CN205150244U - Unmanned aerial vehicle is scattered to intelligence - Google Patents

Abstract

The utility model discloses an intelligent sowing unmanned aerial vehicle. The unmanned aerial vehicle comprises a lifting force part and an unmanned aerial vehicle body. The lifting force part is a parafoil that pulls the unmanned aerial vehicle through a control rope; the tail of the unmanned aerial vehicle body is provided with a power device. , the UAV body is also equipped with an intelligent sowing flight control system. The intelligent sowing flight control system includes a rudder and an airborne flight control system installed on the head of the UAV body. The middle part of the UAV body is also equipped with a spraying The spraying device includes a liquid tank arranged in the middle of the UAV body. The spray rod and the booster pump are fixed at the lower part of the UAV body. The spray rod with the spray head is fixed; the drone body is also provided with a power supply device, which provides power for the drone to work. The intelligent sowing unmanned aerial vehicle realized according to the utility model has the advantages of high load capacity, long operation time, high work efficiency, low use and maintenance costs, and the like.

Description

An intelligent sowing drone

technical field

The utility model belongs to the field of agricultural aviation plant protection, and more specifically relates to an intelligent sowing unmanned aerial vehicle.

Background technique

According to statistics, the plant protection machinery currently used in China is mainly manual and small electromechanical sprayers. Among them, manual pesticide spraying machinery and backpack motorized pesticide machinery account for 93.07% and 5.53% of the domestic plant protection machinery respectively. Tractor-mounted plant protection machinery is about It accounts for 0.57%. Plant protection operations require a lot of labor and labor intensity, and poisoning incidents of pesticide applicators occur from time to time. At present, the amount of pesticides in China is increasing, the operation cost is high, and the waste is serious, the effective utilization rate of resources is low, and the crop yield and quality are difficult to be guaranteed. At the same time, it brings serious pollution of water and soil resources, ecological system imbalance, and decline in the quality of agricultural products.

In order to solve the above problems, there are more commonly used agricultural aviation sowing UAVs. The main forms of UAVs are unmanned helicopters and multi-rotor UAVs, but most of them have small drug loads and cannot Realize intelligent sowing, and its operation, use and maintenance are complicated, and the risk of testing is relatively high. Among them, the structure of the unmanned helicopter is complex, and the flight attitude needs to be adjusted continuously according to the layout and height of the crops during the operation process. However, the coupling problem of lift and thrust needs to be solved in the process of lifting, flying, and rotating of the helicopter. On the one hand, This increases the complexity of the helicopter's mechanical structure and control algorithm, and on the other hand also increases the complexity of its remote operation. Therefore, professional training for UAV remote operators is required. On the other hand, as a plant protection operation platform, the multi-rotor UAV has a much smaller load than a helicopter. The main reason is that it uses multiple small-sized rotors, and because the power supply cannot be too large, its continuous operation time is relatively short. Therefore, during the operation of the multi-rotor UAV, it is necessary to return to add medicine and replace the battery many times, the work efficiency is low, and the waste of energy is also caused. In addition, it also has other problems such as: 1. The drug load is small, about 10-20kg, the take-off weight is within 35kg, and the operating efficiency is relatively low; 2. It is impossible to accurately control the key parameters such as the sowing height, the sowing line and the sowing dosage. , and it is impossible to judge whether there are problems such as replay or missed broadcast; 3. The operation is complicated, the maintenance is difficult, it is easy to be damaged, and the risk of use is relatively high.

Utility model content

In view of the above defects or improvement needs of the prior art, the utility model provides an intelligent sowing unmanned aerial vehicle, thereby completing the intelligent and automatic sowing function.

In order to achieve the above object, according to one aspect of the present utility model, an intelligent sowing drone is provided, which is characterized in that the drone includes a lifting part and a drone body, and the lifting part is pulled by a control rope without The parafoil of the man-machine; the tail of the UAV body is provided with a power unit, the power unit is an engine and a propeller driven with the output shaft of the engine; the UAV body is also provided with an intelligent sowing flight control system, the intelligent sowing flight control system includes a steering gear and an airborne flight control system arranged on the head of the drone body, and the steering gears are respectively installed on the symmetrical sides of the drone body for Cooperate with the lift unit to control the flight direction of the UAV, the airborne flight control system is used to communicate with the ground control device to realize the flight control of the UAV; the middle part of the UAV body is also set There is a spraying device, the spraying device includes a liquid tank, the spray rod and the booster pump are fixed on the lower part of the drone body, and the booster pump pumps the liquid to be sprayed from the bottom of the liquid tank through the liquid pipe, and delivers To the spray bar with the spray head fixed; the drone body is also provided with a power supply device, which provides power for the drone to work.

