CN205830867U - For the captive unmanned vehicle sprayed continuously - Google Patents

Abstract

nullA kind of captive unmanned vehicle for spraying continuously includes unmanned vehicle body (1) and removable bogey (2)，Described unmanned vehicle body (1) includes the shower nozzle (3) for spraying and sprinkling control device (4)，Described removable bogey (2) is provided with connection pipeline (5)、Power supply (6) and equipment for liquid transportation (7)，Include that connecting described power supply (6) with the transmission of electricity pipeline (8) of power supply and connects the described equipment for liquid transportation (7) shower nozzle (3) to described unmanned vehicle body (1) infusion pipeline (9) for liquid to described unmanned vehicle body (1) for connecting the described connection pipeline (5) of described unmanned vehicle body (1) and described removable bogey (2)，Described sprinkling control device (4) connects described shower nozzle (3) and adjusts the expulsion pressure of described shower nozzle.

Description

For the captive unmanned vehicle sprayed continuously

Technical field

This utility model belongs to unmanned vehicle and sprays field, particularly relate to a kind of captive for spraying continuously without People's aircraft.

Background technology

Along with the research of agricultural working efficiency deepens continuously, improving constantly of agricultural operation level, the farmland of unit are Need is the most fewer and feweri, and uses plant equipment more and more higher to the ratio completing less important work.Especially for pesticide For sprinkling, traditional pesticide spraying mode wastes time and energy, and the toxic and side effects of pesticide can penetrate in staff's health, Damage.But owing to the situation in farmland tends to complicated, especially in China, large area, smooth field have, and also have simultaneously The croft of substantial amounts of scattered little property right.So, the working method of barton's pattern as similar developed country, in addition it is also necessary to A period of time, in the current generation, it is desirable to have a kind of flexible, spraying range is the most controlled, and manpower intervention is few, and will not allow People directly contacts the intelligent working method of toxic pesticides.

At present, unmanned plane has been widely used for agricultural plant protection field, provides pesticide spraying for crops and pinpoints in the air The services such as inspection.The application in agricultural plant protection field of the rotor class unmanned plane is relatively broad, and further segmentation can be divided into again Dan Xuan The wing and many rotors agricultural plant protection unmanned plane.Single rotor agricultural plant protection unmanned plane generally uses the electromotor of Aviation Fuel power, rises Carry unmanned plane fuel and agricultural plant protection chemicals when flying simultaneously, within the limited flight time, complete agricultural plant protection task. Many rotors agricultural plant protection unmanned plane provides moment of torsion frequently with motor for rotor, needs to carry high capacity cell and agricultural is planted when taking off Protecting chemicals, flight time and crops effective plant protection scope are limited by entrained battery capacity.

Owing to the sprinkling of unmanned vehicle is remote from operator, operator will not be caused toxic and side effects, and The spray effect of unmanned vehicle is for artificial spray, more uniformly, more saves medicine；Plus rotary wind type unmanned vehicle Can hover, and its wind-force can be used medicinal liquid is delivered to the root of crop, it is achieved uniformly dispenser, so unmanned vehicle Complete plant protection task and have become as instantly popular.Fly with pole, a series of plant protection unmanned planes as representative of zero degree, big boundary produce or Service provider has obtained some superiority in this field.Agricultural plant protection unmanned plane during the long boat of research and development is beneficial to unmanned plane in agriculture The large-scale promotion in industry plant protection field and being widely used.

