CN206243482U - Agriculture unmanned vehicle - Google Patents
Agriculture unmanned vehicle Download PDFInfo
- Publication number
- CN206243482U CN206243482U CN201621272758.1U CN201621272758U CN206243482U CN 206243482 U CN206243482 U CN 206243482U CN 201621272758 U CN201621272758 U CN 201621272758U CN 206243482 U CN206243482 U CN 206243482U
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- Prior art keywords
- shower nozzle
- unmanned vehicle
- agriculture unmanned
- water pump
- agriculture
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 123
- 239000007921 spray Substances 0.000 claims abstract description 15
- 239000007788 liquid Substances 0.000 claims abstract description 13
- 230000005611 electricity Effects 0.000 claims description 13
- 230000001143 conditioned effect Effects 0.000 claims description 7
- 230000000694 effects Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 7
- 230000035515 penetration Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000012528 membrane Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 239000003905 agrochemical Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Abstract
The utility model provides a kind of agriculture unmanned vehicle (10).The agriculture unmanned vehicle (10) includes：Frame (11)；Flight dynamic devices (12), in the frame, for providing flying power；Multiple shower nozzles (13), installed in the lower section of the flight dynamic devices (12)；Multiple water pumps (14), connect with multiple shower nozzles respectively, for liquid stream to be delivered into the shower nozzle (13), are sprayed away by the shower nozzle (13)；Controller (15), electrically connects with the water pump (14)；Water tank (16), for containing liquid, multiple water pumps are connected with the water tank.Wherein, the controller (15) can optionally control multiple water pumps (14), the shower nozzle (13) connected by the water pump (14) chosen is sprayed, so as to be controlled sprinkling region or spray effect, and then improve the precision of sprinkling.
Description
Technical field
The utility model is related to a kind of unmanned vehicle, more particularly to a kind of agriculture unmanned vehicle.
Background technology
Typically using single water pump adapter road, pipeline connects shower nozzle to many rotors agricultural unmanned vehicle in the market, from
And form sprinkling fluid path.The method only realizes merely the switch on and off of liquid-way system, it is impossible to realize the essence of agriculture unmanned vehicle
Quasi- control sprinkling.
Utility model content
The utility model embodiment is mainly solving the technical problems that provide a kind of agriculture nothing that can improve sprinkling precision
People's aircraft.
A kind of agriculture unmanned vehicle, including：
Frame；
Flight dynamic devices, in the frame, for providing flying power；
Multiple shower nozzles, installed in the lower section of the flight dynamic devices；
Multiple water pumps, connect with multiple shower nozzles respectively, for liquid stream to be delivered into the shower nozzle, by the shower nozzle
Sprinkling is gone out；
Water tank, for containing liquid, multiple water pumps are connected with the water tank；And
Controller, electrically connects with the water pump,
Wherein, the controller can optionally control multiple water pumps, be connected by the water pump chosen
The shower nozzle is sprayed.
Wherein in some embodiments, multiple shower nozzles include heading shower nozzle and tail direction shower nozzle, described
Heading shower nozzle near the agriculture unmanned vehicle head set, tail direction shower nozzle near it is described agricultural nobody
The tail of aircraft is set.
Wherein in some embodiments, the controller automatically selects the multiple water pumps of control, institute according to pre-conditioned
State pre-conditioned including following at least one：
The heading of the agriculture unmanned vehicle, the wind direction of operating environment, the agriculture unmanned vehicle compared to
The direction of operating area.
Wherein in some embodiments, when the agriculture unmanned vehicle is towards heading, the controller selection control
Make the water pump of the heading shower nozzle or the connection of tail direction shower nozzle, thus by the heading shower nozzle or
Tail direction shower nozzle is sprayed.
Wherein in some embodiments, when the agriculture unmanned vehicle is towards tail direction, the controller selection control
Make the water pump of the heading shower nozzle or the connection of tail direction shower nozzle, thus by the heading shower nozzle or
Tail direction shower nozzle is sprayed.
Wherein in some embodiments, the heading shower nozzle is multiple.
Wherein in some embodiments, multiple heading shower nozzles are respectively positioned at the both sides of the frame；
And/or, multiple heading shower nozzles are connected with the same water pump.
Wherein in some embodiments, tail direction shower nozzle is multiple.
Wherein in some embodiments, multiple heading shower nozzles are respectively positioned at the both sides of the frame；
And/or, multiple heading shower nozzles are connected with the same water pump.