Further, the ground station control device is a panel device, which includes a power switch, a battery power indicator screen, an engine control button, a mode switching switch, a flight control handle, a spreading switch, and a flight track setting display screen. To turn on the general power supply of the ground station, the battery power is used to indicate the power of the power supply device, the engine control button is used to start and stop the engine, and the mode switching switch is used to switch between remote control flight and autonomous navigation flight, so The flight control handle is used to remotely control the flight direction and landing of the UAV, the sowing switch is used to enable the sowing function after the UAV flies to the sowing area, and the track setting display screen is used to set the sowing area and automatically Generate flight paths.

Further, the liquid tank is divided into nine interconnected rectangular areas by a nine-grid partition.

Generally speaking, compared with the prior art, the above technical solutions conceived by the utility model can achieve the following beneficial effects:

(1) According to the intelligent sowing unmanned aerial vehicle realized by the utility model, it adopts the soft-wing unmanned aerial vehicle as the platform of the unmanned aerial vehicle, the parafoil provides lift as the wing, and the engine provides the functions of the unmanned aerial vehicle to advance, rise, fly, etc. Power, with the help of a large-area parafoil, the load capacity of the drone can be improved, so that the amount of medicine carried can reach more than 100kg;

(2) The left and right rudders are used to control the rear wings on both sides of the soft-wing UAV parafoil. The rudders are symmetrically arranged on both sides of the UAV body to provide the steering force required for the UAV to turn left and right, and the rudders are operated. The low-speed characteristics of the umbrella ensure the low-speed movement of the intelligent spreading drone in the farmland;

(3) The soft-wing UAV of the utility model only needs to control the left and right steering gears and the size of the throttle when flying, the flight performance is stable, it is not easy to stall, and it has the ability of autonomous flight control. Its structure and control principle are simple, which reduces investment and maintenance costs. , easy maintenance, easy to learn operation;

(4) The utility model optimizes the placement position of various equipment in the intelligent sowing drone, and the implementation of this position can carry a large-volume liquid medicine tank, so as to carry out long-term continuous operations and save the cost of liquid medicine Insufficient time to return to dosing, improving the overall operating efficiency;

(5) In addition, the smart sowing UAV realized according to the utility model, due to the cooperative use of power equipment and parafoil, has low requirements on the take-off site, and the intelligent sowing UAV only needs 50-80 meters of take-off distance. This also greatly reduces the difficulty of take-off and relaxes the restrictions, greatly shortens the distance from the take-off point to the operation area, reduces the waiting time for operations, and improves operation efficiency;

(6) According to the utility model, the intelligent sowing UAV can spray about 150 mu to 400 mu per vehicle, and the operation time is only 15 to 25 minutes. Each intelligent sowing UAV can operate 3000 to 4000 mu per day. While the efficiency of manual spraying is 8-10 mu per day, the intelligent spraying drone spraying technology not only reduces the labor intensity of operators, but also greatly improves the operating efficiency.

Description of drawings

Fig. 1 is the overall schematic diagram of the air flight state of the intelligent sowing unmanned aerial vehicle realized according to the utility model;

Fig. 2 is a schematic diagram of the body structure of the intelligent sowing unmanned aerial vehicle realized according to the utility model;

Fig. 3 is a schematic diagram of the control interface of the intelligent sowing unmanned aerial vehicle ground station realized according to the utility model;

Fig. 4 is a schematic diagram of the sowing path planning of the intelligent sowing unmanned aerial vehicle realized according to the utility model;

Fig. 5 is a schematic structural view of the large solvent medicine box body of the nine-square medicine liquid grid realized according to the utility model.

Throughout the drawings, the same reference numerals are used to designate the same elements or structures, wherein:

1-parafoil 2-control rope 3-hanging belt 4-propeller 5-body, 6-spray boom 7-landing gear 8-engine 9-fuel tank 10-booster pump 11-medicine box 12-rudder gear 13-engine Flight control system 14-Battery 15-Power switch 16-Power display 17-Engine control button 18-Mode switching button 19-Flight control handle 20-Sowing switch 21-Track setting display 22-Sowing vegetation area 23-Flight route

detailed description

In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute conflicts with each other.

The utility model relates to an intelligent sowing unmanned aerial vehicle. The unmanned aerial vehicle mainly includes a parafoil part and an unmanned aerial vehicle body part. The part of the human-machine flight body is used to provide take-off, landing, adjust the height of the drone to spread pesticides, and provide power output.

Among them, the parafoil mainly includes the umbrella-shaped body of the parafoil and the control rope and sling belt used to tow the parafoil and the UAV. The joystick adjusts the heading and flight attitude of the drone by configuring the settings with the direction adjustment mechanism on the drone.