But, the mode using wireless remote control of the equal inertial thinking of plant protection unmanned plane of current main-stream implements control, also That is, operator, often by certain communication, remotely control unmanned vehicle one piece of particular area Fulfiling assignment in the range of field, after completing a part of operation, then transition goes to next block place to continue to fulfil assignment.This work As mode have a lot of reasons such as farmland property right dispersion, unmanned vehicle flying power limited, perfusion case needs filling repeatedly Medicinal liquid etc..As can be seen here, aforesaid way yet suffers from some problems, such as transition and adds operational risk, unmanned vehicle When recharging energy consumption, and battery becomes consumables cost, and perfusion adds exposure risk etc. repeatedly.Tradition unmanned vehicle by In using remote control mode work, therefore power is entirely from the battery arranged thereon, so working range, flying power are all subject to Having arrived restriction, captive unmanned vehicle, its power is transferred to unmanned vehicle by moveable earth station, and its power transmits Being thered is provided by wired mode, its flight controls both can also wirelessly to be implemented by wired mode.Existing Unmanned vehicle, in order to complete plant protection task, needs to be provided on board the aircraft providing pressure to medicinal liquid, is sprayed out Pressure apparatus, or install utilize centrifugal force to throw away the centrifugal device of medicinal liquid, captive unmanned vehicle is by plant protection Spray liquid and pressure providing device are all disposed within the recreational center (vehicle or other removable transit equipments) on ground, enter one Step reduces equipment cost and the flight heavy burden of unmanned vehicle.

Disclosed in patent documentation CN103754368A, a kind of land idle pattern formula agricultural sprayer apparatus includes aircraft and transport Car；Hoisting mechanism support bar, power-supply system, reserving liquid tank and compression pump, the upper end of hoisting mechanism support bar are installed in transport vehicle Being fixed with hoisting mechanism, hoisting mechanism is for controlling to connect the folding and unfolding length of pipeline；Inner passage is divided into water route and two, circuit Point, the medicinal liquid of reserving liquid tank is pumped into the water route of inner passage by compression pump, and the out-put supply line of power-supply system enters internal The circuit of passage, inner passage by the inside of hoisting mechanism support bar with is connected pipeline UNICOM, connection pipeline is by water and electric Road forms the water route with corresponding UNICOM inner passage and circuit, and the one end connecting pipeline is wound on hoisting mechanism, connects pipeline The other end connect aircraft and to its conveying power current and medicinal liquid.This patent can realize the overlength hang time in limited areal Spray in the air, but this patent cannot regulate the width of spray orbit, more cannot spray path according to the regional planning of required sprinkling, It sprays precision, spraying efficiency and persistence and has much room for improvement, further, it is impossible to unmanned flight worked in coordination with by the vehicle controlling movement Device sprays, and improves spraying efficiency.

A kind of unmanned vehicle disclosed in patent CN104512551A spill medicine device include aircraft body, carrier and Fixing Sheng explosive barrel, medicinal liquid conveying assembly and the accumulator being loaded on described carrier, described aircraft body is mounted with Medicine liquid spray device, described medicinal liquid conveying assembly includes that loading hose, medicinal liquid transmit pump and automatic hose reel, at the bottom of described Sheng explosive barrel Portion is provided with discharging tube, and described discharging tube is connected to described medicinal liquid and transmits the inlet of pump, described loading hose be coiled in described from On dynamic tube rolling device, and the two ends of described loading hose can be connected to described medicinal liquid and transmit the outlet of pump liquid and the medicine liquid spray of pump On device, described accumulator is respectively described aircraft body and medicinal liquid transmits pump and powers, described accumulator and described aircraft Dismountable electric power connection line being electrically connected with flexibility between body.This patent can reduce the useful load of aircraft body, again Can the most persistently supply medicine, eliminate loading battery on aircraft body, reduce the deadweight of aircraft, reduce production Cost and maintenance cost, but it cannot regulate the width of spray orbit, more cannot spray according to the regional planning of required sprinkling Path, it sprays precision, spraying efficiency and persistence and has much room for improvement, further, it is impossible to nothing worked in coordination with by the vehicle controlling movement People's aircraft sprays, and improves spraying efficiency.

Therefore, this area urgency technical issues that need to address are: on the basis of captive unmanned vehicle sprays, real Now regulate the width of spray orbit, accurately and easily determine predetermined region of spraying, and spray according to described predetermined sprinkling regional planning Spilling path, improve and spray precision, spraying efficiency and persistence, further, unmanned vehicle worked in coordination with by the vehicle controlling movement Spray, improve spraying efficiency further.

Disclosed above-mentioned information is used only for strengthening the understanding to this utility model background in the background section, therefore May comprise and not be formed in the information of prior art known to a person of ordinary skill in the art in this country.

Utility model content

The purpose of this utility model is to be achieved by the following technical programs.