Wherein in some embodiments, multiple shower nozzles are respectively compared to the roll axle pair of the agriculture unmanned vehicle
Claim to set.
Wherein in some embodiments, the roll axle of the controller selection control agriculture unmanned vehicle is wherein
Side the shower nozzle connection water pump, or the agriculture unmanned vehicle roll axle other side the shower nozzle connect
Logical water pump.
Wherein in some embodiments, the shower nozzle of every side of the roll axle of the agriculture unmanned vehicle is many
It is individual, and a water pump is connected jointly.
Wherein in some embodiments, multiple shower nozzles are respectively compared to the pitch axis pair of the agriculture unmanned vehicle
Claim to set.
Wherein in some embodiments, the pitch axis of the controller selection control agriculture unmanned vehicle is wherein
Side the shower nozzle connection water pump, or the agriculture unmanned vehicle pitch axis other side the shower nozzle connect
Logical water pump.
Wherein in some embodiments, the shower nozzle of every side of the pitch axis of the agriculture unmanned vehicle is many
It is individual, and a water pump is connected jointly.
Wherein in some embodiments, each described water pump connects multiple shower nozzles simultaneously.
Wherein in some embodiments, the shower nozzle is located at the underface or obliquely downward of the flight dynamic devices.
Wherein in some embodiments, the frame includes centerbody, horn and landing foot stool；
The horn is connected with the centerbody, for supporting the flight dynamic devices；
The landing foot stool is connected with the centerbody or the horn；
Wherein, multiple shower nozzles are arranged on the horn and/or the landing foot stool.
Wherein in some embodiments, the controller includes：
Controller of aircraft, the flight attitude for controlling the agriculture unmanned vehicle；
Multiple electricity are adjusted, and are communicated to connect with the flight controller；
Wherein, the water pump includes motor, and each described electricity is adjusted and electrically connected with the motor of a water pump,
Working condition for controlling the motor.
Wherein in some embodiments, the motor is brshless DC motor, and the electricity is adjusted and driven by PWM ripples modulation system
Move the motor.
By optionally controlling multiple water pumps, choose corresponding shower nozzle and sprayed, so as to be controlled sprinkling
Region or spray effect, and then improve the precision of sprinkling.
Brief description of the drawings
Fig. 1 is the side view of the agriculture unmanned vehicle of embodiment of the present utility model；
Fig. 2 is the upward view of the agriculture unmanned vehicle shown in Fig. 1；
Fig. 3 is the stereogram of the agriculture unmanned vehicle of embodiment of the present utility model two；
Fig. 4 is the upward view of the agriculture unmanned vehicle shown in Fig. 3；
Fig. 5 is the control principle drawing of the controller of the agriculture unmanned vehicle shown in Fig. 3；
Fig. 6 is the flow chart of the sprinkling control method of the agriculture unmanned vehicle of embodiment of the present utility model.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of the utility model protection.
It should be noted that when component is referred to as " being fixed on " another component, it can directly on another component
Or can also there is component placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or component placed in the middle is may be simultaneously present, in the conceived case, or two direct one of component
Shaping.Term as used herein " vertical ", " level ", "left", "right" and similar statement simply to illustrate that
Purpose.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with technology of the present utility model is belonged to
The implication that the technical staff in domain is generally understood that is identical.It is herein to be in term used in the description of the present utility model
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term as used herein " and/or " include
The arbitrary and all of combination of one or more related Listed Items.
The utility model provides a kind of agriculture unmanned vehicle, and it is provided with multiple shower nozzles, for spraying insecticide, the liquid such as water
Body.According to different condition by selecting the shower nozzle of diverse location, corresponding spray effect is realized, so as to improve sprinkling precision.
Wherein in one embodiment, according to the heading of the agriculture unmanned vehicle, selection adapts to the spray of position
Head, for example, if necessary to the penetration power of increase sprinkling, then when agriculture unmanned vehicle is towards heading flight, choosing machine
The shower nozzle in head direction so that under airflow function of the droplet of ejection by the flight dynamic devices generation of unmanned vehicle, accelerate
Spray downward.If in order to avoid the droplet that shower nozzle sprays is subject to airflow influence, in agriculture unmanned vehicle towards machine
During head direction flight, the shower nozzle in tail direction is chosen so that the droplet of ejection is subject to the flight dynamic devices of unmanned vehicle to produce
The influence of raw air-flow.