In addition, the UAV includes the body, which is mainly composed of the following parts:

Power device: the output shaft of the engine is directly connected to the propeller, which is set at the tail of the UAV to provide rising flight power, and the fuel provided by the fuel tank is converted into the power output of the engine to propel the soft-wing UAV forward. Control the flying height of the soft-wing UAV through the power level;

Landing gear: the landing gear set at the bottom of the body, which can be set as a skid-type landing gear to provide landing support for the take-off and landing of the soft-wing UAV;

Airborne flight control system: The airborne flight control system is installed in the body of the airframe to communicate with the control device on the ground and realize remote control. The on-board sensor calculates the flight track and flight height of the UAV to ensure that the soft-wing UAV is on the predetermined operating route, and in addition to being remotely controlled by the ground control device, it can also follow the planned path according to the pre-set program. to spread intelligently; its main position is set on the head of the body body;

The ground control system that communicates with the airborne flight control system: the ground control system is a handheld device, which includes a power switch, battery power indicator box, engine control button, mode switching switch, flight Control handle, spread switch, track setting display. The power switch is used to turn on the general power of the ground station. The battery level indicator is used to ensure that the battery has sufficient power. The engine control button is used to start and stop the engine and adjust the size of the throttle. The mode switching switch is used to switch between remote control flight and autonomous navigation flight. The flight control handle is used to control the flight direction and landing of the drone. The sowing switch is used to enable the sowing function after the drone flies to the sowing area. The track setting display screen is used to set the plant protection area that needs to be sown and automatically generate the flight route;

Spraying device: The special pesticide spraying system includes a large-capacity medicine box, spray boom, and booster pump. The large-volume medicine box includes a medicine box body with a volume of 100L and a nine-square medicine liquid partition. The nine-square medicine liquid partition and the bottom of the large-volume medicine box are vertically fixed on the inner wall of the large-volume medicine box, and the large-volume medicine box is divided into nine interconnected rectangular areas to prevent the imbalance of the drone caused by excessive fluctuations in the medicine solution. The large-volume medicine box is used to hold the liquid medicine used in the spraying operation. The medicine box, spray boom and booster pump are fixed at the lower part of the machine body. The booster pump pumps the medicine liquid from the bottom of the large-volume medicine box through the medicine liquid pipe. , transported to the spray bar through the liquid medicine pipe at a certain pressure, and the spray head is fixed on the spray bar, and the spray head atomizes the liquid medicine and sprays it out. When it reaches the sowing area, sow the relevant sowing area;

Power supply equipment: which provides power output for the above-mentioned power plant, airborne flight control system, and spraying device.

Embodiment one

The unmanned aerial vehicle comprises a parafoil 1, a control rope 2, a suspension belt 3, a propeller 4, an engine 8, a body 5, a spray bar 6 and a landing gear 7. The parafoil 1 is used as a wing and is connected with the body 5 through the suspending belt 3 to provide lift for the soft-wing unmanned aerial vehicle. The propeller 4 is installed on the engine 8, and the engine 8 is fixed on the rear part of the soft-wing UAV body 5. The fuel provided by the fuel tank 9 is converted into the power output of the engine 8 to propel the soft-wing UAV to move forward, and the soft-wing UAV is controlled by the power. The flying height of the wing drone. The landing gear 7 is a skid-type landing gear, which provides landing support for the take-off and landing of the soft-wing unmanned aerial vehicle.

The intelligent sowing flight control system includes a steering gear 12 and an airborne flight control system 13 communicating with the ground station system. Steering gear 12 has two sets, and side is installed in body 5 symmetric both sides, controls the flight direction of parafoil 1 by operating rope 2. The airborne flight control system 13 can calculate the flight track and flight altitude of the UAV through onboard sensors such as GPS, magnetic compass and airspeed meter on the UAV. The specific form of the power supply equipment is a storage battery 14, which is fixed on the head of the body 5 and provides power for the airborne flight control system 13 and the steering gear 12. The ground station system includes a power switch 15, a battery power indicator 16, an engine control button 17, a mode switching switch 18, a flight control handle 19, a spreading switch 20, and a display screen 21 for setting a track. The power switch 15 is used to turn on the general power supply of the ground station. The battery level 16 indicator is used to ensure that the battery has sufficient power. The engine control button 17 is used to start and shut down the engine, and adjust the size of the throttle. The mode switching switch 18 is used to switch remote control flight and autonomous navigation flight. The flight control handle 19 is used for the flight direction and landing of the remote control drone. The sowing switch 20 is used for turning on the sowing function after the unmanned aerial vehicle flies to the sowing area. The track setting display screen 21 is used to set the spreading vegetation area 22 and automatically generate the flight route 23 .