According to this utility model, a kind of captive unmanned vehicle for spraying continuously include unmanned vehicle body and Removable bogey, described unmanned vehicle body includes the shower nozzle for spraying and sprinkling control device, described removable Bogey is provided with connection pipeline, power supply and equipment for liquid transportation, is used for connecting described unmanned vehicle body and described moves The described connection pipeline of dynamic bogey includes connecting described power supply to described unmanned vehicle body with the transmission of electricity pipeline powered With connect described equipment for liquid transportation to the shower nozzle on described unmanned vehicle body for the infusion pipeline of liquid, described spray Spill and control the device described shower nozzle of connection and adjust the expulsion pressure of described shower nozzle.

Preferably, described sprinkling control device includes sprinkler pressure regulation equipment and GIS device.

Preferably, described removable bogey is vehicle.

Preferably, described unmanned vehicle body includes multiple shower nozzle.

Preferably, described removable bogey is provided with multiple unmanned vehicle body.

Preferably, described equipment for liquid transportation includes liquid formulation equipment, fluid reservoir and pumping equipment.

Preferably, described shower nozzle is provided with centrifugal Shuai Ye mechanism.

Preferably, described transmission of electricity pipeline is cable.

Preferably, described power supply is electromotor or accumulator.

Preferably, described sprinkling control device is general processor.

Preferably, described spray orbit reciprocally sprays with the border in described predetermined sprinkling region for starting point and predetermined sprays district Territory.

Preferably, described spray orbit, centered by removable bogey, sprays in the way of concentric circular expands outwardly Described predetermined sprinkling region.

Preferably, when predetermined sprinkling region is more than centered by removable bogey, and described connection pipeline is radius During scope, described sprinkling control device moves described removable bogey and is in described unmanned vehicle body and can spray described The predetermined position spraying region.

Preferably, described equipment for liquid transportation includes liquid formulation equipment, fluid reservoir and pumping equipment, wherein, via liquid Body blending equipment allotment liquid be stored in described fluid reservoir, described pumping equipment signal based on described sprinkling control device from Described fluid reservoir is with predetermined compression pump liquor charging body to described shower nozzle, and pressure described in described sprinkling control device scalable is to be formed Required sprayed fiber concrete.

Preferably, described shower nozzle is provided with centrifugal Shuai Ye mechanism, and described centrifugal Shuai Ye mechanism is centrifuged by rotating to produce Power is with spraying liquid.

Described above is only the general introduction of technical solutions of the utility model, in order to make technological means of the present utility model Clearer, reach the degree that those skilled in the art can be practiced according to the content of description, and in order to Above and other objects, features and advantages of the present utility model can be become apparent, below with of the present utility model specifically Embodiment is illustrated.

Accompanying drawing explanation

By reading the detailed description in hereafter preferred embodiment, this utility model various other advantage and Benefit will be clear from understanding for those of ordinary skill in the art.Figure of description is only used for illustrating the mesh of preferred implementation , and be not considered as restriction of the present utility model.It should be evident that drawings discussed below is the most of the present utility model Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to this A little accompanying drawings obtain other accompanying drawing.And in whole accompanying drawing, it is presented with like reference characters identical parts.At accompanying drawing In:

Fig. 1 is that the structure of the captive unmanned vehicle for spraying continuously according to one embodiment of this utility model is shown It is intended to；

Fig. 2 is the structure of the captive unmanned vehicle for spraying continuously according to another embodiment of this utility model Schematic diagram.

Below in conjunction with drawings and Examples, the utility model is further explained.

Detailed description of the invention

It is more fully described specific embodiment of the utility model below with reference to accompanying drawings.Although accompanying drawing shows this reality With novel specific embodiment, it being understood, however, that may be realized in various forms this utility model and should not illustrated here Embodiment limited.On the contrary, it is provided that these embodiments are able to be best understood from this utility model, and can be by What scope of the present utility model was complete conveys to those skilled in the art.