Wherein in some embodiments, the wind direction of the operating environment according to the agriculture unmanned vehicle, selection adapts to position
The shower nozzle put, if for example, agriculture unmanned vehicle headwind flight, the shower nozzle of selection heading, to reduce sprinkling as far as possible
Droplet drift produce error.If agriculture unmanned vehicle downwind, the shower nozzle in selection tail direction, with as far as possible
Reduce the error that the drift of the droplet of sprinkling is produced.
Wherein in some embodiments, the direction according to the agriculture unmanned vehicle compared to operating area, selection is suitable
The shower nozzle of position is answered, if for example, the agriculture unmanned vehicle is sprayed clockwise along the border of operating area, selected
The shower nozzle on the right side of the agriculture unmanned vehicle is selected, to avoid the excessive outside for being sprayed onto operating area.If the agriculture
Industry unmanned vehicle is sprayed along the border of operating area counterclockwise, then select the left side of the agriculture unmanned vehicle
Shower nozzle, to avoid the excessive outside for being sprayed onto operating area.
Wherein in some embodiments, the agriculture unmanned vehicle can automatically choose corresponding positions according to pre-conditioned
The shower nozzle put.Or, the agriculture unmanned vehicle can choose the shower nozzle of relevant position with the input information of user, and by user
Selected according to prevailing condition.
Below in conjunction with the accompanying drawings, some implementation methods of the present utility model are elaborated.In the case where not conflicting, under
Feature in the embodiment and embodiment stated can be mutually combined.
Refer to Fig. 1 and Fig. 2, the agriculture unmanned vehicle 10 of embodiment of the present utility model, including frame 11, flight
Power set 12, multiple shower nozzles 13, multiple water pumps 14 and controller 15.
Flight dynamic devices 12 are arranged in the frame 11, for providing flying power.Multiple shower nozzles 13 are arranged on institute
State the lower section of flight dynamic devices 12.Multiple water pumps 14 are connected with multiple shower nozzles 13 respectively, for liquid stream to be delivered into institute
Shower nozzle 13 is stated, is sprayed away by the shower nozzle 13.Controller 15 is electrically connected with the water pump 14.Water tank 16, for containing liquid
Body, multiple water pumps 14 are connected with the water tank 16.
Wherein, the controller 15 can optionally control multiple water pumps 14, by the water pump 14 chosen
The shower nozzle 13 of connection is sprayed.
By optionally controlling multiple water pumps 14, choose corresponding shower nozzle 13 and sprayed, so as to be controlled
Sprinkling region or spray effect, and then improve the precision of sprinkling.
Multiple shower nozzles 13 are located at the diverse location of the frame 11 of the unmanned vehicle, for example, in the illustrated embodiment,
Multiple shower nozzles 13 are located at the underface of multiple flight dynamic devices 12 respectively.Shower nozzle 13 described in a portion is near the agricultural
The head of unmanned vehicle 10 is set, and shower nozzle 13 described in another part sets near the tail of the agriculture unmanned vehicle 10
Put.
Wherein, the multiple described shower nozzle 13 for being set near the head of the agriculture unmanned vehicle 10, by same water pump
14 connections；Near the multiple described shower nozzle 13 that the tail of the agriculture unmanned vehicle 10 is set, connected by same water pump 14,
So as to easily choose the multiple described shower nozzle 13 set near the head of the agriculture unmanned vehicle 10, or near described
The multiple described shower nozzle 13 that the tail of agriculture unmanned vehicle 10 is set.
Refer to Fig. 3 to Fig. 5, the agriculture unmanned vehicle 100 of embodiment of the present utility model two, including frame 110, fly
Action power apparatus 120, multiple shower nozzles 130, multiple water pumps 140 and controller 150.
Flight dynamic devices 120 are arranged in the frame 110, for providing flying power.Multiple shower nozzles 130 are arranged on
The lower section of the flight dynamic devices 120.Multiple water pumps 140 are connected with multiple shower nozzles 130 respectively, for liquid stream to be conveyed
To the shower nozzle 130, sprayed away by the shower nozzle 130.Controller 150 is electrically connected with the water pump 140.Water tank 160, uses
In liquid is contained, multiple water pumps 140 are connected with the water tank 160.
Wherein, the controller 150 can optionally control multiple water pumps 140, by the water pump chosen
The shower nozzle 130 of 140 connections is sprayed.