The special pesticide spraying system includes a large-volume medicine box 11, a spray bar 6, and a booster pump 10. The large-volume medicine box 11 includes a medicine box body of 100L and a nine-square medicinal liquid partition. The nine-square medicine liquid partition and the bottom of the large-volume medicine box are vertically fixed on the inner wall of the large-volume medicine box, and the large-volume medicine box is divided into nine interconnected rectangular areas to prevent the imbalance of the drone caused by excessive fluctuations in the medicine solution. The large-capacity medicine box casing 11 is used to hold the medicinal liquid used for the spraying operation. The medicine box 11, the spray rod 6 and the booster pump 10 are fixed on the lower part of the machine body. After the booster pump 10 pumps the medicine liquid from the bottom of the large-volume medicine box 11 through the medicine liquid pipe, it is delivered to the sprayer through the medicine liquid pipe at a certain pressure. pole 6. A spray nozzle is fixed on the spray rod 6, and the spray nozzle can atomize the liquid medicine and spray it out.

The operating method of the utility model intelligent sowing unmanned aerial vehicle comprises the following steps:

(1) After the intelligent sowing unmanned aerial vehicle is transported to the operation area, set the sowing vegetation area 22 in the track setting display screen 21 of the ground station system, and the vegetation area 22 to be broadcast will be displayed in full screen on the track setting display screen 21, The ground station system calculates the spraying flight route 23 according to the spreading vegetation area 22. The calculation method is to draw the flight routes 23 parallel to each other according to the width of the nozzle width of 12 meters, completely cover the spreading vegetation area 22, and upload the flight route 23 to the aircraft. On-board flight control system 13;

(2) The transport vehicle speeds up the traction, starts the engine 8 with the engine control button 17, controls the throttle to increase the speed of the propeller 4, and the drone flies away from the transport vehicle smoothly. Keep the throttle so that the UAV is stable at a suitable height over the vegetation area 22;

(3) Pull the mode switching switch 18 on the ground station system to switch the flight from remote control flight to autonomous flight;

(4) After the intelligent sowing drone flies into the vegetation area 22 to be broadcast, the airborne flight control system 13 judges whether the coordinate position of the drone enters the flight route 23, and if it enters the flight route 23, the airborne flight control system 13 sends an instruction Give the switch steering gear of the booster pump 10, and the spraying operation can be implemented when the switch steering gear is turned on, and the unmanned aerial vehicle flies along the pre-planned flight route 23 until the unmanned aerial vehicle completes the spraying operation of the entire sowing vegetation area 22;

(5) After the spraying operation in the vegetation area 22 is completed, the booster pump 10 is automatically turned off, and the spraying is stopped. The drone automatically flies to the landing area to perform autonomous landing or remote control landing, and transports it out of the operation area with a transport vehicle after landing.

Those skilled in the art can easily understand that the above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and modifications made within the spirit and principles of the utility model Improvements and the like should all be included within the protection scope of the present utility model.

Claims (3)

1. an intelligent sowing unmanned aerial vehicle, it is characterized in that, this unmanned aerial vehicle comprises lifting force portion, unmanned aerial vehicle body (5), and described lifting force portion is the parafoil of traction unmanned aerial vehicle by control rope; The afterbody of machine body (5) is provided with power plant, and described power plant is the propeller of motor and described engine output shaft transmission; Described UAV body (5) is also provided with intelligent sowing flight control system, and described The intelligent sowing flight control system comprises a steering gear (12) and an airborne flight control system (13) arranged on the head of the drone body (5) respectively, and the steering gear (12) is installed on the unmanned aircraft respectively. The symmetrical two sides of the machine body (5) are used to cooperate with the lift portion to control the flight direction of the unmanned aerial vehicle, and the airborne flight control system (13) is used to communicate with the ground station control device to realize the unmanned aerial vehicle. The flight control of machine; The middle part of described drone body (5) is also provided with spraying device, and described spraying device comprises liquid tank, and spray bar and booster pump are fixed on described drone body (5) bottom, so The booster pump pumps the liquid to be sprayed from the bottom of the liquid tank through the liquid pipe, and transports it to the spray rod with the spray head fixed; the drone body (5) is also provided with a power supply device, which is the The drone works by providing power. 2. The intelligent sowing unmanned aerial vehicle as claimed in claim 1, is characterized in that, described ground station control device is panel equipment, comprises power switch (15), battery electric quantity indicating screen (16), engine control button ( 17), mode switching switch (18), flight control handle (19), sowing switch (20), track setting display screen (21), the power switch (15) is used to open the total power supply of the ground station, and the The battery power (16) is used to indicate the power of the power supply device, the engine control button (17) is used to start and shut down the engine, the mode switching switch (18) is used to switch remote control flight and autonomous navigation flight, the The flight control handle (19) is used for the flight direction and landing of the remote control drone, and the sowing switch (20) is used to open the sowing function after the drone flies to the sowing area (22), and the track setting display screen ( 21) It is used to set the sowing area (22) and automatically generate the flight path (23). 3. The intelligent spreading drone according to claim 1 or 2, wherein the liquid tank is divided into nine interconnected rectangular areas by a nine-grid partition.