It should be noted that employ some vocabulary in the middle of description and claim to censure specific components.Ability Field technique personnel it would be appreciated that, technical staff may call same assembly with different nouns.This specification and right In the way of requiring that difference by noun is not used as distinguishing assembly, but be used as distinguishing with assembly difference functionally Criterion." comprising " or " including " as mentioned by the middle of description and claim in the whole text is an open language, therefore should solve It is interpreted into " comprise but be not limited to ".Description subsequent descriptions is for implementing better embodiment of the present utility model, right described description It is for the purpose of the rule of description, is not limited to scope of the present utility model.Protection domain of the present utility model When being as the criterion depending on the defined person of claims.

For ease of the understanding to this utility model embodiment, below in conjunction with accompanying drawing do as a example by several specific embodiments into The explanation of one step, and each accompanying drawing is not intended that the restriction to this utility model embodiment.

In embodiment, unmanned vehicle is called for short " unmanned vehicle ", and english abbreviation is " UAV " (unmanned aerial Vehicle), it is the most manned aircraft utilizing radio robot and the presetting apparatus provided for oneself to handle.From technical standpoint Definition can be divided into: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc..

In this utility model embodiment, preferred unmanned vehicle is the many rotor unmanned aircrafts of captive or is referred to as many rotations Rotor aircraft, can be four rotors, six rotors and the rotor quantity unmanned vehicle more than six.

The unmanned vehicle that technical solutions of the utility model use is primarily referred to as many rotor unmanned aircrafts little, miniature, this Kind unmanned vehicle volume is little, low cost, flight stability preferable, and flight cost is low.The aircraft that this utility model uses, Typical with four axle multi-rotor aerocrafts as representative.

Fig. 1 is the structural representation of the captive unmanned vehicle for spraying continuously of an embodiment of the present utility model Figure, this utility model embodiment will be specifically described in conjunction with Fig. 1.

As it is shown in figure 1, an embodiment of the present utility model provides a kind of captive for spraying continuously, nobody flies Row device, captive unmanned vehicle includes unmanned vehicle body 1 and removable bogey 2, described unmanned vehicle body 1 Including the shower nozzle 3 for spraying and sprinkling control device 4, described removable bogey 2 is provided with connection pipeline 5, power supply 6 and liquid Body conveying equipment 7, wraps for connecting the described connection pipeline 5 of described unmanned vehicle body 1 and described removable bogey 2 Include and connect described power supply 6 to described unmanned vehicle body 1 with the transmission of electricity pipeline 8 powered and the described equipment for liquid transportation 7 of connection Shower nozzle 3 on described unmanned vehicle body 1 is for the infusion pipeline 9 of liquid, and described sprinkling control device 4 regulates described The sprayed fiber concrete of shower nozzle 3, further, controls described unmanned vehicle body 1 with sprinkling rail that width is described sprayed fiber concrete Mark covers predetermined sprinkling region.

In this utility model embodiment preferably, unmanned vehicle body 1 includes multiple shower nozzle 3.Multiple shower nozzles 3 can basis Need to be arranged in the bottom of unmanned vehicle body 1, the most multiple shower nozzles 3 can multiple rows of arranged at unmanned vehicle body 1 Bottom, multiple shower nozzles 3 also can circle distribution in the bottom of unmanned vehicle body 1.Due to by power supply 6 to unmanned vehicle Body 1 supplies electric power, and the power supply on unmanned vehicle body 1 can omit, and has unlimited flying power in theory, and this is greatly Improve the sprinkling ability of spraying liquid.In this utility model embodiment preferably, described removable bogey 2 is vehicle, Described vehicle can be automobile or tricycle or wheelbarrow, and removable bogey 2 is for carrying power supply 6 and liquid movably Conveying equipment 7, in one embodiment, power supply 6 can be electromotor or chargeable storage, and power supply 6 not only can provide Electric power is to unmanned vehicle body 1, it is also possible to supply electrical power to equipment for liquid transportation 7, further, removable bogey 2 is electric motor car, and described power supply 6 is the vehicle power of electric motor car, and therefore power supply 6 can supply electrical power to electric motor car, unmanned flight Device body 1 and equipment for liquid transportation 7.In one embodiment, described transmission of electricity pipeline 8 is cable, described transmission of electricity pipeline 8 and transfusion Pipeline 9 is packaged together, and connects pipeline 5 and infusion pipeline 9 can be plastic tube, and further, described infusion pipeline 9 is that rubber is soft Pipe.Being flexible pipe owing to connecting pipeline 5, further, removable bogey 2 can be provided with hoist engine and with rolling and unreel connecting tube Road 5.In another embodiment, hoist engine is for controlling to connect the folding and unfolding length of pipeline 5.