By optionally controlling multiple water pumps 140, choose corresponding shower nozzle 130 and sprayed, so as to be controlled
System sprinkling region or spray effect, and then improve the precision of sprinkling.
The structure of frame 110 can be designed according to different demands, for example, in the illustrated embodiment, the frame 110
Including centerbody 110a, horn 110b and landing foot stool 110c.The horn 110b is connected with the centerbody 110a, is used for
Support the flight dynamic devices 120.The landing foot stool 110c is connected with the centerbody 110a or described horns 110b.
Flight dynamic devices 120 can be electric power device, or electric power device.Specifically in the reality of diagram
Apply in example, flight dynamic devices 12 include propeller and drive the motor of propeller rotational.
The shower nozzle 130 is located at the underface or obliquely downward of the flight dynamic devices 120.Specifically in the embodiment of diagram
In, multiple shower nozzles 130 are arranged on the horn 110b and/or landing foot stool 110c.When multiple shower nozzles 130
Installed in the horn 110b, the underface of the flight dynamic devices 120 is located in order to shower nozzle 130, so as to be more favorable for
Improve the penetration power of the sprinkling of shower nozzle 130.
The particular location of multiple shower nozzles 130 can also be designed according to different demands, for example, multiple shower nozzles
The 130 roll axial symmetry respectively compared to the agriculture unmanned vehicle 100 is set, or, multiple shower nozzles 130 distinguish phase
Pitch axis compared with the agriculture unmanned vehicle 100 is symmetrical arranged.
When roll axial symmetry of multiple shower nozzles 130 respectively compared to the agriculture unmanned vehicle 100 is set, just
Sprayed in the shower nozzle 130 of the left and right sides for controlling the agriculture unmanned vehicle 100, if for example, the agricultural nobody fly
When row device 100 sprays along the border of operating area clockwise, the agriculture unmanned vehicle can be controlled
The shower nozzle 130 on 100 right side is sprayed.If the agriculture unmanned vehicle 100 is along counter clockwise direction along operation area
When the border in domain is sprayed, the shower nozzle 130 in the left side of the agriculture unmanned vehicle 100 can be controlled to be sprayed.
Specifically in the illustrated embodiment, multiple shower nozzles 130 include heading shower nozzle 130aa and tail direction
Shower nozzle 130bb, the heading shower nozzle 130aa are set near the head of the agriculture unmanned vehicle 100, the tail side
Set to the tail of the close agriculture unmanned vehicles 100 of shower nozzle 130bb.
If necessary to the penetration power of increase sprinkling, then when agriculture unmanned vehicle 100 is towards heading flight, choose
Heading shower nozzle 130aa so that the airflow function that the droplet of ejection is produced by the flight dynamic devices 120 of unmanned vehicle
Under, it is accelerated towards lower section and sprays.If in order to avoid the droplet that shower nozzle 130 sprays is subject to airflow influence, in agricultural, nobody flies
When row device 100 is towards heading flight, tail direction shower nozzle 130bb is chosen so that the droplet of ejection is subject to unmanned vehicle
Flight dynamic devices 120 produce air-flow influence.
Each described water pump 140 connects multiple shower nozzles 130 simultaneously.For example, the horizontal stroke of the agriculture unmanned vehicle 100
The shower nozzle 130 of every side of roller bearing is multiple, and connects a water pump 140 jointly.Or, it is described agricultural nobody
The shower nozzle 130 of every side of the pitch axis of aircraft 100 is multiple, and connects a water pump 140 jointly.
Because the shower nozzle 130 positioned at same area connects same water pump 140 simultaneously, it is easy to control the spray of the same area
First 130 are sprayed, for example, controlling the corresponding side of the roll axle of the agriculture unmanned vehicle 100 by a water pump 140
Multiple described shower nozzle 130 sprayed, or, the pitching of the agriculture unmanned vehicle 100 is controlled by a water pump 140
The multiple described shower nozzle 130 of the corresponding side of axle is sprayed.
It is specific in the illustrated embodiment, the heading shower nozzle 130a is for can be with multiple.Multiple headings
Shower nozzle 130a is respectively positioned at the both sides of the frame 110.Multiple heading shower nozzle 130a and the same water pump 140
It is connected.The tail direction shower nozzle 130b can be multiple.Multiple heading shower nozzle 130a are located at the machine respectively
The both sides of frame 110.Multiple heading shower nozzle 130a are connected with the same water pump 140.
