals according to the calculation result of the step 1); after all the water feeding devices are distributed, a camera and a positioner on the water feeding devices are turned on, and picture information and position information are transmitted back to a remote controller through a processor;
step 3), after the first charging of the unmanned aerial vehicle on the bank, the unmanned aerial vehicle flies on the water surface along a planned path, and a control valve on a material scattering pipe is opened to start to scatter feed; when the fodder in the box body of the spreading mechanism is spread, the unmanned aerial vehicle is positioned near the first water feeding device on the route;
step 4), the remote controller controls the electric propeller and the steering engine to move and steer, and the angle of the floating platform is adjusted; landing the unmanned aerial vehicle on a floating platform of a first water feeding device;
step 5), closing a control valve on the material spreading pipe, starting the travelling mechanism, moving the box body out from the lower part of the unmanned aerial vehicle body, entering a charging table below the charging barrel, and stopping the travelling mechanism;
step 6), opening a charging valve and a second flowmeter on a charging pipe at the bottom of the charging barrel to supplement feed into the box body;
step 7), after the charging is completed, closing a charging valve and a second flowmeter;
step 8), starting the travelling mechanism, returning the box body from the lower part of the charging barrel to the installation space below the unmanned aerial vehicle body, and locking the box body by matching the locking mechanism with the positioning assembly to finish the first charging;
step 9), starting the unmanned aerial vehicle to take off from the first water feeding device, continuing to fly on the water area along the planned route, opening a control valve on a material scattering pipe at the bottom of the box body, continuing to scatter materials until the feed in the box body is scattered again, positioning the unmanned aerial vehicle on the route near the second water feeding device, feeding according to the steps 4) to 8), and repeating the step 9) until the sowing of the feed in all the water areas is completed.
Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.
Claims (10)
1. Spill material unmanned aerial vehicle, its characterized in that: comprises an unmanned aerial vehicle and an overwater feeding device matched with the unmanned aerial vehicle for use; the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a bracket and a material spreading mechanism; the bracket is used for forming an installation space below the unmanned aerial vehicle body; the material spreading mechanism is movably retracted in the installation space; the water feeding device is used for adding the sowing materials into the sowing mechanism.
2. The material spreading unmanned aerial vehicle of claim 1, wherein: the lower end of the bracket is also provided with a balance frame; the balance frame is provided with a track; the material spreading mechanism is provided with a travelling mechanism; the travelling mechanism is used for driving the material spreading mechanism to move; the material spreading mechanism moves from the installation space to the water feeding device to complete feeding and then returns to the installation space.
3. The material spreading unmanned aerial vehicle according to claim 2, wherein: the material spreading mechanism comprises a box body with an open upper end; a spreading port is arranged at the bottom of the box body; a spreading pipe is arranged on the spreading opening; a control valve is arranged on the sprinkling pipe; the first flowmeter is arranged on the sprinkling pipe.
4. A spreading drone according to claim 3, wherein: the box body is also provided with a positioning component; the bracket is provided with a locking mechanism corresponding to the positioning assembly; the locking mechanism is used for fixing the box body on the bracket.
5. The material spreading unmanned aerial vehicle of claim 4, wherein: the travelling mechanism comprises a motor, a travelling wheel box and travelling wheels; the motor is arranged in the box body; the walking wheel box is arranged on the outer side of the box body; the motor drives the travelling wheels to move on the track.
6. The material spreading unmanned aerial vehicle of claim 5, wherein: the box body is internally provided with an installation chamber corresponding to the motor; the motor and the driving power supply thereof are arranged in the mounting chamber; and a heat dissipation hole is formed in the top of the mounting chamber.
7. The material spreading unmanned aerial vehicle of claim 6, wherein: the bottom of the balancing stand is also provided with a floating mechanism; the floating mechanism adopts any one of a floating plate and an air bag.
8. The material spreading unmanned aerial vehicle of claim 7, wherein: the water feeding device comprises a floating platform, a charging barrel and a control box; the charging barrel is arranged on the floating platform through a support; a feeding pipe is arranged at the bottom of the charging barrel; the feeding pipe is provided with a feeding valve and a second flowmeter; a feeding table is arranged below the feeding pipe; the control box is arranged on the side wall of the charging barrel; and a camera and a positioner are arranged on the side wall of the charging barrel.
9. The material spreading unmanned aerial vehicle of claim 8, wherein: an electric propeller is arranged at one end of the floating platform; and the floating platform is also provided with a steering engine.
10. A method of charging unmanned aerial vehicle on water, comprising the unmanned aerial vehicle for spreading material according to claim 9; comprises the following steps of the method,
step 1), exploring and mapping the shape and area of a water area, modeling and calculating the preset position of a feeding device;
step 2), arranging a plurality of water feeding devices on the water surface at intervals according to the calculation result of the step 1); after all the water feeding devices are distributed, a camera and a positioner on the water feeding devices are turned on, and picture information and position information are transmitted back to a remote controller through a processor;
step 3), after the first charging of the unmanned aerial vehicle on the bank, the unmanned aerial vehicle flies on the water surface along a planned path, and a control valve on a material scattering pipe is opened to start to scatter feed; when the fodder in the box body of the spreading mechanism is spread, the unmanned aerial vehicle is positioned near the first water feeding device on the route;
step 4), the remote controller controls the electric propeller and the steering engine to move and steer, and the angle of the floating platform is adjusted; landing the unmanned aerial vehicle on a floating platform of a first water feeding device;
step 5), closing a control valve on the material spreading pipe, starting the travelling mechanism, moving the box body out from the lower part of the unmanned aerial vehicle body, entering a charging table below the charging barrel, and stopping the travelling mechanism;
step 6), opening a charging valve and a second flowmeter on a charging pipe at the bottom of the charging barrel to supplement feed into the box body;
step 7), after the charging is completed, closing a charging valve and a second flowmeter;
step 8), starting the travelling mechanism, returning the box body from the lower part of the charging barrel to the installation space below the unmanned aerial vehicle body, and locking the box body by matching the locking mechanism with the positioning assembly to finish the first charging;
step 9), starting the unmanned aerial vehicle to take off from the first water feeding device, continuing to fly on the water area along the planned route, opening a control valve on a material scattering pipe at the bottom of the box body, continuing to scatter materials until the feed in the box body is scattered again, positioning the unmanned aerial vehicle on the route near the second water feeding device, feeding according to the steps 4) to 8), and repeating the step 9) until the sowing of the feed in all the water areas is completed.
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