In this utility model embodiment preferably, sprinkling control device 4 is through controlling the pumped liquid in equipment for liquid transportation 7 The pressure of body regulates the sprayed fiber concrete of described shower nozzle 3 and to control described unmanned vehicle body 1 with width be described sprayed fiber concrete Spray orbit cover and predetermined spray region.In one embodiment, shower nozzle 3 is provided with pressure adjustment device, sprinkling control device 4 This pressure adjustment device can also be controlled to adjust expulsion pressure.

In one embodiment, sprinkling control device 4 can be general processor, digital signal processor, special integrated Circuit ASIC, on-site programmable gate array FPGA, analog circuit, digital circuit, and combinations thereof or other are known or develop later Processor.Sprinkling control device 4 controls the described spray orbit limit with described predetermined sprinkling region based on nozzle exit pressure signal Boundary is that starting point reciprocally sprays predetermined sprinkling region.It can be unmanned vehicle body that what is called reciprocally sprays predetermined region of spraying According to bow zag trajectory, complete to spray in predetermined sprinkling region shuttle flight.Either which kind of block area, uses bow font rail Mark flies, and this block area all can be completely covered.Therefore, when concrete operation, first removable bogey 2 is moved to this Near operation plot, such as, in the case of earth station is vehicle-mounted form ground, directly reach car treat near operation plot. If connect a length of 50 meters of pipeline 5, also imply that, this captive unmanned plane can centered by removable bogey 2, All weather operations in the job area of 50 meters of radiuses, now, it is assumed that actual job area is centered by removable bogey 2 , be positioned at positive west, center to the predetermined sprinkling region of operation interval of 20*10 rice, then during actual job, automatically according to This operation interval is working range, and that back and forth bends font completes spraying operation, during reciprocal bow font operation, and the spray of every lines Spilling width then to design according to the sprayed fiber concrete of unmanned vehicle body 1 flying height and shower nozzle 3, it is right the most just can to complete Comprehensive covering in operation plot, and no matter which kind of irregular operation interval, all can realize sufficiently, make without the covering repeated Industry.In real work, it is likely that working area is the most irregular, such as, although generally rectangular, but exist irregular convex Rise or depression, but use and bend the mode that font is reciprocal, it is possible to effectively solve the problems referred to above.Captive unmanned plane is according to bow word Shape track completes spraying operation, after flying to terminal, stops spraying, and the removable bogey 2 that then flies back is standby, waits next time Operation.

In one embodiment, described spray orbit, centered by removable bogey 2, expands outwardly with concentric circular Mode sprays described predetermined sprinkling region.Such as, according to above-mentioned similar mode, centered by removable bogey 2, to expand The most outside mode, implements operation according to annular locus, so can fully cover the operation centered by removable bogey 2 Plot, for some removable movable working environment of bogey 2, such working method is the most flexible. Owing to car may move the movement of bogey 2 also easily, simultaneously movable centered by removable bogey 2 unmanned flight Device can also work very easily.Two combine, it is possible to realize the highest work efficiency.When the outer shroud that works is irregular, then may be used With when internal ring, complete spraying operation as far as possible, for the non-operating area of outer shroud, do not fly at this, but detour This flies the internal ring track of operating area, and in order to avoid repeating to spray, when detouring the stage, sprinkling control device 4 controls spray 3 stop spraying.

In one embodiment, when predetermined sprinkling region is more than centered by removable bogey 2, described connection pipeline 5 when being the scope of radius, described sprinkling control device 4 move described removable bogey 2 be in described unmanned vehicle this Body 1 can spray the position in described predetermined sprinkling region.

In one embodiment, described shower nozzle 3 is provided with centrifugal Shuai Ye mechanism, and described centrifugal Shuai Ye mechanism is by rotating Produce centrifugal force with spraying liquid.Sprinkling control device 4 can control the size of the centrifugal force of centrifugal Shuai Ye mechanism to control spray Penetrate diameter.