The controller 150 can be according to the input signal of the user selection multiple water pumps 140 of control.Or, it is described
Controller 150 can automatically select the multiple water pumps 140 of control according to pre-conditioned, described pre-conditioned including as follows at least
It is a kind of：The heading of the agriculture unmanned vehicle 100, the wind direction of operating environment, the agriculture unmanned vehicle 100 is compared
In the direction of operating area.
For example, the controller 150 can automatically select the multiple water pumps 140 of control according to heading.Wherein
In one embodiment, when the agriculture unmanned vehicle 100 is towards heading, the selection control machine of the controller 150
The water pump 140 of head direction shower nozzle 130a or described tails direction shower nozzle 130b connections, so as to be sprayed by the heading
Head 130a or described tails direction shower nozzle 130b is sprayed.
Wherein in one embodiment, the controller 150 can be according to agriculture unmanned vehicle 100 compared to operation area
The direction in domain, the shower nozzle 130 for automatically selecting the wherein side of the roll axle for controlling the agriculture unmanned vehicle 100 is connected
Water pump 140, or the agriculture unmanned vehicle 100 roll axle other side the shower nozzle 130 connection water pump
140。
Wherein in one embodiment, the controller 150 can be according to the flight side of the agriculture unmanned vehicle 100
To, or operating environment wind direction, or combine the wind direction of heading and operating environment, the selection control agricultural nobody fly
The water pump 140 of the connection of the shower nozzle 130 of the wherein side of the pitch axis of row device 100, or the agriculture unmanned vehicle 100
Pitch axis other side the shower nozzle 130 connection water pump 140.
Specifically in the illustrated embodiment, when the agriculture unmanned vehicle 100 is towards tail direction, the controller
The water pump 140 of the 150 selection controls heading shower nozzle 130a or described tails direction shower nozzle 130b connections, so that logical
The heading shower nozzle 130a or described tails direction shower nozzle 130b is crossed to be sprayed.For example, if necessary to increase sprinkling
Penetration power, then when agriculture unmanned vehicle 100 is towards heading flight, choose heading shower nozzle 130a so that spray
Droplet by unmanned vehicle flight dynamic devices 120 produce airflow function under, be accelerated towards lower section spray.If
The droplet for avoiding shower nozzle 130 from spraying is subject to airflow influence, then when agriculture unmanned vehicle 100 is towards heading flight,
Choose tail direction shower nozzle 130b so that the droplet of ejection is subject to the air-flow that the flight dynamic devices 120 of unmanned vehicle are produced
Influence.
The specific configuration of the controller 150 can also be designed according to different demands, specifically in the illustrated embodiment,
The controller 150 includes that controller of aircraft 150a and multiple electricity adjust 150b.Controller of aircraft 150 is used to control institute
State the flight attitude of agriculture unmanned vehicle 100.Multiple electricity adjust 150b to be communicated to connect with the flight controller 150.
The water pump 140 can for membrane pump, impeller pump, vane pump, centrifugal pump, axial-flow pump, mixed-flow pump, Vortex pump, penetrate
Stream pump etc..Wherein, the water pump 140 includes motor 140a, and each described electricity adjusts 150b and institute of the water pump 140
State motor 140a electrical connections, the working condition for controlling the motor 140a.
The motor can be brushed DC motor, or brshless DC motor.The motor can be external rotor electric machine,
Can also inner rotor motor.Specific the motor is brshless DC motor in the illustrated embodiment, and the electricity is adjusted and passes through PWM
Ripple modulation system drives the motor.PWM count value changes are adjusted by brushless electricity, the rotation speed change of water pump 140 is controlled, so as to control water
The change of the output pressure value of pump 140, realizes the control of the uninterrupted of shower nozzle 130, so as to further improve the precision of sprinkling.
Water tank 160 can be connected by pipeline with water pump 140.Water pump 140 is connected by pipeline with shower nozzle 130.Water pump 140
After by the Liquid extracting in water tank 160, at the pipeline to shower nozzle 130, sprayed away by shower nozzle 130.
Water tank 160 can contain the liquid such as agricultural chemicals, water.Water tank 160 may be mounted under the centerbody 110a of frame 110
Side, specifically, water tank 160 can be fixedly connected with the centerbody 110a of frame 110, or, water tank 160 can be with frame 110
Landing foot stool 110c be fixedly connected.