Fig. 2 is the structural representation of the captive unmanned vehicle for spraying continuously of an embodiment of the present utility model Figure, this utility model embodiment will be specifically described in conjunction with Fig. 2.

As in figure 2 it is shown, an embodiment of the present utility model provides a kind of captive for spraying continuously, nobody flies Row device includes that unmanned vehicle body 1 and removable bogey 2, described unmanned vehicle body 1 include the spray for spraying 3 and sprinkling control device 4, described sprinkling control device 4 includes sprinkler pressure regulation equipment 10 and GIS device 11, described can Moving bearing device 2 is provided with connection pipeline 5, power supply 6 and equipment for liquid transportation 7, is used for connecting described unmanned vehicle body 1 He The described connection pipeline 5 of described removable bogey 2 include connecting described power supply 6 to described unmanned vehicle body 1 for The transmission of electricity pipeline 8 of electricity and the shower nozzle 3 on the described equipment for liquid transportation 7 of connection to described unmanned vehicle body 1 are for liquid Infusion pipeline 9, described equipment for liquid transportation 7 includes liquid formulation equipment 12, fluid reservoir 13 and pumping equipment 14, wherein, warp The liquid allocated by liquid formulation equipment 12 is stored in described fluid reservoir 13, and described pumping equipment 14 controls dress based on described sprinkling Putting the signal of 4 from described fluid reservoir 13 with predetermined compression pump liquor charging body to described shower nozzle 3, described GIS device 11 is based on by spraying The sprayed fiber concrete that head pressure adjustment device 10 adjusts, described sprinkling control device 4 controls described unmanned vehicle body 1 with width Spray orbit for described sprayed fiber concrete covers predetermined sprinkling region.

The present embodiment is preferred, and pumping equipment 14 is adjustable electromagnetic valve, and sprinkler pressure regulation equipment 10 is adjusted for electromagnetic valve Joint equipment, such as, by the aperture of voltage signal adjustment electromagnetic valve to control pumping pressure, GIS device 11 can provide as electronically The map datum of figure makes user can be judged and find geographical position by map datum and enter for described geographical position Row operation, GIS device 11 operation according to user can generate and predetermined sprays region on electronic chart, and GIS device 11 includes GIS Information imports and exports unit, information display unit and information maintenance unit, wherein, described GIS information import and export unit for The importing of the information of GIS device 11 and derivation, its import and derive form include but not limited to text, XML, CSV, EXCEL, The forms such as WORD, PDF；Described information display unit is for showing map data information in GIS map；Described maintenance of information list Unit is for browsing, editing and delete data message in GIS map.An embodiment, GIS device 11 shows that map datum is believed Breath, and the operations such as the planning of map datum, selection and frame choosing are provided, and can be used for browsing in GIS map, editing and delete phase The data message answered.After determining predetermined sprinkling region, sprinkling control device 4 selects suitable sprayed fiber concrete as spray orbit Width, and control unmanned vehicle body 1 and spray and predetermined spray region.

In this utility model embodiment preferably, described equipment for liquid transportation 7 includes liquid formulation equipment 12, fluid reservoir 13 With pumping equipment 14, wherein, it is stored in described fluid reservoir 13, described pumping equipment via the liquid of liquid formulation equipment 12 allotment 14 signals based on described sprinkling control device 4 from described fluid reservoir 13 with predetermined compression pump liquor charging body to described shower nozzle 3.? In one embodiment, such as in the case of spraying liquid pesticide, tradition plant protection unmanned plane is due to by bearing capacity and flight energy The restriction of power, carry on unmanned plane that medicinal liquid holding mechanism and medicine liquid spray mechanism make unmanned plane has been designed with yoke, logical Often in the range of 8-15 kilogram to be reached of the design supporting power of unmanned plane, such unmanned plane itself also has to become big, dynamical system System, the structure of medicine liquid spray mechanism also have to become complicated.And, after medicinal liquid is finished, unmanned plane must be allowed to fly back operation At personnel, complete manual tonic operation, add the complexity of task, too increase the possibility of medicinal liquid contact human body.And this reality With the programmable space of the fluid reservoir 13 of the novel receiving medical liquids being arranged in removable bogey 2 and pumping equipment 14 very Greatly, and power is the most sufficient, can carry out suitable selection completely according to actual needs.On unmanned vehicle body 1 only Need to be provided with at least one shower nozzle 3, then utilize a connection pipeline 5 and the fluid reservoir 13 in removable bogey 2 and Pumping equipment 14 is connected, and so, then spray pump sprays to shower nozzle 3.Owing to this utility model is by shower nozzle 3 bigger for volume weight Can set separately from unmanned vehicle body 1, bring burden will not to the heavy burden of unmanned vehicle.Further, liquid is defeated Send equipment 7 to be provided with liquid formulation equipment 12, when medicinal liquid exhausts, can allocate now medicinal liquid and improve the persistence of sprinkling further.

In this utility model embodiment preferably, sprinkling control device 4 also includes memorizer, and it can be volatile storage Device or nonvolatile memory.Memorizer can include one or more read only memory ROM, random access memory ram, fast Flash memory, Electrical Erasable programmable read only memory EEPROM or other type of memorizer.In one embodiment, spray Spill control device 4 can also be located in removable bogey 2.

In one embodiment, removable bogey 2 can connect multiple unmanned vehicle body 1.

Although embodiment of the present utility model being described above in association with accompanying drawing, but this utility model not limiting to In above-mentioned specific embodiments and applications field, above-mentioned specific embodiments is the most schematic, guiding, and not It is restrictive.Those of ordinary skill in the art is under the enlightenment of this specification and without departing from this utility model claim In the case of the scope protected, it is also possible to make a variety of forms, these belong to the row of this utility model protection.

Claims (10)

1., for the captive unmanned vehicle sprayed continuously, it includes unmanned vehicle body (1) and removable carrying Device (2), it is characterised in that: described unmanned vehicle body (1) includes the shower nozzle (3) for spraying and sprinkling control device (4), described removable bogey (2) is provided with connection pipeline (5), power supply (6) and equipment for liquid transportation (7), is used for connecting institute The described connection pipeline (5) stating unmanned vehicle body (1) and described removable bogey (2) includes connecting described power supply (6) with the transmission of electricity pipeline (8) of power supply and described equipment for liquid transportation (7) is connected to described to described unmanned vehicle body (1) Shower nozzle (3) on unmanned vehicle body (1) connects institute for the infusion pipeline (9) of liquid, described sprinkling control device (4) State shower nozzle (3) and adjust the expulsion pressure of described shower nozzle.

The described captive unmanned vehicle for spraying continuously the most according to claim 1, it is characterised in that: described sprinkling control Device processed (4) includes sprinkler pressure regulation equipment (10) and GIS device (11).

The described captive unmanned vehicle for spraying continuously the most according to claim 1, it is characterised in that: described removable Bogey (2) is vehicle.

The described captive unmanned vehicle for spraying continuously the most according to claim 1, it is characterised in that: it is described that nobody flies Row device body (1) includes multiple shower nozzle (3).

5. being used for the continuous captive unmanned vehicle sprayed according to any one of claim 3 or 4, its feature exists In: described removable bogey (2) is provided with multiple unmanned vehicle body (1).

The described captive unmanned vehicle for spraying continuously the most according to claim 1, it is characterised in that: described liquid is defeated Equipment (7) is sent to include liquid formulation equipment (12), fluid reservoir (13) and pumping equipment (14).

The described captive unmanned vehicle for spraying continuously the most according to claim 1, it is characterised in that: described shower nozzle (3) it is provided with centrifugal Shuai Ye mechanism.

The described captive unmanned vehicle for spraying continuously the most according to claim 1, it is characterised in that: described electroduct Road (8) is cable.

The described captive unmanned vehicle for spraying continuously the most according to claim 1, it is characterised in that: described power supply (6) it is electromotor or accumulator.

The described captive unmanned vehicle for spraying continuously the most according to claim 1, it is characterised in that: described sprinkling Controlling device (4) is general processor.