Refer to Fig. 3 and Fig. 6, based on above-mentioned agriculture unmanned vehicle 100, the utility model also provide a kind of agricultural nobody
The sprinkling control method of aircraft 100.
The sprinkling control method of the agriculture unmanned vehicle 100 of embodiment of the present utility model, methods described includes as follows
Step.
S101, from multiple water pumps 140 choose at least one described in water pump 140, the plurality of water pump 140 respectively with
Multiple shower nozzles 130 are connected.
The particular location of multiple shower nozzles 130 can also be designed according to different demands, for example, multiple shower nozzles
The 130 roll axial symmetry respectively compared to the agriculture unmanned vehicle 100 is set, and chooses the agriculture unmanned vehicle 100
Roll axle wherein side the shower nozzle 130 connection water pump 140, or the agriculture unmanned vehicle 100 roll
The water pump 140 of the connection of the shower nozzle 130 of the other side of axle.
Or, pitch axis of multiple shower nozzles 130 respectively compared to the agriculture unmanned vehicle 100 is symmetrical arranged.
Choose the water pump 140, Huo Zhesuo of the connection of the shower nozzle 130 of the wherein side of the pitch axis of the agriculture unmanned vehicle 100
State the water pump 140 of the connection of the shower nozzle 130 of the other side of the pitch axis of agriculture unmanned vehicle 100.
Specifically in the illustrated embodiment, multiple shower nozzles 130 include heading shower nozzle 130a and tail direction
Shower nozzle 130b, the heading shower nozzle 130a are set near the head of the agriculture unmanned vehicle 100, the tail direction
Shower nozzle 130b is set near the tail of the agriculture unmanned vehicle 100.
Each described water pump 140 connects multiple shower nozzles 130 simultaneously.For example, the horizontal stroke of the agriculture unmanned vehicle 100
The shower nozzle 130 of every side of roller bearing is multiple, and connects a water pump 140 jointly.Or, it is described agricultural nobody
The shower nozzle 130 of every side of the pitch axis of aircraft 100 is multiple, and connects a water pump 140 jointly.
It is specific in the illustrated embodiment, the heading shower nozzle 130a is for can be with multiple.Multiple headings
Shower nozzle 130a is respectively positioned at the both sides of the frame 110.Multiple heading shower nozzle 130a and the same water pump 140
It is connected.The tail direction shower nozzle 130b can be multiple.Multiple heading shower nozzle 130a are located at the machine respectively
The both sides of frame 110.Multiple heading shower nozzle 130a are connected with the same water pump 140.
When the agriculture unmanned vehicle 100 is towards heading, the heading shower nozzle 130a or described machines are chosen
The water pump 140 of tail direction shower nozzle 130b connections, by heading shower nozzle 130a or described tails direction shower nozzle
130b is sprayed.
Or, when the agriculture unmanned vehicle 100 is towards tail direction, choose the heading shower nozzle 130a or institute
The water pump 140 of tail direction shower nozzle 130b connections is stated, is sprayed by the heading shower nozzle 130a or described tails direction
Head 130b is sprayed.
S102, control choose at least one described in water pump 140 start working, connected by water pump described at least one 140
Logical shower nozzle 130 is sprayed.
The water pump 140 can for membrane pump, impeller pump, vane pump, centrifugal pump, axial-flow pump, mixed-flow pump, Vortex pump, penetrate
Stream pump etc..Wherein, the water pump 140 includes motor, and each described electricity adjusts the motor electricity with a water pump 140
Connection, the working condition for controlling the motor.
The motor can be brushed DC motor, or brshless DC motor.The motor can be external rotor electric machine,
Can also inner rotor motor.Specifically in the illustrated embodiment, the motor is brshless DC motor, by PWM ripple modulation methods
Formula drives the motor.
Embodiment of the present utility model is the foregoing is only, the scope of the claims of the present utility model is not thereby limited, it is every
The equivalent structure or equivalent flow conversion made using the utility model specification and accompanying drawing content, or be directly or indirectly used in
Other related technical fields, are similarly included in scope of patent protection of the present utility model.
Claims (20)
1. a kind of agriculture unmanned vehicle, it is characterised in that including：
Frame；
Flight dynamic devices, in the frame, for providing flying power；
Multiple shower nozzles, installed in the lower section of the flight dynamic devices；
Multiple water pumps, connect with multiple shower nozzles respectively, for liquid stream to be delivered into the shower nozzle, are sprayed by the shower nozzle
Go out；
Water tank, for containing liquid, multiple water pumps are connected with the water tank；And
Controller, electrically connects with the water pump,
Wherein, the controller can optionally control multiple water pumps, by choose the water pump connect described in
Shower nozzle is sprayed.
2. agriculture unmanned vehicle according to claim 1, it is characterised in that multiple shower nozzles include heading spray
Head and tail direction shower nozzle, the heading shower nozzle are set near the head of the agriculture unmanned vehicle, the tail
Direction shower nozzle is set near the tail of the agriculture unmanned vehicle.
3. agriculture unmanned vehicle according to claim 2, it is characterised in that the controller is according to pre-conditioned automatic
The multiple water pumps of selection control, it is described pre-conditioned including following at least one：
The heading of the agriculture unmanned vehicle, the wind direction of operating environment, the agriculture unmanned vehicle is compared to operation
The direction in region.
4. agriculture unmanned vehicle according to claim 3, it is characterised in that the agriculture unmanned vehicle is towards head
During direction, the controller selection controls the water pump of the heading shower nozzle or the connection of tail direction shower nozzle, from
And pass through the heading shower nozzle or tail direction shower nozzle is sprayed.
5. agriculture unmanned vehicle according to claim 3, it is characterised in that the agriculture unmanned vehicle is towards tail
During direction, the controller selection controls the water pump of the heading shower nozzle or the connection of tail direction shower nozzle, from
And pass through the heading shower nozzle or tail direction shower nozzle is sprayed.
6. agriculture unmanned vehicle according to claim 2, it is characterised in that the heading shower nozzle is multiple.
7. agriculture unmanned vehicle according to claim 6, it is characterised in that multiple heading shower nozzles difference positions
In the both sides of the frame；
And/or, multiple heading shower nozzles are connected with the same water pump.
8. agriculture unmanned vehicle according to claim 2, it is characterised in that tail direction shower nozzle is multiple.
9. agriculture unmanned vehicle according to claim 8, it is characterised in that multiple heading shower nozzles difference positions
In the both sides of the frame；
And/or, multiple heading shower nozzles are connected with the same water pump.
10. agriculture unmanned vehicle according to claim 1, it is characterised in that multiple shower nozzles are respectively compared to institute
The roll axial symmetry for stating agriculture unmanned vehicle is set.
11. agriculture unmanned vehicles according to claim 10, it is characterised in that the controller selection control agriculture
The wherein side of the roll axle of industry unmanned vehicle the shower nozzle connection water pump, or the agriculture unmanned vehicle horizontal stroke
The water pump of the shower nozzle connection of the other side of roller bearing.
12. agriculture unmanned vehicles according to claim 10, it is characterised in that the roll of the agriculture unmanned vehicle
The shower nozzle of every side of axle is multiple, and connects a water pump jointly.
13. agriculture unmanned vehicles according to claim 1, it is characterised in that multiple shower nozzles are respectively compared to institute
The pitch axis for stating agriculture unmanned vehicle is symmetrical arranged.
14. agriculture unmanned vehicles according to claim 13, it is characterised in that the controller selection control agriculture
The water pump of the shower nozzle connection of the wherein side of the pitch axis of industry unmanned vehicle, or the agriculture unmanned vehicle is bowed
Face upward the water pump of the shower nozzle connection of the other side of axle.
15. agriculture unmanned vehicles according to claim 13, it is characterised in that the pitching of the agriculture unmanned vehicle
The shower nozzle of every side of axle is multiple, and connects a water pump jointly.
16. agriculture unmanned vehicles according to claim 1, it is characterised in that each described water pump connects multiple simultaneously
The shower nozzle.
17. agriculture unmanned vehicles according to claim 1, it is characterised in that the shower nozzle is located at the flying power
The underface or obliquely downward of device.
18. agriculture unmanned vehicles according to claim 1, it is characterised in that the frame include centerbody, horn with
And landing foot stool；
The horn is connected with the centerbody, for supporting the flight dynamic devices；
The landing foot stool is connected with the centerbody or the horn；
Wherein, multiple shower nozzles are arranged on the horn and/or the landing foot stool.
19. agriculture unmanned vehicles according to claim 1, it is characterised in that the controller includes：
Controller of aircraft, the flight attitude for controlling the agriculture unmanned vehicle；
Multiple electricity are adjusted, and are communicated to connect with the flight controller；
Wherein, the water pump includes motor, and each described electricity is adjusted and electrically connected with the motor of a water pump, is used for
Control the working condition of the motor.
20. agriculture unmanned vehicles according to claim 19, it is characterised in that the motor is brshless DC motor,
The electricity is adjusted and drives the motor by PWM ripples modulation system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621272758.1U CN206243482U (en) | 2016-11-24 | 2016-11-24 | Agriculture unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621272758.1U CN206243482U (en) | 2016-11-24 | 2016-11-24 | Agriculture unmanned vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206243482U true CN206243482U (en) | 2017-06-13 |
Family
ID=59002164
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621272758.1U Expired - Fee Related CN206243482U (en) | 2016-11-24 | 2016-11-24 | Agriculture unmanned vehicle |
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| Country | Link |
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| CN (1) | CN206243482U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107409802A (en) * | 2017-08-24 | 2017-12-01 | 德清绿色阳光农业生态有限公司 | Nursery stock maintenance cooling water replanishing device |
| CN108271759A (en) * | 2018-03-20 | 2018-07-13 | 成都天麒科技有限公司 | A kind of multi-rotor unmanned aerial vehicle sprinkling system |
| CN108739262A (en) * | 2018-06-15 | 2018-11-06 | 胡立波 | A kind of unmanned plane flower-watering device |
| CN109071019A (en) * | 2017-12-18 | 2018-12-21 | 深圳市大疆创新科技有限公司 | spray assembly and agricultural plant protection machine |
| CN110799418A (en) * | 2018-09-30 | 2020-02-14 | 深圳市大疆软件科技有限公司 | Airborne spraying system of agricultural plant protection machine and agricultural plant protection machine |
| CN110876257A (en) * | 2018-11-21 | 2020-03-10 | 深圳市大疆创新科技有限公司 | Sprinkling system and plant protection unmanned aerial vehicle |
| WO2020113445A1 (en) * | 2018-12-04 | 2020-06-11 | 深圳市大疆创新科技有限公司 | Agricultural unmanned aerial vehicle |
| CN115889014A (en) * | 2019-08-30 | 2023-04-04 | 深圳市大疆创新科技有限公司 | Centrifugal spray head, spraying system and movable platform |
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2016
- 2016-11-24 CN CN201621272758.1U patent/CN206243482U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107409802A (en) * | 2017-08-24 | 2017-12-01 | 德清绿色阳光农业生态有限公司 | Nursery stock maintenance cooling water replanishing device |
| CN109071019A (en) * | 2017-12-18 | 2018-12-21 | 深圳市大疆创新科技有限公司 | spray assembly and agricultural plant protection machine |
| CN108271759A (en) * | 2018-03-20 | 2018-07-13 | 成都天麒科技有限公司 | A kind of multi-rotor unmanned aerial vehicle sprinkling system |
| CN108739262A (en) * | 2018-06-15 | 2018-11-06 | 胡立波 | A kind of unmanned plane flower-watering device |
| CN110799418A (en) * | 2018-09-30 | 2020-02-14 | 深圳市大疆软件科技有限公司 | Airborne spraying system of agricultural plant protection machine and agricultural plant protection machine |
| WO2020062292A1 (en) * | 2018-09-30 | 2020-04-02 | 深圳市大疆软件科技有限公司 | Onboard spraying system for agricultural plant protection machine, and agricultural plant protection machine |
| CN110876257A (en) * | 2018-11-21 | 2020-03-10 | 深圳市大疆创新科技有限公司 | Sprinkling system and plant protection unmanned aerial vehicle |
| WO2020103015A1 (en) * | 2018-11-21 | 2020-05-28 | 深圳市大疆创新科技有限公司 | Spray system and unmanned aerial vehicle for crop protection |
| WO2020113445A1 (en) * | 2018-12-04 | 2020-06-11 | 深圳市大疆创新科技有限公司 | Agricultural unmanned aerial vehicle |
| CN111278734A (en) * | 2018-12-04 | 2020-06-12 | 深圳市大疆创新科技有限公司 | Agricultural unmanned aerial vehicle |
| CN115889014A (en) * | 2019-08-30 | 2023-04-04 | 深圳市大疆创新科技有限公司 | Centrifugal spray head, spraying system and movable platform |
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